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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_01/fem_node.csv
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index 0000000000000000000000000000000000000000..ca9179be68bd4112b2182fb33da30b44e051eb0f
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+26,0.433333333,BASELINE,785,760.083904035,738,723,688,652,919,801,838.916095965,658,635.916095965,657,0.400934768423,-0.0154554574768,0.0499341593693,0.999999977339,2.71666926631e-05,-0.000209050092723,-2.96956189603e-05,1793254768667549952
+27,0.450000000,BASELINE,785,760.671926124,738,723,688,652,919,801,838.328073876,658,635.328073876,657,0.400934384395,-0.0154549498796,0.0499333612722,0.999999976963,2.77285277721e-05,-0.000210761671139,-2.97545712278e-05,1793254768684216320
+28,0.466666667,BASELINE,785.255920729,761,738,723,688,651.744079271,919,801,838.255920729,658,635.255920729,657.255920729,0.400934294516,-0.0154547077715,0.0499332433889,0.999999976863,2.84865951578e-05,-0.00021113769038,-2.97195384005e-05,1793254768700883200
+29,0.483333333,BASELINE,785.834832315,761,738,723,688,651.165167685,919,801,838.834832315,658,635.834832315,657.834832315,0.400934575875,-0.0154548007303,0.0499339839854,0.999999977114,2.94923221332e-05,-0.000209828135218,-2.95658894396e-05,1793254768717549824
+30,0.500000000,BASELINE,785.588003656,761,738,723,688,651.411996344,919,801,838.588003656,658,636,657.588003656,0.400934527519,-0.0154549424901,0.0499338065711,0.999999977048,2.85474656698e-05,-0.0002102817474,-2.95032929243e-05,1793254768734216704
+31,0.516666667,BASELINE,785.011537271,761,738,723,688,651.988462729,919,801,838.011537271,658,636,657.011537271,0.40093434754,-0.0154551037314,0.0499332626845,0.999999976853,2.68239310601e-05,-0.00021143922073,-2.94770447919e-05,1793254768750883584
+32,0.533333333,BASELINE,785.564634808,761,738,723,688,652,919,801,838,658,636,657,0.40093466891,-0.0154532038173,0.0499335587955,0.999999976888,2.8896635867e-05,-0.000210970481899,-2.96784189682e-05,1793254768767549952
+33,0.550000000,BASELINE,785.856101521,761,738,723,688,652,919,801,838.143898479,658,635.856101521,657,0.400935211201,-0.0154519812994,0.0499339509861,0.999999977015,3.0550438401e-05,-0.000210112439716,-2.98195148626e-05,1793254768784216832
+34,0.566666667,BASELINE,785.267259979,761,738,723,688,652,919,801,838.732740021,658,635.267259979,657,0.400936404934,-0.0154529834905,0.0499345872162,0.999999977423,3.06692448948e-05,-0.000208153338925,-2.97598526942e-05,1793254768800884480
+35,0.583333333,BASELINE,785.316705882,761,738,723,688,652,919,801,838.683294118,658,635.316705882,657,0.400935678899,-0.0154532000514,0.0499340786641,0.999999977328,3.07973078759e-05,-0.000208603578534,-2.96827049548e-05,1793254768817551104
+36,0.600000000,BASELINE,785.896619724,761,738,723,688,652,919,801,838.103380276,658,635.896619724,657,0.400933357383,-0.0154527636909,0.0499326187062,0.999999976811,3.09330637529e-05,-0.000211056172826,-2.95910252983e-05,1793254768834216960
+37,0.616666667,BASELINE,785.527172972,760.527172972,738,723,688,652,919,801,838.472827028,658,636,657,0.400934174238,-0.0154535582054,0.0499329481369,0.999999976896,3.00684564796e-05,-0.000210800657311,-2.94296412538e-05,1793254768850883328
+38,0.633333333,BASELINE,785.048032187,760.048032187,738,723,688,652,919,801,838.951967813,658,636,657,0.400935455285,-0.0154546063157,0.049933584299,0.999999977083,2.89499242348e-05,-0.000210091432722,-2.92724310881e-05,1793254768867550208
+39,0.650000000,BASELINE,785.621073124,760.621073124,738,723,688,652,919,801,838.378926876,658,636,657,0.400934368236,-0.015455507598,0.0499333300466,0.999999976966,2.74280184172e-05,-0.000210844627827,-2.93261296842e-05,1793254768884216832
+40,0.666666667,BASELINE,785.799528774,760.799528774,738.200471226,723,688,652,919,801,838,658,636,657,0.400934199698,-0.0154553898091,0.0499333070951,0.999999976981,2.74238038177e-05,-0.000210750776107,-2.9492212018e-05,1793254768900883712
+41,0.683333333,BASELINE,785.20772099,760.20772099,738.79227901,723,688,652,919,801,838,658,636,657,0.400935824171,-0.0154532827081,0.0499337356625,0.999999977251,3.03822491929e-05,-0.000209003418264,-2.98776767813e-05,1793254768917550848
+42,0.700000000,BASELINE,785,760.375314854,738.624685146,723,688,652,919,801,838.375314854,658,636,657,0.400936443687,-0.0154536855216,0.0499340163901,0.999999977459,2.94297982714e-05,-0.000208152771618,-2.97926226314e-05,1793254768934217728
+43,0.716666667,BASELINE,785,760.953606657,738.046393343,723,688,652,919,801,838.953606657,658,636,657,0.400936519706,-0.0154554457415,0.0499342171634,0.999999977631,2.63622649704e-05,-0.000207787082393,-2.9453103471e-05,1793254768950884352
+44,0.733333333,BASELINE,785.52616508,760.47383492,738,723,688,651.47383492,919,801,838.47383492,658,636,657,0.400935776666,-0.0154572151041,0.0499340400105,0.999999977424,2.41515188466e-05,-0.000209061477002,-2.93519186267e-05,1793254768967550720
+45,0.750000000,BASELINE,786,760.101732392,738.101732392,723,688,651.101732392,919,801,838.101732392,658,636,657,0.400935203056,-0.0154582627768,0.0499338713662,0.999999977236,2.30968047843e-05,-0.000210088861397,-2.92881314056e-05,1793254768984217088
+46,0.766666667,BASELINE,786,760.694226954,738.694226954,723,688,651.694226954,919,801,838.694226954,658,636,657,0.400935791413,-0.0154558251339,0.0499339027857,0.99999997731,2.72583427471e-05,-0.000209234567158,-2.930446968e-05,1793254769000883712
+47,0.783333333,BASELINE,786,761,739,723,688,652,919,801,838.719997382,658,636,657,0.400935127171,-0.0154546356613,0.0499332357503,0.999999977171,2.94189007203e-05,-0.000209571266992,-2.9522602204e-05,1793254769017550080
+48,0.800000000,BASELINE,786,761,739,723,688,652,919,801,838.141386988,658,636,657,0.400933127097,-0.0154547772951,0.0499318238502,0.99999997682,2.94455213532e-05,-0.000211178098035,-2.99559374761e-05,1793254769034216960
+49,0.816666667,BASELINE,785.563328833,761,739,723,688,652,919,801,838,658,636,657,0.400932708414,-0.0154551515087,0.0499315217528,0.999999976685,2.76431373283e-05,-0.000212039049729,-3.00892978476e-05,1793254769050883840
+50,0.833333333,BASELINE,785,761,738.985586589,723,688,652,919,801,838.014413411,657.985586589,636,657,0.400932821875,-0.0154555760397,0.0499316049956,0.999999976625,2.53935531805e-05,-0.000212600608677,-3.01131507784e-05,1793254769067550464
+51,0.850000000,BASELINE,785,761,738.413159693,723,688,652,919,801,838.586840307,657.413159693,636,657,0.400933739207,-0.0154550368413,0.0499327125585,0.999999976906,2.8728728399e-05,-0.000210909186383,-2.96529459711e-05,1793254769084217344
+52,0.866666667,BASELINE,785.164581188,761,738.164581188,723,688,652,919,801,838.835418812,657.164581188,636,657,0.400934704121,-0.0154549253096,0.0499334353386,0.999999977158,3.08920144132e-05,-0.000209453562924,-2.93032016778e-05,1793254769100883712
+53,0.883333333,BASELINE,785.756107202,761,738.756107202,723,688,652,919,801,838.243892798,657.756107202,636,657,0.400935792467,-0.0154559232006,0.0499331599427,0.999999977363,3.00152685204e-05,-0.000208609632153,-2.924000623e-05,1793254769117550336
+54,0.900000000,BASELINE,785.660383097,761,738.660383097,723,688,651.660383097,919,801,838,658,636,657,0.400936625926,-0.015456037003,0.0499333685301,0.999999977524,2.97606798605e-05,-0.000207888814706,-2.91249687501e-05,1793254769134217216
+55,0.916666667,BASELINE,785.082497511,761,738.082497511,723,688,651.082497511,919,801,838,658,636,657,0.400937280561,-0.0154555305458,0.0499339166708,0.999999977655,2.99425847782e-05,-0.000207254371233,-2.89735599009e-05,1793254769150883840
+56,0.933333333,BASELINE,785,761,738.492205515,723,688,651.492205515,919,801,838.492205515,658,636,657,0.400936017265,-0.0154566934751,0.0499336678983,0.999999977501,2.79932109148e-05,-0.000208289631347,-2.87988640414e-05,1793254769167550208
+57,0.950000000,BASELINE,785,761,739,723,688,652,919,801,839,658,636,657,0.400934615608,-0.0154577698315,0.0499332791886,0.999999977297,2.61947672842e-05,-0.000209516963327,-2.86769209813e-05,1793254769184217088
+58,0.966666667,BASELINE,785,761,739,723,688,652,919,801,839,658,636,657,0.400934598858,-0.0154560571766,0.0499328351989,0.999999977112,2.82660980682e-05,-0.000210086506391,-2.89882022717e-05,1793254769200883712
+59,0.983333333,BASELINE,785.243767778,761,738.756232222,723,688,651.756232222,919,801,839,658,636,657,0.400934327944,-0.0154549664527,0.0499324060841,0.999999976933,2.96772177487e-05,-0.000210698357386,-2.93154722165e-05,1793254769217550592
+60,1.000000000,BASELINE,785.822966829,761,738.177033171,723,688,651.177033171,919,801,839,658,636,657,0.400933707292,-0.0154547315229,0.0499319974376,0.999999976766,3.01798687991e-05,-0.000211368425356,-2.96647430413e-05,1793254769234217216
+61,1.016666667,BASELINE,785.601301196,760.601301196,738,723,688,651,919,801,838.601301196,658,636,657,0.400934475855,-0.015454654959,0.0499322810707,0.999999977003,2.90115335359e-05,-0.000210392932091,-2.97995517216e-05,1793254769250883840
+62,1.033333333,BASELINE,785.027095461,760.027095461,738,723,688,651,919,801,838.027095461,658,636,657,0.400935855949,-0.0154546481078,0.0499328694448,0.999999977411,2.71076312474e-05,-0.000208693063888,-2.98399542961e-05,1793254769267550464
+63,1.050000000,BASELINE,785,760.544104217,738,723,687.455895783,651,919,801,838,658,635.455895783,657,0.400936800981,-0.0154547929468,0.0499335389824,0.999999977506,2.86682963882e-05,-0.000208081038973,-2.94534747743e-05,1793254769284216832
+64,1.066666667,BASELINE,785,761,738.120345165,722.879654835,687.120345165,651,919,801,838.120345165,658,635.120345165,657.120345165,0.400937115737,-0.0154548858357,0.0499338918075,0.99999997751,2.99007442279e-05,-0.000207935396989,-2.91314585541e-05,1793254769300883712
+65,1.083333333,BASELINE,785,761,738.717133736,722.282866264,687.717133736,651,919,801,838.717133736,658,635.717133736,657.717133736,0.400935020551,-0.0154547433133,0.0499329748627,0.999999977221,2.91545010725e-05,-0.000209422862939,-2.91483483613e-05,1793254769317550336
+66,1.100000000,BASELINE,785,761,739,722.303286685,688,651.303286685,919,801,838.696713315,658,636,657.696713315,0.400934912888,-0.0154553217118,0.0499330764834,0.999999977303,2.83715340771e-05,-0.000209170716232,-2.89266795578e-05,1793254769334216960
+67,1.116666667,BASELINE,785,761,739,722.879856152,688,651.879856152,919,801,838.120143848,658,636,657.120143848,0.400936596125,-0.0154565497111,0.0499340959038,0.999999977717,2.75554763413e-05,-0.000207351055235,-2.84900525493e-05,1793254769350883584
+68,1.133333333,BASELINE,785,761,738.545171145,723,688,651.545171145,919,801,838.454828855,657.545171145,636,657,0.400936169555,-0.0154562746552,0.0499337525686,0.999999977608,2.65608175066e-05,-0.00020796845493,-2.87667723257e-05,1793254769367550208
+69,1.150000000,BASELINE,785,761,738,723,688,651.030223434,919,801,838.969776566,657.030223434,636,657,0.400935264976,-0.0154555831613,0.0499330835222,0.999999977367,2.57612267253e-05,-0.000209159514195,-2.92305785108e-05,1793254769384216832
+70,1.166666667,BASELINE,785,761,738,723,688,651.621244039,919,801,838.378755961,657.621244039,636,657,0.40093579563,-0.0154545058678,0.0499330268661,0.999999977266,2.94534575808e-05,-0.000209091756365,-2.96816516308e-05,1793254769400883456
+71,1.183333333,BASELINE,785,760.792343533,738,723,688,651.792343533,919,801,838,658,636,657,0.400936231467,-0.0154541633931,0.0499331578622,0.999999977272,3.1176793909e-05,-0.0002088001207,-2.97893307992e-05,1793254769417550080
+72,1.200000000,BASELINE,785,760.214153644,738,723,688,651.214153644,919,801,838,658,636,657,0.400936498117,-0.0154551320979,0.0499336236971,0.999999977485,2.93869186764e-05,-0.000208109006882,-2.928427239e-05,1793254769434216704
+73,1.216666667,BASELINE,785.362180987,760.362180987,738,723,688,651,919,801,838,658,636,657,0.400936666365,-0.0154553214525,0.0499336052065,0.999999977492,3.02028921036e-05,-0.000207995585922,-2.89953219154e-05,1793254769450883328
+74,1.233333333,BASELINE,785.93742418,760.93742418,738,723,688,651,919,801,838,658,636,657,0.400936776724,-0.0154550523345,0.0499333017989,0.999999977376,3.25518226e-05,-0.000208222007567,-2.88335024774e-05,1793254769467549952
+75,1.250000000,BASELINE,785.488373054,761,738,723,688,651.511626946,919,801,838,657.488373054,636,657,0.400935487359,-0.0154536718572,0.0499324153673,0.999999977018,3.22434504557e-05,-0.000209909398033,-2.93684322504e-05,1793254769484216576
+76,1.266666667,BASELINE,785.085852392,760.914147608,738,723,688,652,919,801,838,657.085852392,636,657,0.40093455146,-0.0154525726203,0.0499318229782,0.99999997679,3.14318367561e-05,-0.000211044930659,-2.98555667639e-05,1793254769500883200
+77,1.283333333,BASELINE,785.660930743,760.339069257,738,723,688,652,919,801,838,657.660930743,636,657,0.400936603347,-0.0154538490244,0.0499333116995,0.999999977488,2.96008090958e-05,-0.000208019550465,-2.95857186761e-05,1793254769517550080
+78,1.300000000,BASELINE,786,760.24462691,738,723,688,652,919,801,838,658,636,656.75537309,0.40093703906,-0.0154554122567,0.0499336131743,0.99999997767,2.80468813204e-05,-0.000207405907785,-2.92723521121e-05,1793254769534216960
+79,1.316666667,BASELINE,786,760.84070406,738,723,688,652,919,801,838,658,636,656.15929594,0.400935152852,-0.0154573875688,0.0499322089574,0.999999977117,2.68910571701e-05,-0.000210257156973,-2.88964635092e-05,1793254769550883584
+80,1.333333333,BASELINE,785.579094924,760.579094924,738,723,688,651.579094924,919,801,838,658,635.579094924,656.420905076,0.400935674675,-0.0154563425347,0.0499326903517,0.999999977249,2.93680853656e-05,-0.000209294640528,-2.89022353043e-05,1793254769567550208
+81,1.350000000,BASELINE,785.004683954,760.004683954,738,723,688,651.004683954,919,801,838,658,635.004683954,656.995316046,0.400937074717,-0.0154541959674,0.0499338594363,0.999999977616,3.31700303714e-05,-0.000206941227553,-2.90472002599e-05,1793254769584216832
+82,1.366666667,BASELINE,785,760.585558193,738,723,688,651,919,801,838,658,635.585558193,657,0.400937280397,-0.0154537010189,0.0499336035045,0.999999977512,3.36875124603e-05,-0.000207320528334,-2.93042655102e-05,1793254769600883200
+83,1.383333333,BASELINE,785,761,738,723,687.827586755,651,919,801,838,658,636,657,0.400937346418,-0.0154537916529,0.0499334102846,0.999999977434,3.35013684736e-05,-0.000207715101053,-2.94005855344e-05,1793254769617550080
+84,1.400000000,BASELINE,785,761,738,723,687.249017216,651,919,801,838,658,636,657,0.400937106573,-0.0154552297645,0.049933392395,0.999999977422,3.17212938607e-05,-0.000208092724973,-2.9116064755e-05,1793254769634216960
+85,1.416666667,BASELINE,785,761,738,723,687.327691207,651,919,801,838,658,636,657,0.400937386505,-0.0154561614047,0.0499337970516,0.99999997765,2.94011668319e-05,-0.00020736327386,-2.89181730122e-05,1793254769650883584
+86,1.433333333,BASELINE,785,761,738,723,687.902993295,651,919,801,838,658,636,657,0.400938059191,-0.0154567103437,0.0499345209936,0.999999978054,2.66729641034e-05,-0.000205797291818,-2.87857401435e-05,1793254769667550464
+87,1.450000000,BASELINE,785.478793972,760.521206028,738,723,688,651,918.521206028,801,838,657.521206028,635.521206028,657,0.400937367297,-0.0154556177594,0.0499338845263,0.999999977792,2.81845331509e-05,-0.000206838467975,-2.89651879954e-05,1793254769684216832
+88,1.466666667,BASELINE,786,760.056151491,738,723,688,651,918.056151491,801,838,657.056151491,635.056151491,657,0.400936440659,-0.0154543757804,0.0499330689948,0.999999977421,3.03520790028e-05,-0.000208292435417,-2.91771888423e-05,1793254769700883200
+89,1.483333333,BASELINE,786,760.647380859,738,723,688,651,918.647380859,801,838,657.647380859,635.647380859,657,0.400935914407,-0.0154548827417,0.049933176372,0.999999977344,3.05764015363e-05,-0.000208641149192,-2.90966257172e-05,1793254769717550080
+90,1.500000000,BASELINE,786,761,738,723,688,651.233684312,919,801,838,658,636,657,0.400935496253,-0.0154551845632,0.0499331241638,0.999999977261,3.08392689809e-05,-0.000208997649228,-2.91127784769e-05,1793254769734216704
+91,1.516666667,BASELINE,786,761,738,723,688,651.812708179,919,801,838,658,636,657,0.400935237848,-0.0154551832284,0.0499328361194,0.999999977169,3.11590982196e-05,-0.000209365655801,-2.92718583416e-05,1793254769750883328
+92,1.533333333,BASELINE,785.611934686,761,738,723,688,652,919,801,838,658,636,657,0.400935218092,-0.0154555593442,0.0499328927396,0.999999977247,3.00307108163e-05,-0.000209179570107,-2.91217923953e-05,1793254769767550208
+93,1.550000000,BASELINE,785.03833061,761,738,723,688,652,919,801,838,658,636,657,0.400935312437,-0.0154561159238,0.049933114148,0.999999977403,2.82099133914e-05,-0.000208728566171,-2.8823920078e-05,1793254769784216832
+94,1.566666667,BASELINE,785,761,738,722.461714708,688,652,919,801,838,657.461714708,636,657,0.400936169648,-0.0154554430218,0.0499336389267,0.99999997753,2.85916199252e-05,-0.000208050505934,-2.89437562623e-05,1793254769800883712
+95,1.583333333,BASELINE,785,761,738,722.11814284,688,651.88185716,919,801,838,657.11814284,636,657,0.400936927,-0.015455003329,0.0499339842466,0.999999977619,2.89501362804e-05,-0.000207556684502,-2.90402497763e-05,1793254769817550336
+96,1.600000000,BASELINE,785,761,738,722.710137241,688,651.289862759,919,801,838,657.710137241,636,657,0.400937064726,-0.0154558521237,0.049933522655,0.999999977569,2.85830518193e-05,-0.000207867028147,-2.8923148172e-05,1793254769834216704
+97,1.616666667,BASELINE,785,761,738,723,688,651.294777752,919,801,838,658,636,657,0.400936213111,-0.0154562349268,0.0499326828031,0.999999977348,2.8770667348e-05,-0.000208920340933,-2.8772089052e-05,1793254769850883328
+98,1.633333333,BASELINE,785,761,738,723,688,651.872362962,919,801,838,658,636,657,0.400934412329,-0.0154561706613,0.0499314800514,0.999999976962,2.94904577117e-05,-0.000210686452459,-2.85884513655e-05,1793254769867549952
+99,1.650000000,BASELINE,785,760.55092216,738,723,688,651.55092216,919,801,838,658,636,657,0.400934889049,-0.0154558482766,0.0499317204719,0.99999997716,2.92940651414e-05,-0.000209744657089,-2.87758993229e-05,1793254769884216576
+100,1.666666667,BASELINE,785,760.026054186,738,723,688,651,919,801,838,658,636,657,0.400935988979,-0.0154554484989,0.0499323461519,0.999999977499,2.89517790814e-05,-0.000208134654331,-2.90572471732e-05,1793254769900883200
+101,1.683333333,BASELINE,785,760.613993931,738,723,688,651,919,801,838,658,636,657,0.400936596119,-0.0154549587442,0.0499324515297,0.99999997732,3.10680343219e-05,-0.000208680090258,-2.90934718889e-05,1793254769917550080
+102,1.700000000,BASELINE,785,761,738,723,688,651,919,801,838,657.801058956,636,657,0.400936220834,-0.015454950704,0.0499323060067,0.999999977122,3.14248401689e-05,-0.000209559577334,-2.92210518569e-05,1793254769934217216
+103,1.716666667,BASELINE,785,761,738,723,688,651,919,801,838,657.221832468,636,657,0.400933967596,-0.0154558634843,0.0499316808751,0.999999976884,2.8418373028e-05,-0.0002110776193,-2.95232618109e-05,1793254769950883840
+104,1.733333333,BASELINE,785,761,738,723,688,651.35503396,919,801,838.35503396,657.35503396,636,656.64496604,0.400933733156,-0.0154562849533,0.0499318251595,0.999999976971,2.62223053017e-05,-0.000210960044065,-2.94177736616e-05,1793254769967550464
+105,1.750000000,BASELINE,785,761,738,723,688,651.930435569,919,801,838.930435569,657.930435569,636,656.069564431,0.400934751774,-0.0154564014682,0.0499324470162,0.999999977263,2.45292477949e-05,-0.000209827250272,-2.90592295453e-05,1793254769984216832
+106,1.766666667,BASELINE,785,760.493910224,738,723,688,651.493910224,918.493910224,801,838.493910224,657.493910224,636,656.506089776,0.400935292932,-0.0154559056658,0.0499327576711,0.999999977334,2.89397930811e-05,-0.000208959079537,-2.8810348377e-05,1793254770000883712
+107,1.783333333,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,657,636,657,0.400937053866,-0.0154553875307,0.0499348168903,0.999999977773,2.83462461202e-05,-0.000206956406267,-2.86312760508e-05,1793254770043438592
+108,1.800000000,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,657.579320692,636,657,0.400935836558,-0.0154558568397,0.0499331272527,0.999999977464,2.7478312558e-05,-0.0002085000187,-2.90591718648e-05,1793254770060105984
+109,1.816666667,POSE1_TO_POSE2_PRESS,785,760.842640974,738.157359026,723,687.842640974,651,919,801,838,658,636,657.157359026,0.400934909345,-0.0154559557434,0.0499319078574,0.999999977183,2.77329830338e-05,-0.000209770691568,-2.93379468204e-05,1793254770076773120
+110,1.833333333,POSE1_TO_POSE2_PRESS,785,760.268003022,738.731996978,723,687.268003022,651,919,801,838,658,636,657.731996978,0.400934751395,-0.0154550724198,0.0499319354325,0.999999976977,3.09645337638e-05,-0.000210317593588,-2.92212886165e-05,1793254770093440256
+111,1.850000000,POSE1_TO_POSE2_PRESS,785,760.312241631,738.687758369,723,687.312241631,651.312241631,919,801,838.312241631,657.687758369,636,657.687758369,0.400936064595,-0.0154549763174,0.0499327040383,0.999999977132,3.17966761152e-05,-0.000209487838084,-2.89928874846e-05,1793254770110106368
+112,1.866666667,POSE1_TO_POSE2_PRESS,785,760.897386579,738.102613421,723,687.897386579,651.897386579,919,801,838.897386579,657.102613421,636,657.102613421,0.400938663602,-0.0154555682566,0.0499341203146,0.999999977604,3.05317035971e-05,-0.000207454865655,-2.86668215618e-05,1793254770126772224
+113,1.883333333,POSE1_TO_POSE2_PRESS,785,760.521309645,738,723,688,651.521309645,919,801,838.521309645,657,636,657,0.400940752113,-0.0154562562937,0.0499343591476,0.999999977984,3.01684109041e-05,-0.000205657082507,-2.87711551776e-05,1793254770143438592
+114,1.900000000,POSE1_TO_POSE2_PRESS,785,760,738,723,687.941058065,651,919,801.058941935,838,657.058941935,635.941058065,657,0.400944016721,-0.0154568501568,0.0499348223924,0.99999997854,2.99301233482e-05,-0.000202944860064,-2.89238296252e-05,1793254770160105216
+115,1.916666667,POSE1_TO_POSE2_PRESS,785,760,738,723,687.362879684,651,919,801.637120316,838,657.637120316,635.362879684,657,0.400958598232,-0.0154564343885,0.0499394683089,0.999999980783,2.91038787806e-05,-0.000191736486749,-2.86960627748e-05,1793254770176771840
+116,1.933333333,POSE1_TO_POSE2_PRESS,785,760.213510259,738.213510259,723,687.213510259,651.213510259,919,801.786489741,838,658,635.213510259,657,0.400977559983,-0.0154570515094,0.0499446161233,0.999999983268,2.83880298943e-05,-0.000178499813028,-2.81977444199e-05,1793254770193438464
+117,1.950000000,POSE1_TO_POSE2_PRESS,785,760.786885783,738.786885783,723,687.786885783,651.786885783,919,801.213114217,838,658,635.786885783,657,0.401003904499,-0.0154594095346,0.0499506098715,0.999999986144,2.78582497665e-05,-0.000161844499737,-2.72434194809e-05,1793254770210105600
+118,1.966666667,POSE1_TO_POSE2_PRESS,785,761,738.628402653,723,687.628402653,651.628402653,919,801,838,657.628402653,636,657,0.401038607003,-0.0154620978717,0.0499556717228,0.999999989118,2.62820912544e-05,-0.000142705078926,-2.66039346728e-05,1793254770226772224
+119,1.983333333,POSE1_TO_POSE2_PRESS,785,761,738.036985145,723,687.036985145,651.036985145,919,801,838,657.036985145,636,657,0.401078253715,-0.0154649816064,0.0499601823066,0.999999991914,2.40869426262e-05,-0.000122096170993,-2.61506949288e-05,1793254770243439104
+120,2.000000000,POSE1_TO_POSE2_PRESS,785,760.457181113,738,723,687.542818887,651,919,801,838,657,635.457181113,657,0.401132418338,-0.0154658791103,0.0499649738847,0.999999994435,2.50556959047e-05,-9.90445200619e-05,-2.63292366749e-05,1793254770260105472
+121,2.016666667,POSE1_TO_POSE2_PRESS,785,760,738,723,687.878955086,651.121044914,919,801,838.121044914,657.121044914,635.121044914,657,0.401188148847,-0.0154671640768,0.0499684104386,0.999999995981,2.58478004035e-05,-8.16883375606e-05,-2.64013953986e-05,1793254770276772096
+122,2.033333333,POSE1_TO_POSE2_PRESS,785,760,738,723,687.303742888,651.696257112,919,801,838.696257112,657.696257112,635.696257112,657,0.401246120938,-0.0154703999642,0.0499666925368,0.999999995622,2.51852078834e-05,-8.63132649807e-05,-2.59162689388e-05,1793254770293438720
+123,2.050000000,POSE1_TO_POSE2_PRESS,785,760,738,723,687.270572645,651.729427355,919,801,838.729427355,658,636,657,0.401315296194,-0.0154751770621,0.0499665407913,0.999999995615,2.29007778939e-05,-8.72273249684e-05,-2.52310190047e-05,1793254770310105088
+124,2.066666667,POSE1_TO_POSE2_PRESS,785,760,738,723,687.843884882,651.156115118,919,801,838.156115118,658,636,657,0.401397006495,-0.0154816785966,0.0499681413943,0.999999996,1.88016988265e-05,-8.39893519143e-05,-2.43218540076e-05,1793254770326771968
+125,2.083333333,POSE1_TO_POSE2_PRESS,785,760.431769143,738,723,688,651,919,801,838,657.568230857,636,657,0.401498182804,-0.01548662308,0.0499699380827,0.999999996258,1.81744005462e-05,-8.12041685572e-05,-2.36418176812e-05,1793254770343438592
+126,2.100000000,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651.024426567,919,801,838,657.024426567,635.975573433,657,0.401607764927,-0.0154911701801,0.0499717941748,0.999999996475,1.8582043058e-05,-7.85716579095e-05,-2.30375026951e-05,1793254770360105472
+127,2.116666667,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651.601700893,919,801,838,657.601700893,635.398299107,657,0.401742733146,-0.0154999103942,0.0499733340502,0.999999996814,1.30100513694e-05,-7.55597901622e-05,-2.2206436304e-05,1793254770376772352
+128,2.133333333,POSE1_TO_POSE2_PRESS,785,760.821194082,738,723,688,651.821194082,919,801,838,657.821194082,635.178805918,657,0.401884016372,-0.015508694791,0.0499734910792,0.999999996871,8.29046754129e-06,-7.5780218085e-05,-2.11399348892e-05,1793254770393438976
+129,2.150000000,POSE1_TO_POSE2_PRESS,785,760.244465901,738,723,688,651.244465901,919,801,838,657.244465901,635.755534099,657,0.402039353266,-0.0155175775125,0.049970570663,0.999999996333,5.46786901308e-06,-8.31939340952e-05,-1.95494865126e-05,1793254770410105600
+130,2.166666667,POSE1_TO_POSE2_PRESS,785,760.338863593,738.338863593,723,688,651,919,801,838,657.338863593,636,657,0.402216448582,-0.0155285914097,0.0499687261069,0.999999996073,-8.76805438319e-07,-8.67372898794e-05,-1.81887214373e-05,1793254770426772224
+131,2.183333333,POSE1_TO_POSE2_PRESS,785,760.927050141,738.927050141,723,688,651,919,801,838,657.927050141,636,657,0.402409552933,-0.0155411733461,0.0499676731274,0.999999995985,-9.81288982492e-06,-8.74329824349e-05,-1.6996948442e-05,1793254770443438592
+132,2.200000000,POSE1_TO_POSE2_PRESS,785,761,738.492805483,723,688,651,919,801,838,657.492805483,636,657,0.402637267927,-0.0155511221807,0.049969444896,0.999999996223,-1.42042787217e-05,-8.4369248782e-05,-1.52812152052e-05,1793254770460104960
+133,2.216666667,POSE1_TO_POSE2_PRESS,785,760.91426341,738,723,688,651,919,801,838.08573659,657.08573659,636,657,0.402877610235,-0.0155607360331,0.0499728659252,0.999999996724,-1.73688429538e-05,-7.79359362736e-05,-1.32808697241e-05,1793254770476771584
+134,2.233333333,POSE1_TO_POSE2_PRESS,785,760.338371786,738,723,688,651,919,801,838.661628214,657.661628214,636,657,0.403162127584,-0.0155705661398,0.0499834292921,0.999999998273,-1.71983277266e-05,-5.52818130252e-05,-1.00775134425e-05,1793254770493438208
+135,2.250000000,POSE1_TO_POSE2_PRESS,785,760.237563024,738,723,688,651,919,801,838.762436976,658,636,657,0.403459857764,-0.0155763621108,0.0499926768363,0.99999999927,-1.26723393767e-05,-3.53806625446e-05,-6.95301262738e-06,1793254770510105088
+136,2.266666667,POSE1_TO_POSE2_PRESS,785,760.813559322,738,723,688,651,919,801,838.186440678,658,636,657,0.403776410982,-0.0155764110347,0.0500000498534,0.999999999802,-1.94152588551e-06,-1.94014099182e-05,-3.94084983395e-06,1793254770526772224
+137,2.283333333,POSE1_TO_POSE2_PRESS,785,761,738,723,687.600545737,651,919,801,838,658,636,657,0.404123044713,-0.015572507142,0.0500041982766,0.999999999874,1.28583567846e-05,-9.13221860069e-06,-1.87387329647e-06,1793254770543438848
+138,2.300000000,POSE1_TO_POSE2_PRESS,785,761,738,723,687.009913339,651,919,801,838,658,636,657,0.404484074918,-0.0155667114379,0.0500068034144,0.99999999956,2.96056887762e-05,-1.59585343396e-06,-2.59261390105e-07,1793254770560105216
+139,2.316666667,POSE1_TO_POSE2_PRESS,785,761,738,723,687.568209642,651,919,801,838.568209642,658,636,657,0.404878907721,-0.0155706198901,0.0500086540957,0.999999999944,8.8506947902e-06,5.07964374539e-06,2.71544746182e-06,1793254770576771840
+140,2.333333333,POSE1_TO_POSE2_PRESS,785,761,738,722.854537214,688,651.145462786,919,801,838.854537214,658,636,657,0.4052747569,-0.0155740843647,0.0500046637014,0.999999999978,-4.16803917104e-06,6.21539682734e-08,5.24901664681e-06,1793254770593438464
+141,2.350000000,POSE1_TO_POSE2_PRESS,785,761,738,722.279223554,688,651.720776446,919,801,838.279223554,658,636,657,0.40567190428,-0.0155757473309,0.0499834506518,0.999999999172,7.56613486485e-06,-3.94653572982e-05,6.4103819234e-06,1793254770610105088
+142,2.366666667,POSE1_TO_POSE2_PRESS,785,761,738.296441404,722.296441404,688,651.703558596,919,801,838.296441404,657.703558596,636,657,0.406098750627,-0.0155750695432,0.0499663541604,0.999999997204,2.48668371726e-05,-7.00964293723e-05,7.73168655314e-06,1793254770626771456
+143,2.383333333,POSE1_TO_POSE2_PRESS,785,761,738.872437716,722.872437716,688,651.127562284,919,801,838.872437716,657.127562284,636,657,0.406553604217,-0.0155721843405,0.049953139729,0.99999999457,4.74169772709e-05,-9.23378438426e-05,9.20381988468e-06,1793254770643438336
+144,2.400000000,POSE1_TO_POSE2_PRESS,785,761,738.539399852,722.539399852,688,651.460600148,919,801,839,657.460600148,636,657,0.407060365949,-0.0155708058441,0.0499463756372,0.999999992258,6.91101608658e-05,-0.000102816630212,1.16551415545e-05,1793254770660104960
+145,2.416666667,POSE1_TO_POSE2_PRESS,785,761,738,722,687.949027211,651.949027211,919,801,839,657.949027211,636,657,0.407588711404,-0.0155696088561,0.0499441466972,0.999999990267,9.09580030556e-05,-0.000104797611717,1.44898120372e-05,1793254770676771840
+146,2.433333333,POSE1_TO_POSE2_PRESS,785,761,738,722,687.371571102,651.371571102,919,801,839,657.371571102,636,657,0.408187476815,-0.0155658597274,0.0499698081476,0.999999991561,0.000116921127626,-5.35672542495e-05,1.84070087632e-05,1793254770693438464
+147,2.450000000,POSE1_TO_POSE2_PRESS,785,761,738.203399831,722,687,651,919,801.203399831,839,657.203399831,636,657,0.408793866351,-0.0155596496342,0.0499927144568,0.999999989463,0.000143096033288,-1.06604849458e-05,2.19959377449e-05,1793254770710105344
+148,2.466666667,POSE1_TO_POSE2_PRESS,785,761,738.773885604,722,687,651,919,801.773885604,839,657.773885604,636,657,0.409414015495,-0.0155489981142,0.0500106484222,0.999999985148,0.000169653149875,1.72242812944e-05,2.49924251918e-05,1793254770726771968
+149,2.483333333,POSE1_TO_POSE2_PRESS,785,761,739,722.357207286,687,651,919,801.642792714,839,658,636,657,0.410025700234,-0.0155414531053,0.0500120407771,0.999999982464,0.000184839013316,1.41063943023e-05,2.65963509512e-05,1793254770743438336
+150,2.500000000,POSE1_TO_POSE2_PRESS,785,761,739,722.948957007,687,651,919,801.051042993,839,658,636,657,0.410631827218,-0.015535947833,0.0500025719037,0.999999981044,0.000192558506744,-9.36784729465e-06,2.7285920081e-05,1793254770760105216
+151,2.516666667,POSE1_TO_POSE2_PRESS,785,761,738.470395368,723,687,651.529604632,919,801,839,658,636,657,0.41127943577,-0.0155364634985,0.0499709368193,0.999999980563,0.000180387065768,-7.6351789872e-05,2.24647486979e-05,1793254770776771840
+152,2.533333333,POSE1_TO_POSE2_PRESS,785,761,738,722.891489007,687,652,919,801,839,658,636,656.891489007,0.411952359343,-0.0155386025538,0.0499475611702,0.999999977797,0.000169719188363,-0.000123499124381,1.87030622723e-05,1793254770793438720
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+154,2.566666667,POSE1_TO_POSE2_PRESS,785,761,738.25996993,722,687.25996993,652,919,801,839,658,636,656.25996993,0.4134832121,-0.0155503031569,0.0499856767346,0.999999983635,0.00017646077155,-3.14655508822e-05,2.45116412138e-05,1793254770826772224
+155,2.583333333,POSE1_TO_POSE2_PRESS,785,761,738.835046509,722,687.835046509,652,919,801,839,658,636,656.835046509,0.41424975682,-0.0155533004658,0.0499973473281,0.999999983598,0.000178029991871,-1.96015702423e-05,2.69414671784e-05,1793254770843438592
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+157,2.616666667,POSE1_TO_POSE2_PRESS,785,760.987891985,738.987891985,722,687.987891985,652,919,801,839,657.012108015,636,657,0.415736206242,-0.0155505455543,0.0499446964433,0.999999977877,0.000178431450106,-0.000109029435524,2.28325976094e-05,1793254770876772096
+158,2.633333333,POSE1_TO_POSE2_PRESS,785,760.404939008,738.404939008,722,687.404939008,652,919,801,839,657.595060992,636,657,0.41655784994,-0.015553805882,0.0499452611986,0.999999979161,0.000176120778562,-0.000100389153658,2.41313189301e-05,1793254770893438720
+159,2.650000000,POSE1_TO_POSE2_PRESS,785,760.174164099,738.174164099,722,687,652,919,801,839,658,636,657,0.417404816491,-0.0155573214455,0.0499549181644,0.999999981402,0.000174372049585,-7.81602775444e-05,2.61202125257e-05,1793254770910105088
+160,2.666666667,POSE1_TO_POSE2_PRESS,785,760.744509643,738.744509643,722,687,652,919,801,839,658,636,657,0.418309386394,-0.0155614176092,0.0499852577226,0.999999984126,0.00017390160467,-2.50206173593e-05,2.9679081969e-05,1793254770926771712
+161,2.683333333,POSE1_TO_POSE2_PRESS,785.318710728,761,739,721.681289272,687,652,919,801,839,658,636,657,0.419173670961,-0.0155628190554,0.0499879985988,0.999999983948,0.000174396926836,-2.71910706756e-05,3.08252546417e-05,1793254770943438592
+162,2.700000000,POSE1_TO_POSE2_PRESS,785.896040379,761,739,721.103959621,687,652,919,801,839,658,636,657,0.420005265809,-0.0155620338635,0.0499683444275,0.999999981363,0.000175675924052,-7.42431094076e-05,3.00136360024e-05,1793254770960105728
+163,2.716666667,POSE1_TO_POSE2_PRESS,785.516779527,761,739,721,687,652,919,801,839.483220473,658,636,657,0.420918199159,-0.0155621682632,0.0499795270077,0.999999982734,0.000179685909291,-3.6107530174e-05,3.06852223351e-05,1793254770976772096
+164,2.733333333,POSE1_TO_POSE2_PRESS,785.071315674,761,739,721.071315674,687,652,919,801,839.928684326,657.928684326,636.071315674,657,0.421851216099,-0.0155626857437,0.0499965606579,0.99999998246,0.000183930241418,1.54420015169e-05,3.18019652144e-05,1793254770993438720
+165,2.750000000,POSE1_TO_POSE2_PRESS,785.650521186,761,739,721.650521186,687,652,919,801,839.349478814,657.349478814,636.650521186,657,0.422800045294,-0.0155644931359,0.0500070339651,0.999999981783,0.000185572145318,2.92848084657e-05,3.37691906123e-05,1793254771010105088
+166,2.766666667,POSE1_TO_POSE2_PRESS,786,761,738.772685317,721.772685317,687,652,919,801,839.227314683,657.227314683,636.772685317,657,0.423733133,-0.0155669600924,0.0500071855536,0.999999982101,0.00018391419331,2.79561460684e-05,3.45360509807e-05,1793254771026771968
+167,2.783333333,POSE1_TO_POSE2_PRESS,786,761,738.199561085,721.199561085,687,652,919,801,839.800438915,657.800438915,636.199561085,657,0.424642273617,-0.0155704304319,0.0499916349074,0.999999983727,0.000177236232832,3.54741502976e-06,3.34768189155e-05,1793254771043438592
+168,2.800000000,POSE1_TO_POSE2_PRESS,785.615643338,761,738.384356662,721,687,652,919,801,840,658,636.384356662,657,0.425573472533,-0.0155739917565,0.0500008178315,0.999999984502,0.000172282521704,1.11962885148e-05,3.44828426982e-05,1793254771060104960
+169,2.816666667,POSE1_TO_POSE2_PRESS,785.025959624,761,738.974040376,721,687,652,919,801,840,658,636.974040376,657,0.426516455152,-0.0155776016862,0.0500232136695,0.99999998453,0.000168249921631,3.59706463109e-05,3.65921462125e-05,1793254771076771840
+170,2.833333333,POSE1_TO_POSE2_PRESS,785.554808631,761,738.445191369,721,687,652,919,801,839.445191369,658,636.445191369,657,0.427417882694,-0.0155724250852,0.0500028235537,0.999999983473,0.000176774198702,-2.12959215479e-05,3.6750175311e-05,1793254771093438464
+171,2.850000000,POSE1_TO_POSE2_PRESS,785.865790895,761.134209105,738,720.865790895,687,652,919,801,839.134209105,658,636,657,0.428338059676,-0.0155673496859,0.049982606053,0.999999979835,0.000185576562367,-6.75551436929e-05,3.64397149009e-05,1793254771110105344
+172,2.866666667,POSE1_TO_POSE2_PRESS,785.28954321,761.71045679,738,720.28954321,687,652,919,801,839.71045679,658,636,657,0.429326293626,-0.0155639402947,0.0499694465875,0.999999978572,0.000193390302209,-6.51165140591e-05,3.48821685711e-05,1793254771126772224
+173,2.883333333,POSE1_TO_POSE2_PRESS,785.291325007,761.708674993,738.291325007,720,687,652,919,801,840,657.708674993,636,657,0.430284091367,-0.0155627653142,0.0499630444316,0.999999978207,0.000195893498966,-6.35335269561e-05,3.42791544027e-05,1793254771143438848
+174,2.900000000,POSE1_TO_POSE2_PRESS,785.87685947,761.12314053,738.87685947,720,687,652,919,801,840,657.12314053,636,657,0.431211151488,-0.0155638468677,0.0499634664909,0.999999978796,0.00019303357177,-6.28146543666e-05,3.4640123443e-05,1793254771160105216
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+177,2.950000000,POSE1_TO_POSE2_PRESS,786,762,738.61472844,720,687,652,919,801,840,657.61472844,636.38527156,657,0.434045955999,-0.0155677310977,0.0499689942858,0.99999997984,0.000191152856687,-4.95918951139e-05,3.63470115555e-05,1793254771210104832
+178,2.966666667,POSE1_TO_POSE2_PRESS,786,761.807900049,738.807900049,720,687,652,919,801,840,657.807900049,636.192099951,657.192099951,0.434997040851,-0.0155685458307,0.0499849716514,0.999999979627,0.000195437656978,-3.28223912253e-05,3.83677075089e-05,1793254771226771456
+179,2.983333333,POSE1_TO_POSE2_PRESS,786,761.233847851,738.233847851,720,687,652,919,801,840,657.233847851,636.766152149,657.766152149,0.435900005971,-0.0155643945437,0.0499759225521,0.999999976309,0.000203136223541,-6.82173176886e-05,3.82728810842e-05,1793254771243438336
+180,3.000000000,POSE1_TO_POSE2_PRESS,786.348637454,761.348637454,738.348637454,719.651362546,687,652,919,801,840,657.348637454,637,657.651362546,0.436798253765,-0.0155617221634,0.0499670287538,0.999999975039,0.000203324499272,-8.48034168192e-05,3.72690507683e-05,1793254771260105216
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+182,3.033333333,POSE1_TO_POSE2_PRESS,787,762,738.480607489,719.519392511,687,652,919,801,840.519392511,658,637,657.519392511,0.438611922828,-0.0155619535497,0.0499738469425,0.999999978558,0.000196478740314,-5.38890370582e-05,3.71070514981e-05,1793254771293438464
+183,3.050000000,POSE1_TO_POSE2_PRESS,787,761.899796911,738,719.899796911,687,652,919,801,841,657.899796911,637,657.899796911,0.439520314493,-0.0155631261073,0.0499862484365,0.999999979534,0.000196849152419,-2.63750014662e-05,3.85483074632e-05,1793254771310104832
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+187,3.116666667,POSE1_TO_POSE2_PRESS,787,761.590813391,739,719,687,652,919,801,840,658,636.590813391,657,0.44292200356,-0.0155579255401,0.0499964869831,0.999999976405,0.000213270066294,-3.37344316838e-06,4.11625080538e-05,1793254771376772096
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+191,3.183333333,POSE1_TO_POSE2_PRESS,786.267400949,761.267400949,739,719,686.732599051,652,918.267400949,801,840,658,636,657,0.445866723876,-0.015569440069,0.049903456913,0.999999972102,0.000189413828808,-0.000136977942541,3.39825432968e-05,1793254771443438592
+192,3.200000000,POSE1_TO_POSE2_PRESS,786.315469796,761.315469796,739,718.684530204,687,652,918.315469796,801,840,657.684530204,636,657,0.446583231213,-0.0155762640909,0.0498946352887,0.99999997371,0.000179389203899,-0.000138870806882,3.33932385697e-05,1793254771460105216
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+205,3.416666667,POSE1_TO_POSE2_PRESS,787,762,739,717.133516163,686,650.133516163,918,799,841,658,634.133516163,657,0.453572109016,-0.0156078931057,0.0497630928044,0.999999918543,0.000136303745279,-0.000378965201743,2.68406128768e-05,1793254771676772096
+206,3.433333333,POSE1_TO_POSE2_PRESS,787,762,739,717.448163475,686,650,918,799,841,658,634,657,0.453956225781,-0.0156100188014,0.0497636410545,0.999999920437,0.000134739329638,-0.000374491561516,2.69639257777e-05,1793254771693438720
+207,3.450000000,POSE1_TO_POSE2_PRESS,787,762,739,717.972041275,686,650,918.027958725,799,840.972041275,658,634,657.027958725,0.454323067967,-0.0156130351234,0.0497606904687,0.999999920461,0.000132123856129,-0.00037535915616,2.69646678049e-05,1793254771710105600
+208,3.466666667,POSE1_TO_POSE2_PRESS,787,762,739,717.396449786,686,650,918.603550214,799,840.396449786,658,634,657.603550214,0.454619478956,-0.0156178218935,0.0497417851564,0.999999909216,0.000126606062523,-0.000405994873715,2.65991636826e-05,1793254771726772224
+209,3.483333333,POSE1_TO_POSE2_PRESS,787,762,739,717,686,650,918.820941089,799,840,658,634,657.820941089,0.454898288099,-0.0156194695737,0.0497176022157,0.999999893238,0.000123312927704,-0.000444615121713,2.51882180705e-05,1793254771743438592
+210,3.500000000,POSE1_TO_POSE2_PRESS,787,762,739,717,686,650,918.245615693,799,840,658,634,657.245615693,0.455138143421,-0.0156141702873,0.0496817396171,0.999999866511,0.000124943076752,-0.000500905537875,2.14636572572e-05,1793254771760104960
+211,3.516666667,POSE1_TO_POSE2_PRESS,787,762,739,717,686,650,918,799,840.338297612,657.661702388,633.661702388,657,0.455376546608,-0.0156118445089,0.0496595380263,0.999999848753,0.00012588071699,-0.000535041753928,1.94541248181e-05,1793254771776771584
+212,3.533333333,POSE1_TO_POSE2_PRESS,787,762,739,717,686,650,918,799,840.928608499,657.071391501,633.071391501,657,0.455613868059,-0.0156117338314,0.0496475131377,0.999999839124,0.000126302476275,-0.000552674305441,1.872219465e-05,1793254771793437952
+213,3.550000000,POSE1_TO_POSE2_PRESS,787,762,739,717,686,650,918,799,841,657.509061551,633,657,0.455837416704,-0.0156141779178,0.0496516996098,0.999999843136,0.000121899269134,-0.000546350323012,1.92097983695e-05,1793254771810104832
+214,3.566666667,POSE1_TO_POSE2_PRESS,786.912625416,761.912625416,739,717,686,650,918,799,841,658,633,657,0.456052625537,-0.0156169341541,0.0496572264203,0.999999848135,0.000117260638835,-0.000538133591919,1.98227842023e-05,1793254771826771712
+215,3.583333333,POSE1_TO_POSE2_PRESS,786.338677022,761.338677022,739,717,686,650,918,799,841,658,633,657,0.456231943449,-0.0156194713835,0.0496577971131,0.999999848605,0.00011500759363,-0.000537730617316,2.01996632291e-05,1793254771843438592
+216,3.600000000,POSE1_TO_POSE2_PRESS,786,761.236422332,739,717,686,650,918,798.763577668,840.763577668,658,633,657,0.456397804186,-0.0156210305936,0.0496576180543,0.99999984849,0.000113667595657,-0.000538229621841,2.01998853911e-05,1793254771860105472
+217,3.616666667,POSE1_TO_POSE2_PRESS,786,761.813178479,739,717,686,650,918,798.186821521,840.186821521,658,633,657,0.456544293088,-0.0156211819289,0.0496563597159,0.999999847535,0.000113641944248,-0.000540027040109,1.96579038116e-05,1793254771876771840
+218,3.633333333,POSE1_TO_POSE2_PRESS,786.400324714,761.599675286,739,717.400324714,686,650,918,798,840.400324714,657.599675286,633,657,0.456673179927,-0.0156205926474,0.0496531417593,0.99999984524,0.000113546466933,-0.000544296608038,1.92050167905e-05,1793254771893438208
+219,3.650000000,POSE1_TO_POSE2_PRESS,786.992448924,761.007551076,739,717.992448924,686,650,918,798,840.992448924,657.007551076,633,657,0.456793633442,-0.015619648529,0.0496489849303,0.999999842279,0.000113417535337,-0.000549750607052,1.87948158611e-05,1793254771910104832
+220,3.666666667,POSE1_TO_POSE2_PRESS,787,761.56872747,739,717.43127253,686,650,918,798,841,657.56872747,633,657,0.456882695002,-0.0156204177056,0.0496463575952,0.999999838687,0.000111124501171,-0.000556718278175,1.84849300636e-05,1793254771926771712
+221,3.683333333,POSE1_TO_POSE2_PRESS,787,761.855496575,739,717,686,650,918,798,840.855496575,658,633,657,0.456966723346,-0.0156211171689,0.0496430818258,0.999999835374,0.000109430497489,-0.000562979361846,1.82245055229e-05,1793254771943438336
+222,3.700000000,POSE1_TO_POSE2_PRESS,787,761.280608004,739,717,686,650,918,798,840.280608004,658,633,657,0.457036968602,-0.0156215430855,0.0496378159347,0.999999833041,0.000109603888844,-0.000567077728539,1.81075357664e-05,1793254771960104960
+223,3.716666667,POSE1_TO_POSE2_PRESS,787,761.300511324,739,717,686,650,918,798,840.300511324,658,633,657,0.457098446441,-0.0156213751144,0.0496338053867,0.999999831235,0.000109534161475,-0.00057027798402,1.77537961142e-05,1793254771976771584
+224,3.733333333,POSE1_TO_POSE2_PRESS,787,761.887571991,739,717,686,650,918,798,840.887571991,658,633,657,0.457151564212,-0.0156206408482,0.0496309918571,0.999999829939,0.000109232610881,-0.000572621855694,1.71742870598e-05,1793254771993438464
+225,3.750000000,POSE1_TO_POSE2_PRESS,787,762,739,717,686,650,918,798,841,658,633,657,0.457191662454,-0.0156207028516,0.0496282990504,0.999999828313,0.000106426948167,-0.000575993136236,1.67202287391e-05,1793254772010105088
+226,3.766666667,POSE1_TO_POSE2_PRESS,787,762,739,717,686,650,918,798,841,658,633,657.049635492,0.45722753727,-0.0156208735052,0.0496257262627,0.999999826623,0.000103460298413,-0.000579467577956,1.63414685359e-05,1793254772026771712
+227,3.783333333,POSE1_TO_POSE2_PRESS,787,762,739,717,686,650,918,798,841,658,633,657.626303688,0.457251313459,-0.0156201950827,0.0496241242087,0.9999998253,0.000105082468283,-0.000581453317036,1.64467019435e-05,1793254772043438080
+228,3.800000000,POSE1_TO_POSE2_PRESS,786.798141625,761.798141625,739,717,686,650,918,798,841,657.798141625,632.798141625,658,0.457272170201,-0.0156194075186,0.0496226879045,0.999999824057,0.000106180621808,-0.000583392084549,1.63134224738e-05,1793254772060104960
+229,3.816666667,POSE1_TO_POSE2_PRESS,786.224637082,761.224637082,739,717,686,650,918,798,841,657.224637082,632.224637082,658,0.457287651881,-0.0156184190111,0.0496215567663,0.999999822969,0.000106313996509,-0.000585244371497,1.57410113699e-05,1793254772076771584
+230,3.833333333,POSE1_TO_POSE2_PRESS,786.360799621,761.360799621,739,717,686,650,918,798,841,657.360799621,632.360799621,657.639200379,0.457300193451,-0.0156176231051,0.0496208687229,0.999999822776,0.000107136270184,-0.000585430861975,1.55319937e-05,1793254772093437952
+231,3.850000000,POSE1_TO_POSE2_PRESS,786.953919465,761.953919465,739,717,686,650,918,798,841,657.953919465,632.953919465,657.046080535,0.457310841873,-0.0156169512161,0.0496204659898,0.999999823157,0.000108402128472,-0.000584544739821,1.55569664398e-05,1793254772110104832
+232,3.866666667,POSE1_TO_POSE2_PRESS,787,762,739,717,686,650,918,798,841,658,633,657.532087131,0.457315546588,-0.0156170435017,0.0496204199896,0.999999822697,0.000105145076321,-0.000585929407496,1.54111367949e-05,1793254772126771712
+233,3.883333333,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649.891725143,918,797.891725143,840.891725143,657.891725143,633,657.891725143,0.457319228966,-0.0156173572386,0.049620112843,0.999999822079,0.000102272548973,-0.000587493581786,1.52667080811e-05,1793254772143438336
+234,3.900000000,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649.318630334,918,797.318630334,840.318630334,657.318630334,633,657.318630334,0.457320671871,-0.0156183453141,0.0496185556011,0.999999821148,0.000102686362122,-0.00058900720094,1.51900596407e-05,1793254772160104960
+235,3.916666667,POSE1_TO_POSE2_PRESS,786.737332618,762,739,717,686,649,918,797.262667382,840.262667382,657,633,657.262667382,0.457321696316,-0.015617868709,0.0496170954019,0.999999820257,0.000102986332475,-0.000590468980977,1.50716381292e-05,1793254772176771584
+236,3.933333333,POSE1_TO_POSE2_PRESS,786.145763465,762,739,717,686,649,918,797.854236535,840.854236535,657,633,657.854236535,0.457322196783,-0.0156155580886,0.0496157567155,0.999999819417,0.000103143753407,-0.000591865850314,1.49009100099e-05,1793254772193438208
+237,3.950000000,POSE1_TO_POSE2_PRESS,786.435413907,761.564586093,739,717,686,649.435413907,918,798,841,657.435413907,633,658,0.45732351753,-0.0156148482526,0.0496156434318,0.99999981901,0.000103213423591,-0.000592547952376,1.46390528284e-05,1793254772210104832
+238,3.966666667,POSE1_TO_POSE2_PRESS,787,761,739,717,686,649.986841176,918,798,840.986841176,658,633,657.986841176,0.457325086483,-0.0156146608696,0.0496159389678,0.999999818766,0.000103252853311,-0.000592960170482,1.43503849737e-05,1793254772226771712
+239,3.983333333,POSE1_TO_POSE2_PRESS,787,761,739,717,686,649.41057931,918,798,840.41057931,658,633,657.41057931,0.457325799705,-0.01561443285,0.0496165834443,0.999999819444,0.000103226000451,-0.000591824184406,1.4189472765e-05,1793254772243438336
+240,4.000000000,POSE1_TO_POSE2_PRESS,787,761.16537796,739,717,686,649,918,798,840.16537796,657.83462204,633,657,0.457325848936,-0.0156140764641,0.0496165444312,0.999999819475,0.000103301027799,-0.000591760757864,1.40747966379e-05,1793254772260104704
+241,4.016666667,POSE1_TO_POSE2_PRESS,787,761.740580376,739,717,686,649,918,798,840.740580376,657.259419624,633,657,0.457324252727,-0.0156134019723,0.0496148116571,0.999999817902,0.000103628525315,-0.000594355249811,1.40746985268e-05,1793254772276771584
+242,4.033333333,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649.324496417,918,797.675503583,841,657,633,657.324496417,0.457324549138,-0.0156134677012,0.0496143373099,0.999999817718,0.000103065739582,-0.000594762707768,1.41046945597e-05,1793254772293438464
+243,4.050000000,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649.915570785,918,797.084429215,841,657,633,657.915570785,0.457326400362,-0.0156141415309,0.0496148967767,0.999999818675,0.000101771574776,-0.00059337348924,1.41594133161e-05,1793254772310105088
+244,4.066666667,POSE1_TO_POSE2_PRESS,787,762,739,717,686,650,918,797.49617515,841,657.49617515,633,657.50382485,0.457326326424,-0.0156127074732,0.0496143490481,0.999999818435,0.000102705222496,-0.000593618676203,1.40615683393e-05,1793254772326771712
+245,4.083333333,POSE1_TO_POSE2_PRESS,786.925442802,762,739,717,686,649.925442802,918,798,841,658,633,657,0.457326141781,-0.0156110836397,0.0496138095165,0.999999818124,0.000103934675437,-0.000593931516044,1.39406239243e-05,1793254772343438336
+246,4.100000000,POSE1_TO_POSE2_PRESS,786.350267607,762,739,717,686,649.350267607,918,798,841,658,633,657,0.45732736794,-0.0156105441425,0.0496145639068,0.99999981868,0.000104657544129,-0.000592869817033,1.38352864932e-05,1793254772360105216
+247,4.116666667,POSE1_TO_POSE2_PRESS,786.225351831,762,739,717,686,649.225351831,918,798,841,657.774648169,633,657.225351831,0.4573287987,-0.0156104483312,0.0496155719175,0.999999819523,0.000104868873231,-0.000591409403889,1.38462727254e-05,1793254772376771840
+248,4.133333333,POSE1_TO_POSE2_PRESS,786.801663214,762,739,717,686,649.801663214,918,798,841,657.198336786,633,657.801663214,0.457330548103,-0.0156110435095,0.049616974913,0.99999982081,0.000104283538384,-0.000589328039194,1.40384196645e-05,1793254772393438720
+249,4.150000000,HOLD_POSE2,787,762,739,717,686,650,918,798,841,657,632,658,0.457329462192,-0.0156118470521,0.0496160298017,0.999999819372,0.000104016851985,-0.000591804993237,1.42342127278e-05,1793254772427409920
+250,4.166666667,HOLD_POSE2,787,762,739,717,686,650,918,798,841,657.57727294,632.57727294,657.42272706,0.457327740756,-0.0156118699278,0.0496141128889,0.999999818427,0.000103488138379,-0.000593497315532,1.40350219211e-05,1793254772444076544
+251,4.183333333,HOLD_POSE2,787,761.845292343,739,717.154707657,686,650,918,798,841,657.845292343,633,657,0.457326783928,-0.0156119045281,0.0496128084992,0.999999817769,0.00010265318481,-0.000594754563272,1.38007907732e-05,1793254772460743168
+252,4.200000000,HOLD_POSE2,787,761.267414992,739,717.732585008,686,650,918,798,841,657.267414992,633,657,0.457327918525,-0.0156119711986,0.0496131795347,0.999999817904,0.000100980577232,-0.000594821758036,1.34707142248e-05,1793254772477409024
+253,4.216666667,HOLD_POSE2,787,761.314926166,739,717.685073834,686,650,918,797.685073834,841,657.314926166,633,657,0.45732875402,-0.0156116566217,0.0496137105872,0.99999981822,0.00010072565001,-0.000594336700542,1.3329706224e-05,1793254772494075648
+254,4.233333333,HOLD_POSE2,787,761.901112165,739,717.098887835,686,650,918,797.098887835,841,657.901112165,633,657,0.457329331886,-0.0156110136596,0.0496143794696,0.999999818693,0.000101691833669,-0.000593375963752,1.33515513434e-05,1793254772510742272
+255,4.250000000,HOLD_POSE2,787,761.518929024,739,717,686,650,918,797.481070976,840.518929024,657.518929024,632.518929024,657,0.457329013576,-0.0156110918636,0.0496142169781,0.999999818533,0.000101631377456,-0.0005936512652,1.35622726802e-05,1793254772527408896
+256,4.266666667,HOLD_POSE2,787,761.059662257,739,717.059662257,686,650,918,798,840.059662257,657.059662257,632.059662257,657.059662257,0.457328730473,-0.0156115258851,0.0496140768468,0.999999818416,0.000101116330505,-0.000593928759193,1.38357448718e-05,1793254772544076032
+257,4.283333333,HOLD_POSE2,787,761.637351952,739,717.637351952,686,650,918,798,840.637351952,657.637351952,632.637351952,657.637351952,0.457330332097,-0.0156137786715,0.0496155957266,0.99999981979,9.84631438959e-05,-0.000592047414685,1.43212654985e-05,1793254772560742912
+258,4.300000000,HOLD_POSE2,787,762,739,717.785606132,686,649.785606132,918,798,841,658,633,658,0.457330377834,-0.0156140035988,0.0496157457198,0.999999819727,9.79588124015e-05,-0.000592239372362,1.42491891798e-05,1793254772577409280
+259,4.316666667,HOLD_POSE2,787,762,739,717.209656695,686,649.209656695,918,798,841,658,633,658,0.45732779971,-0.0156108087278,0.0496135872112,0.999999817239,0.000101078327989,-0.000595927763961,1.32367767696e-05,1793254772594075904
+260,4.333333333,HOLD_POSE2,787,762,739,717,686,649.374279455,918,798,841,658,632.625720545,657.625720545,0.457327715415,-0.0156093696914,0.0496131081876,0.999999816578,0.000103059688228,-0.000596702542072,1.30284921144e-05,1793254772610742528
+261,4.350000000,HOLD_POSE2,787,762,739,717,686,649.962787053,918,798,841,658,632.037212947,657.037212947,0.457329058524,-0.0156089356503,0.0496135904587,0.999999816969,0.000104389597275,-0.000595809641481,1.32804698589e-05,1793254772627408896
+262,4.366666667,HOLD_POSE2,787,762,739,717.541562156,686,650,918,798,841,657.458437844,632.541562156,657,0.457329029469,-0.0156111915486,0.049614254187,0.999999817751,0.000101708846699,-0.000594945077194,1.39392478026e-05,1793254772644075520
+263,4.383333333,HOLD_POSE2,787,762,739,717.880333539,686,650,918,797.880333539,841,657.119666461,632.880333539,657.119666461,0.457329239978,-0.0156127349408,0.0496145830746,0.999999818406,9.9886059023e-05,-0.000594144136136,1.42914087288e-05,1793254772660742144
+264,4.400000000,HOLD_POSE2,787,762,739,717.302282098,686,650,918,797.302282098,841,657.697717902,632.302282098,657.697717902,0.457330722934,-0.0156108535419,0.0496135824289,0.999999818501,0.000102386728607,-0.000593579578254,1.33638827806e-05,1793254772677408768
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,785.502896994,761,738,720,687,651,918.497103006,800,840,658,636,657.497103006,0.437471371838,-0.0153681336674,0.0497735741841,0.999999940693,1.08848349752e-05,-0.000340344490854,-5.15839608652e-05,1793254773676751104
+324,5.400000000,POSE2_TO_POSE3_RETREAT,785.075937317,761,738,720,687,651,918.924062683,800,840,658,635.924062683,658,0.436534797534,-0.015364859352,0.0497602433996,0.999999930173,3.21570328998e-05,-0.00036959732584,-4.49105411365e-05,1793254773693417728
+325,5.416666667,POSE2_TO_POSE3_RETREAT,785.652182626,761,738,720,687,651,918.347817374,800,840,658,635.347817374,658,0.435597298529,-0.0153631959613,0.0497814325959,0.999999941827,1.71771851659e-05,-0.00033744947788,-4.66674217037e-05,1793254773710084352
+326,5.433333333,POSE2_TO_POSE3_RETREAT,786,761,738,720,687,651.232235331,918,800,840,658,635.232235331,658,0.434666920856,-0.0153616825246,0.0497867836868,0.999999943989,9.11109402462e-06,-0.000330883501,-4.95417449627e-05,1793254773726751232
+327,5.450000000,POSE2_TO_POSE3_RETREAT,786,761,738,720,687,651.818085482,918,800,840,658,635.818085482,658,0.433747386391,-0.0153603974164,0.0497680187742,0.999999932486,1.15722825553e-05,-0.000363269942184,-5.4117550792e-05,1793254773743418112
+328,5.466666667,POSE2_TO_POSE3_RETREAT,786,761,738,720,687,652,918,800,840,658,636,657.60127811,0.432842836492,-0.0153663817565,0.0497805128057,0.999999938649,-2.64755461791e-06,-0.00034590072479,-5.51992356642e-05,1793254773760084736
+329,5.483333333,POSE2_TO_POSE3_RETREAT,786,761,738,720,687,652,918,800,840,658,636,657.022989773,0.431945035024,-0.0153756399301,0.049807084464,0.99999995135,-2.43797773522e-05,-0.000306123789117,-5.47073249025e-05,1793254773776751360
+330,5.500000000,POSE2_TO_POSE3_RETREAT,786,761,738,720,687,652,918,800,839.444482245,658,636,657,0.430987232386,-0.0153771680409,0.0498054844491,0.999999951282,-2.99248335024e-05,-0.000305934305363,-5.42716624423e-05,1793254773793417728
+331,5.516666667,POSE2_TO_POSE3_RETREAT,786,761,738,720.133376781,687,651.866623219,918,800,839.133376781,658,635.866623219,657,0.430015158231,-0.0153768708948,0.0497961487928,0.999999947169,-3.18028273346e-05,-0.000318876126891,-5.44848784971e-05,1793254773810084096
+332,5.533333333,POSE2_TO_POSE3_RETREAT,786,761,738,720.709055132,687,651.290944868,918,800,839.709055132,658,635.290944868,657,0.429003994892,-0.015371582145,0.0497650281041,0.999999929679,-2.37425521702e-05,-0.000369928680416,-5.68421707375e-05,1793254773826750720
+333,5.550000000,POSE2_TO_POSE3_RETREAT,786,760.709191665,737.709191665,720.709191665,687,651,918,800.290808335,839.709191665,658,635.290808335,657.290808335,0.428034600409,-0.0153665481639,0.0497567737097,0.999999922443,-1.70445682351e-05,-0.000389146986223,-5.82025722202e-05,1793254773843417600
+334,5.566666667,POSE2_TO_POSE3_RETREAT,786,760.121231123,737.121231123,720.121231123,687,651,918,800.878768877,839.121231123,658,635.878768877,657.878768877,0.427107886018,-0.0153617745095,0.0497718844309,0.999999927591,-1.17385939187e-05,-0.000375836590178,-5.85443361261e-05,1793254773860084224
+335,5.583333333,POSE2_TO_POSE3_RETREAT,786,760.459740004,737.459740004,720,687,651,918,800.540259996,839.459740004,657.540259996,636,657.540259996,0.426159605415,-0.015359188439,0.04976357293,0.999999925221,-1.39593636884e-05,-0.000381704091652,-6.05422753401e-05,1793254773876751360
+336,5.600000000,POSE2_TO_POSE3_RETREAT,786,761,738,720.038735626,687.038735626,651.038735626,918,800,839.961264374,657.038735626,636,657,0.425211365635,-0.0153578503665,0.0497527334296,0.999999923078,-1.91226945218e-05,-0.000386717181888,-6.26750880309e-05,1793254773893418240
+337,5.616666667,POSE2_TO_POSE3_RETREAT,786,761,738,720.615507795,687.615507795,651.615507795,918,800,839.384492205,657.615507795,636,657,0.424341501847,-0.0153659544423,0.0497912843068,0.999999949177,-3.80026269448e-05,-0.000310671271894,-6.07060309686e-05,1793254773910084864
+338,5.633333333,POSE2_TO_POSE3_RETREAT,786,761,738,721,687.809719395,652,918.190280605,800,839,658,635.809719395,657,0.423451316921,-0.0153713887625,0.0498195299161,0.999999964297,-4.82879148055e-05,-0.000256149142207,-5.88335527715e-05,1793254773926751488
+339,5.650000000,POSE2_TO_POSE3_RETREAT,786,761,738,721,687.238944496,652,918.761055504,800,839,658,635.238944496,657,0.422520496707,-0.0153714845121,0.0498271686202,0.999999967579,-4.1386939889e-05,-0.000244666993087,-5.71541985988e-05,1793254773943417856
+340,5.666666667,POSE2_TO_POSE3_RETREAT,785.654428734,761,738,721,687,651.654428734,918.654428734,800,839,657.654428734,635,657,0.421589439282,-0.0153690453283,0.0498127598597,0.999999960386,-3.67109191171e-05,-0.000272946977087,-5.81394925824e-05,1793254773960084224
+341,5.683333333,POSE2_TO_POSE3_RETREAT,785.060018485,761,738,721,687,651.060018485,918.060018485,800,839,657.060018485,635,657,0.420658211101,-0.0153647807896,0.0497824751586,0.999999943168,-3.3637043814e-05,-0.000329858880892,-6.10435465659e-05,1793254773976750848
+342,5.700000000,POSE2_TO_POSE3_RETREAT,785,761,738,721,687.520637255,651,918,800.520637255,839,657,635.520637255,657,0.419782622805,-0.0153650300777,0.0497960132211,0.999999946088,-3.78945691368e-05,-0.000320547718278,-6.03022265248e-05,1793254773993417472
+343,5.716666667,POSE2_TO_POSE3_RETREAT,785,761,738,721.098796669,687.901203331,651.098796669,918.098796669,801,839,657.098796669,636,657.098796669,0.418907913133,-0.0153646788666,0.0498070109399,0.999999947679,-4.16204584977e-05,-0.00031517584579,-5.97745698073e-05,1793254774010084352
+344,5.733333333,POSE2_TO_POSE3_RETREAT,785,761,738,721.67238326,687.32761674,651.67238326,918.67238326,801,839,657.67238326,636,657.67238326,0.418007394853,-0.0153590055281,0.0497821475665,0.999999930887,-3.88344009701e-05,-0.0003644783564,-6.22412744005e-05,1793254774026752256
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,785,761,738,721.159818616,687,651.159818616,918.159818616,800.159818616,839,658,636,657.159818616,0.416351209557,-0.015361662634,0.0497740613005,0.999999932551,-4.28817575759e-05,-0.000359145899192,-6.38200776381e-05,1793254774060085760
+347,5.783333333,POSE2_TO_POSE3_RETREAT,785,761,738,721.421523457,687,651,918,800,839,657.578476543,636,657,0.415572219688,-0.0153629875462,0.0497923777853,0.999999945038,-4.77240165692e-05,-0.000321953159982,-6.3193544655e-05,1793254774076751872
+348,5.800000000,POSE2_TO_POSE3_RETREAT,785,761,738,722,687.000371736,651,918,800.000371736,838.999628264,657,635.999628264,657,0.414800735385,-0.0153632663398,0.0498159048819,0.99999995755,-5.29003035967e-05,-0.000279680906305,-6.22904044291e-05,1793254774093418240
+349,5.816666667,POSE2_TO_POSE3_RETREAT,785,761,738,722,687.577835248,651,918,800.577835248,838.422164752,657,635.422164752,657,0.414005596492,-0.0153634106134,0.0497954326887,0.99999994511,-5.75363606567e-05,-0.000319980517892,-6.38903066892e-05,1793254774110084608
+350,5.833333333,POSE2_TO_POSE3_RETREAT,785,761,738,722,687.8450451,651,918,800.8450451,838,657.1549549,635,657,0.413224564891,-0.015362995769,0.0497776867121,0.999999933718,-6.03705071773e-05,-0.000353049227733,-6.53822912443e-05,1793254774126750976
+351,5.850000000,POSE2_TO_POSE3_RETREAT,785,761,738,722,687.268860074,651,918,800.268860074,838,657.731139926,635,657,0.412481882442,-0.0153610610155,0.0497673516908,0.999999928937,-5.83063328734e-05,-0.00036646143049,-6.65809124005e-05,1793254774143417600
+352,5.866666667,POSE2_TO_POSE3_RETREAT,785,761,738,722,687.314137702,651,918.314137702,800,838,658,635,657,0.411777160889,-0.015359999097,0.0497783200664,0.999999934057,-5.44928746452e-05,-0.000353072554225,-6.52449728795e-05,1793254774160084480
+353,5.883333333,POSE2_TO_POSE3_RETREAT,785,761,738,722,687.903095506,651,918.903095506,800,838,658,635,657,0.411105649074,-0.0153597007693,0.0498079254979,0.999999946886,-4.91490736351e-05,-0.000316237031488,-6.16916991678e-05,1793254774176751616
+354,5.900000000,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651.483570896,919,800,838.483570896,658,635,657,0.410428497201,-0.0153599372975,0.0498043506231,0.999999944422,-4.87674536239e-05,-0.000323908742776,-6.21292298601e-05,1793254774193418240
+355,5.916666667,POSE2_TO_POSE3_RETREAT,785,761,738.062108339,722,687.937891661,651.937891661,919,800,839,658,635,657,0.409757914527,-0.015360436178,0.0497942016628,0.999999938916,-4.99210175633e-05,-0.000340086371955,-6.33779068451e-05,1793254774210085120
+356,5.933333333,POSE2_TO_POSE3_RETREAT,785,761,738.638431664,722,687.361568336,651.361568336,919,800,839,658,635,657,0.409150916589,-0.015362235063,0.0497837249343,0.999999933648,-5.56939213772e-05,-0.000354117231976,-6.48352328145e-05,1793254774226752000
+357,5.950000000,POSE2_TO_POSE3_RETREAT,785,761,738.781273895,722,687.43745221,651.218726105,919,800,839,658,635,657,0.408567033844,-0.0153643184053,0.0497850614029,0.999999934729,-6.05660272703e-05,-0.00035023230774,-6.48903685094e-05,1793254774243418368
+358,5.966666667,POSE2_TO_POSE3_RETREAT,785,761,738.194293615,722,688.61141277,651.805706385,919,800,839,658,635,657,0.40802206863,-0.015366880669,0.0498062869438,0.999999946012,-6.39215207368e-05,-0.000316183802014,-6.25847322181e-05,1793254774260084480
+359,5.983333333,POSE2_TO_POSE3_RETREAT,785.386958686,761,738,722,688.613041314,652,918.613041314,800,838.613041314,658,635.386958686,657,0.407491059691,-0.0153673037517,0.0498167430272,0.999999950065,-6.62713436007e-05,-0.000302784969855,-6.16436968515e-05,1793254774276751872
+360,6.000000000,POSE2_TO_POSE3_RETREAT,785.965376948,761,738,722,688.034623052,652,918.034623052,800,838.034623052,658,635.965376948,657,0.406966955995,-0.0153666684099,0.0498218705959,0.999999950915,-6.81235806807e-05,-0.000299603188632,-6.13778391011e-05,1793254774293419520
+361,6.016666667,POSE2_TO_POSE3_RETREAT,785.456807681,761,738.543192319,722,688,651.456807681,918.543192319,800.543192319,838,658,636,657,0.4064389948,-0.0153667718892,0.0497977947048,0.999999936186,-7.20278270249e-05,-0.000344049145598,-6.37953721049e-05,1793254774310085632
+362,6.033333333,POSE2_TO_POSE3_RETREAT,785,761,738.879214099,722,687.879214099,651,919,801,838.120785901,658,635.879214099,657,0.405925595615,-0.0153665458494,0.0497741844257,0.999999920545,-7.56799228331e-05,-0.000385730144837,-6.62988257574e-05,1793254774326752000
+363,6.050000000,POSE2_TO_POSE3_RETREAT,785,761,738.302312919,722,687.302312919,651,919,801,838.697687081,658,635.302312919,657,0.405468113223,-0.0153648978356,0.0497593537799,0.999999912399,-7.78864777992e-05,-0.000405518916397,-6.84815695149e-05,1793254774343418624
+364,6.066666667,POSE2_TO_POSE3_RETREAT,785,761,738,722,687.279569694,651,918.720430306,801,838.720430306,658,635.279569694,657,0.40504364683,-0.0153655220584,0.0497578283037,0.999999911768,-7.91825519633e-05,-0.000406788729598,-6.86858311524e-05,1793254774360084992
+365,6.083333333,POSE2_TO_POSE3_RETREAT,785,761,738,722,687.86693667,651,918.13306333,801,838.13306333,658,635.86693667,657,0.404655530023,-0.0153686479413,0.0497709513939,0.999999919473,-7.9476215784e-05,-0.000387669761326,-6.67118471855e-05,1793254774376751104
+366,6.100000000,POSE2_TO_POSE3_RETREAT,785,761,738,722.44807393,688,651.44807393,918.44807393,801,838,658,635.55192607,657,0.404317910048,-0.0153722657669,0.0497952262404,0.999999933344,-7.86601394221e-05,-0.000350739512578,-6.40742418019e-05,1793254774393417472
+367,6.116666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651.97264881,919,801,838,658,635,657,0.403996003104,-0.0153760659233,0.0498223457683,0.999999947256,-7.75958854384e-05,-0.000309380128044,-6.12497004373e-05,1793254774410084352
+368,6.133333333,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651.394083744,919,801,838,658,635,657,0.403692692495,-0.0153806368009,0.0498409684393,0.999999954938,-7.80806056853e-05,-0.000283895447621,-5.85750093366e-05,1793254774426750976
+369,6.150000000,POSE2_TO_POSE3_RETREAT,785.181468628,761,738.181468628,722.818531372,688,651,918.818531372,800.818531372,838,658,635,657,0.403395208317,-0.0153836663427,0.0498517216167,0.999999958337,-7.97147781816e-05,-0.000271526961762,-5.6954049215e-05,1793254774443417600
+370,6.166666667,POSE2_TO_POSE3_RETREAT,785.750585297,761,738.750585297,722.249414703,688,651,918.249414703,800.249414703,838,658,635,657,0.403110170429,-0.0153834033267,0.049845664207,0.999999953595,-8.38043773756e-05,-0.000287176915278,-5.75840391638e-05,1793254774460084480
+371,6.183333333,POSE2_TO_POSE3_RETREAT,785.665811837,761,738.665811837,722.334188163,688,651,918.334188163,800.334188163,838,658,635,657,0.402834931496,-0.0153824469359,0.0498351515151,0.999999947095,-8.55677611783e-05,-0.000308259059531,-5.88531643173e-05,1793254774476751104
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,657.489708816,635.510291184,657,0.4023472271,-0.0153830014197,0.0498137867787,0.999999935246,-8.70722311042e-05,-0.000343838310589,-6.08388198103e-05,1793254774510084096
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,785.663148515,760.336851485,738,723,688,651,919,801,838,657.663148515,635.336851485,657,0.40196871406,-0.015385717628,0.0498072180231,0.999999933476,-8.02275953844e-05,-0.000350970432553,-5.8575048526e-05,1793254774543417600
+376,6.266666667,POSE2_TO_POSE3_RETREAT,786,760.243009382,738,723,688,651,918.756990618,801,838,658,635,657,0.401814338291,-0.0153860070939,0.0498087574381,0.999999935452,-7.55594589133e-05,-0.000346604878619,-5.70313658331e-05,1793254774560084224
+377,6.283333333,POSE2_TO_POSE3_RETREAT,786,760.830766937,738,723,688,651,918.169233063,801,838,658,635,657,0.40168407825,-0.0153859996912,0.0498138199931,0.999999939263,-7.45196269358e-05,-0.000335821327436,-5.60874405074e-05,1793254774576750848
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2c189613cf766f382e350258694d044d5e955c6e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_01/simulation_data.csv
@@ -0,0 +1,415 @@
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+406,6.766666667,pose2_to_pose3_retreat,0.575667128486,-0.00981826340416,1.04002042053,0.546238276492,-0.00114402447449,1.03969213233
+407,6.783333333,pose2_to_pose3_retreat,0.575667105906,-0.00981827062881,1.04002044148,0.546238254019,-0.00114403136302,1.03969215259
+408,6.800000000,pose2_to_pose3_retreat,0.575666970944,-0.00981827918063,1.0400205421,0.546238119244,-0.00114403946731,1.03969224822
+409,6.816666667,pose2_to_pose3_retreat,0.575666911134,-0.00981823722261,1.04002055416,0.546238058923,-0.00114399937376,1.0396922569
+410,6.833333333,pose2_to_pose3_retreat,0.575666887505,-0.00981821997315,1.04002055892,0.546238035092,-0.00114398286088,1.03969226032
+411,6.850000000,pose2_to_pose3_retreat,0.575666887505,-0.00981821961192,1.04002055892,0.546238035092,-0.00114398249964,1.03969226032
+412,6.866666667,pose2_to_pose3_retreat,0.575666887505,-0.00981821865484,1.04002055892,0.546238035092,-0.00114398154253,1.03969226032
+413,6.883333333,pose2_to_pose3_retreat,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980854,1.03969226032
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d5c88f9a8ba4a0805c10903891c5bd3b56de64d5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42bc45cdf744e6c55506dd96fd136d05a5e1736348893879244f8fdbd83d95df
+size 26304678
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7f250b11d02a0013f55d8ed02eed6743d585557a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_02/franka_data.csv
@@ -0,0 +1,415 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,786,761,738,723,687,651,919,801,838,658,635,657,0.400986478747,-0.0154116731396,0.0498523020068,0.999999960557,-0.000100639259962,-0.000257293643349,-5.05816378228e-05,1793254775328366336
+1,0.016666667,BASELINE,785.422454104,760.422454104,738,723,687,651,918.422454104,801,838,658,635,657,0.400988128208,-0.0154105659488,0.0498530131879,0.999999960946,-9.98377245657e-05,-0.0002560967449,-5.05488938501e-05,1793254775345032704
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+3,0.050000000,BASELINE,785,760.727006814,738,723,687.727006814,651,918,801,838,658,635,657,0.400990277033,-0.0154085737005,0.049853918581,0.999999962101,-9.44090400252e-05,-0.000253596925752,-5.07319286678e-05,1793254775378365440
+4,0.066666667,BASELINE,785.301882308,761,738,723,688,651.301882308,918.301882308,801,838,658,635,657,0.400990406156,-0.0154089314467,0.0498539992257,0.99999996223,-9.4356520365e-05,-0.000253108372134,-5.07334874028e-05,1793254775395032064
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+6,0.100000000,BASELINE,785.531412123,761,738,723,688,651.531412123,919,801,838,658,635,657,0.400989225346,-0.0154110822494,0.0498535340016,0.999999961531,-9.91301422027e-05,-0.000254112202981,-5.03846009434e-05,1793254775428365312
+7,0.116666667,BASELINE,785,761,738.060597542,723,688,651,919,801,838,658,635,657,0.400988470662,-0.0154113445263,0.0498531432173,0.99999996126,-9.9792028341e-05,-0.000254948832542,-5.02183470824e-05,1793254775445032192
+8,0.133333333,BASELINE,785,761,738.636572263,723,688,651,919,801,838,658,635,657,0.400988424113,-0.0154106386293,0.0498528483713,0.99999996132,-9.86444946024e-05,-0.000255106269422,-5.05002451274e-05,1793254775461698816
+9,0.150000000,BASELINE,785,760.788320747,738.788320747,723,688,651,919,801,838,658,635.211679253,657,0.400988503175,-0.0154101319985,0.049852807783,0.99999996141,-9.78517377195e-05,-0.000255011362157,-5.07416953595e-05,1793254775478365184
+10,0.166666667,BASELINE,785,760.214697521,738.214697521,723,688,651,919,801,838,658,635.785302479,657,0.400988797015,-0.0154099660871,0.0498532019421,0.999999961553,-9.76656032036e-05,-0.000254484979233,-5.09139850667e-05,1793254775495031808
+11,0.183333333,BASELINE,785,760.370108011,738.370108011,722.629891989,688,651,919,801,838,657.629891989,635.629891989,657.370108011,0.400988160022,-0.0154109774591,0.0498530481132,0.999999961553,-9.72440685664e-05,-0.000254710824673,-5.05998616924e-05,1793254775511698432
+12,0.200000000,BASELINE,785,760.961602486,738.961602486,722.038397514,688,651,919,801,838,657.038397514,635.038397514,657.961602486,0.400986966234,-0.0154126930434,0.0498525664958,0.999999961465,-9.6681725285e-05,-0.000255386628381,-4.99947819945e-05,1793254775528365312
+13,0.216666667,BASELINE,785,761,738.45867021,722.54132979,688,651,919,801,838,657.54132979,635,657.45867021,0.40098833711,-0.0154111195258,0.0498534884715,0.999999962075,-9.56274182356e-05,-0.000253379685333,-5.00479118589e-05,1793254775545031936
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+15,0.250000000,BASELINE,785.694915597,761,738.694915597,723,688,651,919,801,838,658,635,657,0.400988424423,-0.015410652915,0.0498539634995,0.999999962205,-9.50772902626e-05,-0.000253062024072,-5.01051080771e-05,1793254775578364672
+16,0.266666667,BASELINE,785.731155935,760.731155935,738.731155935,723,688,651,919,801,838,657.731155935,635,657,0.400988043762,-0.0154104526356,0.0498539851696,0.99999996206,-9.52447220034e-05,-0.00025353194559,-5.02959617833e-05,1793254775595031552
+17,0.283333333,BASELINE,785.158892543,760.158892543,738.158892543,723,688,651,919,801,838,657.158892543,635,657,0.400988298728,-0.0154091282577,0.0498543421659,0.999999962115,-9.53093101603e-05,-0.000253205222408,-5.07219347382e-05,1793254775611698176
+18,0.300000000,BASELINE,785,760.429027588,738,723,688,651,919,801,838,657.429027588,635,657,0.400988257205,-0.0154095997029,0.0498546541833,0.999999962077,-9.58204541091e-05,-0.000253166020101,-5.06996191063e-05,1793254775628365056
+19,0.316666667,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400988102161,-0.0154107529052,0.0498549123055,0.999999961994,-9.65736218527e-05,-0.00025324766931,-5.05150214609e-05,1793254775645031680
+20,0.333333333,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400987958118,-0.0154116941349,0.0498542603306,0.99999996166,-9.90764500585e-05,-0.00025358622782,-5.05798443434e-05,1793254775661698816
+21,0.350000000,BASELINE,785,761,738,722.821905279,688,651,919,801,838,658,635,657,0.400988194834,-0.0154120527188,0.0498541913395,0.999999961638,-9.98903959728e-05,-0.000253364465556,-5.05151627009e-05,1793254775678365440
+22,0.366666667,BASELINE,785,761,738,722.245821007,688,651,919,801,838,658,635,657,0.400989282436,-0.0154111092599,0.0498554251463,0.99999996232,-9.69301841716e-05,-0.000251890550394,-5.01610763581e-05,1793254775695031552
+23,0.383333333,BASELINE,785,761,738,722,688,651,919,801,838,658,635,657,0.40098882011,-0.0154110101148,0.0498549378498,0.999999962257,-9.60008849818e-05,-0.00025251129172,-5.00743995487e-05,1793254775711697920
+24,0.400000000,BASELINE,785,761,738,722,688,651,919,801,838,658,635,657,0.400987204144,-0.0154115394081,0.0498531695043,0.999999961643,-9.65832313674e-05,-0.000254691124527,-5.01867605725e-05,1793254775728364288
+25,0.416666667,BASELINE,785,760.499506169,738,722.500493831,688,651,919,801,838,658,635,657,0.400987834477,-0.0154111136639,0.0498538846529,0.999999962018,-9.60458952346e-05,-0.000253403006233,-5.02620006062e-05,1793254775745030656
+26,0.433333333,BASELINE,785,760,738,722.924336772,688,651,919,801,838,658,635,657,0.400988740063,-0.0154107021454,0.0498548824662,0.999999962459,-9.56105793746e-05,-0.000251818251516,-5.02878148139e-05,1793254775761697280
+27,0.450000000,BASELINE,785,760,738,722.343192858,688,651,919,801,838,658,635,657,0.400989272275,-0.0154113262267,0.0498553228137,0.99999996238,-9.69595387553e-05,-0.000251667157186,-5.0019990036e-05,1793254775778364160
+28,0.466666667,BASELINE,785,760.236079669,738,722,688,651,919,801,838,658,635,657,0.400988703158,-0.0154118596204,0.0498549597319,0.999999962092,-9.7573529876e-05,-0.000252603169571,-4.98669408502e-05,1793254775795031296
+29,0.483333333,BASELINE,785,760.812653091,738,722,688,651,919,801,838,658,635,657,0.400986545614,-0.0154122622169,0.0498534378772,0.999999961499,-9.71274885036e-05,-0.000255107097773,-4.98794305946e-05,1793254775811698176
+30,0.500000000,BASELINE,785,761,738,722.399123132,688,651,918.600876868,801,838,658,635,657,0.400987030229,-0.0154110930656,0.0498538493868,0.999999961826,-9.58128880488e-05,-0.000254273021916,-5.01270082737e-05,1793254775828364544
+31,0.516666667,BASELINE,785,761,738,722.990356709,688,651,918.009643291,801,838,658,635,657,0.400988786597,-0.015409167383,0.0498551914851,0.99999996259,-9.4080222959e-05,-0.000251832260249,-5.04877411266e-05,1793254775845030400
+32,0.533333333,BASELINE,785,761,738.56743533,723,688,651,918.56743533,801,838,658,635,657,0.400988243318,-0.0154109568225,0.0498551330455,0.999999962296,-9.69375585124e-05,-0.000252007423162,-5.0042927371e-05,1793254775861697280
+33,0.550000000,BASELINE,785,760.854391948,738.854391948,723,688,651,919,801,838,657.854391948,635.145608052,657,0.400987999849,-0.0154123812827,0.0498550052339,0.999999962085,-9.90600736854e-05,-0.000252084177393,-4.97057960304e-05,1793254775878363904
+34,0.566666667,BASELINE,785,760.272235438,738.272235438,723,688,651,919,801,838,657.272235438,635.727764562,657,0.400988769566,-0.0154125268118,0.0498547390601,0.999999962202,-9.87513435604e-05,-0.000251735850832,-4.97315529095e-05,1793254775895030272
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+36,0.600000000,BASELINE,785,760.892634531,738,722.107365469,688,651,919,801,838,657.892634531,635.107365469,657,0.400989982473,-0.0154096075867,0.049856369416,0.999999963078,-9.53032363271e-05,-0.000249503094396,-5.0094095085e-05,1793254775928364032
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+38,0.633333333,BASELINE,785.948769201,761,738,722.948769201,688,651,919,801,838,658,635,657,0.400986057041,-0.0154112167188,0.0498535051288,0.999999961781,-9.7352811426e-05,-0.000253843798939,-5.02355994068e-05,1793254775961697536
+39,0.650000000,BASELINE,785.373482628,761,738,722.373482628,688,651,919,801,838,658,635,657,0.400985445857,-0.0154115192359,0.049853358197,0.999999961434,-9.9024442103e-05,-0.000254544711584,-5.03385178068e-05,1793254775978363904
+40,0.666666667,BASELINE,785,760.798812699,738,722.201187301,688,651.201187301,919,801,838,657.798812699,635.201187301,657,0.400985747647,-0.015411592653,0.0498535420034,0.999999961452,-9.92951970516e-05,-0.000254357312048,-5.03901120317e-05,1793254775995030528
+41,0.683333333,BASELINE,785,760.22528404,738,722.77471596,688,651.77471596,919,801,838,657.22528404,635.77471596,657,0.400987739097,-0.0154112420702,0.0498543379135,0.999999962146,-9.69733231862e-05,-0.000252525895357,-5.0346719573e-05,1793254776011696896
+42,0.700000000,BASELINE,785,760.358829965,738.358829965,723,688,651.641170035,919,801,838,657.358829965,635.641170035,657,0.400988196853,-0.0154106388033,0.0498545850239,0.999999962438,-9.52010799593e-05,-0.000252031327765,-5.04081346985e-05,1793254776028363776
+43,0.716666667,BASELINE,785,760.949791746,738.949791746,723,688,651.050208254,919,801,838,657.949791746,635.050208254,657,0.400987662441,-0.0154098720717,0.0498544771086,0.999999962472,-9.37844000993e-05,-0.000252401585482,-5.05373512281e-05,1793254776045030656
+44,0.733333333,BASELINE,785,761,738.46968214,723,688,651,919,801,838,658,635,657,0.400987176229,-0.0154106536432,0.0498539019728,0.999999962232,-9.44158892498e-05,-0.000253147063233,-5.03815492928e-05,1793254776061698048
+45,0.750000000,BASELINE,785,761,738,723,688,651.108812928,919,801,838,658,635,657,0.40098706186,-0.0154113135096,0.0498536570562,0.999999962099,-9.51631022619e-05,-0.000253414696663,-5.02723840048e-05,1793254776078365184
+46,0.766666667,BASELINE,785,761,738,723,688,651.682767646,919,801,838,658,635,657,0.400988517879,-0.0154108386031,0.0498550091648,0.999999962533,-9.55920815652e-05,-0.000251490767738,-5.04756997928e-05,1793254776095031552
+47,0.783333333,BASELINE,785,761,738,723,688,651.736007215,919,801,838,657.736007215,635.263992785,657,0.400989199302,-0.0154106603253,0.0498555837696,0.999999962672,-9.63777739869e-05,-0.000250641614166,-5.04683741741e-05,1793254776111697920
+48,0.800000000,BASELINE,785,761,738,723,688,651.145797923,919,801,838,657.145797923,635.854202077,657,0.400988923557,-0.0154108485923,0.0498551976111,0.999999962446,-9.76042577079e-05,-0.000251120562774,-5.02007584992e-05,1793254776128364544
+49,0.816666667,BASELINE,785,761,738,723,688,651,919,801,838,657,635.564601104,657,0.400988177988,-0.0154111747685,0.0498548141571,0.999999962266,-9.79492041336e-05,-0.000251725213111,-5.00818932861e-05,1793254776145030912
+50,0.833333333,BASELINE,785,760.986417491,738,723,688,651,919,801,838,657.013582509,635,657,0.400987316595,-0.0154115505781,0.0498544543731,0.999999962115,-9.79789168829e-05,-0.000252327999152,-5.00064602843e-05,1793254776161697792
+51,0.850000000,BASELINE,785,760.410570736,738,723,688,651,919,801,838,657.589429264,635,657,0.400988041129,-0.0154121080978,0.0498550377079,0.999999962529,-9.69311709798e-05,-0.000251146476829,-4.97087992896e-05,1793254776178364416
+52,0.866666667,BASELINE,785,760,738,723,688,651.165603291,919,801,838,658,635.165603291,657,0.400988785874,-0.0154116968454,0.0498556369834,0.99999996294,-9.53685625763e-05,-0.000250124756192,-4.96152970201e-05,1793254776195031040
+53,0.883333333,BASELINE,785,760,738,723,688,651.742590275,919,801,838,658,635.742590275,657,0.400989580823,-0.0154088790159,0.0498562758576,0.999999963343,-9.25269576936e-05,-0.000249500007251,-5.00289560069e-05,1793254776211697920
+54,0.900000000,BASELINE,785,760.32561322,738,723,688,651.67438678,919,801,838,658,636,657,0.400989092616,-0.0154092029569,0.049856217272,0.999999963179,-9.29878105292e-05,-0.000249998495323,-4.99632816257e-05,1793254776228364800
+55,0.916666667,BASELINE,785,760.913497918,738,723,688,651.086502082,919,801,838,658,636,657,0.400987570865,-0.015412057498,0.0498555969039,0.999999962554,-9.61086920737e-05,-0.000251401716442,-4.95115188733e-05,1793254776245031936
+56,0.933333333,BASELINE,785,761,738,723,688,651.494878499,919,801,838,657.505121501,635.505121501,657,0.40098743476,-0.0154116240572,0.0498550233619,0.999999962325,-9.67654317468e-05,-0.000252005972695,-4.98000127487e-05,1793254776261698560
+57,0.950000000,BASELINE,785,761,738.074163683,723,688,651.925836317,919,801,838,657.074163683,635.074163683,657,0.400987624496,-0.0154108091335,0.0498546527019,0.999999962222,-9.70444412864e-05,-0.000252234163737,-5.0154954467e-05,1793254776278365184
+58,0.966666667,BASELINE,785,761,738.646905671,723,688,651.353094329,919,801,838,657.646905671,635.646905671,657,0.400988397626,-0.0154112431681,0.049855591641,0.999999962513,-9.76421127711e-05,-0.000250860864688,-5.00980214069e-05,1793254776295031808
+59,0.983333333,BASELINE,785,760.774023479,739,723,688,651.225976521,919,801,838,658,635.774023479,657,0.400988419833,-0.0154112828979,0.0498558436632,0.999999962609,-9.75096900558e-05,-0.000250535806366,-5.00612961975e-05,1793254776311698688
+60,1.000000000,BASELINE,785,760.184778581,739,723,688,651.815221419,919,801,838,658,635.184778581,657,0.400987234897,-0.0154106887636,0.0498549914331,0.999999962394,-9.62036050878e-05,-0.000251895846372,-5.00570560929e-05,1793254776328365312
+61,1.016666667,BASELINE,785,760,738.602022614,723,688,651.602022614,919,801,838,658,635,657,0.400987534091,-0.0154108778995,0.0498552389081,0.999999962613,-9.55062914317e-05,-0.000251314283814,-4.99295819153e-05,1793254776345031680
+62,1.033333333,BASELINE,785,760,738.02223112,723,688,651.02223112,919,801,838,658,635,657,0.400988511304,-0.0154114248687,0.0498559887784,0.99999996303,-9.50870921824e-05,-0.000249845709121,-4.97458088273e-05,1793254776361698304
+63,1.050000000,BASELINE,785,760.554918068,738,722.445081932,688,651,919,801,838.554918068,658,635,657,0.400989514397,-0.0154102076003,0.0498558515973,0.999999963162,-9.41483467932e-05,-0.000249616513573,-5.00326038709e-05,1793254776378365696
+64,1.066666667,BASELINE,785,761,738,722.131214768,688,651,919,801,838.868785232,658,635,657,0.400990222421,-0.0154095256563,0.0498557696882,0.999999963276,-9.32666343858e-05,-0.00024945400073,-5.02150460942e-05,1793254776395032576
+65,1.083333333,BASELINE,785,761,738,722.7049915,688,651,919,801,838.2950085,658,635,657,0.400989931755,-0.0154108865144,0.0498559934924,0.999999963371,-9.264715228e-05,-0.000249349722824,-4.99822440234e-05,1793254776411698688
+66,1.100000000,BASELINE,785,761,738.286855986,723,688,651,919,801,838,658,635,657,0.400989661271,-0.0154109349027,0.0498560158877,0.999999963365,-9.22022853985e-05,-0.000249544044167,-4.99705608421e-05,1793254776428365568
+67,1.116666667,BASELINE,785,761,738.877279359,723,688,651,919,801,838,658,635,657,0.400989412145,-0.0154095943603,0.0498558251408,0.99999996325,-9.19422063597e-05,-0.000250054360293,-5.01928783134e-05,1793254776445032960
+68,1.133333333,BASELINE,785.458097609,761,738.541902391,723,688,651,919,801,838,658,635.458097609,657,0.400989759086,-0.0154102268293,0.0498563219038,0.999999963224,-9.39584745493e-05,-0.000249470996636,-4.98860725619e-05,1793254776461698816
+69,1.150000000,BASELINE,785.963673894,761,738,723,688,651.036326106,918.963673894,801,838,658,636,657,0.400990270398,-0.015411284232,0.0498569657768,0.999999963235,-9.63202283697e-05,-0.000248604936929,-4.9483416178e-05,1793254776478364672
+70,1.166666667,BASELINE,785.386480281,761,738,723,688,651.613519719,918.386480281,801,838,658,636,657,0.400990900363,-0.0154109604286,0.0498571140479,0.999999963555,-9.49327878568e-05,-0.000247802527759,-4.97207906416e-05,1793254776495031040
+71,1.183333333,BASELINE,785,761,738.189338047,723,688,651.810661953,918.189338047,801,838,658,635.810661953,657,0.400990538865,-0.0154105165274,0.0498567675187,0.999999963573,-9.37671300863e-05,-0.000248134646986,-4.99142399307e-05,1793254776511697920
+72,1.200000000,BASELINE,785,761,738.762369467,723,688,651.237630533,918.762369467,801,838,658,635.237630533,657,0.400988168171,-0.0154098292476,0.0498554182771,0.999999962978,-9.30509145822e-05,-0.000250765886798,-5.0018674938e-05,1793254776528364800
+73,1.216666667,BASELINE,785,761,739,723,687.654121736,651,919,801,838,658,635,657,0.400987952287,-0.0154106867634,0.0498556616217,0.999999962834,-9.4354908525e-05,-0.000250893869412,-4.98117477039e-05,1793254776545031680
+74,1.233333333,BASELINE,785,761,739,723,687.063189786,651,919,801,838,658,635,657,0.40098926308,-0.0154126387621,0.0498570333088,0.999999963005,-9.70902146939e-05,-0.00024924830184,-4.9384221272e-05,1793254776561698560
+75,1.250000000,BASELINE,785,761,738.481334942,723,687.518665058,651,919,801,838,658,635,657,0.400989923689,-0.0154128705352,0.0498567087104,0.999999963047,-9.7077105762e-05,-0.000249123501921,-4.91936162563e-05,1793254776578364672
+76,1.266666667,BASELINE,785,761,738,723,688,651.097630711,919,801,838,658,635,657,0.400990341925,-0.0154125565402,0.0498562718495,0.999999963071,-9.65793421989e-05,-0.000249225187256,-4.91649134707e-05,1793254776595031040
+77,1.283333333,BASELINE,785,761,738,723,688,651.66787162,919,801,838,658,635,657,0.400989963743,-0.0154105976679,0.0498562747459,0.999999963082,-9.53284955832e-05,-0.000249541777105,-4.97826222265e-05,1793254776611697664
+78,1.300000000,BASELINE,785,761,738,723,688,651.75246297,919,801,838,657.75246297,635,657,0.400989655279,-0.0154104521616,0.0498564840282,0.999999963099,-9.51437275483e-05,-0.000249519504592,-4.98875082819e-05,1793254776628364288
+79,1.316666667,BASELINE,785,761,738,723,688,651.159651958,919,801,838,657.159651958,635,657,0.400989444062,-0.015412836007,0.0498569811852,0.999999963128,-9.6445966211e-05,-0.000249024574058,-4.92770898509e-05,1793254776645030912
+80,1.333333333,BASELINE,785,761,738,722.577273213,688,651,919,801,838,657.422726787,635.422726787,657,0.400988507603,-0.0154127676322,0.0498562329032,0.999999962781,-9.5858247285e-05,-0.000250655514993,-4.9201545752e-05,1793254776661697792
+81,1.350000000,BASELINE,785,761,738,722,688,651,919,801,838,657.998741868,635.998741868,657,0.400987308399,-0.0154117983317,0.0498550296947,0.999999962291,-9.45774053882e-05,-0.000253060852712,-4.93235465072e-05,1793254776678365184
+82,1.366666667,BASELINE,785,761,738,722,688,651,919,801,838,657.421293801,635.421293801,657,0.400988197744,-0.0154121587369,0.0498557099182,0.999999962697,-9.48856464648e-05,-0.000251276541459,-4.96301529386e-05,1793254776695031552
+83,1.383333333,BASELINE,785,760.845149794,738,722.154850206,688,651,919,801,838,657,635,657,0.400988666802,-0.0154121942546,0.0498559598821,0.999999962904,-9.51613351614e-05,-0.000250288363384,-4.99134374719e-05,1793254776711698176
+84,1.400000000,BASELINE,785,760.272523926,738,722.727476074,688,651,919,801,838,657,635,657,0.400988001949,-0.015411353247,0.0498550490343,0.999999962584,-9.53491997487e-05,-0.000251448099818,-5.01338011276e-05,1793254776728364544
+85,1.416666667,BASELINE,785,760.307404078,738,723,688,651,918.692595922,801,838,657.307404078,635,657,0.400988729587,-0.0154111162572,0.0498553913923,0.999999962758,-9.52639845556e-05,-0.00025079388398,-5.01115607007e-05,1793254776745031168
+86,1.433333333,BASELINE,785,760.893963149,738,723,688,651,918.106036851,801,838,657.893963149,635,657,0.400990721752,-0.0154114277787,0.0498568717922,0.999999963376,-9.49307844034e-05,-0.000248492410049,-4.98690104274e-05,1793254776761698048
+87,1.450000000,BASELINE,785,760.521209521,738,722.521209521,688,651,918.478790479,801,837.521209521,657.521209521,635,657,0.400989865846,-0.0154110779376,0.0498566027849,0.999999963226,-9.5403386965e-05,-0.000248895730711,-4.99760448989e-05,1793254776778364672
+88,1.466666667,BASELINE,785,760,738,722,688,651,919,801,837,657.062050453,635,657,0.400988568308,-0.0154106961012,0.0498560020929,0.999999962945,-9.60158493717e-05,-0.000249760504338,-5.0114477312e-05,1793254776795031552
+89,1.483333333,BASELINE,785,760,738,722,688,651,919,801,837,657.635541538,635,657,0.400988810869,-0.0154112534581,0.0498558494291,0.99999996299,-9.63154602897e-05,-0.000249509149374,-4.98758646618e-05,1793254776811698432
+90,1.500000000,BASELINE,785,760.210309067,738,722.210309067,688,651,918.789690933,801,837.210309067,658,635,657,0.400988996727,-0.0154118822232,0.049855814081,0.999999962993,-9.65942981322e-05,-0.000249418259521,-4.97351016605e-05,1793254776828365056
+91,1.516666667,BASELINE,785,760.787302078,738,722.787302078,688,651,918.212697922,801,837.787302078,658,635,657,0.400989083721,-0.015412635492,0.0498559832788,0.999999962921,-9.68369170898e-05,-0.000249607148312,-4.97649442395e-05,1793254776845031680
+92,1.533333333,BASELINE,785,760.626346052,738,723,688,651,918.373653948,801,838,658,635,657,0.400989475755,-0.0154137413065,0.0498563201442,0.999999962739,-9.88681087418e-05,-0.000249584254007,-4.95434913738e-05,1793254776861698304
+93,1.550000000,BASELINE,785,760.034529847,738,723,688,651,918.965470153,801,838,658,635,657,0.400990045891,-0.015415052959,0.0498567549044,0.999999962485,-0.00010194357964,-0.000249437707662,-4.91753167063e-05,1793254776878364672
+94,1.566666667,BASELINE,785,760,738,723,688,651,919,801,838,658,635,657,0.400989371528,-0.0154133178559,0.0498566795001,0.999999963092,-9.79113986138e-05,-0.00024859999429,-4.92744525162e-05,1793254776895031040
+95,1.583333333,BASELINE,785,760.120344546,738.120344546,723,688,651,918.879655454,801,838,658,635,657,0.400988548503,-0.0154118643233,0.0498563174475,0.999999963403,-9.47450496658e-05,-0.000248535667462,-4.94729506726e-05,1793254776911697408
+96,1.600000000,BASELINE,785,760.695135571,738.695135571,723,688,651,918.304864429,801,838,658,635,657,0.400987455279,-0.0154121869299,0.0498549923169,0.999999962456,-9.6511289427e-05,-0.000251553528645,-4.99373223661e-05,1793254776928363520
+97,1.616666667,BASELINE,785,760.723333079,738.723333079,723,688,651.276666921,918.276666921,801,838,658,635,657,0.400986749667,-0.0154131948916,0.0498542430847,0.999999961906,-9.83573294181e-05,-0.000253026885627,-4.99133577023e-05,1793254776945030400
+98,1.633333333,BASELINE,785,760.134189009,738.134189009,723,688,651.865810991,918.865810991,801,838,658,635,657,0.400986481838,-0.0154149769168,0.0498541442921,0.999999961811,-0.000100293498432,-0.000252755826191,-4.93378491101e-05,1793254776961698048
+99,1.650000000,BASELINE,785,760,738,722.552594577,688,651.552594577,918.552594577,801,838,658,635,657,0.400988578039,-0.0154139261427,0.0498558823872,0.999999962619,-9.86397132108e-05,-0.000250164581356,-4.949339509e-05,1793254776978365184
+100,1.666666667,BASELINE,785,760.026589967,738,722.026589967,688,651,918.026589967,801,838,658,635,657,0.400991136183,-0.0154121186857,0.0498579788948,0.999999963606,-9.60072830202e-05,-0.000247156347437,-4.98491619734e-05,1793254776995032064
+101,1.683333333,BASELINE,785,760.601995098,738,722.601995098,688,651,918.601995098,801,838,658,635,657,0.40098883715,-0.0154119387142,0.0498562905039,0.999999963074,-9.50304252055e-05,-0.000249666192031,-4.98869983848e-05,1793254777011698432
+102,1.700000000,BASELINE,785,761,738,723,688,651,919,801,838,657.822233699,635,657,0.40098719044,-0.0154118261277,0.0498551598578,0.999999962661,-9.46377729694e-05,-0.000251457827368,-4.99094880346e-05,1793254777028364800
+103,1.716666667,BASELINE,785,761,738,723,688,651,919,801,838,657.245641273,635,657,0.40098700724,-0.015411864722,0.049855280536,0.999999962529,-9.55558104926e-05,-0.000251638129891,-4.98975465792e-05,1793254777045030912
+104,1.733333333,BASELINE,785,761,738,723,688,651,919,801,838,657.337964595,635,657,0.400987716629,-0.0154127328578,0.0498559509655,0.999999962654,-9.70789891011e-05,-0.000250582843113,-4.97550179286e-05,1793254777061697280
+105,1.750000000,BASELINE,785,761,738,723,688,651,919,801,838,657.926776098,635,657,0.400989088522,-0.0154142167027,0.0498570294359,0.999999962965,-9.90513206825e-05,-0.000248610466928,-4.95155637563e-05,1793254777078363648
+106,1.766666667,BASELINE,785,760.492982187,738,723,688,651,919,801,838.507017813,658,635,657.507017813,0.40098745307,-0.0154129457433,0.0498558362961,0.9999999627,-9.63424752597e-05,-0.000250698886663,-4.96722022655e-05,1793254777095030784
+107,1.783333333,POSE1_TO_POSE2_PRESS,785,760,738,723,688,651,919,802,838,658,635,657,0.400988131056,-0.0154116127721,0.0498567522515,0.999999963135,-9.33238293973e-05,-0.000250080765028,-4.98121136876e-05,1793254777138203648
+108,1.800000000,POSE1_TO_POSE2_PRESS,785,760.588112702,738,723.588112702,688,651,919,801.411887298,838,658,635.588112702,657,0.400987511051,-0.0154137485125,0.049856160113,0.999999962666,-9.62330119141e-05,-0.000250899395845,-4.95748956587e-05,1793254777154870272
+109,1.816666667,POSE1_TO_POSE2_PRESS,785,761,738,723.652966547,688,651,919,801,838,658,635.826483274,657.173516726,0.400987617396,-0.0154148097219,0.0498559421285,0.999999962475,-9.80604498943e-05,-0.000250957706568,-4.95378441355e-05,1793254777171536640
+110,1.833333333,POSE1_TO_POSE2_PRESS,785,761,738,722.494820115,688,651,919,801,838,658,635.247410057,657.752589943,0.40098942142,-0.0154133594564,0.0498565986446,0.999999962952,-9.7359552852e-05,-0.000249238939506,-4.99686369473e-05,1793254777188203264
+111,1.850000000,POSE1_TO_POSE2_PRESS,785,761,738,722,687.668409676,651,919,801,838,658,635,657.668409676,0.400988764211,-0.01541272947,0.0498565673116,0.999999962877,-9.66145934151e-05,-0.000249825638794,-4.99863393434e-05,1793254777204869632
+112,1.866666667,POSE1_TO_POSE2_PRESS,785,761,738,722,687.089463663,651,919,801,838,658,635,657.089463663,0.400986271002,-0.0154127113855,0.0498560228653,0.999999962388,-9.58367648945e-05,-0.00025213214175,-4.96958895827e-05,1793254777221535744
+113,1.883333333,POSE1_TO_POSE2_PRESS,785,761,738,722.484314404,687.484314404,651,918.515685596,801,838,658,635,657,0.400985752831,-0.0154126256109,0.0498553326634,0.999999962167,-9.62776056161e-05,-0.000252818565152,-4.97970197308e-05,1793254777238202624
+114,1.900000000,POSE1_TO_POSE2_PRESS,785.058826676,761,738,723,688,651,918.058826676,801,838.058826676,658,635,657,0.400985804915,-0.0154126836978,0.0498547154542,0.999999962017,-9.69401663439e-05,-0.000253137771901,-4.99049822736e-05,1793254777254869504
+115,1.916666667,POSE1_TO_POSE2_PRESS,785.648487608,761,738,723,688,651,918.648487608,801,838.648487608,658,635,657,0.400987745431,-0.0154141515873,0.049854997301,0.999999962058,-9.75935356055e-05,-0.000252815289943,-4.94287735736e-05,1793254777271536640
+116,1.933333333,POSE1_TO_POSE2_PRESS,785.765761764,761,738,723,688,651,919,801,838.765761764,658,635,657,0.400994839599,-0.0154147663605,0.0498573560544,0.999999963296,-9.68907658072e-05,-0.00024822866352,-4.90132864551e-05,1793254777288203264
+117,1.950000000,POSE1_TO_POSE2_PRESS,785.18578288,761,738,723,688,651,919,801,838.18578288,658,635,657,0.401009540669,-0.0154141219158,0.0498627803663,0.999999966212,-9.41863056788e-05,-0.000237348068659,-4.86874257276e-05,1793254777304869632
+118,1.966666667,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,658,635,657,0.40104316915,-0.0154160470191,0.049874296955,0.999999971532,-9.44080148482e-05,-0.000213941604425,-4.74624670251e-05,1793254777321535744
+119,1.983333333,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,658,635,657,0.401085718041,-0.0154191831397,0.0498886848088,0.999999977297,-9.60088150968e-05,-0.000184631749102,-4.58137671366e-05,1793254777338201600
+120,2.000000000,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,658,635.552814168,657,0.401146816261,-0.0154218345348,0.0499045855933,0.99999998236,-9.65512704593e-05,-0.000154942931074,-4.41555814811e-05,1793254777354868224
+121,2.016666667,POSE1_TO_POSE2_PRESS,785,761,738.137127502,722.862872498,688,651.137127502,919,801,837.862872498,657.862872498,636,656.862872498,0.401212863711,-0.0154249699766,0.0499197167369,0.999999986036,-9.7481074079e-05,-0.000128951575934,-4.24016534528e-05,1793254777371534848
+122,2.033333333,POSE1_TO_POSE2_PRESS,785,761,738.716434844,722.283565156,688,651.716434844,919,801,837.283565156,657.283565156,636,656.283565156,0.401291294253,-0.0154297597219,0.0499320744285,0.999999987592,-9.98639571272e-05,-0.000114956072771,-4.03408240741e-05,1793254777388201728
+123,2.050000000,POSE1_TO_POSE2_PRESS,785,761,738.704853433,722.295146567,688,652,919,801,837.295146567,657.295146567,636,656.295146567,0.401379235707,-0.0154354251387,0.0499402618446,0.999999988799,-0.0001011799617,-0.000103358431959,-3.8501517069e-05,1793254777404868864
+124,2.066666667,POSE1_TO_POSE2_PRESS,785,761,738.126712837,722.873287163,688,652,919,801,837.873287163,657.873287163,636,656.873287163,0.40147629646,-0.0154419301711,0.0499444506938,0.999999989748,-0.000101473015945,-9.40599233481e-05,-3.68746114712e-05,1793254777421535488
+125,2.083333333,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651.550998877,919,801,838,658,635.550998877,657,0.401588673183,-0.0154483978,0.0499481333702,0.999999990119,-0.000103077971288,-8.8642619934e-05,-3.57781175195e-05,1793254777438202112
+126,2.100000000,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,658,635.02460149,657,0.4017058902,-0.0154549569758,0.0499513961887,0.99999999027,-0.000105100260353,-8.48541450483e-05,-3.48276932302e-05,1793254777454868736
+127,2.116666667,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,658,635.613213577,657,0.401835514747,-0.0154638556452,0.0499482906945,0.999999989205,-0.000108248018086,-9.34318712369e-05,-3.3812768112e-05,1793254777471535104
+128,2.133333333,POSE1_TO_POSE2_PRESS,785,761,738,723,687.801701477,651,919,801,838,658,635.801701477,657,0.4019784685,-0.0154736644533,0.0499453657121,0.99999998811,-0.000112016880411,-0.00010078370846,-3.27906369794e-05,1793254777488201728
+129,2.150000000,POSE1_TO_POSE2_PRESS,785,761,738,723,687.223376143,651,919,801,838,658,635.223376143,657,0.402146966838,-0.0154852174846,0.04994278667,0.999999987059,-0.000116976050782,-0.000105786204595,-3.17546960875e-05,1793254777504868352
+130,2.166666667,POSE1_TO_POSE2_PRESS,784.645350573,761,738,723,687.354649427,651,918.645350573,801,838,657.645350573,635.354649427,657,0.402340223743,-0.0154961281448,0.0499429794201,0.999999986749,-0.000119424219044,-0.000106401208993,-3.02985666635e-05,1793254777521534976
+131,2.183333333,POSE1_TO_POSE2_PRESS,784.067513593,761,738,723,687.932486407,651,918.067513593,801,838,657.067513593,635.932486407,657,0.402549061697,-0.0155066345499,0.049944916511,0.999999986922,-0.000120292166952,-0.000104255082834,-2.8578004595e-05,1793254777538201600
+132,2.200000000,POSE1_TO_POSE2_PRESS,784.505426776,761,738,722.494573224,688,651,918.505426776,801,838,657.505426776,636,657,0.402794142923,-0.0155158295213,0.0499522848695,0.999999988629,-0.000117390549272,-9.09787831127e-05,-2.61758302216e-05,1793254777554868736
+133,2.216666667,POSE1_TO_POSE2_PRESS,785,761,738,722,688,651,919,801,838,657.919644208,636,656.919644208,0.403048691574,-0.0155248815077,0.049960331624,0.99999999034,-0.000113797070322,-7.62575411299e-05,-2.35779295869e-05,1793254777571535360
+134,2.233333333,POSE1_TO_POSE2_PRESS,785,761,738,722,688,651,919,801,838,657.32793768,636,656.32793768,0.403332974782,-0.0155341276646,0.0499681229653,0.999999991952,-0.000108974375372,-6.17114943586e-05,-2.03083397582e-05,1793254777588201984
+135,2.250000000,POSE1_TO_POSE2_PRESS,785,761,738,722,688,651.258411027,919,801,838,657.258411027,636,656.258411027,0.403638273369,-0.0155356518093,0.0499749203521,0.99999999422,-9.43707002412e-05,-4.8543740879e-05,-1.72593525953e-05,1793254777604868608
+136,2.266666667,POSE1_TO_POSE2_PRESS,785,761,738,722,688,651.838098445,919,801,838,657.838098445,636,656.838098445,0.403969699868,-0.0155275753563,0.0499804819779,0.999999996922,-6.76065612829e-05,-3.70895880935e-05,-1.4484635761e-05,1793254777621534976
+137,2.283333333,POSE1_TO_POSE2_PRESS,785,761,738,722,688,652,919,801,838.414913611,658,635.585086389,657,0.404337025406,-0.0155208018034,0.0499871578389,0.99999999886,-4.04446670624e-05,-2.22221762454e-05,-1.22916321747e-05,1793254777638201600
+138,2.300000000,POSE1_TO_POSE2_PRESS,785,761,738,722,688,652,919,801,838.990615699,658,635.009384301,657,0.404718262633,-0.0155145331541,0.0499942654911,0.999999999842,-1.31286342135e-05,-6.0320489936e-06,-1.03240557826e-05,1793254777654868224
+139,2.316666667,POSE1_TO_POSE2_PRESS,785,761,738,722,688,651.423445402,919,801,839,658,635.576554598,657,0.405103507672,-0.0155241265197,0.0499875092619,0.999999999803,-3.12191653837e-06,-1.82590732277e-05,-7.1931744474e-06,1793254777671535104
+140,2.333333333,POSE1_TO_POSE2_PRESS,784.83912315,761,738.16087685,722,688,651,919,801,839,658,636,657,0.40549461812,-0.015531436799,0.0499761756115,0.999999999162,8.64689831489e-06,-3.97262858078e-05,-4.72309041952e-06,1793254777688201984
+141,2.350000000,POSE1_TO_POSE2_PRESS,784.259451041,761,738.740548959,722,688,651,919,801,839,658,636,657,0.405900824477,-0.0155321194979,0.0499535240472,0.999999996131,2.57494819655e-05,-8.40217611123e-05,-4.02337857357e-06,1793254777704869120
+142,2.366666667,POSE1_TO_POSE2_PRESS,784,761,739,722.318730769,687.681269231,651,919,801,839,658,636,657,0.406344969319,-0.0155320386308,0.0499363518681,0.999999992302,4.63998510585e-05,-0.000115048264632,-2.66032849227e-06,1793254777721535744
+143,2.383333333,POSE1_TO_POSE2_PRESS,784,761,739,722.895705164,687.104294836,651,919,801,839,658,636,657,0.406819852911,-0.0155313391038,0.0499236192213,0.999999988399,6.99247263408e-05,-0.000135323920853,-7.59825141665e-07,1793254777738202368
+144,2.400000000,POSE1_TO_POSE2_PRESS,784.472138353,761.472138353,738.527861647,723,687,651.472138353,919,801,839,657.527861647,636,657,0.407371594994,-0.0155316323924,0.0499316414143,0.999999988755,9.61750097169e-05,-0.000115018372834,3.36116894868e-06,1793254777754868992
+145,2.416666667,POSE1_TO_POSE2_PRESS,785,761.950538563,738.049461437,723,687,651.950538563,919,801,839,657.049461437,636,657,0.407942470137,-0.0155322687013,0.0499453421439,0.999999988829,0.000123144916278,-8.43275649695e-05,8.1934038033e-06,1793254777771535104
+146,2.433333333,POSE1_TO_POSE2_PRESS,785,761.362219134,738.637780866,723,687,651.362219134,919,801,839,657.637780866,636,657,0.408537036265,-0.0155342554883,0.0499710166546,0.999999987696,0.000151403368101,-3.80447254144e-05,1.5436579591e-05,1793254777788201984
+147,2.450000000,POSE1_TO_POSE2_PRESS,784.77725902,761,738.77725902,723,687.22274098,651.22274098,919,801,839,658,636,657,0.409143794213,-0.0155370515695,0.0499914650132,0.999999983846,0.000178330531941,-4.34472833054e-06,2.20896952522e-05,1793254777804868352
+148,2.466666667,POSE1_TO_POSE2_PRESS,784.197680659,761,738.197680659,723,687.802319341,651.802319341,919,801,839,658,636,657,0.409770083767,-0.0155411441628,0.0500035409259,0.999999978941,0.000203124933391,9.19719451801e-06,2.77975174334e-05,1793254777821534976
+149,2.483333333,POSE1_TO_POSE2_PRESS,784.378810624,761,738,723,687.621189376,651.621189376,919,801,839,657.621189376,636,657,0.410386183508,-0.0155420501238,0.0499946075789,0.999999973672,0.000226689218027,-1.71607472606e-05,3.11910560936e-05,1793254777838202112
+150,2.500000000,POSE1_TO_POSE2_PRESS,784.953703935,761,738,723,687.046296065,651.046296065,919,801,839,657.046296065,636,657,0.410997008707,-0.015541306597,0.0499747992672,0.999999966229,0.000249616759511,-6.41719450049e-05,3.33866583942e-05,1793254777854868992
+151,2.516666667,POSE1_TO_POSE2_PRESS,785,761,738,722.460053514,687,651.539946486,919,801,839,657,636,657,0.411666977996,-0.0155391768748,0.049954111582,0.999999980261,0.000169278511747,-9.84978251708e-05,3.34782853992e-05,1793254777871535616
+152,2.533333333,POSE1_TO_POSE2_PRESS,785,761,738.12550344,722,687.12550344,652,919,801,839,657,636,657,0.412367445849,-0.0155397364519,0.0499448117493,0.999999989463,8.89693881221e-05,-0.000110421949822,3.10803952305e-05,1793254777888201984
+153,2.550000000,POSE1_TO_POSE2_PRESS,785,761,738.704984727,722,687.704984727,652,919,801,839,657,636,657,0.413159497185,-0.0155504630685,0.0499769832731,0.999999997905,4.1481223783e-05,-4.53320538917e-05,2.03438488022e-05,1793254777904868352
+154,2.566666667,POSE1_TO_POSE2_PRESS,785,761,739,722,688,652,919,801,839,657.28375973,636,657,0.413932700032,-0.0155581584511,0.0499902888243,0.99999999913,3.28436301905e-05,-1.9273348408e-05,1.7037110549e-05,1793254777921534976
+155,2.583333333,POSE1_TO_POSE2_PRESS,785,761,739,722,688,652,919,801,839,657.86180233,636,657,0.414686355498,-0.0155627101888,0.0499840287681,0.999999997123,6.44973625712e-05,-3.36932846782e-05,2.14357112781e-05,1793254777938201600
+156,2.600000000,POSE1_TO_POSE2_PRESS,785,761,738.563640807,722,687.563640807,652,919,801,839,658,636.436359193,657,0.415454163779,-0.0155590489787,0.0499616127705,0.999999992524,9.7676285887e-05,-7.01596005949e-05,2.21018823609e-05,1793254777954868480
+157,2.616666667,POSE1_TO_POSE2_PRESS,785,761,738.010108691,722,687,652,919,801,839.010108691,657.989891309,636.989891309,657,0.416227909415,-0.0155529650624,0.049934902879,0.999999984898,0.000130964554668,-0.000112171919794,2.16632858881e-05,1793254777971535104
+158,2.633333333,POSE1_TO_POSE2_PRESS,785,761,738.600379981,722,687,652,919,801,839.600379981,657.399620019,636.399620019,657,0.417087206494,-0.0155559360519,0.0499530877893,0.999999986649,0.000143025553747,-7.49318061971e-05,2.51244053017e-05,1793254777988201984
+159,2.650000000,POSE1_TO_POSE2_PRESS,785,761,738.813269729,721.813269729,687,652,919,801,839.813269729,657,636,657,0.417950694084,-0.0155587678855,0.0499718165614,0.999999987703,0.000148740805129,-4.10773538221e-05,2.79796364513e-05,1793254778004868864
+160,2.666666667,POSE1_TO_POSE2_PRESS,785,761,738.235138198,721.235138198,687,652,919,801,839.235138198,657,636,657,0.418822965259,-0.0155613080372,0.0499916853092,0.999999989498,0.000141154872387,-1.43195146954e-05,2.95648782368e-05,1793254778021535744
+161,2.683333333,POSE1_TO_POSE2_PRESS,785,761,738,721,687,651.657323164,919,801,839,657.342676836,636,657,0.419685323149,-0.0155616115756,0.0499892320517,0.999999990138,0.000135992898838,-1.86841605713e-05,2.96660606885e-05,1793254778038202112
+162,2.700000000,POSE1_TO_POSE2_PRESS,785,761,738,721,687,651.079725128,919,801,839,657.920274872,636,657,0.420540884976,-0.0155603818097,0.0499714760018,0.999999989825,0.0001324926644,-4.43847449329e-05,2.87498501137e-05,1793254778054868480
+163,2.716666667,POSE1_TO_POSE2_PRESS,785,761,738,721,687.49540332,651.49540332,919,801,839,658,636,657,0.421482408936,-0.0155628952855,0.0499890814482,0.999999989548,0.000141226895414,-4.02019697115e-06,3.06957222093e-05,1793254778071535104
+164,2.733333333,POSE1_TO_POSE2_PRESS,785.069871341,761,738.069871341,721.069871341,687.930128659,652,919,801,839,657.930128659,636,657,0.422432666156,-0.0155657927629,0.0500079976265,0.999999987373,0.00015091320327,3.74486399567e-05,3.28254768213e-05,1793254778088201728
+165,2.750000000,POSE1_TO_POSE2_PRESS,785.642432764,761,738.642432764,721.642432764,687.357567236,652,919,801,839,657.357567236,636,657,0.423346720236,-0.0155671404748,0.0499956050339,0.99999998764,0.000153354303323,1.07507706024e-05,3.29808626447e-05,1793254778104868352
+166,2.766666667,POSE1_TO_POSE2_PRESS,785.551358948,761,739,721.775679474,687,652,919,801,839,657.224320526,636,657,0.424268421363,-0.015569261201,0.0499866067362,0.999999988147,0.000150306880022,-6.15896040233e-06,3.27954644144e-05,1793254778121535232
+167,2.783333333,POSE1_TO_POSE2_PRESS,784.356561064,761,739,721.178280532,687,652,919,801,839,657.821719468,636,657,0.425202840813,-0.0155726675652,0.0499832536543,0.999999989923,0.000138131226173,-6.78956504696e-06,3.20432916449e-05,1793254778138202112
+168,2.800000000,POSE1_TO_POSE2_PRESS,784.403208421,761,738.596791579,721,687,652,919,801,839.403208421,658,636,657,0.426153121284,-0.0155770130611,0.0499997667552,0.999999990097,0.000136046806341,9.27954501702e-06,3.47985384081e-05,1793254778154868480
+169,2.816666667,POSE1_TO_POSE2_PRESS,784.977929702,761,738.022070298,721,687,652,919,801,839.977929702,658,636,657,0.427110148505,-0.0155817580355,0.0500247303393,0.999999989154,0.000138254897758,3.24522166717e-05,3.90457370694e-05,1793254778171535360
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+171,2.850000000,POSE1_TO_POSE2_PRESS,785,761.850475397,738,720.850475397,687,651.149524603,919,801,840,657.149524603,636,657,0.428927525692,-0.0155673152557,0.0499584790326,0.999999982577,0.000160640561947,-8.88791599579e-05,3.37663253318e-05,1793254778204868352
+172,2.866666667,POSE1_TO_POSE2_PRESS,785,761.271214479,738,720.271214479,687,651.728785521,919,801,840,657.728785521,636,657,0.429929440799,-0.0155674842347,0.0499689976991,0.999999984621,0.000163666684408,-5.27321984979e-05,3.45165403454e-05,1793254778221534976
+173,2.883333333,POSE1_TO_POSE2_PRESS,785.307467781,761.307467781,738,720,687,652,919,801,840,657.692532219,636,657,0.430893893171,-0.0155675969848,0.0499667381635,0.999999984063,0.000167602265714,-5.08339082819e-05,3.46281447346e-05,1793254778238201600
+174,2.900000000,POSE1_TO_POSE2_PRESS,785.885640541,761.885640541,738,720,687,652,919,801,840,657.114359459,636,657,0.431825362037,-0.0155676602292,0.0499532282682,0.999999981438,0.000172338565062,-7.90893024278e-05,3.41774948125e-05,1793254778254867968
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+235,3.916666667,POSE1_TO_POSE2_PRESS,787,762,738.716086964,717,686,649,918,798,841,658,632.716086964,657.716086964,0.457826022245,-0.0156180360368,0.0496189860725,0.99999982316,8.98496700037e-05,-0.000587683786429,1.53131271835e-05,1793254779271535360
+236,3.933333333,POSE1_TO_POSE2_PRESS,787,762,738.138490349,717,686,649,918,798,841,658,632.138490349,657.138490349,0.457826779695,-0.0156183654307,0.0496178237126,0.99999982307,8.80787823427e-05,-0.000588105354662,1.53259044746e-05,1793254779288201984
+237,3.950000000,POSE1_TO_POSE2_PRESS,787,762,738.437670964,717,686,649,918,798,841,658,632,657,0.457827522938,-0.0156184843368,0.0496179028444,0.999999823418,8.64645014733e-05,-0.000587755189257,1.52269748602e-05,1793254779304869120
+238,3.966666667,POSE1_TO_POSE2_PRESS,786.986335018,762,739,717.013664982,686,649.013664982,918,798,841,658,632.013664982,657.013664982,0.457828280412,-0.0156184613787,0.0496183711916,0.999999823899,8.50205941229e-05,-0.000587151223104,1.50878551982e-05,1793254779321536768
+239,3.983333333,POSE1_TO_POSE2_PRESS,786.39834498,762,739,717.60165502,686,649.60165502,918,798,841,658,632.60165502,657.60165502,0.457829824363,-0.0156152661486,0.0496187411777,0.999999824198,8.8661392284e-05,-0.000586110045908,1.47403283507e-05,1793254779338203136
+240,4.000000000,POSE1_TO_POSE2_PRESS,786.186429245,762,739,717.813570755,686,650,918.186429245,798,841,658,633,657.813570755,0.457830796762,-0.0156139043149,0.049618821231,0.999999824247,9.04543631812e-05,-0.000585754218533,1.46922544166e-05,1793254779354869504
+241,4.016666667,POSE1_TO_POSE2_PRESS,786.764448695,762,739,717.235551305,686,650,918.764448695,798,841,658,633,657.235551305,0.457830568631,-0.0156163934867,0.0496182922874,0.99999982379,8.83660165425e-05,-0.00058683795227,1.5273174242e-05,1793254779371535872
+242,4.033333333,POSE1_TO_POSE2_PRESS,787,762,739,717,686,650,919,798,841,658,632.658500083,657,0.457830664043,-0.0156157490572,0.0496179083085,0.999999823304,8.81962798638e-05,-0.00058769446995,1.51303438533e-05,1793254779388202240
+243,4.050000000,POSE1_TO_POSE2_PRESS,787,762,739,717,686,650,919,798,841,658,632.082114838,657,0.457830981989,-0.0156129493211,0.0496176240371,0.999999822799,8.93461726755e-05,-0.000588394707258,1.44897144698e-05,1793254779404868608
+244,4.066666667,POSE1_TO_POSE2_PRESS,787,762,739,717.492400855,686,650,919,798,841,658,632.492400855,657.492400855,0.457831257075,-0.015613405628,0.0496174300541,0.999999822971,8.8602424047e-05,-0.000588218012896,1.44243872737e-05,1793254779421535232
+245,4.083333333,POSE1_TO_POSE2_PRESS,787,762,739,718,686,649.931721831,919,798,841,657.931721831,632.931721831,658,0.45783158553,-0.0156142938871,0.0496172943789,0.999999823213,8.75815688591e-05,-0.000587956943046,1.44939201075e-05,1793254779438201856
+246,4.100000000,POSE1_TO_POSE2_PRESS,787,762,739,718,686,649.343100978,919,798,841,657.343100978,632.343100978,658,0.45783237497,-0.0156143515767,0.0496174887496,0.99999982315,8.68464271118e-05,-0.000588163128773,1.48628264497e-05,1793254779454868736
+247,4.116666667,POSE1_TO_POSE2_PRESS,787,762,739,717.757227995,686,649.242772005,919,798,841,657.242772005,632,657.757227995,0.457833038821,-0.0156145203644,0.0496175513058,0.999999823324,8.58207457163e-05,-0.000588021436754,1.47825062116e-05,1793254779471535616
+248,4.133333333,POSE1_TO_POSE2_PRESS,787,762,739,717.175194929,686,649.824805071,919,798,841,657.824805071,632,657.175194929,0.457833527171,-0.0156148444056,0.049617429658,0.999999823825,8.43890503943e-05,-0.00058739360398,1.40744155961e-05,1793254779488202496
+249,4.150000000,HOLD_POSE2,787,762,739,717,686,650,919,798,841,658,632,658,0.457831864948,-0.0156145400014,0.0496155690915,0.999999821892,8.65861793537e-05,-0.000590348939665,1.43826134288e-05,1793254779522234368
+250,4.166666667,HOLD_POSE2,787,761.411432465,739,717.588567535,686,650,918.411432465,798,841,658,632,658,0.457832130101,-0.0156141666541,0.0496151277703,0.99999982197,8.51851322716e-05,-0.000590418150405,1.45087764635e-05,1793254779538900992
+251,4.183333333,HOLD_POSE2,786.825724436,761.174275564,739,718,686,649.825724436,918.174275564,798,841,658,632,658,0.457832082715,-0.015613448885,0.0496146960609,0.999999821838,8.44165002941e-05,-0.000590754731402,1.43986658072e-05,1793254779555567616
+252,4.200000000,HOLD_POSE2,786.246658081,761.753341919,739,718,686,649.246658081,918.753341919,798,841,658,632,658,0.457831309395,-0.0156119311255,0.0496142866771,0.999999821221,8.51167820129e-05,-0.00059171233475,1.37397609995e-05,1793254779572234240
+253,4.216666667,HOLD_POSE2,786.330641691,762,739,717.669358309,686,649,918.669358309,798,841,658,632,657.669358309,0.457832001434,-0.0156113763792,0.0496150012616,0.999999821507,8.65123771209e-05,-0.000591026973833,1.37618237253e-05,1793254779588900864
+254,4.233333333,HOLD_POSE2,786.906630564,762,739,717.093369436,686,649,918.093369436,798,841,658,632,657.093369436,0.457833780817,-0.0156115362209,0.0496165498683,0.999999822456,8.84239179527e-05,-0.000589122478479,1.42891871523e-05,1793254779605567744
+255,4.250000000,HOLD_POSE2,787,761.517831973,739,717,686,649,918,798,840.517831973,658,632,657.482168027,0.457833698203,-0.0156122128267,0.0496165057095,0.999999822631,8.65440691593e-05,-0.000589105849937,1.42372439817e-05,1793254779622234624
+256,4.266666667,HOLD_POSE2,786.940927467,761.059072533,739,717,686,649,918,797.940927467,840.059072533,658,632,658,0.457833326136,-0.0156130202808,0.0496162058992,0.99999982265,8.40542136042e-05,-0.000589437365424,1.40988116245e-05,1793254779638901760
+257,4.283333333,HOLD_POSE2,786.350952019,761.649047981,739,717,686,649,918,797.350952019,840.649047981,658,632,658,0.457833590156,-0.0156141051999,0.049616377843,0.999999822659,8.26742024838e-05,-0.000589615287555,1.41903259825e-05,1793254779655567872
+258,4.300000000,HOLD_POSE2,786.234822876,762,739,717,686,649,918.234822876,797.234822876,841,657.765177124,632.234822876,657.765177124,0.457834099702,-0.0156140734756,0.0496166525859,0.999999822722,8.27294084106e-05,-0.000589502839239,1.40719649204e-05,1793254779672233984
+259,4.316666667,HOLD_POSE2,786.814430155,762,739,717,686,649,918.814430155,797.814430155,841,657.185569845,632.814430155,657.185569845,0.457834969747,-0.0156124022123,0.0496170782661,0.999999822864,8.4891906811e-05,-0.00058896404743,1.36454491578e-05,1793254779688900608
+260,4.333333333,HOLD_POSE2,787,762,738.608404335,717,686,649.391595665,919,798,841,657,632.608404335,657,0.457836374087,-0.0156121665401,0.0496179753173,0.999999823723,8.51105493906e-05,-0.000587466170763,1.39102812032e-05,1793254779705567488
+261,4.350000000,HOLD_POSE2,787,762,738.032388713,717,686,649.967611287,919,798,841,657,632.032388713,657,0.457838030051,-0.015612606952,0.0496190943582,0.999999824917,8.44137432942e-05,-0.000585516617986,1.45006998932e-05,1793254779722234112
+262,4.366666667,HOLD_POSE2,787,762,738.551683834,717,686,649.448316166,918.448316166,797.448316166,841,657.551683834,632,657.551683834,0.457837012474,-0.0156119569717,0.0496177844402,0.999999823942,8.5861748076e-05,-0.000586973539467,1.43271436084e-05,1793254779738900480
+263,4.383333333,HOLD_POSE2,787,762,739,717,686,649,918,797.134980722,841,658,632.134980722,658,0.457836128379,-0.015611847948,0.049616682995,0.999999823195,8.63528063246e-05,-0.000588175095876,1.42458351235e-05,1793254779755567360
+264,4.400000000,HOLD_POSE2,787,762,739,717,686,649,918,797.714145657,841,658,632.714145657,658,0.457836207707,-0.015613732842,0.0496167437922,0.999999823631,8.32743117742e-05,-0.000587868451068,1.46178718214e-05,1793254779772234752
+265,4.416666667,HOLD_POSE2,787,762,739,717,686,649,918.293355539,798,841,658,632.706644461,658,0.457835918557,-0.0156131201439,0.0496168641263,0.999999823652,8.32591329884e-05,-0.000587838110835,1.44799124048e-05,1793254779788901632
+266,4.433333333,HOLD_POSE2,787,762,739,717,686,649,918.872609188,798,841,658,632.127390812,658,0.457835270296,-0.015610073345,0.0496170424837,0.999999823269,8.62293972207e-05,-0.000588077051224,1.38449215261e-05,1793254779805568000
+267,4.450000000,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,650,918,798,841,658,632,658,0.457837718604,-0.0156101877405,0.0496188937627,0.999999824839,8.65818792381e-05,-0.000585351090595,1.37513915181e-05,1793254779838193152
+268,4.466666667,POSE2_TO_POSE3_RETREAT,786.411952185,762,739,717,686,650,918.588047815,797.411952185,841,658,632,658,0.457835234528,-0.0156114169149,0.0496167931036,0.999999823227,8.55087664258e-05,-0.000588255936042,1.37811643661e-05,1793254779854860032
+269,4.483333333,POSE2_TO_POSE3_RETREAT,786.173271283,762,739,717,686,650,918.826728717,797.173271283,841,658,632,657.826728717,0.457833963235,-0.0156128638412,0.0496155004523,0.999999822399,8.38145340092e-05,-0.000589900923054,1.39334589594e-05,1793254779871526912
+270,4.500000000,POSE2_TO_POSE3_RETREAT,786.751887684,762,739,717,686,650,918.248112316,797.751887684,841,658,632,657.248112316,0.457835529087,-0.0156148201695,0.0496160980271,0.999999823419,8.06672746929e-05,-0.000588598639451,1.43723768826e-05,1793254779888193280
+271,4.516666667,POSE2_TO_POSE3_RETREAT,786.670094901,762,739,717,686,649.670094901,918.329905099,798,840.670094901,658,632,657.329905099,0.457836147031,-0.0156143299299,0.0496166503547,0.999999823803,8.12739204824e-05,-0.000587857193745,1.45478025122e-05,1793254779904859904
+272,4.533333333,POSE2_TO_POSE3_RETREAT,786.092527184,762,739,717,686,649.092527184,918.907472816,798,840.092527184,658,632,657.907472816,0.457836053371,-0.0156120030305,0.0496171687148,0.999999823708,8.46986555678e-05,-0.000587536773988,1.45254221663e-05,1793254779921527040
+273,4.550000000,POSE2_TO_POSE3_RETREAT,786.483835433,761.516164567,739,717,686,649.483835433,918.516164567,798,840.483835433,658,632,658,0.457836295454,-0.0156131508299,0.0496173571575,0.999999823912,8.34835465595e-05,-0.000587366132875,1.4410798705e-05,1793254779938193408
+274,4.566666667,POSE2_TO_POSE3_RETREAT,786.938752597,761.061247403,739,717,686,650,918,798,841,658,632,658,0.457836225504,-0.0156145807486,0.0496172797729,0.999999824056,8.17322253416e-05,-0.00058737077912,1.42538169006e-05,1793254779954859776
+275,4.583333333,POSE2_TO_POSE3_RETREAT,786.350329786,761.649670214,739,717,686,650,918,798,841,658,632,658,0.457832918528,-0.0156127336878,0.049615456038,0.999999823213,8.29839309073e-05,-0.000588638249673,1.38837018641e-05,1793254779971526400
+276,4.600000000,POSE2_TO_POSE3_RETREAT,786.234240538,762,739,717,686,649.765759462,918,798,841,658,632.234240538,657.765759462,0.457823566678,-0.0156111871578,0.0496106919403,0.999999819592,8.37769948489e-05,-0.000594660059714,1.33204754777e-05,1793254779988193024
+277,4.616666667,POSE2_TO_POSE3_RETREAT,786.813142266,762,739,717,686,649.186857734,918,798,841,658,632.813142266,657.186857734,0.45780532041,-0.0156100828286,0.0496016013972,0.999999811767,8.38952140482e-05,-0.000607677397827,1.24731053612e-05,1793254780004859648
+278,4.633333333,POSE2_TO_POSE3_RETREAT,787,762,739,717.390307419,686,649.390307419,918.390307419,798,841,658,632.609692581,657,0.457770394169,-0.0156082004666,0.0495862714835,0.999999797033,8.45613642713e-05,-0.000631395250576,1.11378055297e-05,1793254780021526272
+279,4.650000000,POSE2_TO_POSE3_RETREAT,787,762,739,717.966644928,686,649.966644928,918.966644928,798,841,658,632.033355072,657,0.457727517842,-0.0156059472751,0.0495679677317,0.999999778359,8.54886718182e-05,-0.000660213231853,9.56994634365e-06,1793254780038193152
+280,4.666666667,POSE2_TO_POSE3_RETREAT,787,762,739,717.447163766,686,649.447163766,918.447163766,798,841,658,632.552836234,657.552836234,0.457667024281,-0.0156037320307,0.0495494455264,0.999999763919,8.30044338645e-05,-0.000682065888679,7.58056410931e-06,1793254780054860032
+281,4.683333333,POSE2_TO_POSE3_RETREAT,786.862169239,762,739,717,686,649,918,798,841,658,633,658,0.457601836869,-0.0156008937243,0.0495323660616,0.999999750128,8.18870741376e-05,-0.000702143156027,5.76948420186e-06,1793254780071526912
+282,4.700000000,POSE2_TO_POSE3_RETREAT,786.28294563,762,739,717,686,649,918,798,841,658,633,658,0.457525083445,-0.0155960526425,0.0495199498371,0.999999738613,8.58181701337e-05,-0.000717905115429,4.61232714171e-06,1793254780088194048
+283,4.716666667,POSE2_TO_POSE3_RETREAT,786.295711275,762,739,717,686,649.295711275,918,797.704288725,840.704288725,658,632.704288725,657.704288725,0.457439572255,-0.0155882919287,0.0495124497493,0.999999730847,9.10014818004e-05,-0.000728022354868,2.83631107361e-06,1793254780104860672
+284,4.733333333,POSE2_TO_POSE3_RETREAT,786.873826944,762,739,717,686,649.873826944,918,797.126173056,840.126173056,658,632.126173056,657.126173056,0.457345697398,-0.0155777429656,0.0495096445752,0.999999726798,9.73806597395e-05,-0.0007327488835,4.69284460573e-07,1793254780121526784
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,786.612928132,762,739,717,686,650,918.612928132,798,840.612928132,658,632,657,0.456971626981,-0.015557508951,0.04950146693,0.999999712755,0.00010571250203,-0.000750541866962,-1.17855185268e-06,1793254780171525888
+288,4.800000000,POSE2_TO_POSE3_RETREAT,787,761.801285782,739,717,686,650,918.801285782,798,841,657.801285782,632,657,0.456817964141,-0.0155485708052,0.049499361508,0.999999707591,0.000108637745267,-0.000756974335279,-2.52739728878e-06,1793254780188192768
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,787,761.354747311,739,717.354747311,686,650,918.354747311,798,841,657.354747311,632,657,0.456455785672,-0.0155288012074,0.0495065483381,0.999999709982,0.000118207986719,-0.000752362033696,-3.75760351243e-06,1793254780221527040
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,784.410113576,761,738,722,687,651,918.410113576,800,838.410113576,657.589886424,635,657,0.414230957622,-0.0153631082473,0.0498014625336,0.999999949348,-3.86919452392e-05,-0.000309737671863,-6.22043924052e-05,1793254781204859392
+350,5.833333333,POSE2_TO_POSE3_RETREAT,784.176096631,761,738,722,687.176096631,651,918.176096631,800,838.176096631,658,635,657,0.413448000855,-0.0153618159669,0.0497850809507,0.999999939992,-2.97846899192e-05,-0.00033923874644,-6.36072119078e-05,1793254781221526528
+351,5.850000000,POSE2_TO_POSE3_RETREAT,784.755799246,761,738,722,687.755799246,651,918.755799246,800,838.755799246,658,635,657,0.412667639369,-0.0153603397449,0.0497670833626,0.999999929623,-3.9339194716e-05,-0.000367365845706,-6.51825125941e-05,1793254781238193408
+352,5.866666667,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918.667062798,800.332937202,839,657.667062798,635,657,0.411955204811,-0.0153613444683,0.0497774564966,0.999999933976,-4.80723969217e-05,-0.000354478383457,-6.38914508938e-05,1793254781254860288
+353,5.883333333,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918.091791609,800.908208391,839,657.091791609,635,657,0.411292212065,-0.0153641549899,0.0498084797429,0.999999947999,-5.62077994859e-05,-0.000311737775089,-6.05140585657e-05,1793254781271526656
+354,5.900000000,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918,801,839,657.481858945,635,657,0.410618831083,-0.0153640670791,0.0498105562731,0.999999948094,-5.90485624135e-05,-0.000310956459053,-6.0257881153e-05,1793254781288193280
+355,5.916666667,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918.05698641,800.94301359,839,658,635.05698641,657,0.409948480608,-0.0153636177044,0.0498057133319,0.999999944962,-6.10403585026e-05,-0.000320404138399,-6.07578175418e-05,1793254781304859648
+356,5.933333333,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918.648864684,800.351135316,839,658,635.648864684,657,0.409325087705,-0.0153649406663,0.0497875065708,0.999999934316,-6.44987974067e-05,-0.000351090797485,-6.27927124774e-05,1793254781321526528
+357,5.950000000,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918.764399637,800.235600363,838.764399637,657.764399637,636,657,0.40872581083,-0.0153671446858,0.0497832744976,0.999999932282,-6.85992955484e-05,-0.000355963572965,-6.34104987591e-05,1793254781338193408
+358,5.966666667,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918.185164736,800.814835264,838.185164736,657.185164736,636,657,0.408161708406,-0.0153706337703,0.0497994251854,0.999999943145,-7.3636267902e-05,-0.00032318554642,-6.19613632784e-05,1793254781354860032
+359,5.983333333,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918.392224249,800.607775751,838.392224249,657,635.607775751,657,0.407624515391,-0.0153711846678,0.0498109171648,0.99999994779,-7.7366674206e-05,-0.000307890265421,-6.03186957875e-05,1793254781371526656
+360,6.000000000,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918.96874593,800.03125407,838.96874593,657,635.03125407,657,0.407099966457,-0.0153703549768,0.0498202201224,0.999999949802,-8.04831547146e-05,-0.000300809734038,-5.85850918094e-05,1793254781388193280
+361,6.016666667,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918.445622664,800.554377336,838.445622664,657.554377336,635,657,0.406589061741,-0.0153699670414,0.0498036863095,0.999999938794,-8.95329120368e-05,-0.000332679968816,-6.09933735901e-05,1793254781404859392
+362,6.033333333,POSE2_TO_POSE3_RETREAT,785.138646328,760.861353672,738,722.138646328,688,651,918.138646328,801,838,658,635,657,0.406086848323,-0.0153693956749,0.0497856705474,0.999999926413,-9.85972387174e-05,-0.000365255702872,-6.35610962371e-05,1793254781421526272
+363,6.050000000,POSE2_TO_POSE3_RETREAT,785.716939495,760.283060505,738,722.716939495,688,651,918.716939495,801,838,658,635,657,0.405609714904,-0.015368162357,0.0497676515551,0.999999914925,-0.000106629349505,-0.000392988985369,-6.58815869308e-05,1793254781438193152
+364,6.066666667,POSE2_TO_POSE3_RETREAT,785.705051679,760.294948321,738,722.705051679,688,651,919,801,838.294948321,658,635,657,0.405168138784,-0.015367884927,0.0497637105341,0.999999911343,-0.00011407327956,-0.000399815929477,-6.66904605847e-05,1793254781454859776
+365,6.083333333,POSE2_TO_POSE3_RETREAT,785.127315506,760.872684494,738,722.127315506,688,651,919,801,838.872684494,658,635,657,0.404760653993,-0.0153685239745,0.0497732670626,0.999999915775,-0.000120953278635,-0.000386598484278,-6.60500397748e-05,1793254781471526656
+366,6.100000000,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,919,801,838.551364232,657.551364232,635,657,0.404416791053,-0.0153735177505,0.0497954043184,0.999999927754,-0.000131667210592,-0.000350807561543,-6.39511347736e-05,1793254781488193280
+367,6.116666667,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,919,801,838,657,635,657,0.404092002606,-0.0153796455902,0.0498209042318,0.99999994008,-0.000142890698652,-0.00030925878106,-6.14853992469e-05,1793254781504859904
+368,6.133333333,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,919,801,838,657,635,657,0.403792196797,-0.0153835562974,0.0498419763077,0.999999948507,-0.000140969379756,-0.000281967534765,-6.0059622816e-05,1793254781521526528
+369,6.150000000,POSE2_TO_POSE3_RETREAT,785,761,738.199318367,722,688,651,919,801,838,657.199318367,635,657,0.403493183836,-0.0153862410178,0.0498538147024,0.999999955085,-0.00012033544296,-0.000267983346394,-5.94568702024e-05,1793254781538193152
+370,6.166666667,POSE2_TO_POSE3_RETREAT,785,761,738.780301938,722,688,651,919,801,838,657.780301938,635,657,0.403195689094,-0.0153865781544,0.0498479719608,0.99999995708,-6.38696094923e-05,-0.000279480209466,-6.0430086624e-05,1793254781554859776
+371,6.183333333,POSE2_TO_POSE3_RETREAT,785,761,738.643114248,722.356885752,688,651,919,801,838,658,635,657,0.402912283104,-0.0153862499862,0.0498374552895,0.999999951915,-4.83351429539e-05,-0.000299991385206,-6.19649242653e-05,1793254781571526144
+372,6.200000000,POSE2_TO_POSE3_RETREAT,785,761,738.069205876,722.930794124,688,651,919,801,838,658,635,657,0.40263744447,-0.0153855172454,0.049824096396,0.999999943165,-5.76910804605e-05,-0.000325984175758,-6.38412845309e-05,1793254781588192768
+373,6.216666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,918.484234689,801,838,658,635,657,0.402413709641,-0.0153879629387,0.0498156857468,0.999999938247,-6.58096320929e-05,-0.000339121248,-6.4597544145e-05,1793254781604859648
+374,6.233333333,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,918.101073396,801,838,658,635,657,0.402203484463,-0.0153900720238,0.0498089796591,0.99999993502,-6.47359765093e-05,-0.000348961401085,-6.32116749629e-05,1793254781621526272
+375,6.250000000,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,918.680793352,801,838,658,635,657,0.402024051198,-0.0153885231085,0.0498071325551,0.999999936619,-2.09349079162e-05,-0.000351536547554,-5.24088176662e-05,1793254781638192896
+376,6.266666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,658,635,657.259738056,0.401864217402,-0.0153862959132,0.0498089343814,0.999999938883,1.84903871279e-07,-0.000346437702024,-4.70556140165e-05,1793254781654859776
+377,6.283333333,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,658,635,657.83773281,0.401728398822,-0.0153832376223,0.0498152072374,0.999999943718,-6.48660108674e-06,-0.000331935924669,-4.83798645401e-05,1793254781671526400
+378,6.300000000,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,658,635,657.586285141,0.40161067825,-0.0153836857877,0.0498218939233,0.999999948257,-1.50658411793e-05,-0.000317612585809,-4.88009242506e-05,1793254781688193280
+379,6.316666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,658,635,657.011088706,0.401500021713,-0.0153855025966,0.0498287421356,0.999999952495,-2.43897100973e-05,-0.000303358895512,-4.88694496272e-05,1793254781704859904
+380,6.333333333,POSE2_TO_POSE3_RETREAT,785.576889343,761,738.576889343,723,688,651,919,801,838,658,635.576889343,657,0.401413368246,-0.0153907336742,0.0498329422549,0.999999954419,-3.57537404436e-05,-0.00029574598936,-4.91801836631e-05,1793254781721526528
+381,6.350000000,POSE2_TO_POSE3_RETREAT,786,761,739,723,688,651,919,801,838,658,635.836538803,657,0.401331160588,-0.0153953809321,0.0498360087204,0.999999955631,-4.55873322479e-05,-0.000290182699835,-4.95289927878e-05,1793254781738193152
+382,6.366666667,POSE2_TO_POSE3_RETREAT,786,761,739,723,688,651,919,801,838,658,635.254214181,657,0.40125913612,-0.0153983601939,0.0498363036243,0.999999955515,-5.13964646508e-05,-0.000289536980473,-4.99631677453e-05,1793254781754859776
+383,6.383333333,POSE2_TO_POSE3_RETREAT,785.678236992,761,738.678236992,723,688,651,919,801,838,658,635,657,0.401199321565,-0.0154009697563,0.0498363659117,0.999999955633,-5.6636537728e-05,-0.00028807691851,-5.03771264409e-05,1793254781771526400
+384,6.400000000,POSE2_TO_POSE3_RETREAT,785.10717762,761,738.10717762,723,688,651,919,801,838,658,635,657,0.40114896703,-0.0154032928822,0.0498362479719,0.99999995593,-6.1435714189e-05,-0.000285985918043,-5.07754219759e-05,1793254781788193280
+385,6.416666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,918.530578922,801,838,657.530578922,635,657,0.401111881356,-0.0154039466527,0.0498380455443,0.99999995688,-6.43196543807e-05,-0.000282007768907,-5.07491754613e-05,1793254781804859904
+386,6.433333333,POSE2_TO_POSE3_RETREAT,785.048197683,761,738,722.951802317,688,651,918,801,838,657.048197683,635,657,0.401078630206,-0.0154042429358,0.049840144868,0.999999957878,-6.66596612894e-05,-0.000277920401712,-5.06010007852e-05,1793254781821526784
+387,6.450000000,POSE2_TO_POSE3_RETREAT,785.637048754,761,738,722.362951246,688,651,918,801,838,657.637048754,635,657,0.401054003172,-0.0154048556503,0.0498406645723,0.999999957935,-6.78619182854e-05,-0.000277498865013,-5.01854052427e-05,1793254781838193664
+388,6.466666667,POSE2_TO_POSE3_RETREAT,785.777174016,761,738,722.222825984,688,651,918,800.777174016,838,658,635,657,0.401033952409,-0.0154054361907,0.0498416688919,0.999999958424,-6.89870385367e-05,-0.000275498650611,-4.99291461707e-05,1793254781854860032
+389,6.483333333,POSE2_TO_POSE3_RETREAT,785.196335532,761,738,722.803664468,688,651,918,800.196335532,838,658,635,657,0.401021254302,-0.0154059650371,0.0498434518384,0.999999959594,-6.99882238028e-05,-0.000270961989007,-4.99288915933e-05,1793254781871526656
+390,6.500000000,POSE2_TO_POSE3_RETREAT,785,760.618459,738,723,688,651,918.381541,800.381541,838,658,635,657,0.401010772483,-0.0154059724472,0.0498443536095,0.999999960146,-6.91134930923e-05,-0.000269151278487,-4.98885018775e-05,1793254781888193024
+391,6.516666667,POSE2_TO_POSE3_RETREAT,785,760.042094922,738,723,688,651,918.957905078,800.957905078,838,658,635,657,0.401001422349,-0.0154057136005,0.0498448054334,0.999999960387,-6.72808791279e-05,-0.00026873249762,-4.98276182933e-05,1793254781904859648
+392,6.533333333,POSE2_TO_POSE3_RETREAT,785,760.542368988,738,722.457631012,688,651,919,801,838,657.457631012,635,657,0.401000453212,-0.0154059496636,0.0498466879572,0.999999961625,-6.81021419149e-05,-0.000263873142923,-4.98211882026e-05,1793254781921526016
+393,6.550000000,POSE2_TO_POSE3_RETREAT,785,761,738,722.126940613,688,651,919,801,838,657.126940613,635,657,0.400999690011,-0.0154060922261,0.0498484201838,0.999999962664,-6.87222734824e-05,-0.000259751143843,-4.97916885195e-05,1793254781938192896
+394,6.566666667,POSE2_TO_POSE3_RETREAT,785,761,738,722.709607679,688,651,919,801,838,657.709607679,635,657,0.400997295475,-0.0154057591232,0.0498492081417,0.999999962785,-6.78696498987e-05,-0.000259532374404,-4.96639644748e-05,1793254781954859520
+395,6.583333333,POSE2_TO_POSE3_RETREAT,785,761,738.288434681,723,688,651,919,801,838,658,635,657,0.400996459061,-0.015405445983,0.0498500317569,0.999999963218,-6.64514469139e-05,-0.000258256478002,-4.95057756571e-05,1793254781971526144
+396,6.600000000,POSE2_TO_POSE3_RETREAT,785,761,738.863446422,723,688,651,919,801,838,658,635,657,0.400997170733,-0.0154051526766,0.0498508908,0.999999963955,-6.44713069572e-05,-0.000255930262886,-4.93173182544e-05,1793254781988192768
+397,6.616666667,POSE2_TO_POSE3_RETREAT,785,761,738.560794755,723,688,651,919,801,838,658,635,657,0.400996677995,-0.0154058902104,0.0498509982027,0.99999996402,-6.38966976144e-05,-0.000255857814083,-4.91251502269e-05,1793254782004859392
+398,6.633333333,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,800.984474663,838,658,635,657,0.40099584884,-0.0154069559242,0.0498509035537,0.999999963888,-6.38440947191e-05,-0.000256425973153,-4.8930986265e-05,1793254782021526272
+399,6.650000000,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,800.396027281,838,658,635,657,0.400996447264,-0.0154082849277,0.0498519912407,0.999999964132,-6.69011620539e-05,-0.000254731796583,-4.87058129268e-05,1793254782038193920
+400,6.666666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651.189366449,919,800.189366449,838,658,635,657,0.400996161627,-0.0154090901871,0.0498525926115,0.999999964227,-6.88980638326e-05,-0.000253845296873,-4.85966558543e-05,1793254782054861056
+401,6.683333333,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651.768475305,919,800.768475305,838,658,635,657,0.40099405647,-0.0154088175087,0.049852193076,0.999999964036,-6.87129977303e-05,-0.000254621108227,-4.87262763561e-05,1793254782071526912
+402,6.700000000,POSE2_TO_POSE3_RETREAT,785,761,738.345131018,723,688,651.654868982,919,801,838,658,635,657,0.400994201527,-0.0154083636367,0.0498526169477,0.999999964336,-6.72640003465e-05,-0.000253845922784,-4.86379109865e-05,1793254782088193792
+403,6.716666667,POSE2_TO_POSE3_RETREAT,785,761,738.920152678,723,688,651.079847322,919,801,838,658,635,657,0.400995845444,-0.0154077890724,0.0498535892882,0.999999964956,-6.49731024782e-05,-0.000252037623418,-4.84043459357e-05,1793254782104860672
+404,6.733333333,POSE2_TO_POSE3_RETREAT,785,761,738.492875693,723,688,651,919,801,838.507124307,658,635,657,0.400995754874,-0.0154080891577,0.0498533885075,0.999999965007,-6.51009800149e-05,-0.000251824480276,-4.82900606799e-05,1793254782121527040
+405,6.750000000,POSE2_TO_POSE3_RETREAT,785,761,738.094481188,723,688,651,919,801,838.905518812,657.905518812,635,657,0.400995583984,-0.0154086722955,0.0498533252326,0.999999965047,-6.58025804618e-05,-0.000251510928464,-4.81437423771e-05,1793254782138193152
+406,6.766666667,POSE2_TO_POSE3_RETREAT,785,761,738.673924519,723,688,651,919,801,838.326075481,657.326075481,635,657,0.400996436427,-0.0154099843785,0.0498549387351,0.999999965496,-6.74470585038e-05,-0.00024936170358,-4.77342757857e-05,1793254782154859520
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..07df43297061c01ba69a99708a370cf4f7e02bb9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,415 @@
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+346,5.766666667,pose2_to_pose3_retreat,0.587423856431,-0.00981828197469,1.04002025282,0.557995004866,-0.00114404136489,1.03969196958
+347,5.783333333,pose2_to_pose3_retreat,0.586818925246,-0.00981826179618,1.04002035223,0.557390073286,-0.00114402254361,1.03969206859
+348,5.800000000,pose2_to_pose3_retreat,0.586227371451,-0.00981816879072,1.04002045257,0.556798519654,-0.00114392899505,1.03969216858
+349,5.816666667,pose2_to_pose3_retreat,0.585640329265,-0.00981824151088,1.04002047912,0.556211477888,-0.00114400058592,1.03969218727
+350,5.833333333,pose2_to_pose3_retreat,0.585062452322,-0.00981833574489,1.04002040148,0.55563360048,-0.00114409657331,1.03969210503
+351,5.850000000,pose2_to_pose3_retreat,0.584499231918,-0.00981823612432,1.04002029596,0.555070378723,-0.00114400113494,1.03969201034
+352,5.866666667,pose2_to_pose3_retreat,0.583952942422,-0.00981849730216,1.04002051189,0.554524093607,-0.00114424762621,1.03969222167
+353,5.883333333,pose2_to_pose3_retreat,0.583423713799,-0.00981842829734,1.04002042753,0.553994863741,-0.00114418278211,1.03969213875
+354,5.900000000,pose2_to_pose3_retreat,0.5829182302,-0.00981830849931,1.04002032153,0.553489380158,-0.00114406290447,1.03969203348
+355,5.916666667,pose2_to_pose3_retreat,0.582429919394,-0.00981823881858,1.04002033288,0.553001068776,-0.00114399519465,1.0396920444
+356,5.933333333,pose2_to_pose3_retreat,0.581956631342,-0.00981825637844,1.04002040005,0.55252777968,-0.0011440162379,1.03969211306
+357,5.950000000,pose2_to_pose3_retreat,0.581503973227,-0.00981832544422,1.04002037222,0.552075121755,-0.00114408443854,1.03969209111
+358,5.966666667,pose2_to_pose3_retreat,0.581073399906,-0.00981822434541,1.04002050678,0.551644548344,-0.00114398387709,1.03969221947
+359,5.983333333,pose2_to_pose3_retreat,0.580659965448,-0.00981820048429,1.04002061923,0.551231113775,-0.00114396051784,1.03969232867
+360,6.000000000,pose2_to_pose3_retreat,0.580261268918,-0.00981812205835,1.0400205393,0.550832415719,-0.00114388743811,1.0396922443
+361,6.016666667,pose2_to_pose3_retreat,0.579875752569,-0.00981815548995,1.04002048394,0.550446899175,-0.00114392160508,1.03969218693
+362,6.033333333,pose2_to_pose3_retreat,0.579504746551,-0.00981828141437,1.04002058665,0.550075894806,-0.00114404196092,1.03969228899
+363,6.050000000,pose2_to_pose3_retreat,0.579151555717,-0.00981819256199,1.04002067922,0.549722703883,-0.00114395362258,1.03969237602
+364,6.066666667,pose2_to_pose3_retreat,0.578823620179,-0.00981809599582,1.04002043904,0.549394767338,-0.00114386009749,1.03969214576
+365,6.083333333,pose2_to_pose3_retreat,0.578522578483,-0.0098182279016,1.04002050979,0.54909372666,-0.00114398849443,1.03969221788
+366,6.100000000,pose2_to_pose3_retreat,0.57824845032,-0.0098181935851,1.04002054594,0.548819597238,-0.00114395853651,1.03969225178
+367,6.116666667,pose2_to_pose3_retreat,0.577995913852,-0.00981814218022,1.04002050412,0.548567060101,-0.00114390941095,1.03969220975
+368,6.133333333,pose2_to_pose3_retreat,0.577760004989,-0.00981819029076,1.04002042914,0.548331152609,-0.00114395276669,1.03969213752
+369,6.150000000,pose2_to_pose3_retreat,0.577533250397,-0.00981839038448,1.04002054177,0.548104399746,-0.00114414712088,1.03969224679
+370,6.166666667,pose2_to_pose3_retreat,0.577314268117,-0.0098182505631,1.04002052796,0.547885415865,-0.00114401248196,1.03969223956
+371,6.183333333,pose2_to_pose3_retreat,0.577106863576,-0.00981824059859,1.04002054972,0.547678010534,-0.00114400546522,1.03969225443
+372,6.200000000,pose2_to_pose3_retreat,0.576912882733,-0.009818300106,1.04002069719,0.547484031197,-0.00114406005703,1.03969239688
+373,6.216666667,pose2_to_pose3_retreat,0.576736806272,-0.00981833899864,1.04002071724,0.547307956484,-0.00114409306947,1.03969241553
+374,6.233333333,pose2_to_pose3_retreat,0.576579462963,-0.00981830112098,1.04002053582,0.547150612701,-0.00114405679386,1.03969223437
+375,6.250000000,pose2_to_pose3_retreat,0.576443076565,-0.00981821305082,1.04002046956,0.547014224426,-0.00114397491079,1.03969217291
+376,6.266666667,pose2_to_pose3_retreat,0.576322899249,-0.00981833969339,1.04002068703,0.546894048153,-0.00114409825766,1.03969238393
+377,6.283333333,pose2_to_pose3_retreat,0.576217726453,-0.00981828943651,1.04002057138,0.546788874195,-0.00114405165629,1.03969227587
+378,6.300000000,pose2_to_pose3_retreat,0.576126497166,-0.00981823828566,1.04002046296,0.546697644703,-0.00114400111787,1.03969216969
+379,6.316666667,pose2_to_pose3_retreat,0.576047093731,-0.0098181865908,1.04002048106,0.546618240742,-0.00114395135209,1.0396921843
+380,6.333333333,pose2_to_pose3_retreat,0.575977406263,-0.00981815724668,1.04002059858,0.546548552519,-0.0011439247403,1.03969229762
+381,6.350000000,pose2_to_pose3_retreat,0.575916342585,-0.0098182017989,1.04002067496,0.546487489264,-0.00114396769117,1.03969237825
+382,6.366666667,pose2_to_pose3_retreat,0.575864529763,-0.00981829305764,1.04002061784,0.546435677094,-0.00114405712788,1.03969231078
+383,6.383333333,pose2_to_pose3_retreat,0.575820194511,-0.00981824829691,1.04002055651,0.546391342559,-0.00114400952619,1.03969226023
+384,6.400000000,pose2_to_pose3_retreat,0.575783201704,-0.00981819786245,1.04002046356,0.546354349806,-0.00114395857676,1.03969217601
+385,6.416666667,pose2_to_pose3_retreat,0.575753341064,-0.00981819289198,1.04002044899,0.546324488688,-0.00114395533554,1.03969215854
+386,6.433333333,pose2_to_pose3_retreat,0.575729507747,-0.00981823904082,1.04002058012,0.546300655007,-0.001144003152,1.03969227833
+387,6.450000000,pose2_to_pose3_retreat,0.575711312042,-0.00981836944979,1.04002057102,0.546282460398,-0.00114412976851,1.03969227117
+388,6.466666667,pose2_to_pose3_retreat,0.575697103502,-0.0098183135744,1.04002037001,0.546268251279,-0.0011440755975,1.03969207708
+389,6.483333333,pose2_to_pose3_retreat,0.57568643975,-0.00981822980613,1.04002041795,0.546257587026,-0.0011439933812,1.03969212897
+390,6.500000000,pose2_to_pose3_retreat,0.575679204397,-0.00981823274607,1.04002045985,0.54625035211,-0.00114399483359,1.03969217105
+391,6.516666667,pose2_to_pose3_retreat,0.575674698306,-0.00981834308447,1.04002030907,0.546245847384,-0.00114410062385,1.03969201816
+392,6.533333333,pose2_to_pose3_retreat,0.575671688965,-0.00981833814194,1.04002045259,0.54624283804,-0.00114409587352,1.03969215656
+393,6.550000000,pose2_to_pose3_retreat,0.575669915956,-0.00981832296821,1.0400205725,0.546241064888,-0.00114408130683,1.03969227313
+394,6.566666667,pose2_to_pose3_retreat,0.575669457693,-0.00981830326579,1.04002062164,0.546240606408,-0.0011440622982,1.03969232339
+395,6.583333333,pose2_to_pose3_retreat,0.575669050778,-0.00981828577105,1.04002066527,0.546240199302,-0.00114404541952,1.03969236803
+396,6.600000000,pose2_to_pose3_retreat,0.575668636755,-0.00981826797068,1.04002070967,0.546239785083,-0.00114402824596,1.03969241345
+397,6.616666667,pose2_to_pose3_retreat,0.57566854533,-0.00981826403998,1.04002071947,0.546239693615,-0.00114402445368,1.03969242348
+398,6.633333333,pose2_to_pose3_retreat,0.575668513271,-0.00981826266164,1.04002072291,0.546239661541,-0.00114402312388,1.03969242699
+399,6.650000000,pose2_to_pose3_retreat,0.575668177598,-0.00981824822983,1.0400207589,0.546239325709,-0.00114400920026,1.03969246381
+400,6.666666667,pose2_to_pose3_retreat,0.57566791067,-0.00981823675363,1.04002078753,0.546239058655,-0.00114399812818,1.03969249309
+401,6.683333333,pose2_to_pose3_retreat,0.575667910304,-0.00981823673789,1.04002078757,0.546239058289,-0.001143998113,1.03969249314
+402,6.700000000,pose2_to_pose3_retreat,0.575667856027,-0.00981824088727,1.04002077627,0.546239004017,-0.00114400226724,1.03969248122
+403,6.716666667,pose2_to_pose3_retreat,0.57566781342,-0.00981824531642,1.04002076431,0.546238961421,-0.00114400668624,1.03969246864
+404,6.733333333,pose2_to_pose3_retreat,0.575667637877,-0.00981826356503,1.04002071502,0.546238785918,-0.00114402489302,1.03969241681
+405,6.750000000,pose2_to_pose3_retreat,0.575667497146,-0.00981827819471,1.04002067551,0.54623864522,-0.00114403948917,1.03969237525
+406,6.766666667,pose2_to_pose3_retreat,0.575667380559,-0.00981829031458,1.04002064278,0.54623852866,-0.00114405158125,1.03969234082
+407,6.783333333,pose2_to_pose3_retreat,0.57566732064,-0.00981829654346,1.04002062596,0.546238468755,-0.00114405779585,1.03969232313
+408,6.800000000,pose2_to_pose3_retreat,0.575667238479,-0.0098183050845,1.04002060289,0.546238386613,-0.00114406631731,1.03969229887
+409,6.816666667,pose2_to_pose3_retreat,0.575667124653,-0.0098183105732,1.04002060439,0.546238272969,-0.00114407118291,1.03969230055
+410,6.833333333,pose2_to_pose3_retreat,0.575666960268,-0.00981831050878,1.04002064869,0.546238109042,-0.00114406946795,1.03969234743
+411,6.850000000,pose2_to_pose3_retreat,0.575666856598,-0.00981830749165,1.04002067315,0.546238005616,-0.00114406555812,1.03969237356
+412,6.866666667,pose2_to_pose3_retreat,0.575666872105,-0.00981826205007,1.04002061584,0.546238020405,-0.0011440225355,1.03969231675
+413,6.883333333,pose2_to_pose3_retreat,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.0011439798086,1.03969226032
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b2577a5268b3e69de622b5149c71a2e55176d28
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f4ce5e36b93ee0a209e92321367a36d4a15ff97d2d6501f2df7d33e2d594d0a
+size 26447835
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e19e5b76c7f360b3264acf854f0108a94fe4b8c9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_03/franka_data.csv
@@ -0,0 +1,417 @@
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+20,0.333333333,BASELINE,785,761,738.383534978,723,688,652,919,801,838,657.616465022,636,657,0.400994853105,-0.0154115310466,0.0498567251031,0.999999966383,-6.81422029457e-05,-0.000245564674681,-4.784178228e-05,1793254782756541440
+21,0.350000000,BASELINE,785,761,738,723,688,651.797869442,919,801,838,658,635.797869442,657,0.400995113757,-0.0154124578421,0.0498570709725,0.999999966491,-6.87399828862e-05,-0.00024499958709,-4.76192245289e-05,1793254782773208320
+22,0.366666667,BASELINE,785,761,738,723,688,651.221522745,919,801,838,658,635.221522745,657,0.400994174146,-0.0154134591451,0.0498567451872,0.999999966239,-6.856477261e-05,-0.000246185308123,-4.70439847368e-05,1793254782789874944
+23,0.383333333,BASELINE,785,761,738.355232036,722.644767964,688,651,919,800.644767964,838,657.644767964,635,657,0.400993833692,-0.0154136261854,0.0498566908831,0.999999966081,-6.90422735124e-05,-0.000246713437598,-4.69328145573e-05,1793254782806541824
+24,0.400000000,BASELINE,785,761,738.932241647,722.067758353,688,651,919,800.067758353,838,657.067758353,635,657,0.400993867303,-0.015413272381,0.0498568060695,0.999999965983,-6.99272734055e-05,-0.000246831021273,-4.71113710995e-05,1793254782823208704
+25,0.416666667,BASELINE,785,761,738.492018092,722.507981908,688,651,919,800.507981908,838,657.507981908,635,657,0.400993095267,-0.015412209667,0.0498558446127,0.999999965818,-6.69605615469e-05,-0.000248291419556,-4.72305107906e-05,1793254782839875072
+26,0.433333333,BASELINE,785,761,738,723,688,651,919,801,838,658,635.086039472,657,0.40099264916,-0.0154113082042,0.0498551215283,0.999999965733,-6.4403176936e-05,-0.000249298034782,-4.72982065963e-05,1793254782856541696
+27,0.450000000,BASELINE,785,761,738,723,688,651,919,801,838,658,635.678737677,657,0.400994753586,-0.0154119117395,0.0498566457108,0.999999966227,-6.72740695378e-05,-0.000246580350141,-4.71095201053e-05,1793254782873208320
+28,0.466666667,BASELINE,785.263035668,761,738.263035668,723,688,651.263035668,919,801,838,657.736964332,635.736964332,657.263035668,0.400995148676,-0.0154120947827,0.0498568826987,0.999999966283,-6.8801693824e-05,-0.000245908981259,-4.72070710234e-05,1793254782889874944
+29,0.483333333,BASELINE,785.837391415,761,738.837391415,723,688,651.837391415,919,801,838,657.162608585,635.162608585,657.837391415,0.400993520654,-0.0154117801457,0.0498555962065,0.999999965835,-6.8739471195e-05,-0.000247659562359,-4.76434028263e-05,1793254782906541568
+30,0.500000000,BASELINE,785.585689111,761,738.585689111,723,688,652,919,801,838,657.414310889,635.414310889,657.585689111,0.40099387076,-0.0154114550501,0.0498557150929,0.999999966074,-6.73841921926e-05,-0.000247055800617,-4.76907560075e-05,1793254782923208192
+31,0.516666667,BASELINE,785.007757176,761,738.007757176,723,688,652,919,801,838,657.992242824,635.992242824,657.007757176,0.400995002074,-0.0154111258241,0.0498563889962,0.999999966581,-6.55182550301e-05,-0.000245522253859,-4.75844924359e-05,1793254782939874816
+32,0.533333333,BASELINE,785,761,738,723,688,651.433753047,919,801,838,658,635.433753047,657,0.400995902968,-0.0154128793216,0.0498576785636,0.999999966922,-6.7489803578e-05,-0.00024366319117,-4.72238507607e-05,1793254782956541952
+33,0.550000000,BASELINE,785,761,738.145356188,723,688,651.145356188,919,801,838,658,635.145356188,657,0.400996224846,-0.0154142787655,0.0498584207102,0.99999996702,-6.92152843512e-05,-0.000242824061053,-4.69585566265e-05,1793254782973208832
+34,0.566666667,BASELINE,785,761,738.740425168,723,688,651.740425168,919,801,838,658,635.740425168,657,0.400994765021,-0.0154144951486,0.0498574432947,0.999999966394,-7.00179370145e-05,-0.000245154169124,-4.69989624534e-05,1793254782989875200
+35,0.583333333,BASELINE,785,761,739,723,688,651.676483468,919,801.323516532,838,658,635.676483468,657,0.400994655247,-0.0154135034058,0.0498572341004,0.999999966367,-6.91688723e-05,-0.000245472896659,-4.71648153064e-05,1793254783006541824
+36,0.600000000,BASELINE,785,761,739,723,688,651.102659231,919,801.897340769,838,658,635.102659231,657,0.40099559002,-0.0154115769251,0.0498576192856,0.999999966803,-6.70418588042e-05,-0.000244235400894,-4.74277276771e-05,1793254783023208192
+37,0.616666667,BASELINE,785,761,738.526603086,723,688,651,919,801.526603086,838,658,635,657,0.400995675014,-0.015411845276,0.0498576531458,0.999999966794,-6.76238902302e-05,-0.000244114272693,-4.74029172038e-05,1793254783039874816
+38,0.633333333,BASELINE,785.050849063,761,738,723,688,651.050849063,919,801,838.050849063,658,635,657,0.400995404192,-0.0154125175877,0.0498575026448,0.999999966676,-6.84451941005e-05,-0.000244382603666,-4.73233368086e-05,1793254783056541184
+39,0.650000000,BASELINE,785.637894345,761,738,723,688,651.637894345,919,801,838.637894345,658,635,657,0.400993333754,-0.0154124068659,0.0498562152691,0.999999966425,-6.55654154088e-05,-0.000246192811912,-4.73272740648e-05,1793254783073208064
+40,0.666666667,BASELINE,786,761,738,723,688,651.777130716,918.777130716,801,838.777130716,658,635,657,0.400992127367,-0.01541194896,0.0498554966375,0.999999966164,-6.41865212699e-05,-0.000247594285172,-4.74220728624e-05,1793254783089875200
+41,0.683333333,BASELINE,786,761,738,723,688,651.195488633,918.195488633,801,838.195488633,658,635,657,0.400992311919,-0.0154109321605,0.0498556935645,0.999999965901,-6.52237366283e-05,-0.000248337780733,-4.7663139684e-05,1793254783106542080
+42,0.700000000,BASELINE,785.618763032,761,738,723,688,651,918.381236968,801,838,657.618763032,635,657,0.400993527068,-0.015411443175,0.0498562552135,0.999999966175,-6.60920321222e-05,-0.000247018976472,-4.75834701438e-05,1793254783123208704
+43,0.716666667,BASELINE,785.044526399,761,738,723,688,651,918.955473601,801,838,657.044526399,635,657,0.400995263953,-0.0154127276391,0.0498570015015,0.999999966715,-6.68748125897e-05,-0.000244656141288,-4.73414291169e-05,1793254783139875072
+44,0.733333333,BASELINE,785,761,738.53087256,723,688,651,919,801,838.53087256,657.53087256,635,657,0.400995782041,-0.0154118140822,0.0498571400191,0.999999966934,-6.53878979017e-05,-0.000244139531128,-4.74683867295e-05,1793254783156541440
+45,0.750000000,BASELINE,785,761,739,723,688,651,919,801,838.890879623,658,635,657,0.400995968443,-0.0154114544497,0.0498572307865,0.999999967019,-6.4814855114e-05,-0.000243939481981,-4.74821430689e-05,1793254783173208064
+46,0.766666667,BASELINE,785,761,739,723,688,651,919,801,838.300498372,658,635,657,0.400995143826,-0.0154143526921,0.0498573362748,0.999999966636,-6.91137596678e-05,-0.000244451138095,-4.68598425767e-05,1793254783189874944
+47,0.783333333,BASELINE,785,761,738.716051644,723,688,651,919,801,838,658,635,657,0.400995715915,-0.0154144581587,0.0498581065665,0.999999966889,-6.87741429152e-05,-0.000243526020348,-4.67755276347e-05,1793254783206541568
+48,0.800000000,BASELINE,785,761,738.137756691,723,688,651,919,801,838,658,635,657,0.400997735857,-0.0154116685779,0.0498595660069,0.999999967792,-6.36261418882e-05,-0.000241111513881,-4.72488992952e-05,1793254783223208192
+49,0.816666667,BASELINE,785,761,738,723,688,651,919,801,838,658,635.43834123,657,0.400997133823,-0.0154116224305,0.0498592877255,0.999999967677,-6.40239302867e-05,-0.000241509148808,-4.71217771969e-05,1793254783239875328
+50,0.833333333,BASELINE,785,761,738,723,688,651,919,801,838,658,636,657.014049813,0.400995730975,-0.0154124099158,0.0498584678235,0.999999967249,-6.60911422004e-05,-0.000242780574016,-4.68185425446e-05,1793254783256541952
+51,0.850000000,BASELINE,785,761,738,723,688,651,919,801,838,658,636,657.601917445,0.400995107373,-0.0154122073476,0.0498577200669,0.999999967025,-6.5513878911e-05,-0.000243824566157,-4.69916172217e-05,1793254783273208576
+52,0.866666667,BASELINE,785,761,738.187904617,723,688,651,919,801,838,658,635.812095383,657.812095383,0.400994526379,-0.0154124896899,0.0498570992224,0.99999996677,-6.57667293872e-05,-0.00024478149402,-4.7085992472e-05,1793254783289875200
+53,0.883333333,BASELINE,785,761,738.769947405,723,688,651,919,801,838,658,635.230052595,657.230052595,0.40099403476,-0.015413789153,0.0498567445816,0.99999996645,-6.77607799026e-05,-0.000245555800679,-4.70152922153e-05,1793254783306541568
+54,0.900000000,BASELINE,785,761,739,723,688,651,919,801,838,658,635.347958278,657,0.400994812609,-0.0154141195678,0.049857214413,0.999999966687,-6.72087354331e-05,-0.000244750815292,-4.69773555052e-05,1793254783323208192
+55,0.916666667,BASELINE,785,761,739,723,688,651,919,801,838,658,635.923333965,657,0.400996420152,-0.0154138166351,0.0498582231001,0.999999967282,-6.49926226378e-05,-0.000242913641458,-4.69608322872e-05,1793254783339874816
+56,0.933333333,BASELINE,785,761,739,723,688,651.498603205,919,801,838,658,635.501396795,657,0.400995270226,-0.0154133496192,0.0498575547621,0.999999966793,-6.59937690203e-05,-0.000244602178718,-4.72003124803e-05,1793254783356541440
+57,0.950000000,BASELINE,785.075562042,761,739,723,688,651.924437958,919,801,838,658,635.075562042,657,0.400994130662,-0.015412828032,0.0498568598134,0.999999966306,-6.72063691696e-05,-0.000246213188849,-4.74283440691e-05,1793254783373208320
+58,0.966666667,BASELINE,785.66410208,761,739,723,688,651.33589792,919,801,838,658,635.66410208,657,0.40099593925,-0.0154121072142,0.0498577344192,0.999999966995,-6.64968356552e-05,-0.000243618309818,-4.73114777447e-05,1793254783389874944
+59,0.983333333,BASELINE,785.751326692,761,738.751326692,723,688,651,919,801,838,658,635.751326692,657,0.400996357761,-0.0154119758636,0.049857967048,0.999999967169,-6.68721736937e-05,-0.000242800822445,-4.72999800152e-05,1793254783406541312
+60,1.000000000,BASELINE,785.172032076,761,738.172032076,723,688,651,919,801,838,658,635.172032076,657,0.400994928108,-0.0154126282338,0.0498573461427,0.999999966664,-6.86898926199e-05,-0.000244346449429,-4.74285741146e-05,1793254783423208192
+61,1.016666667,BASELINE,785,761,738.405286091,723,688,651,919,801,838,658,635,657,0.400994745075,-0.0154132834327,0.0498571815795,0.999999966611,-6.87633248347e-05,-0.000244553901926,-4.73651227162e-05,1793254783439875072
+62,1.033333333,BASELINE,785,761,738.98176935,723,688,651,919,801,838,658,635,657,0.400995088628,-0.0154139398265,0.0498572097803,0.99999996675,-6.80999516274e-05,-0.000244196095156,-4.7220549243e-05,1793254783456541440
+63,1.050000000,BASELINE,785,761,738.432760638,723,688,651,918.432760638,801,838,658,635.567239362,657,0.400993306243,-0.0154129898355,0.0498564115485,0.999999966393,-6.7585153338e-05,-0.000245764390661,-4.73857566311e-05,1793254783473208064
+64,1.066666667,BASELINE,785,761,738,723,688,651,918.152156161,801,838,658,635.847843839,657,0.400992335082,-0.0154123979609,0.0498560432008,0.999999966195,-6.736509264e-05,-0.000246604406246,-4.75179970909e-05,1793254783489874688
+65,1.083333333,BASELINE,785,761,738,723,688,651,918.734678111,801,838,658,635.265321889,657,0.400993854791,-0.0154129673776,0.0498569670936,0.999999966498,-6.79649584158e-05,-0.000245206610443,-4.75283785898e-05,1793254783506541312
+66,1.100000000,BASELINE,785,761.312932399,738.312932399,723,688,651,919,801,838,658,635.312932399,657,0.400994373297,-0.0154135521592,0.0498572551401,0.999999966717,-6.79137253861e-05,-0.000244347564453,-4.7405930573e-05,1793254783523207936
+67,1.116666667,BASELINE,785,761.887616974,738.887616974,723,688,651,919,801,838,658,635.887616974,657,0.400994054348,-0.0154141497927,0.0498570113331,0.999999966868,-6.7317881e-05,-0.000243939155591,-4.71723773624e-05,1793254783539874816
+68,1.133333333,BASELINE,785,761.538047673,738.538047673,723,688,651,919,801,838,658,635.538047673,657,0.400994771095,-0.0154136700362,0.0498578345241,0.999999967102,-6.66084401505e-05,-0.000243201208393,-4.70408902572e-05,1793254783556541952
+69,1.150000000,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400995598489,-0.0154129402645,0.049858774278,0.999999967315,-6.58775541898e-05,-0.0002425380303,-4.69625714758e-05,1793254783573209344
+70,1.166666667,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400994328482,-0.0154123872419,0.0498575914584,0.999999966942,-6.52383615448e-05,-0.000244176656764,-4.73056895748e-05,1793254783589875456
+71,1.183333333,BASELINE,785,761,738,723,688,651.211029341,919,801,838,658,635,657,0.400993835499,-0.0154121704758,0.0498571284723,0.999999966879,-6.45575793539e-05,-0.000244599959993,-4.737971083e-05,1793254783606541568
+72,1.200000000,BASELINE,785,761,738,723,688,651.792652157,919,801,838,658,635,657,0.400994707064,-0.0154125442177,0.0498579296019,0.999999967363,-6.38037606999e-05,-0.000242889006438,-4.69811649926e-05,1793254783623208192
+73,1.216666667,BASELINE,785,761,738.370104272,722.629895728,688,651.629895728,919,801,838,658,635.370104272,657,0.400995515368,-0.0154132426574,0.049858453376,0.99999996744,-6.55074345807e-05,-0.000242112659799,-4.70175437035e-05,1793254783639875072
+74,1.233333333,BASELINE,785,761,738.945245789,722.054754211,688,651.054754211,919,801,838,658,635.945245789,657,0.400996288625,-0.0154141209791,0.0498588234954,0.999999967284,-6.85725559152e-05,-0.000241854084178,-4.72948700265e-05,1793254783656541696
+75,1.250000000,BASELINE,785,761,738.470130889,722.529869111,688,651,919,801,838,658,636,657,0.400995502518,-0.0154153906252,0.049858510721,0.999999966879,-7.08009728376e-05,-0.000242938957569,-4.70093916061e-05,1793254783673208576
+76,1.266666667,BASELINE,785,761,738.114218244,723,688,651,919,801,838,658,635.885781756,657,0.400994520587,-0.0154163839295,0.0498580941841,0.999999966516,-7.22422785708e-05,-0.000244068703296,-4.66759910386e-05,1793254783689875456
+77,1.283333333,BASELINE,785,761,738.693389988,723,688,651,919,801,838,658,635.306610012,657,0.400993409408,-0.0154160847055,0.0498575477511,0.99999996645,-7.08378285936e-05,-0.00024480569142,-4.63885701725e-05,1793254783706541824
+78,1.300000000,BASELINE,785,761,738.727768354,723,688,651,919,801.272231646,838,658,635.272231646,657,0.400993225726,-0.0154158012389,0.0498576039334,0.999999966546,-6.93791789974e-05,-0.000244834856212,-4.63699677812e-05,1793254783723208448
+79,1.316666667,BASELINE,785,761,738.149298056,723,688,651,919,801.850701944,838,658,635.850701944,657,0.400994085405,-0.0154155354979,0.0498583380096,0.999999966825,-6.78595592941e-05,-0.000244067776774,-4.665376452e-05,1793254783739875328
+80,1.333333333,BASELINE,785,761,738,723,688,651.426338055,919,801.573661945,838,658,635.573661945,657,0.400993989663,-0.0154134934569,0.0498581458148,0.999999966792,-6.56032648952e-05,-0.000244751076848,-4.69961614155e-05,1793254783756541696
+81,1.350000000,BASELINE,785.001011399,761,738,723,688,651.998988601,919,801,838,658,635,657,0.400993563093,-0.0154108405836,0.0498576326469,0.999999966646,-6.30938848096e-05,-0.000245934512245,-4.73576231017e-05,1793254783773208320
+82,1.366666667,BASELINE,785.589109304,761,738,723,688,651.410890696,919,801,838,658,635,657,0.400994030001,-0.0154123074066,0.0498578466944,0.999999967045,-6.24331952202e-05,-0.000244555324793,-4.6952437874e-05,1793254783789874944
+83,1.383333333,BASELINE,785.824903514,761,738.175096486,723,688,651.175096486,919,801,838,658,635.175096486,657,0.40099441589,-0.0154132076074,0.0498580199769,0.999999967296,-6.23721476107e-05,-0.000243583387383,-4.67338556794e-05,1793254783806541568
+84,1.400000000,BASELINE,785.243810356,761,738.756189644,723,688,651.756189644,919,801,838,658,635.756189644,657,0.400994613923,-0.0154127939804,0.0498580987375,0.999999967209,-6.37014912687e-05,-0.000243555741414,-4.69479503363e-05,1793254783823208448
+85,1.416666667,BASELINE,785,761,739,723,688,651.666053925,919,801,838,658,636,657,0.400993985918,-0.0154121325298,0.0498580022535,0.999999967067,-6.42654272888e-05,-0.00024394372843,-4.71959008893e-05,1793254783839875328
+86,1.433333333,BASELINE,785,761,739,723,688,651.090709536,919,801,838,658,636,657,0.400992760798,-0.015411291936,0.0498577790912,0.999999966885,-6.42760759572e-05,-0.000244632162463,-4.74683247106e-05,1793254783856541952
+87,1.450000000,BASELINE,785.482571342,760.517428658,738.517428658,723,688,651.482571342,919,801,838,657.517428658,635.517428658,657.482571342,0.400994967495,-0.0154105583902,0.0498585001768,0.999999967496,-6.39622748377e-05,-0.000242180551763,-4.7596482951e-05,1793254783873208576
+88,1.466666667,BASELINE,785.942342363,760.057657637,738,723,688,652,919,801,838.057657637,657.057657637,635,657.942342363,0.400997373174,-0.0154101518938,0.0498592416155,0.999999968106,-6.38502032663e-05,-0.000239668777815,-4.76366580792e-05,1793254783889875200
+89,1.483333333,BASELINE,785.346810715,760.653189285,738,723,688,652,919,801,838.653189285,657.653189285,635,657.346810715,0.400995642909,-0.0154126094486,0.0498585241987,0.999999967399,-6.61865298639e-05,-0.000242078498076,-4.71079582798e-05,1793254783906541568
+90,1.500000000,BASELINE,785,761,738,723,688,651.759054477,919,801,838.759054477,658,635.240945523,657.240945523,0.400994865935,-0.0154145494107,0.0498582392439,0.99999996698,-6.82296570161e-05,-0.000243329001293,-4.66511560345e-05,1793254783923208192
+91,1.516666667,BASELINE,785,761,738,723,688,651.182140138,919,801,838.182140138,658,635.817859862,657.817859862,0.400995418208,-0.0154157676533,0.0498585573041,0.999999966972,-6.98639535061e-05,-0.000242963119111,-4.62946061058e-05,1793254783939875328
+92,1.533333333,BASELINE,785,761,738,723,688,651,919,801,838,658,635.607409281,657.607409281,0.400995467131,-0.0154164205972,0.0498581898093,0.999999966907,-7.01959607013e-05,-0.000243135284837,-4.62908461039e-05,1793254783956541952
+93,1.550000000,BASELINE,785,761,738,723,688,651,919,801,838,658,635.033685784,657.033685784,0.40099528382,-0.0154168127246,0.0498575060144,0.999999966817,-6.99271202225e-05,-0.000243555694079,-4.64498556321e-05,1793254783973208320
+94,1.566666667,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400994780084,-0.0154159865674,0.0498577666327,0.999999966853,-6.97278556211e-05,-0.000243438615242,-4.65889965446e-05,1793254783989874944
+95,1.583333333,BASELINE,785,761,738,723,688,651,919,801,838,658,635.139492918,657,0.400994328374,-0.0154150610038,0.0498579848478,0.999999966859,-6.9420322404e-05,-0.000243481512366,-4.66855627783e-05,1793254784006541568
+96,1.600000000,BASELINE,785,761,738,723,688,651,919,801,838,658,635.721767778,657,0.400994105248,-0.0154140611194,0.0498578814736,0.999999966746,-6.87553442965e-05,-0.000244138630629,-4.66509213688e-05,1793254784023207936
+97,1.616666667,BASELINE,785,761,738,723,688,651.30000091,919,801,838,658,635.69999909,657,0.400994157661,-0.0154137533778,0.0498579002163,0.999999966775,-6.83755799393e-05,-0.000244120751217,-4.66917065593e-05,1793254784039874816
+98,1.633333333,BASELINE,785,761,738,723,688,651.874535385,919,801,838,658,635.125464615,657,0.400994462223,-0.0154140790225,0.0498580307094,0.999999966933,-6.82568173224e-05,-0.000243485175243,-4.68015153205e-05,1793254784056541696
+99,1.650000000,BASELINE,785,761,738,723,688,652,919,801,838,658,635,657,0.400995552588,-0.015413774324,0.0498587546812,0.99999996732,-6.6492752877e-05,-0.000242380922235,-4.68086683643e-05,1793254784073208320
+100,1.666666667,BASELINE,785,760.972253888,738,722.972253888,688,651.972253888,919,801,838,658,635.027746112,657,0.400996752281,-0.0154133022995,0.0498595587112,0.999999967735,-6.42993673096e-05,-0.000241261665301,-4.67869074766e-05,1793254784089874944
+101,1.683333333,BASELINE,785,760.382613901,738,722.382613901,688,651.382613901,919,801,838,658,635.617386099,657,0.400995719965,-0.0154130081637,0.049858626143,0.999999967539,-6.27207293677e-05,-0.000242490313273,-4.67604243474e-05,1793254784106541568
+102,1.700000000,BASELINE,784.79658872,760.20341128,738.20341128,722.20341128,688,651,919,801,838,658,636,657,0.400994619309,-0.0154125674228,0.0498577883249,0.999999967309,-6.1830995665e-05,-0.000243652994451,-4.68129833478e-05,1793254784123208192
+103,1.716666667,BASELINE,784.217244286,760.782755714,738.782755714,722.782755714,688,651,919,801,838,658,636,657,0.400993392351,-0.0154118557347,0.0498571256189,0.999999967022,-6.22144557589e-05,-0.000244693759419,-4.70116235183e-05,1793254784139874816
+104,1.733333333,BASELINE,784.359327145,761,738.640672855,723,688,651.359327145,919,801,838,658,636,657,0.400993209064,-0.015412495954,0.0498571682193,0.999999966842,-6.4089189481e-05,-0.000244953115152,-4.69767559122e-05,1793254784156541440
+105,1.750000000,BASELINE,784.934234952,761,738.065765048,723,688,651.934234952,919,801,838,658,636,657,0.400993651935,-0.0154139472591,0.049857633973,0.99999996672,-6.68586225657e-05,-0.000244743659422,-4.68017938135e-05,1793254784173208064
+106,1.766666667,BASELINE,785,761,738,723,688,651.491032456,919,801,838,657.491032456,636,657,0.400993154172,-0.0154133972985,0.049857461471,0.999999966725,-6.51040475144e-05,-0.00024519047604,-4.6823127575e-05,1793254784189874688
+107,1.783333333,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,658,635,657,0.400995019953,-0.0154140673025,0.0498582983801,0.999999967039,-6.67372159444e-05,-0.000243519055495,-4.65493891429e-05,1793254784232222976
+108,1.800000000,POSE1_TO_POSE2_PRESS,785,761,738.576145688,723,688,651,919,801,838,658,635.576145688,657,0.400994971577,-0.0154154430818,0.0498582800655,0.999999967206,-6.80037464994e-05,-0.000242492367319,-4.64819228191e-05,1793254784248889600
+109,1.816666667,POSE1_TO_POSE2_PRESS,785,761,738.847728329,722.847728329,688.152271671,651,919,801,838.152271671,657.847728329,636,657,0.40099487773,-0.0154161986571,0.0498582392801,0.999999967312,-6.87522117885e-05,-0.000241835363257,-4.65204089971e-05,1793254784265556224
+110,1.833333333,POSE1_TO_POSE2_PRESS,785,761,738.271657059,722.271657059,688.728342941,651,919,801,838.728342941,657.271657059,636,657,0.40099465733,-0.0154152280932,0.0498581359544,0.999999967254,-6.80588080431e-05,-0.000242207256706,-4.68537801332e-05,1793254784282222592
+111,1.850000000,POSE1_TO_POSE2_PRESS,785,761,738,722.309885807,688.690114193,651,919,801,838.690114193,657.309885807,635.690114193,657,0.400995456635,-0.0154149968346,0.0498587714823,0.999999967447,-6.67928182859e-05,-0.000241800508533,-4.66642701182e-05,1793254784298889472
+112,1.866666667,POSE1_TO_POSE2_PRESS,785,761,738,722.896311451,688.103688549,651,919,801,838.103688549,657.896311451,635.103688549,657,0.400997165918,-0.0154154253267,0.049860066358,0.99999996786,-6.5015856983e-05,-0.000240698906222,-4.6008144752e-05,1793254784315556096
+113,1.883333333,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,658,635,657,0.400995530878,-0.0154158072689,0.0498593672663,0.999999967471,-6.67556314601e-05,-0.000241807352308,-4.6166833338e-05,1793254784332222720
+114,1.900000000,POSE1_TO_POSE2_PRESS,785,761,738.059560408,723,688,651,919,801,838,658,635,657,0.400993644694,-0.0154160882796,0.0498584019767,0.999999966977,-6.891971832e-05,-0.00024318087569,-4.64764361926e-05,1793254784348889344
+115,1.916666667,POSE1_TO_POSE2_PRESS,785,761,738.635247866,723,688,651,919,801,838,658,635,657,0.400995807018,-0.0154155813012,0.049858841314,0.999999967128,-6.82149882995e-05,-0.000242737865958,-4.65771800521e-05,1793254784365555968
+116,1.933333333,POSE1_TO_POSE2_PRESS,785,761,739,723,688,651.209846856,919,801,838,658,635,657,0.40100254883,-0.0154151390339,0.04986121252,0.999999968276,-6.67684077009e-05,-0.000238390551047,-4.64849325658e-05,1793254784382222592
+117,1.950000000,POSE1_TO_POSE2_PRESS,785,761,739,723,688,651.782563593,919,801,838,658,635,657,0.401017209549,-0.0154148086659,0.049866924338,0.999999971058,-6.40390096131e-05,-0.000227291861454,-4.6058961949e-05,1793254784398889216
+118,1.966666667,POSE1_TO_POSE2_PRESS,785,761,739,723,688,651.630938303,919,801,838,658,635,657,0.401046710114,-0.0154163057934,0.0498768431403,0.999999975506,-6.38356562133e-05,-0.000207141204987,-4.47922453847e-05,1793254784415556096
+119,1.983333333,POSE1_TO_POSE2_PRESS,785,761,739,723,688,651.036005757,919,801,838,658,635,657,0.40108529287,-0.0154189213734,0.0498893366756,0.999999980489,-6.5178276703e-05,-0.000181450618787,-4.30109806433e-05,1793254784432222720
+120,2.000000000,POSE1_TO_POSE2_PRESS,785,761,739,722.459191535,688,651,919,801,838.540808465,658,635,657,0.401147074755,-0.0154222010233,0.0499051879666,0.999999985402,-6.4781875344e-05,-0.000152664399479,-4.11522438364e-05,1793254784448889344
+121,2.016666667,POSE1_TO_POSE2_PRESS,785,761,738.883153242,722.116846758,688,651,919,801,838.883153242,658,635,657,0.401213403686,-0.015426005453,0.04992049947,0.9999999891,-6.49698700007e-05,-0.000126653294185,-3.9207726244e-05,1793254784465556224
+122,2.033333333,POSE1_TO_POSE2_PRESS,785,761,738.30557208,722.69442792,688,651,919,801,838.30557208,658,635,657,0.401291769127,-0.0154317104441,0.0499328296567,0.999999990698,-6.79039055063e-05,-0.000112370958794,-3.6944647651e-05,1793254784482222592
+123,2.050000000,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,658,635,657,0.401377296647,-0.015437618836,0.0499415086271,0.999999991808,-7.06523589933e-05,-0.000100772231726,-3.51686613244e-05,1793254784498889216
+124,2.066666667,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,658,635,657,0.401470869965,-0.0154437557259,0.0499460858601,0.999999992496,-7.31923314906e-05,-9.21882419437e-05,-3.39398692947e-05,1793254784515555840
+125,2.083333333,POSE1_TO_POSE2_PRESS,785,761,738.442926981,723,687.557073019,651,919,801,838,657.557073019,635,657,0.401581122249,-0.0154504088766,0.0499492659676,0.999999992714,-7.46482086727e-05,-8.90234301812e-05,-3.27878608781e-05,1793254784532222464
+126,2.100000000,POSE1_TO_POSE2_PRESS,785,761,739,723,687.025510461,651,919,801,838,657,635.025510461,657,0.401697542441,-0.015457269872,0.0499517764249,0.999999992769,-7.57985592839e-05,-8.78288835747e-05,-3.16771073118e-05,1793254784548889344
+127,2.116666667,POSE1_TO_POSE2_PRESS,785,761,739,723,687.601362136,651,919,801,838,657,635.601362136,657,0.401833318488,-0.0154650952341,0.0499493650266,0.999999992249,-7.7748334456e-05,-9.21950450034e-05,-3.09328942466e-05,1793254784565555968
+128,2.133333333,POSE1_TO_POSE2_PRESS,785,761,738.823108918,722.823108918,688,651,919,801,838,657.176891082,636,657,0.401978355018,-0.0154734603402,0.0499464875971,0.999999991633,-7.95333984893e-05,-9.74615969987e-05,-3.01622804294e-05,1793254784582222592
+129,2.150000000,POSE1_TO_POSE2_PRESS,785,761,738.248306019,722.248306019,688,651,919,801,838,657.751693981,636,657,0.402144222744,-0.0154830395853,0.0499425618428,0.999999990807,-8.0947948904e-05,-0.000104753553202,-2.93322789185e-05,1793254784598889472
+130,2.166666667,POSE1_TO_POSE2_PRESS,785,761,738,722.334915543,688,651,919,801,838,657.665084457,635.665084457,656.665084457,0.402332665018,-0.0154923990543,0.0499432003321,0.999999990731,-8.21712593657e-05,-0.000104858784739,-2.81311892122e-05,1793254784615555840
+131,2.183333333,POSE1_TO_POSE2_PRESS,785,761,738,722.924539691,688,651,919,801,838,657.075460309,635.075460309,656.075460309,0.402538275615,-0.0155015913813,0.049947310001,0.99999999123,-8.32491289462e-05,-9.94983984461e-05,-2.66478809339e-05,1793254784632222464
+132,2.200000000,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,657.505097348,635,656.505097348,0.402777435779,-0.0155145665836,0.0499515748153,0.999999991509,-8.65918630396e-05,-9.43658505287e-05,-2.40498433627e-05,1793254784648889344
+133,2.216666667,POSE1_TO_POSE2_PRESS,785,760.916372257,738,722.916372257,688,651,918.916372257,801,838,658,635.083627743,657.083627743,0.403028323684,-0.0155275339277,0.0499564044081,0.999999992048,-8.88403061108e-05,-8.69639126597e-05,-2.11721301535e-05,1793254784665555968
+134,2.233333333,POSE1_TO_POSE2_PRESS,785,760.341930203,738,722.341930203,688,651,918.341930203,801,838,658,635.658069797,657.658069797,0.403319144038,-0.0155371967462,0.0499644150727,0.999999994243,-8.27154562824e-05,-6.60465888904e-05,-1.76131706034e-05,1793254784682222592
+135,2.250000000,POSE1_TO_POSE2_PRESS,785,760.237884634,738,722.237884634,688,651,918.237884634,801,838,658,636,657.762115366,0.403626197306,-0.0155377399359,0.0499718998603,0.999999996476,-6.62092473832e-05,-4.95053566556e-05,-1.46213438933e-05,1793254784698889728
+136,2.266666667,POSE1_TO_POSE2_PRESS,785,760.825600613,738,722.825600613,688,651,918.825600613,801,838,658,636,657.174399387,0.40395712256,-0.0155248718678,0.0499786112966,0.999999998553,-3.44362906912e-05,-3.93995727906e-05,-1.24635386608e-05,1793254784715557376
+137,2.283333333,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651.407427962,919,801.407427962,838,657.592572038,636,657,0.404315632869,-0.0155185919059,0.0499850565015,0.999999999541,-1.04343931131e-05,-2.65672144627e-05,-1.01310307454e-05,1793254784732224000
+138,2.300000000,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651.986770584,919,801.986770584,838,657.013229416,636,657,0.404685782712,-0.0155150918028,0.0499913893697,0.999999999838,1.02884970592e-05,-1.25843754126e-05,-7.72480690142e-06,1793254784748889856
+139,2.316666667,POSE1_TO_POSE2_PRESS,785,761,738.564207789,723,688,651.435792211,919,801.435792211,838.564207789,657.564207789,636,657,0.405080292135,-0.0155254696036,0.0499836625643,0.999999999518,1.95550165549e-05,-2.36673439695e-05,-4.68054583985e-06,1793254784765556480
+140,2.333333333,POSE1_TO_POSE2_PRESS,785,761,738.859607046,723,687.859607046,651.140392954,919,801,838.859607046,657.859607046,635.859607046,657,0.40547812806,-0.0155333000507,0.0499729894988,0.999999998623,3.13015747341e-05,-4.20640875678e-05,-2.10296573787e-06,1793254784782222848
+141,2.350000000,POSE1_TO_POSE2_PRESS,785,761,738.287138251,723,687.287138251,651.712861749,919,801,838.287138251,657.287138251,635.287138251,657,0.405884449664,-0.0155322926103,0.0499542601498,0.999999995379,5.15046888277e-05,-8.11670896869e-05,-1.00753968096e-06,1793254784798889472
+142,2.366666667,POSE1_TO_POSE2_PRESS,784.705914598,761,738.294085402,723,687,651.705914598,919,801,838,657,635,657,0.406322963053,-0.0155312595202,0.0499363697007,0.999999990672,7.45942528707e-05,-0.000114418259084,2.77091771218e-07,1793254784815556096
+143,2.383333333,POSE1_TO_POSE2_PRESS,784.115880549,761,738.884119451,723,687,651.115880549,919,801,838,657,635,657,0.406793872236,-0.0155302006176,0.0499193234644,0.999999984889,0.000100588557063,-0.000141780524866,1.75212750322e-06,1793254784832222720
+144,2.400000000,POSE1_TO_POSE2_PRESS,784,761,738.557750525,722.557750525,687,651,919,801,838,657.442249475,635.442249475,657,0.407326550425,-0.0155308605263,0.0499267504186,0.999999984026,0.000127086322803,-0.000125529899491,6.2482048773e-06,1793254784848889344
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,761,738.007417705,722.007417705,687,651,919,801,838,657.992582295,635.992582295,657,0.407874324592,-0.0155319405031,0.0499401584872,0.999999983258,0.000153707130081,-9.86205210576e-05,1.14826081552e-05,1793254784865555968
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,761,738,722,687,651,919,801,838.598631298,658,635.401368702,657,0.408487262672,-0.0155333652305,0.0499642949129,0.999999982039,0.00018099264864,-5.34572306098e-05,1.74987096152e-05,1793254784882222592
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,761,738,722,687,651.197890681,919,801,839,658,635.197890681,657,0.409099052971,-0.0155356781111,0.049984062639,0.999999978171,0.000206816273671,-1.86533812105e-05,2.31863895981e-05,1793254784898889216
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,761,738,722,687,651.782398012,919,801,839,658,635.782398012,657,0.409706861425,-0.0155397169637,0.0499950089185,0.999999973195,0.000229766071032,-4.57589695541e-06,2.82115705472e-05,1793254784915556352
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,761,738.365846422,722,687,651.634153578,919,801,838.634153578,657.634153578,636,657,0.410331958164,-0.0155418157485,0.0499877311239,0.999999966394,0.000255810266504,-2.73534847033e-05,3.20232804635e-05,1793254784932223232
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,761,738.948666791,722,687,651.051333209,919,801,838.051333209,657.051333209,636,657,0.410967308112,-0.0155427639296,0.0499696451072,0.999999956552,0.000283689667282,-7.1988852589e-05,3.51153121928e-05,1793254784948889856
+151,2.516666667,POSE1_TO_POSE2_PRESS,784.526693823,761,738.473306177,722,687.526693823,651.526693823,919,801,838.526693823,657,636,657,0.411638997293,-0.0155410690153,0.0499512789109,0.9999999464,0.00030873446047,-0.000102562956618,3.69239048868e-05,1793254784965556224
+152,2.533333333,POSE1_TO_POSE2_PRESS,784.896070788,761,738.103929212,722,687.896070788,651.896070788,919,801,839.103929212,657,636,657,0.412335070093,-0.0155400097285,0.0499418433169,0.999999945661,0.000306593104203,-0.000114532223797,3.95078489728e-05,1793254784982222592
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+154,2.566666667,POSE1_TO_POSE2_PRESS,784.260925602,761,738.739074398,722,687,651.260925602,919,801.260925602,839.739074398,657.260925602,635.739074398,657,0.413891513693,-0.0155477952147,0.0499878903772,0.99999999622,7.50813597147e-05,-2.10558136857e-05,3.84518361474e-05,1793254785015555840
+155,2.583333333,POSE1_TO_POSE2_PRESS,784.84908963,761,738.15091037,722,687,651.84908963,919,801.84908963,839.15091037,657.84908963,635.15091037,657,0.414625485545,-0.015554871793,0.0499821230014,0.999999998937,-1.06391859251e-05,-4.30402126714e-05,1.26830649816e-05,1793254785032222720
+156,2.600000000,POSE1_TO_POSE2_PRESS,785,761,738,722,687,651.567674093,919,801.567674093,839,658,635.432325907,656.567674093,0.415407128479,-0.0155598619898,0.0499578190104,0.999999996644,-6.36985461999e-06,-8.12702973414e-05,8.10483532323e-06,1793254785048889344
+157,2.616666667,POSE1_TO_POSE2_PRESS,785,761,738,722,687,651.0137065,919,801,839,657.9862935,636,656.0137065,0.416206383349,-0.0155640646019,0.0499282721291,0.999999991929,2.90319762007e-05,-0.000123205944202,1.09362309774e-05,1793254785065556224
+158,2.633333333,POSE1_TO_POSE2_PRESS,785,761,738,722,687,651.588742484,919,801,839,657.411257516,636,656.588742484,0.417053109635,-0.0155655025755,0.0499460139941,0.999999993759,6.74679107981e-05,-8.72747612483e-05,1.77026334027e-05,1793254785082222592
+159,2.650000000,POSE1_TO_POSE2_PRESS,784.836620537,761,738.163379463,721.836620537,687,652,919,801,839.163379463,657.163379463,636,657,0.417906913146,-0.01556616622,0.0499648419165,0.99999999302,0.000102880978662,-5.29886831791e-05,2.38312427116e-05,1793254785098889216
+160,2.666666667,POSE1_TO_POSE2_PRESS,784.26298552,761,738.73701448,721.26298552,687,652,919,801,839.73701448,657.73701448,636,657,0.418778487938,-0.0155648854783,0.0499863969924,0.999999990796,0.000130703446241,-2.28335640009e-05,2.8358315221e-05,1793254785115555840
+161,2.683333333,POSE1_TO_POSE2_PRESS,784.321572537,761,738.678427463,721,687,652,919,801.321572537,840,658,636,657,0.419631399128,-0.0155615990383,0.0499834195233,0.999999988393,0.000146409720727,-3.02785966716e-05,2.93574804108e-05,1793254785132222720
+162,2.700000000,POSE1_TO_POSE2_PRESS,784.915377643,761,738.084622357,721,687,652,919,801.915377643,840,658,636,657,0.420468510293,-0.0155566146413,0.0499596736197,0.999999985676,0.000151858829317,-6.95546637544e-05,2.73700368439e-05,1793254785148889088
+163,2.716666667,POSE1_TO_POSE2_PRESS,785,761,738,721,687,652,919,802,840,658,636,657,0.421437189024,-0.015561961059,0.049982244041,0.999999989057,0.000143690199299,-1.84072980137e-05,3.00189823086e-05,1793254785165555968
+164,2.733333333,POSE1_TO_POSE2_PRESS,785,761,738,721,687,652,919,802,840,658,636,657,0.422416108222,-0.0155683898569,0.0500076690227,0.999999989584,0.000135591281268,3.68313763118e-05,3.30293497864e-05,1793254785182222848
+165,2.750000000,POSE1_TO_POSE2_PRESS,785,761,738,721,687,652,919,802,840,658,636,657,0.423313362296,-0.0155703612056,0.0499990734901,0.999999988983,0.000143880536228,1.5243317366e-05,3.31657643159e-05,1793254785198889216
+166,2.766666667,POSE1_TO_POSE2_PRESS,785,761.219048516,738,721,687,652,919,801.780951484,839.780951484,657.780951484,636,657,0.424231812597,-0.0155724423812,0.0499935071325,0.999999988816,0.000145799628596,4.0445179739e-06,3.30833095474e-05,1793254785215555840
+167,2.783333333,POSE1_TO_POSE2_PRESS,785,761.797614782,738,721,687,652,919,801.202385218,839.202385218,657.202385218,636,657,0.425185051773,-0.0155747038128,0.0499929124676,0.999999989998,0.000137263565878,9.89729476608e-06,3.26416312181e-05,1793254785232222464
+168,2.800000000,POSE1_TO_POSE2_PRESS,785,761.615539016,738,721,687,652,919,801,839,657,636,657,0.42612843418,-0.0155762350978,0.050002788417,0.999999990028,0.000136048402481,1.59007443133e-05,3.43929791146e-05,1793254785248889088
+169,2.816666667,POSE1_TO_POSE2_PRESS,785,761.024238247,738,721,687,652,919,801,839,657,636,657,0.427066513593,-0.0155773735643,0.0500182975508,0.999999989433,0.000138771879144,2.19852553633e-05,3.73241738628e-05,1793254785265555968
+170,2.833333333,POSE1_TO_POSE2_PRESS,785,761,738,721,687,652,919,801,839,657.552457856,636.552457856,657,0.427983793922,-0.015570576963,0.0499824321647,0.999999986918,0.000150913100785,-4.62710470923e-05,3.53280179828e-05,1793254785282222848
+171,2.850000000,POSE1_TO_POSE2_PRESS,785,761.128399336,738,720.871600664,687,652,919,801,839.128399336,657.871600664,636.871600664,657,0.42891684065,-0.0155648853847,0.0499542206895,0.9999999817,0.000162438436603,-9.52898173701e-05,3.36602536228e-05,1793254785298889472
+172,2.866666667,POSE1_TO_POSE2_PRESS,785,761.70388684,738,720.29611316,687,652,919,801,839.70388684,657.29611316,636.29611316,657,0.429907881736,-0.0155642225154,0.0499603064839,0.99999998271,0.000170417575731,-6.62588428734e-05,3.38693082872e-05,1793254785315556096
+173,2.883333333,POSE1_TO_POSE2_PRESS,785.28666027,761.71333973,738,720,687,652,919,801,840,657,636,657,0.430863566155,-0.0155654447978,0.0499585076248,0.999999982294,0.000174276832136,-6.23957557896e-05,3.38724089898e-05,1793254785332222720
+174,2.900000000,POSE1_TO_POSE2_PRESS,785.877156126,761.122843874,738,720,687,652,919,801,840,657,636,657,0.431781775442,-0.0155686651814,0.0499483517012,0.999999980705,0.000173769361654,-8.52084977168e-05,3.36572159503e-05,1793254785348889344
+175,2.916666667,POSE1_TO_POSE2_PRESS,785.54158223,761,738,720,687,652,918.54158223,801,840,657,636,657,0.432741356692,-0.0155695224163,0.0499476155532,0.999999983454,0.000159844822977,-7.99654651604e-05,3.38835525241e-05,1793254785365555968
+176,2.933333333,POSE1_TO_POSE2_PRESS,785,761,738,720,687,652,918.036994593,801,840,657,636,657,0.433712750562,-0.0155697638291,0.0499510481204,0.999999986778,0.000144608916061,-6.59494277365e-05,3.44015191483e-05,1793254785382222848
+177,2.950000000,POSE1_TO_POSE2_PRESS,785,761,738,720,687,652,918.611803261,801,840,657,636,657,0.43469788057,-0.0155700769878,0.0499791119161,0.999999985752,0.000161545660461,-3.15334471981e-05,3.7472993764e-05,1793254785398889472
+178,2.966666667,POSE1_TO_POSE2_PRESS,785.186751924,761,738,720,687,652,919,801,839.813248076,657,636,657,0.435645009882,-0.015568668016,0.049988408394,0.99999998313,0.000176689868395,-3.17137887629e-05,3.89324247897e-05,1793254785415555840
+179,2.983333333,POSE1_TO_POSE2_PRESS,785.761991916,761,738,720,687,652,919,801,839.238008084,657,636,657,0.436513088964,-0.0155636766066,0.049958664428,0.999999976229,0.000188105180467,-0.000103862637218,3.70384253014e-05,1793254785432222720
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+181,3.016666667,POSE1_TO_POSE2_PRESS,786,761.935656753,738,719.064343247,687,652,919,801,839.935656753,657,636,657,0.438392043771,-0.0155669993285,0.0499848114006,0.999999979894,0.000195632712442,-1.97208505507e-05,3.93868062675e-05,1793254785465556224
+182,3.033333333,POSE1_TO_POSE2_PRESS,786,762,738.517485439,719,687,652,919,801,840,657.517485439,636,657,0.439290363573,-0.0155646046388,0.0499820281925,0.999999982974,0.000178352471697,-2.65589540164e-05,3.92047001611e-05,1793254785482222592
+183,3.050000000,POSE1_TO_POSE2_PRESS,786,761.902918485,738.902918485,719,687,652,919,801,840,658,636.097081515,657,0.440179760611,-0.0155619419373,0.0499758158831,0.999999984785,0.000164741772688,-4.21595190203e-05,3.88815642893e-05,1793254785498889472
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+186,3.100000000,POSE1_TO_POSE2_PRESS,785.162910321,761.837089679,738,719,687,652,919,801,840,657.162910321,636.162910321,657.837089679,0.442790161084,-0.0155625416505,0.0500012239294,0.999999978787,0.00020149107098,9.23505198067e-06,4.17473832478e-05,1793254785548889344
+187,3.116666667,POSE1_TO_POSE2_PRESS,785.420957593,762,738,719,687,652,919,801,840,657,636,657.579042407,0.443576448403,-0.01556198273,0.0499896443221,0.999999978214,0.000203993269136,-1.70892922691e-05,4.0833777517e-05,1793254785565556224
+188,3.133333333,POSE1_TO_POSE2_PRESS,786,762,738,719,687,652,918.99651292,801,840,657.00348708,636,657,0.444335298298,-0.0155608650765,0.0499637903367,0.99999997583,0.000204020014649,-7.21315218368e-05,3.89029334529e-05,1793254785582222592
+189,3.150000000,POSE1_TO_POSE2_PRESS,786,762,738,719,687,652,918.422076826,801,840,657.577923174,636,657,0.445081265974,-0.015564447875,0.0499214408349,0.999999978747,0.000162196428561,-0.000122435128627,3.47499060929e-05,1793254785598889216
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+191,3.183333333,POSE1_TO_POSE2_PRESS,786,762,738,719,687,652,918.729043444,801,840.729043444,658,636,657,0.446609608619,-0.0155769630512,0.0498924582298,0.999999979674,0.000142445957174,-0.000138860604465,3.28474894969e-05,1793254785632222720
+192,3.200000000,POSE1_TO_POSE2_PRESS,786,762,738.309888808,718.690111192,687,651.690111192,919,801,841,658,636,657.309888808,0.447310981602,-0.0155830043715,0.0498758876317,0.999999975525,0.000148429591988,-0.00016074856409,3.2851599679e-05,1793254785648889600
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+204,3.400000000,POSE1_TO_POSE2_PRESS,786.726262931,761.273737069,738.726262931,718,686,650.726262931,919,799,840.726262931,658,634,658,0.453985276692,-0.015609001482,0.0497496718184,0.999999906415,0.000181566377581,-0.000390517630286,4.12378680522e-05,1793254785848889600
+205,3.416666667,POSE1_TO_POSE2_PRESS,786.138845587,761.861154413,738.138845587,718,686,650.138845587,919,799,840.138845587,658,634,658,0.454408319133,-0.0156129489393,0.0497513363772,0.9999999172,0.000123340738399,-0.000385501804492,4.21406385737e-05,1793254785865556480
+206,3.433333333,POSE1_TO_POSE2_PRESS,786,762,738.442627915,717.557372085,686,650.442627915,919,799,840.442627915,658,634,657.557372085,0.45476136359,-0.0156151609233,0.0497291978299,0.99999990504,9.62506349785e-05,-0.000423501082068,3.60984166176e-05,1793254785882223360
+207,3.450000000,POSE1_TO_POSE2_PRESS,786.022135753,762,739,717,686,650.977864247,919,799,841,657.977864247,633.977864247,657,0.455091526307,-0.015616771016,0.0496997267741,0.999999883996,7.81340681592e-05,-0.000474487061221,2.76431894428e-05,1793254785898889984
+208,3.466666667,POSE1_TO_POSE2_PRESS,786.598492182,762,739,717,686,650.401507818,919,799,841,657.401507818,633.401507818,657,0.455391258889,-0.0156167608573,0.0496711375993,0.999999865196,4.33979969237e-05,-0.000517268743118,1.25947611069e-05,1793254785915556352
+209,3.483333333,POSE1_TO_POSE2_PRESS,786.825877936,762,739,717.174122064,686,650,919,799,841,657,633.174122064,657.174122064,0.455684870276,-0.0156179489734,0.0496477304311,0.999999847351,2.11553960391e-05,-0.000552128365999,2.36213356886e-06,1793254785932222976
+210,3.500000000,POSE1_TO_POSE2_PRESS,786.251916517,762,739,717.748083483,686,650,919,799,841,657,633.748083483,657.748083483,0.455964425418,-0.0156218887074,0.049636222794,0.999999837849,2.76017613857e-05,-0.000568796431929,3.18811065538e-06,1793254785948889600
+211,3.516666667,POSE1_TO_POSE2_PRESS,786,761.66835759,739,717.66835759,686,650,919,799,841,657.33164241,633.66835759,658,0.456239958371,-0.0156236611092,0.0496360344418,0.999999838525,3.67961573597e-05,-0.000567074049087,4.81400429419e-06,1793254785965555968
+212,3.533333333,POSE1_TO_POSE2_PRESS,786,761.07729104,739,717.07729104,686,650,919,799,841,657.92270896,633.07729104,658,0.456512345035,-0.0156237381362,0.0496447004922,0.999999847035,4.81401749893e-05,-0.000550965913308,7.06562517928e-06,1793254785982222592
+213,3.550000000,POSE1_TO_POSE2_PRESS,786,761.504034206,739,717,686,650,919,799,841,658,633.504034206,657.495965794,0.456739894777,-0.0156248060843,0.0496486028442,0.999999847855,5.48064132552e-05,-0.000548821565176,8.98604425188e-06,1793254785998889472
+214,3.566666667,POSE1_TO_POSE2_PRESS,786.083090439,762,739,717,686,649.916909561,918.916909561,798.916909561,841,658,633.916909561,657,0.456954942183,-0.0156255962002,0.0496506887578,0.999999847206,6.08863859294e-05,-0.000549334021859,1.06592689609e-05,1793254786015556352
+215,3.583333333,POSE1_TO_POSE2_PRESS,786.657396426,762,739,717,686,649.342603574,918.342603574,798.342603574,841,658,633.342603574,657,0.457135954242,-0.015623862539,0.0496462728547,0.99999984467,6.76606879501e-05,-0.000553134213183,1.11656834861e-05,1793254786032223232
+216,3.600000000,POSE1_TO_POSE2_PRESS,786.762997869,762,739,717,686,649.237002131,918,798,841,658,633,657,0.457305343129,-0.0156217617825,0.0496396663486,0.999999840498,7.38912495193e-05,-0.000559835338615,1.12963483468e-05,1793254786048889856
+217,3.616666667,POSE1_TO_POSE2_PRESS,786.175555846,762,739,717,686,649.824444154,918,798,841,658,633,657,0.457457545563,-0.0156191182257,0.0496298207384,0.999999833874,7.93178164511e-05,-0.000570825889518,1.08714161806e-05,1793254786065556224
+218,3.633333333,POSE1_TO_POSE2_PRESS,786,761.592010679,739,717,686,650,918,798.407989321,841,658,633,657,0.457590443047,-0.0156210046391,0.0496254988769,0.999999830219,7.98885201342e-05,-0.000577102355698,1.1517132911e-05,1793254786082222848
+219,3.650000000,POSE1_TO_POSE2_PRESS,786,761.010126461,739,717,686,650,918,798.989873539,841,658,633,657,0.457715112291,-0.0156248218353,0.0496235313707,0.999999827853,7.83895375595e-05,-0.000581369564919,1.26191860543e-05,1793254786098889216
+220,3.666666667,POSE1_TO_POSE2_PRESS,786,761.56591756,739,717.56591756,686,649.43408244,918,798.43408244,841,657.43408244,633,657,0.457816516697,-0.0156250653448,0.0496234459976,0.999999827514,8.20856783338e-05,-0.000581421633083,1.34910968644e-05,1793254786115555840
+221,3.683333333,POSE1_TO_POSE2_PRESS,786.140962152,761.859037848,739,717.859037848,686,649,918,798,841,657.140962152,632.859037848,657,0.45791163643,-0.0156252234466,0.0496233211252,0.999999827324,8.49224442872e-05,-0.000581327553229,1.41163797936e-05,1793254786132222720
+222,3.700000000,POSE1_TO_POSE2_PRESS,786.713264919,761.286735081,739,717.286735081,686,649,918,798,841,657.713264919,632.286735081,657,0.457988786057,-0.0156253138809,0.0496229733826,0.999999827513,8.48479918884e-05,-0.000581014705973,1.39994601768e-05,1793254786148890112
+223,3.716666667,POSE1_TO_POSE2_PRESS,786.703705232,761.296294768,739,717,686,649.296294768,918,798,841,658,632,657.296294768,0.458057007235,-0.015626276983,0.0496227489901,0.99999982725,8.36302958119e-05,-0.000581639268619,1.41696899399e-05,1793254786165557248
+224,3.733333333,POSE1_TO_POSE2_PRESS,786.109904377,761.890095623,739,717,686,649.890095623,918,798,841,658,632,657.890095623,0.458116263473,-0.0156281163208,0.0496226484519,0.999999826527,8.12646822168e-05,-0.000583205073464,1.46282429985e-05,1793254786182223616
+225,3.750000000,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649.52974145,918.47025855,798,841,658,632,657.52974145,0.458160651163,-0.0156292836969,0.0496225481075,0.99999982633,7.96065846384e-05,-0.000583762922169,1.49850011805e-05,1793254786198890240
+226,3.766666667,POSE1_TO_POSE2_PRESS,786,761.952871599,739,717,686,649.047128401,918.952871599,798,841,658,632,657.047128401,0.458200139345,-0.0156300315763,0.0496221242407,0.999999825875,7.84543352325e-05,-0.000584689314453,1.52649067088e-05,1793254786215556864
+227,3.783333333,POSE1_TO_POSE2_PRESS,786,761.37819063,739,717,686,649.62180937,918.37819063,798,841,658,632,657.62180937,0.458222584701,-0.015627792036,0.0496180783901,0.999999821182,8.11657238798e-05,-0.000592303799803,1.49433326685e-05,1793254786232223232
+228,3.800000000,POSE1_TO_POSE2_PRESS,786,761.196030456,739,717,686,649.803969544,918,798,841,658,632,657.803969544,0.458244685977,-0.0156260169278,0.0496157978514,0.999999818679,8.30642057394e-05,-0.000596259967058,1.47110213091e-05,1793254786248889856
+229,3.816666667,POSE1_TO_POSE2_PRESS,786,761.769366359,739,717,686,649.230633641,918,798,841,658,632,657.230633641,0.458266124993,-0.0156251357258,0.0496169150596,0.999999820487,8.33980624102e-05,-0.000593174864041,1.46505164152e-05,1793254786265556224
+230,3.833333333,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649,918,798,841,658,632,657,0.458280293983,-0.0156243354997,0.0496155463297,0.999999820174,8.33907250636e-05,-0.00059370639595,1.44872878938e-05,1793254786282223104
+231,3.850000000,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649,918,798,841,658,632,657,0.458289570352,-0.0156235897693,0.0496125046,0.999999818432,8.31537691115e-05,-0.000596671870476,1.42549278734e-05,1793254786298889984
+232,3.866666667,POSE1_TO_POSE2_PRESS,786,762,739,717.528936385,686,649,918,798,840.471063615,658,632.528936385,657,0.458293645467,-0.0156231944432,0.0496114306874,0.999999816539,8.35770464977e-05,-0.000599787977663,1.37964220282e-05,1793254786315556608
+233,3.883333333,POSE1_TO_POSE2_PRESS,786,762,739,717.894241105,686,649,918,798,840.105758895,658,632.894241105,657,0.458297013148,-0.0156228177439,0.0496105537671,0.999999814879,8.38366083863e-05,-0.000602522594998,1.34230784434e-05,1793254786332223232
+234,3.900000000,POSE1_TO_POSE2_PRESS,786,762,739,717.320504949,686,649,918,798,840.679495051,658,632.320504949,657,0.458299364458,-0.01562238105,0.0496097487327,0.999999814345,8.31033944521e-05,-0.000603507917183,1.35184874605e-05,1793254786348889600
+235,3.916666667,POSE1_TO_POSE2_PRESS,786.261147173,762,739,717,686,649,918,798,841,658,632,657.261147173,0.458301779796,-0.0156223217697,0.0496092473331,0.999999814375,8.19642517488e-05,-0.000603611920416,1.36081121839e-05,1793254786365556224
+236,3.933333333,POSE1_TO_POSE2_PRESS,786.852818306,762,739,717,686,649,918,798,841,658,632,657.852818306,0.458304276172,-0.0156227401671,0.0496091302324,0.999999815118,8.03113404714e-05,-0.000602600472184,1.36904159616e-05,1793254786382222848
+237,3.950000000,POSE1_TO_POSE2_PRESS,787,761.564543294,739,717,686,649,918,797.564543294,841,657.564543294,632,657.564543294,0.458305271456,-0.0156220892592,0.049608926597,0.999999814918,8.04082862917e-05,-0.000602915726687,1.38496809942e-05,1793254786398889216
+238,3.966666667,POSE1_TO_POSE2_PRESS,786.985038566,761.014961434,739,717,686,649,918,797.014961434,841,657,632,657.014961434,0.458305758526,-0.0156210812952,0.0496086883742,0.999999814406,8.10989624729e-05,-0.000603668366583,1.40130198732e-05,1793254786415555840
+239,3.983333333,POSE1_TO_POSE2_PRESS,786.410866365,761.589133635,739,717,686,649,918,797.589133635,841,657,632,657.589133635,0.458305828306,-0.0156199618708,0.0496082283729,0.999999813903,8.23244434867e-05,-0.00060434926588,1.33761226353e-05,1793254786432222720
+240,4.000000000,POSE1_TO_POSE2_PRESS,786,762,738.836657745,717,686,649,918.163342255,798,841,657.163342255,632,658,0.458306797531,-0.0156191750235,0.0496084450772,0.999999814126,8.28828870938e-05,-0.000603912488369,1.29443500618e-05,1793254786448889344
+241,4.016666667,POSE1_TO_POSE2_PRESS,786,762,738.262357531,717,686,649,918.737642469,798,841,657.737642469,632,658,0.4583100297,-0.0156192249175,0.0496103643264,0.999999816174,8.17631100663e-05,-0.000600663712297,1.30286571727e-05,1793254786465555968
+242,4.033333333,POSE1_TO_POSE2_PRESS,786,761.677327378,738.322672622,717,686,649,918.677327378,798,841,658,632,657.677327378,0.458310593057,-0.0156192347023,0.0496099219528,0.999999816053,8.12258758624e-05,-0.000600940169351,1.2953734451e-05,1793254786482222592
+243,4.050000000,POSE1_TO_POSE2_PRESS,786,761.083272903,738.916727097,717,686,649,918.083272903,798,841,658,632,657.083272903,0.458308911827,-0.0156192107534,0.0496074933506,0.999999814106,8.11785858254e-05,-0.000604181502521,1.27448924395e-05,1793254786498889216
+244,4.066666667,POSE1_TO_POSE2_PRESS,786,761.497077001,739,717,686,649,918.497077001,798,841,658,632,657.497077001,0.458308862509,-0.015619366596,0.049607567668,0.999999813875,8.16847493159e-05,-0.000604487653358,1.31493096e-05,1793254786515556096
+245,4.083333333,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649,918.925735091,798,841,658,632,657.925735091,0.458309116466,-0.0156193578657,0.0496079747188,0.999999813872,8.23219854763e-05,-0.000604396892577,1.35367665008e-05,1793254786532222720
+246,4.100000000,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649,918.354752566,798,841,658,632,657.354752566,0.458309619382,-0.0156180523478,0.0496078780038,0.999999813527,8.32323976017e-05,-0.0006048519916,1.31420742401e-05,1793254786548889344
+247,4.116666667,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649,918.223102844,798,841,658,632.223102844,657.223102844,0.458310312762,-0.0156177060534,0.0496080497847,0.999999813585,8.33172987295e-05,-0.00060474794886,1.29855517825e-05,1793254786565556224
+248,4.133333333,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649,918.812234184,798,841,658,632.812234184,657.812234184,0.458311318619,-0.0156189334864,0.0496086620671,0.999999814304,8.20478445674e-05,-0.000603726563253,1.32197770149e-05,1793254786582222848
+249,4.150000000,HOLD_POSE2,786,762,739,717,685,649,918,798,841,658,632,657,0.458310142224,-0.01561913125,0.0496080972748,0.999999813396,8.12776735773e-05,-0.000605325502652,1.34930775839e-05,1793254786616526080
+250,4.166666667,HOLD_POSE2,786.58382835,762,739,717,685.58382835,649,918.58382835,798,841,658,632,657,0.458310796379,-0.0156203153812,0.0496086948774,0.999999814439,7.93821166101e-05,-0.000603856225615,1.33370986886e-05,1793254786633192704
+251,4.183333333,HOLD_POSE2,786.835177424,762,739,717,686,649,918.835177424,798,840.835177424,658,632,657,0.458311339556,-0.0156208831814,0.049608858301,0.999999814905,7.86018281261e-05,-0.000603187415178,1.32663272314e-05,1793254786649859584
+252,4.200000000,HOLD_POSE2,786.26121818,762,739,717,686,649,918.26121818,798,840.26121818,658,632,657,0.458311607255,-0.0156199210725,0.0496079439686,0.999999813949,8.05899538875e-05,-0.000604505590971,1.34070649189e-05,1793254786666526208
+253,4.216666667,HOLD_POSE2,786,762,739,717,686,649,918,798,840.322362643,658,632,657,0.458311429884,-0.0156191785106,0.0496074466557,0.999999813392,8.12728103397e-05,-0.000605334422376,1.34406578158e-05,1793254786683192576
+254,4.233333333,HOLD_POSE2,786,762,739,717,686,649,918,798,840.91397989,658,632,657,0.458310880767,-0.0156186193262,0.04960729766,0.999999813172,8.08654355967e-05,-0.000605754526972,1.33847576171e-05,1793254786699859200
+255,4.250000000,HOLD_POSE2,786,762,739,717.493421463,686,649,918,798,841,657.506578537,632,657,0.458311883203,-0.015618781475,0.0496081552797,0.999999814197,7.90524272664e-05,-0.000604305881806,1.30735296468e-05,1793254786716526080
+256,4.266666667,HOLD_POSE2,786,762,739,717.929658868,686,649,918,798,841,657.070341132,632,657.070341132,0.45831285944,-0.0156189921008,0.0496089774214,0.999999815134,7.75825504272e-05,-0.000602950541822,1.2792827616e-05,1793254786733192960
+257,4.283333333,HOLD_POSE2,786,762,739,717.355962125,686,649,918,798,841,657.644037875,632,657.644037875,0.45831175921,-0.0156186714166,0.0496083201525,0.999999813959,8.02794227838e-05,-0.000604538047154,1.30414226189e-05,1793254786749859840
+258,4.300000000,HOLD_POSE2,786,761.776308304,739,717,685.776308304,649,918.223691696,798,841,657.776308304,632,657.776308304,0.458310641829,-0.0156179367902,0.0496073210438,0.999999812924,8.16283203626e-05,-0.000606071613015,1.29172121334e-05,1793254786766526464
+259,4.316666667,HOLD_POSE2,786,761.186915646,739,717,685.186915646,649,918.813084354,798,841,657.186915646,632,657.186915646,0.458309496408,-0.015616525433,0.0496057630802,0.999999812125,8.07734895913e-05,-0.000607516996123,1.21835229155e-05,1793254786783192832
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,786,761,738,719,686.248512369,651,918.248512369,800,840,657,635,657.751487631,0.441643881178,-0.0153735375937,0.0497697408835,0.999999938758,1.38897561737e-06,-0.000344482778193,-6.17548911061e-05,1793254787815478784
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,785.128213006,761,738,720.871786994,687,651,919,800,840,658,635.128213006,657,0.42864152772,-0.0153757637446,0.0497619841418,0.999999928047,-3.92097869913e-05,-0.000373185363288,-5.56919158177e-05,1793254788048812288
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,784.677102256,761,738,722,687.322897744,651,918,801,838.677102256,658,635,657,0.412859603685,-0.0153646463957,0.0497739349043,0.999999931814,-5.15431244452e-05,-0.000360136765816,-6.33746658413e-05,1793254788348812288
+353,5.883333333,POSE2_TO_POSE3_RETREAT,784.098206655,761,738,722,687.901793345,651,918,801,838.098206655,658,635,657,0.412133784758,-0.015363139198,0.0497735019134,0.999999932253,-5.43114548195e-05,-0.000358459856681,-6.36507431722e-05,1793254788365478912
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,785.261667614,761,738,722,688,651,918.630833807,801,839,657.630833807,635,657,0.410119364237,-0.015366820233,0.0498047368428,0.999999943853,-6.23792370726e-05,-0.000323733158865,-5.99939190596e-05,1793254788415479040
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..72b69a670388c926e762fcee749d7fff0db695fb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_03/simulation_data.csv
@@ -0,0 +1,417 @@
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+392,6.533333333,pose2_to_pose3_retreat,0.575677046377,-0.00981826473721,1.04002034082,0.546248194345,-0.00114402622186,1.03969204511
+393,6.550000000,pose2_to_pose3_retreat,0.575673729539,-0.00981826675397,1.04002036234,0.546244877439,-0.00114402851409,1.03969206542
+394,6.566666667,pose2_to_pose3_retreat,0.575672126752,-0.00981824844865,1.04002040156,0.546243274298,-0.00114401140312,1.03969210478
+395,6.583333333,pose2_to_pose3_retreat,0.575671156146,-0.00981823736341,1.0400204253,0.546242303478,-0.00114400104116,1.03969212861
+396,6.600000000,pose2_to_pose3_retreat,0.575670640975,-0.00981823221533,1.04002044004,0.546241788209,-0.00114399621902,1.03969214344
+397,6.616666667,pose2_to_pose3_retreat,0.575670428876,-0.00981823468049,1.04002045939,0.546241576174,-0.00114399845721,1.03969216309
+398,6.633333333,pose2_to_pose3_retreat,0.575670367628,-0.00981823539237,1.04002046497,0.546241514944,-0.00114399910355,1.03969216876
+399,6.650000000,pose2_to_pose3_retreat,0.575670228098,-0.00981823701408,1.0400204777,0.546241375456,-0.00114400057595,1.03969218168
+400,6.666666667,pose2_to_pose3_retreat,0.575670005394,-0.0098182396025,1.04002049802,0.546241152819,-0.00114400292605,1.03969220231
+401,6.683333333,pose2_to_pose3_retreat,0.575669679115,-0.00981824339474,1.04002052778,0.546240826638,-0.00114400636914,1.03969223254
+402,6.700000000,pose2_to_pose3_retreat,0.57566931114,-0.00981824767161,1.04002056135,0.546240458773,-0.00114401025223,1.03969226662
+403,6.716666667,pose2_to_pose3_retreat,0.575669006702,-0.00981825121,1.04002058912,0.546240154427,-0.00114401346484,1.03969229482
+404,6.733333333,pose2_to_pose3_retreat,0.575668843288,-0.00981825310932,1.04002060402,0.546239991061,-0.00114401518929,1.03969230996
+405,6.750000000,pose2_to_pose3_retreat,0.575668761201,-0.00981825406339,1.04002061151,0.546239908999,-0.00114401605551,1.03969231757
+406,6.766666667,pose2_to_pose3_retreat,0.575668284318,-0.00981825960606,1.04002065501,0.546239432259,-0.00114402108787,1.03969236174
+407,6.783333333,pose2_to_pose3_retreat,0.575667981672,-0.00981826769712,1.04002060899,0.546239129603,-0.00114402922657,1.03969231533
+408,6.800000000,pose2_to_pose3_retreat,0.575667883191,-0.00981827092357,1.04002058445,0.546239031106,-0.00114403251675,1.03969229057
+409,6.816666667,pose2_to_pose3_retreat,0.575667766758,-0.00981827473813,1.04002055544,0.546238914654,-0.00114403640664,1.03969226129
+410,6.833333333,pose2_to_pose3_retreat,0.575667711713,-0.00981827654153,1.04002054173,0.546238859599,-0.00114403824566,1.03969224745
+411,6.850000000,pose2_to_pose3_retreat,0.575667519163,-0.00981828284984,1.04002049376,0.546238667018,-0.00114404467855,1.03969219904
+412,6.866666667,pose2_to_pose3_retreat,0.575667264411,-0.00981829119602,1.0400204303,0.546238412224,-0.00114405318957,1.03969213498
+413,6.883333333,pose2_to_pose3_retreat,0.575667086192,-0.00981829129665,1.04002046061,0.546238234341,-0.00114405207502,1.03969216725
+414,6.900000000,pose2_to_pose3_retreat,0.575666907835,-0.00981828915985,1.04002052007,0.546238056464,-0.00114404820329,1.03969222961
+415,6.916666667,pose2_to_pose3_retreat,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1d2824fce36ed9bc178c93ea9062c2468b2c232c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ce61098140b38b57bf4df1d6c9de4bb93ef34a8a3fdb13e3e3ba52309732bc9
+size 26504021
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..49c0de663f79a2b78dc0d94c55cf3eecc2ce2de6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_04/franka_data.csv
@@ -0,0 +1,418 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,785,761,738,722,688,651,919,801,838,658,635,657,0.400987763975,-0.0154114987283,0.0498511280061,0.999999965274,-4.12848490054e-05,-0.000256524550614,-4.40844808895e-05,1793254789546197760
+1,0.016666667,BASELINE,785,761,738,722.577115665,688,651,918.422884335,801,838,657.422884335,635,656.422884335,0.400988091624,-0.0154124728599,0.0498518693461,0.999999965489,-4.1369007477e-05,-0.000255769328026,-4.34991584196e-05,1793254789562863872
+2,0.033333333,BASELINE,785,760.842074351,738.157925649,722.842074351,688,651,918.157925649,801,838,657.157925649,635,656.157925649,0.400988064748,-0.0154124846859,0.0498522192649,0.9999999656,-4.04686797683e-05,-0.000255519909948,-4.3254704048e-05,1793254789579529984
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+7,0.116666667,BASELINE,785,761,738.061347649,723,688,651,919,801,838,658,635,657,0.400989100141,-0.0154125555258,0.049852971304,0.999999965769,-4.2505994654e-05,-0.000254553734994,-4.30929400118e-05,1793254789662863360
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+9,0.150000000,BASELINE,785,761,738.764923002,723,688,651,918.764923002,801,838,658,635,657,0.40098800114,-0.0154084354579,0.0498513699009,0.999999965738,-3.78680758656e-05,-0.000255229171961,-4.41451999487e-05,1793254789696196864
+10,0.166666667,BASELINE,785,761,738.185189112,723,688,651,918.185189112,801,838,658,635,657,0.400987940607,-0.0154090050237,0.0498517436831,0.999999965615,-3.89580040207e-05,-0.00025556039964,-4.4059441519e-05,1793254789712863232
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+12,0.200000000,BASELINE,785,761,738,723,688,651,918,801,838,658,635.96958454,657,0.400989503205,-0.0154128222895,0.0498526426488,0.999999966086,-4.33366994254e-05,-0.000253108560271,-4.34335838888e-05,1793254789746196224
+13,0.216666667,BASELINE,785,761,738.551047577,723,688,651,918,801,838,657.448952423,635.448952423,657,0.400987373819,-0.0154121939654,0.0498517945813,0.999999965731,-4.13326188069e-05,-0.000254806104325,-4.362388047e-05,1793254789762862848
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+16,0.266666667,BASELINE,785,761,738,722.294458369,688,651.294458369,918.294458369,801,838,658,635,657,0.400989735095,-0.015413380035,0.0498531763002,0.999999966445,-4.21286654943e-05,-0.00025191975209,-4.32711008735e-05,1793254789812863488
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+18,0.300000000,BASELINE,785,760.550557561,738,723,688,651.550557561,919,801,838,658,635,657,0.400988486106,-0.0154117030905,0.0498522123796,0.999999966134,-4.06809853164e-05,-0.00025332079956,-4.36451870702e-05,1793254789846196736
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+21,0.350000000,BASELINE,785,760.197413281,738.197413281,722,688,651,919,801,838,657.802586719,635,657,0.400989392682,-0.0154111776432,0.049853119082,0.999999966469,-3.94931930165e-05,-0.000252191379586,-4.36187064706e-05,1793254789896196096
+22,0.366666667,BASELINE,785,760.776942383,738.776942383,722,688,651,919,801,838,657.223057617,635,657,0.400988652986,-0.0154114860435,0.0498525114,0.999999966073,-4.2073616114e-05,-0.000253299886509,-4.38630787264e-05,1793254789912862976
+23,0.383333333,BASELINE,785,761,738.645291671,722.354708329,688,651,919,801,838,657,635,657,0.400988204136,-0.0154111942598,0.0498523025148,0.999999965928,-4.2048344269e-05,-0.00025385623139,-4.39628878953e-05,1793254789929530112
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+26,0.433333333,BASELINE,785,761,738.918421086,723,688,651,918.918421086,801,838,658,635.081578914,657,0.400989087358,-0.0154120580867,0.049852838028,0.999999966237,-4.15105831313e-05,-0.000252765384799,-4.37242953838e-05,1793254789979530496
+27,0.450000000,BASELINE,785,761,738.327054319,723,688,651,918.327054319,801,838,658,635.672945681,657,0.400988434483,-0.0154132730093,0.0498524261868,0.99999996612,-4.26260847072e-05,-0.000253079625363,-4.35056688174e-05,1793254789996196608
+28,0.466666667,BASELINE,785,761,738,723,688,651.258700821,918.258700821,801,838,658,635.741299179,657,0.400987748985,-0.0154134758378,0.0498519233252,0.9999999659,-4.25960347449e-05,-0.000253963071679,-4.34576262335e-05,1793254790012862976
+29,0.483333333,BASELINE,785,761,738,723,688,651.837512224,918.837512224,801,838,658,635.162487776,657,0.400987023118,-0.0154124263238,0.0498513078371,0.999999965549,-4.11485049807e-05,-0.000255550840384,-4.362066045e-05,1793254790029529856
+30,0.500000000,BASELINE,785,761,738.414192777,723,688,651.585807223,919,801,838,658,635,657,0.40098687539,-0.0154131258898,0.0498513671609,0.999999965656,-4.17940266623e-05,-0.00025504265114,-4.35171578284e-05,1793254790046196224
+31,0.516666667,BASELINE,785,761,738.990041661,723,688,651.009958339,919,801,838,658,635,657,0.400986953304,-0.0154145081076,0.0498516898584,0.999999965941,-4.32564495141e-05,-0.000253716426337,-4.33096280197e-05,1793254790062862848
+32,0.533333333,BASELINE,785,761,738.43570811,723,688,651,919,801,838,658,635,657,0.40098912721,-0.0154131909556,0.0498532319615,0.99999996651,-4.19032936878e-05,-0.000251633718708,-4.36304162869e-05,1793254790079529728
+33,0.550000000,BASELINE,785,761,738,723,688,651,919,801,838,658,635.14275455,657,0.400990875631,-0.0154120365604,0.0498545396259,0.99999996696,-4.0581955219e-05,-0.000250025761551,-4.38253804964e-05,1793254790096196608
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+41,0.683333333,BASELINE,785,761,738,722,688,651,918.199577649,801,838,657.199577649,635,657,0.400989061707,-0.0154121737207,0.0498537448834,0.99999996641,-4.03110957636e-05,-0.000252337974028,-4.33580240405e-05,1793254790229529856
+42,0.700000000,BASELINE,785,761,738,722.378340898,687.621659102,651,918.378340898,801,838,657.378340898,635,657,0.400989236498,-0.0154126589324,0.049854132136,0.999999966503,-4.11129943911e-05,-0.000251856291938,-4.3262398891e-05,1793254790246196480
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+45,0.750000000,BASELINE,785,761,738.892497804,723,688,651,919,801,838,657,635.892497804,657,0.40098829171,-0.0154110186564,0.0498533837189,0.999999966229,-4.04011470688e-05,-0.000252972480569,-4.3749180182e-05,1793254790296196352
+46,0.766666667,BASELINE,785,761,738.302620711,723,688,651,919,801,838,657,635.302620711,657,0.400987419323,-0.0154114737996,0.0498528353815,0.999999966284,-4.09457443433e-05,-0.000252647133646,-4.38828322704e-05,1793254790312862976
+47,0.783333333,BASELINE,785,761,738,722.728284837,688,651,919,801,838,657,635,657,0.400986396276,-0.0154118958977,0.0498520933264,0.999999966045,-4.16316647138e-05,-0.000253475834073,-4.38968013187e-05,1793254790329529600
+48,0.800000000,BASELINE,785,761,738,722.170321361,688,651,919,801,838,657,635,657,0.400985214512,-0.0154122831834,0.0498511471922,0.999999965494,-4.24664671555e-05,-0.000255520308013,-4.37846858906e-05,1793254790346196224
+49,0.816666667,BASELINE,785,761,738,722.414940117,688,651,918.585059883,801,838,657,635,657,0.400986772475,-0.0154125984026,0.0498522155895,0.999999965959,-4.26922794857e-05,-0.000253661510323,-4.37555529705e-05,1793254790362863616
+50,0.833333333,BASELINE,785,761,738,723,688,651,918,801,838,657.011772983,635,657,0.400989478963,-0.0154129207709,0.0498541291303,0.999999966842,-4.26993986194e-05,-0.000250157937335,-4.3752958126e-05,1793254790379531264
+51,0.850000000,BASELINE,785,761,738,723,688,651,918,801,838,657.588327192,635,657,0.400989534929,-0.0154151051298,0.0498541239146,0.999999966793,-4.50515922566e-05,-0.000250023752327,-4.32743498485e-05,1793254790396197632
+52,0.866666667,BASELINE,785,761,738.16969815,723,688,651,918.16969815,801,838,658,635,657,0.400989023303,-0.0154159752139,0.049853665995,0.999999966563,-4.59283135602e-05,-0.000250808779499,-4.31170916029e-05,1793254790412864000
+53,0.883333333,BASELINE,785,761,738.763095439,723,688,651,918.763095439,801,838,658,635,657,0.400987094524,-0.0154135638416,0.0498520777727,0.999999965883,-4.31211032233e-05,-0.000253888878316,-4.37621740863e-05,1793254790429529856
+54,0.900000000,BASELINE,785,761,738.654738024,723,687.654738024,651,919,801,838,658,635,657,0.400986963232,-0.0154121336596,0.0498521017701,0.999999965968,-4.17116196332e-05,-0.000253754285589,-4.39555053266e-05,1793254790446196480
+55,0.916666667,BASELINE,785,761,738.080034821,723,687.080034821,651,919,801,838,658,635,657,0.400988026448,-0.0154113555204,0.0498531971558,0.999999966567,-4.12309848574e-05,-0.000251483393871,-4.38486286813e-05,1793254790462863104
+56,0.933333333,BASELINE,785,761,738,722.504692889,687.495307111,651,919,801,838,658,635,657,0.400988428442,-0.0154116812862,0.0498535666498,0.999999966566,-4.03243956237e-05,-0.000251657033973,-4.37063201939e-05,1793254790479529728
+57,0.950000000,BASELINE,784.927756805,761,738,722,688,651,919,801,838,657.927756805,635,657,0.400988692335,-0.0154122759607,0.0498537909502,0.999999966478,-3.98164252349e-05,-0.000252112842833,-4.35537786128e-05,1793254790496196352
+58,0.966666667,BASELINE,784.340186739,761,738,722,688,651,919,801,838,657.340186739,635,657,0.400988734246,-0.0154135147822,0.0498538173176,0.999999966459,-4.26434949339e-05,-0.000251760143133,-4.33691347295e-05,1793254790512862976
+59,0.983333333,BASELINE,784,761,738,722,687.755097393,651,919,801,838,657.244902607,635,657,0.400989300787,-0.0154148682166,0.0498540748699,0.999999966523,-4.47883286028e-05,-0.000251159993318,-4.31992208962e-05,1793254790529529856
+60,1.000000000,BASELINE,784,761,738,722,687.173419303,651,919,801,838,657.826580697,635,657,0.400990588768,-0.0154163792599,0.0498546503339,0.999999966711,-4.59949923063e-05,-0.000250219564791,-4.30495629245e-05,1793254790546196992
+61,1.016666667,BASELINE,784.403717197,761,738,722,687.403717197,651,919,801,838,658,635,657,0.400990024833,-0.015414824434,0.0498546171349,0.999999966804,-4.34860673409e-05,-0.000250239205021,-4.33624634193e-05,1793254790562863616
+62,1.033333333,BASELINE,784.978924496,761,738,722,687.978924496,651,919,801,838,658,635,657,0.400988674244,-0.0154119672949,0.0498543253893,0.999999966845,-3.93988427267e-05,-0.000250666661198,-4.38718484896e-05,1793254790579529984
+63,1.050000000,BASELINE,785,761,738,722,688,651,919,801,838,658,635,657,0.400989586181,-0.0154134929524,0.0498547051868,0.999999966909,-4.25099345096e-05,-0.000249985885185,-4.33904765576e-05,1793254790596196352
+64,1.066666667,BASELINE,785,761,738,722.130751037,688,651,919,801,838,657.869248963,635.130751037,657,0.400990114347,-0.0154145433591,0.0498547234612,0.999999966843,-4.47452819435e-05,-0.000249914310343,-4.30760030107e-05,1793254790612862720
+65,1.083333333,BASELINE,785,761,738,722.725670126,688,651,919,801,838,657.274329874,635.725670126,657,0.400988974637,-0.0154133148577,0.0498533676524,0.999999966343,-4.28998144853e-05,-0.00025215504086,-4.34877922047e-05,1793254790629529344
+66,1.100000000,BASELINE,785,761,738.310223997,723,688,651,919,801,838,657.310223997,635.689776003,657,0.400987526297,-0.0154122468125,0.0498524848218,0.999999965979,-4.12214206358e-05,-0.000253831491631,-4.37277129378e-05,1793254790646196224
+67,1.116666667,BASELINE,785,761,738.885908268,723,688,651,919,801,838,657.885908268,635.114091732,657,0.400985813861,-0.0154113160707,0.0498520067213,0.999999965733,-3.96859926301e-05,-0.000255025085201,-4.38205649215e-05,1793254790662862848
+68,1.133333333,BASELINE,785,761,738.539709997,723,688,651,919,801,838,658,635,657,0.400986344482,-0.0154107350212,0.0498522987118,0.999999965916,-3.88672846633e-05,-0.00025439994305,-4.40155760044e-05,1793254790679529984
+69,1.150000000,BASELINE,784.964797308,761,738,723,688,651.035202692,918.964797308,801,838,658,635,657,0.400987437566,-0.0154103402719,0.0498528005671,0.999999966208,-3.82460503785e-05,-0.000253316454088,-4.41884513386e-05,1793254790696196864
+70,1.166666667,BASELINE,784.37648438,761,738,723,688,651.62351562,918.37648438,801,838,658,635,657,0.400988657085,-0.0154115146463,0.0498536091493,0.999999966553,-3.79441215052e-05,-0.000252094537876,-4.36167839628e-05,1793254790712863232
+71,1.183333333,BASELINE,784.209812258,761,738,722.790187742,688,651.790187742,918.209812258,800.790187742,838,658,635,657,0.400989291118,-0.0154119656609,0.0498539585041,0.999999966741,-3.80913889591e-05,-0.000251368003026,-4.33813086552e-05,1793254790729529856
+72,1.200000000,BASELINE,784.792525424,761,738,722.207474576,688,651.207474576,918.792525424,800.207474576,838,658,635,657,0.400988884562,-0.0154111310433,0.049853491671,0.99999996665,-3.90370163835e-05,-0.000251521913003,-4.3743349951e-05,1793254790746196224
+73,1.216666667,BASELINE,784.629566734,761,738,722.370433266,688,651,919,800.370433266,838,657.629566734,635,657,0.400988890923,-0.0154118810749,0.0498537817718,0.999999966726,-4.04040153659e-05,-0.000250988844536,-4.38116746876e-05,1793254790762862848
+74,1.233333333,BASELINE,784.054315857,761,738,722.945684143,688,651,919,800.945684143,838,657.054315857,635,657,0.400989125591,-0.0154135072808,0.0498544903919,0.999999966893,-4.20039963801e-05,-0.000250075936297,-4.3717599506e-05,1793254790779529728
+75,1.250000000,BASELINE,784.519203555,761,738.519203555,723,688,651,919,801,838,657.519203555,635.519203555,657,0.400988762287,-0.0154141574426,0.049854521592,0.999999966737,-4.42687142298e-05,-0.00025035792731,-4.34421346713e-05,1793254790796196352
+76,1.266666667,BASELINE,785,761,738.905187913,722.905187913,688,651,919,801,838,657.905187913,635.905187913,657,0.400988104696,-0.01541443955,0.0498542469111,0.999999966486,-4.58877788204e-05,-0.000251106046851,-4.32188824635e-05,1793254790812863232
+77,1.283333333,BASELINE,785,761,738.317787607,722.317787607,688,651,919,801,838,657.317787607,635.317787607,657,0.400986242086,-0.0154133381909,0.0498527500134,0.999999965937,-4.37923144698e-05,-0.000253628614188,-4.33651563791e-05,1793254790829530112
+78,1.300000000,BASELINE,785,761,738,722.268314472,688,651,919,801,838,657.268314472,635,657,0.400986376942,-0.0154127748415,0.0498525246978,0.999999965946,-4.34099648817e-05,-0.000253640471108,-4.34738765484e-05,1793254790846196992
+79,1.316666667,BASELINE,785,761,738,722.852886314,688,651,919,801,838,657.852886314,635,657,0.400988866175,-0.0154128456343,0.0498537981728,0.999999966614,-4.50468325439e-05,-0.000250692999308,-4.35383327916e-05,1793254790862863360
+80,1.333333333,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400989242868,-0.015412839571,0.0498538427114,0.99999996673,-4.38748363968e-05,-0.000250417964265,-4.36672100711e-05,1793254790879529984
+81,1.350000000,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400988909131,-0.0154128076614,0.0498534739683,0.999999966657,-4.1758241603e-05,-0.000251041648419,-4.38177516428e-05,1793254790896196352
+82,1.366666667,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400988827058,-0.0154123184558,0.0498534304867,0.999999966653,-4.13473911841e-05,-0.000251130107892,-4.37977095507e-05,1793254790912863232
+83,1.383333333,BASELINE,785,761,738,722.842033396,688,651,919,801,838,658,635.157966604,657,0.400988599337,-0.0154121012982,0.0498533303392,0.999999966614,-4.11260291038e-05,-0.000251337809434,-4.37134456925e-05,1793254790929529856
+84,1.400000000,BASELINE,785,761,738,722.248834114,688,651,919,801,838,658,635.751165886,657,0.400987967016,-0.0154126397073,0.0498530697869,0.999999966477,-4.14043130001e-05,-0.000251881088971,-4.34544804764e-05,1793254790946196480
+85,1.416666667,BASELINE,785,761,738,722.334611761,687.665388239,651,919,801,838,657.665388239,635.665388239,657,0.400988369413,-0.0154127142854,0.0498533809049,0.999999966658,-4.10358292683e-05,-0.000251230391953,-4.33897271406e-05,1793254790962863360
+86,1.433333333,BASELINE,785,761,738,722.911009909,687.088990091,651,919,801,838,657.088990091,635.088990091,657,0.400989519484,-0.0154124537047,0.0498541051051,0.999999967068,-4.0199999103e-05,-0.000249716941975,-4.34653089614e-05,1793254790979530240
+87,1.450000000,BASELINE,785,761,738,723,687.485260625,651,919,801,838,657.485260625,635,657,0.400988583438,-0.015412529716,0.0498538991876,0.999999966809,-4.07154921724e-05,-0.000250611632013,-4.37876471229e-05,1793254790996196608
+88,1.466666667,BASELINE,784.939550724,761,738,723,688,651,918.939550724,801,838,657.939550724,635,657,0.400987475246,-0.0154128328607,0.04985354458,0.999999966477,-4.15580015958e-05,-0.000251749023718,-4.40552715158e-05,1793254791012863232
+89,1.483333333,BASELINE,784.352781927,761,738,723,688,651,918.352781927,801,838,657.352781927,635,657,0.400988184458,-0.01541457854,0.0498533739379,0.999999966584,-4.30996160745e-05,-0.000251171418452,-4.34542528333e-05,1793254791029530112
+90,1.500000000,BASELINE,784.232360497,761,738,722.767639503,688,651,918.232360497,801,838,657.232360497,635,657,0.400989217476,-0.0154150855148,0.0498539124457,0.999999966845,-4.40108870023e-05,-0.000250023163226,-4.31432310096e-05,1793254791046196736
+91,1.516666667,BASELINE,784.815050785,761,738,722.184949215,688,651,918.815050785,801,838,657.815050785,635,657,0.400990738697,-0.0154137248952,0.0498555201382,0.999999967342,-4.39717891717e-05,-0.000248014539427,-4.32694373418e-05,1793254791062863104
+92,1.533333333,BASELINE,785,761,738,722.392308741,688,651,919,801,838,658,635,657,0.400990566947,-0.015413777033,0.0498553011557,0.999999967295,-4.37409263893e-05,-0.000248251080009,-4.3227066257e-05,1793254791079529728
+93,1.550000000,BASELINE,785,761,738,722.967040719,688,651,919,801,838,658,635,657,0.400989607968,-0.0154144861017,0.049854232771,0.999999966995,-4.34208930611e-05,-0.000249531619973,-4.31063068253e-05,1793254791096196352
+94,1.566666667,BASELINE,784.458041367,761,738,723,688,651,918.458041367,801,838,657.458041367,635,657,0.40099005227,-0.0154142560469,0.0498544045258,0.999999967018,-4.40873127438e-05,-0.000249280231082,-4.33643289429e-05,1793254791112863232
+95,1.583333333,BASELINE,784.120422693,761,738,723,688,651.120422693,918.120422693,801,838,657.120422693,635.120422693,657,0.400990286493,-0.0154137008924,0.0498544550067,0.999999967013,-4.40377326693e-05,-0.000249263609518,-4.3623440232e-05,1793254791129530112
+96,1.600000000,BASELINE,784.712738673,761,738,723,688,651.712738673,918.712738673,801,838,657.712738673,635.712738673,657,0.400989362957,-0.0154120956704,0.0498537346164,0.999999966819,-4.09472420178e-05,-0.000250532159973,-4.37965202717e-05,1793254791146196736
+97,1.616666667,BASELINE,784.702179623,760.702179623,738,723,688,651.702179623,919,801,838,658,635.702179623,657,0.400989018314,-0.0154117964955,0.0498537553684,0.999999966812,-4.06027211245e-05,-0.000250602743823,-4.38733362273e-05,1793254791162863104
+98,1.633333333,BASELINE,784.123910267,760.123910267,738,723,688,651.123910267,919,801,838,658,635.123910267,657,0.400989218798,-0.015412727188,0.049854474033,0.999999966984,-4.28440020496e-05,-0.000249545236512,-4.38595030222e-05,1793254791179529728
+99,1.650000000,BASELINE,784.451496092,760.451496092,738,722.548503908,688,651,919,801,838,658,635,657,0.400989115609,-0.015413655926,0.0498540907952,0.999999966828,-4.41512992784e-05,-0.000249988764626,-4.35906883949e-05,1793254791196196352
+100,1.666666667,BASELINE,784.973291324,760.973291324,738.026708676,722,688,651,919,801,838,658,635,657,0.400988945412,-0.0154145034581,0.0498534532937,0.999999966604,-4.50510312315e-05,-0.000250778845552,-4.32717766036e-05,1793254791212862976
+101,1.683333333,BASELINE,784.385752633,760.385752633,738.614247367,722,688,651,919,801,838,658,635,657,0.400989107126,-0.0154136570191,0.04985378676,0.999999966834,-4.27411181914e-05,-0.000250250224905,-4.33610655232e-05,1793254791229529600
+102,1.700000000,BASELINE,784.199112095,760.199112095,738.800887905,722.199112095,688,651,918.800887905,801,838,658,635,657,0.400989386402,-0.0154132212598,0.0498542068076,0.999999967025,-4.14950723823e-05,-0.000249690931565,-4.33801362922e-05,1793254791246196480
+103,1.716666667,BASELINE,784.778864961,760.778864961,738.221135039,722.778864961,688,651,918.221135039,801,838,658,635,657,0.400989890419,-0.0154135705932,0.0498547923718,0.999999967151,-4.22828121043e-05,-0.000249073001584,-4.32649716543e-05,1793254791262863360
+104,1.733333333,BASELINE,785,761,738,723,687.643085331,651,918,801,838,658,635,657,0.400989459566,-0.0154136628162,0.0498547389951,0.999999967024,-4.30958723438e-05,-0.000249443997618,-4.32719394301e-05,1793254791279529984
+105,1.750000000,BASELINE,785,761,738,723,687.066085787,651,918,801,838,658,635,657,0.400988452243,-0.0154135964969,0.0498542916271,0.999999966739,-4.39245460916e-05,-0.000250424796651,-4.33542179036e-05,1793254791296196608
+106,1.766666667,POSE1_TO_POSE2_PRESS,785,761,738,722,688,651,919,801,838,658,635,657,0.400987662,-0.0154126360794,0.0498533467497,0.999999966561,-4.16131949357e-05,-0.000251520070695,-4.33940111187e-05,1793254791327319296
+107,1.783333333,POSE1_TO_POSE2_PRESS,785,761,738,722,688,651,919,801,838,658,635,657,0.40098813131,-0.0154128806029,0.0498542357367,0.999999966803,-4.19397543649e-05,-0.000250492358904,-4.34617719886e-05,1793254791343987456
+108,1.800000000,POSE1_TO_POSE2_PRESS,785,761,738,722.18205771,688,651,918.81794229,801,838,657.81794229,635,657,0.400988588094,-0.0154130583203,0.0498548015019,0.999999966977,-4.23927504101e-05,-0.000249709811762,-4.351683071e-05,1793254791360654592
+109,1.816666667,POSE1_TO_POSE2_PRESS,785,761,738,722.761369441,688,651,918.238630559,801,838,657.238630559,635,657,0.400989017546,-0.0154130902654,0.04985466199,0.999999967007,-4.31216340588e-05,-0.000249462219201,-4.35441730704e-05,1793254791377320192
+110,1.833333333,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,918.339082792,801,838,657,635,657,0.400988748637,-0.0154123333145,0.0498540376947,0.999999966853,-4.23504174744e-05,-0.000250192128653,-4.362887984e-05,1793254791393986560
+111,1.850000000,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,918.91567652,801,838,657,635,657,0.400987990561,-0.0154110237806,0.0498530738323,0.999999966569,-4.0528453892e-05,-0.000251606730539,-4.37537675746e-05,1793254791410653184
+112,1.866666667,POSE1_TO_POSE2_PRESS,785,761,738,722.499522323,688,651,919,801.500477677,838,657.500477677,635,657,0.400986343571,-0.0154129055936,0.04985253939,0.999999966106,-4.27324991543e-05,-0.000253132640662,-4.34297148872e-05,1793254791427319808
+113,1.883333333,POSE1_TO_POSE2_PRESS,785,761,738.085697998,722.085697998,688,651,919,801.914302002,838,658,635,657,0.400985122298,-0.0154147213048,0.0498523376717,0.999999965777,-4.49767073474e-05,-0.000254090850745,-4.31275459568e-05,1793254791443986432
+114,1.900000000,POSE1_TO_POSE2_PRESS,785,761,738.665232284,722.665232284,688,651,919,801.334767716,838,658,635,657,0.400987231673,-0.0154130059525,0.0498536294041,0.999999966445,-4.34783174931e-05,-0.000251667807578,-4.33946276939e-05,1793254791460652800
+115,1.916666667,POSE1_TO_POSE2_PRESS,785,761,738.756046045,723,688,651,919,801,838,658,635,657,0.40099009786,-0.015411395496,0.0498550166005,0.99999996714,-4.15655471331e-05,-0.000249184684081,-4.35808762065e-05,1793254791477319424
+116,1.933333333,POSE1_TO_POSE2_PRESS,785,761,738.178435838,723,688,651,919,801,838,658,635,657,0.400993999139,-0.0154099285057,0.0498565343632,0.999999967873,-3.90860279507e-05,-0.000246619388808,-4.36565689542e-05,1793254791493986048
+117,1.950000000,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,658,635,657,0.401006778495,-0.0154107559852,0.049860877659,0.999999969949,-3.87390762511e-05,-0.000238186854115,-4.32334376393e-05,1793254791510652672
+118,1.966666667,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,658,635,657,0.401023526462,-0.015412609121,0.0498664840033,0.999999972525,-3.93454084191e-05,-0.000227131590461,-4.25873257902e-05,1793254791527319296
+119,1.983333333,POSE1_TO_POSE2_PRESS,785,761,738,722.439569378,688,651,919,801,838,658,635,657,0.401068955733,-0.0154163424605,0.0498820974269,0.999999979424,-4.07773030173e-05,-0.000194525064865,-4.05983278649e-05,1793254791543986176
+120,2.000000000,POSE1_TO_POSE2_PRESS,785,761,738,722.146292925,688,651,919,801,838,658,635,657,0.401121177893,-0.0154202089491,0.0498983897774,0.999999985127,-4.19149423871e-05,-0.000162821578315,-3.84545292503e-05,1793254791560652800
+121,2.016666667,POSE1_TO_POSE2_PRESS,785,761,738,722.725197006,688,651,919,801,838,658,635,657,0.401189282783,-0.0154241935282,0.0499152227034,0.999999989088,-4.20613888894e-05,-0.000136948108712,-3.60498386861e-05,1793254791577319424
+122,2.033333333,POSE1_TO_POSE2_PRESS,785,761,738.303213584,722.696786416,688,651,919,801,838,658,635.303213584,657,0.401264946863,-0.0154286549933,0.0499298795755,0.999999991864,-4.30630503851e-05,-0.000115173976547,-3.39487677893e-05,1793254791593986304
+123,2.050000000,POSE1_TO_POSE2_PRESS,785,761,738.880428132,722.119571868,688,651,919,801,838,658,635.880428132,657,0.401347441851,-0.0154335473995,0.0499425700412,0.999999993764,-4.48375325702e-05,-9.71042393763e-05,-3.21220649667e-05,1793254791610652928
+124,2.066666667,POSE1_TO_POSE2_PRESS,785,760.548212192,738.548212192,722,688,651,919,801,838,658,635.548212192,657,0.401438516116,-0.015439050795,0.0499469982671,0.999999994296,-4.75287724728e-05,-9.0525126253e-05,-3.09011259669e-05,1793254791627319552
+125,2.083333333,POSE1_TO_POSE2_PRESS,785,760.022520694,738,722.022520694,688,651,919,801,838,658,635,657,0.401532741001,-0.0154448266957,0.0499492591057,0.9999999945,-5.03869107352e-05,-8.70118700416e-05,-2.98234983884e-05,1793254791643986688
+126,2.100000000,POSE1_TO_POSE2_PRESS,785,760.616152186,738,722.616152186,688,651,919,801,838,658,635,657,0.40165001874,-0.0154534648404,0.0499513006482,0.999999994655,-5.14031964622e-05,-8.51117742977e-05,-2.83664633757e-05,1793254791660653056
+127,2.116666667,POSE1_TO_POSE2_PRESS,784.794796548,761,738,722.794796548,688,651,919,801,838,658,635,657,0.401775959672,-0.0154614095798,0.0499512377282,0.999999994446,-5.28475338653e-05,-8.69852630413e-05,-2.73559945727e-05,1793254791677319680
+128,2.133333333,POSE1_TO_POSE2_PRESS,784.214125932,761,738,722.214125932,688,651,919,801,838,658,635,657,0.401917751906,-0.015468085573,0.0499473242073,0.999999993529,-5.5075090673e-05,-9.57633973644e-05,-2.71626220671e-05,1793254791693986560
+129,2.150000000,POSE1_TO_POSE2_PRESS,784.361688146,760.638311854,738,722,688,651,919,801,838,657.638311854,635,657,0.402078923129,-0.0154765008879,0.0499463336664,0.999999993149,-5.69611169712e-05,-9.88582137346e-05,-2.61716011938e-05,1793254791710652928
+130,2.166666667,POSE1_TO_POSE2_PRESS,784.934665214,760.065334786,738,722,688,651,919,801,838,657.065334786,635,657,0.402251415072,-0.0154859322705,0.049947050655,0.999999993111,-5.86476301337e-05,-9.86329826091e-05,-2.47146146196e-05,1793254791727319552
+131,2.183333333,POSE1_TO_POSE2_PRESS,785,760.521514024,738,722.521514024,688,651,918.478485976,801,838.521514024,657.521514024,635,657,0.402447898323,-0.0154970490302,0.049946047464,0.999999992899,-5.96703411618e-05,-0.00010053815013,-2.30904116557e-05,1793254791743986176
+132,2.200000000,POSE1_TO_POSE2_PRESS,785,761,738,722.89156019,688,651,918.10843981,801,838.89156019,658,635.10843981,657,0.402658447302,-0.0155083600089,0.0499463374314,0.999999992957,-6.0518237921e-05,-9.98456719593e-05,-2.13208832096e-05,1793254791760652800
+133,2.216666667,POSE1_TO_POSE2_PRESS,785,761,738,722.312055329,688,651,918.687944671,801,838.312055329,658,635.687944671,657,0.402916684979,-0.0155195724116,0.0499532066375,0.999999994204,-6.09778603925e-05,-8.66778847139e-05,-1.90135453552e-05,1793254791777319424
+134,2.233333333,POSE1_TO_POSE2_PRESS,785,761,738,722.267115379,688,651,918.732884621,801,838,658,636,657,0.403196510214,-0.0155282164293,0.0499609862314,0.999999995721,-5.63294768036e-05,-7.16498810362e-05,-1.58803974048e-05,1793254791793986048
+135,2.250000000,POSE1_TO_POSE2_PRESS,785,761,738,722.84589617,688,651,918.15410383,801,838,658,636,657,0.403501523407,-0.0155338637009,0.0499698280491,0.999999997403,-4.57211637391e-05,-5.44514111211e-05,-1.17837092492e-05,1793254791810652928
+136,2.266666667,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,918.41912736,801,838,658,635.58087264,657,0.403821852272,-0.0155264886876,0.0499747110397,0.999999998695,-2.01227154575e-05,-4.59334181237e-05,-9.72147306002e-06,1793254791827319552
+137,2.283333333,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,918.990344736,801,838,658,635.009655264,657,0.404147738776,-0.0155143882381,0.0499781574786,0.999999999082,1.09152484432e-05,-4.05653364555e-05,-8.39748470879e-06,1793254791843986688
+138,2.300000000,POSE1_TO_POSE2_PRESS,785,761,738,722.418076169,688,651,919,801,838,658,635,657,0.404514457394,-0.0155151117566,0.0499834101721,0.99999999926,2.72182487137e-05,-2.66689850971e-05,-5.2378496794e-06,1793254791860653312
+139,2.316666667,POSE1_TO_POSE2_PRESS,784.82933619,761,738,722,688,651,918.82933619,801,838.17066381,658,635,657,0.404892222197,-0.0155187873277,0.0499845760407,0.999999998936,4.09689316904e-05,-2.11089576918e-05,-2.21701988159e-06,1793254791877319936
+140,2.333333333,POSE1_TO_POSE2_PRESS,784.2482656,761,738,722,688,651,918.2482656,801,838.7517344,658,635,657,0.405294862188,-0.0155290316715,0.0499758393626,0.999999998144,4.91911229011e-05,-3.59484676554e-05,3.9411745089e-07,1793254791893986560
+141,2.350000000,POSE1_TO_POSE2_PRESS,784.329362418,761,738,722,688,651,918.329362418,801,838.670637582,658,635,657,0.40570863798,-0.0155329849376,0.0499585371035,0.99999999555,6.49698939235e-05,-6.83734319513e-05,1.89640356679e-06,1793254791910653184
+142,2.366666667,POSE1_TO_POSE2_PRESS,784.904422409,761,738,722,688,651,918.904422409,801,838.095577591,658,635,657,0.406130720892,-0.0155322451904,0.0499348450966,0.999999989777,8.63857184535e-05,-0.000113916784093,2.57150980431e-06,1793254791927319552
+143,2.383333333,POSE1_TO_POSE2_PRESS,785,761,738.476529306,722,688,651,919,801,838.476529306,658,635.476529306,657,0.406597914992,-0.0155293169611,0.0499241359233,0.999999984468,0.000114725000128,-0.000133722842809,4.46557690694e-06,1793254791943986176
+144,2.400000000,POSE1_TO_POSE2_PRESS,785,761,738.950231363,722,688,651,919,801,839,658,636,657,0.407080393536,-0.0155264169909,0.0499179520394,0.999999979191,0.000143857090113,-0.000144489312554,6.83782397324e-06,1793254791960652544
+145,2.416666667,POSE1_TO_POSE2_PRESS,785,761,738.358240621,722,688,651,919,801,839,658,636,657,0.407631425126,-0.0155285776774,0.0499328753751,0.999999979708,0.000166590887316,-0.000112665108624,1.17725260841e-05,1793254791977319168
+146,2.433333333,POSE1_TO_POSE2_PRESS,785,761,738,722,687.77216171,651,918.77216171,801.22783829,839,658,636,657,0.408208670937,-0.015531128653,0.0499530190098,0.999999978831,0.000191107815465,-7.42324695335e-05,1.74850004041e-05,1793254791993986048
+147,2.450000000,POSE1_TO_POSE2_PRESS,785,761,738,722,687.195143184,651,918.195143184,801.804856816,839,658,636,657,0.408826092086,-0.0155342777773,0.0499811631655,0.999999975533,0.000218357531666,-2.56718817474e-05,2.4389471969e-05,1793254792010652928
+148,2.466666667,POSE1_TO_POSE2_PRESS,784.617401618,761,738,722,687.382598382,651,918.382598382,801.617401618,839,657.617401618,636,657,0.409456040743,-0.0155384740611,0.0499927873311,0.999999970032,0.000242855557583,-8.42498229416e-06,2.97774383386e-05,1793254792027319552
+149,2.483333333,POSE1_TO_POSE2_PRESS,784.039290587,761,738,722,687.960709413,651,918.960709413,801.039290587,839,657.039290587,636,657,0.410092391097,-0.0155432054565,0.0499959695704,0.999999964019,0.000265947433996,-7.17977813838e-06,3.43904510308e-05,1793254792043986176
+150,2.500000000,POSE1_TO_POSE2_PRESS,784.546364629,761,738,722,688,651,919,801,839,657.546364629,636,657,0.410689713994,-0.0155399668985,0.0499737602614,0.9999999534,0.000297509518782,-5.82101115535e-05,3.60428011899e-05,1793254792060652544
+151,2.516666667,POSE1_TO_POSE2_PRESS,785,761,738,722,688,651.131809602,919,801,839,658,636,657,0.411307400417,-0.0155366410512,0.0499521598662,0.999999939834,0.000328952811156,-0.000103478853965,3.76018399019e-05,1793254792077318912
+152,2.533333333,POSE1_TO_POSE2_PRESS,785,761,738,722,688,651.714652596,919,801,839,658,636,657,0.412004505902,-0.0155350051792,0.0499389788013,0.999999928452,0.000357876119323,-0.000115988439764,3.95803261916e-05,1793254792093985792
+153,2.550000000,POSE1_TO_POSE2_PRESS,784.706155356,761,738,722,688,652,919,801,839,658,636,657,0.412751605201,-0.0155378753884,0.0499484277239,0.999999953638,0.000286780248573,-9.24465147233e-05,4.39847261035e-05,1793254792110652928
+154,2.566666667,POSE1_TO_POSE2_PRESS,784.130465099,761,738,722,688,652,919,801,839,658,636,657,0.413546656919,-0.0155450676746,0.0499795825456,0.999999990955,0.000119749438965,-3.43252272529e-05,5.07159776597e-05,1793254792127319808
+155,2.583333333,POSE1_TO_POSE2_PRESS,784,761,738,722,688,651.556197045,919,801,839,657.556197045,636,657,0.414318826543,-0.015553218793,0.0499769848802,0.999999998265,2.07529625573e-05,-4.41680843805e-05,3.29818319722e-05,1793254792143986432
+156,2.600000000,POSE1_TO_POSE2_PRESS,784,761,738.018131858,722,687.981868142,651,919,801,839,657.018131858,636,657,0.415084225764,-0.0155614850027,0.049964043584,0.999999995709,-5.47651450988e-05,-7.41829666322e-05,8.90788761469e-06,1793254792160653056
+157,2.616666667,POSE1_TO_POSE2_PRESS,784,761,738.607508634,722,687.392491366,651,919,801,839,657.607508634,636,657,0.415847571636,-0.0155645252689,0.049936827928,0.999999993462,-1.86878234988e-05,-0.000112274989933,1.09622536626e-05,1793254792177319680
+158,2.633333333,POSE1_TO_POSE2_PRESS,784.193770085,761,739,722,687,651,919,801,839,658,636,657,0.416645611651,-0.0155652504594,0.0499276319273,0.999999992402,2.08463268472e-05,-0.000120631939133,1.44613123389e-05,1793254792193986304
+159,2.650000000,POSE1_TO_POSE2_PRESS,784.773821095,761,739,722,687,651,919,801,839,658,636,657,0.417512814443,-0.0155613605433,0.0499543581354,0.99999999509,6.72716677036e-05,-6.97119758279e-05,2.08403676065e-05,1793254792210652928
+160,2.666666667,POSE1_TO_POSE2_PRESS,785,761.349953691,738.650046309,722,687,651,919,801,839,658,636,657,0.418373967657,-0.0155590956523,0.0499705299794,0.999999993195,0.000103958112886,-4.62804592207e-05,2.56980122051e-05,1793254792227319808
+161,2.683333333,POSE1_TO_POSE2_PRESS,785,761.923581793,738.076418207,722,687,651,919,801,839,658,636,657,0.419231254223,-0.0155578694031,0.049979955955,0.999999989711,0.000134419899197,-4.04183039452e-05,2.95832403951e-05,1793254792243986176
+162,2.700000000,POSE1_TO_POSE2_PRESS,784.502231274,762,738,722,687,651,919,801,839,658,636,657,0.420124585198,-0.0155576865498,0.0499694400297,0.999999987643,0.000147099515767,-4.75465692403e-05,2.85458503279e-05,1793254792260652800
+163,2.716666667,POSE1_TO_POSE2_PRESS,784.074389084,761.925610916,738,721.925610916,687,651.074389084,918.925610916,801,839,658,636,657,0.421029832484,-0.0155587569824,0.0499612452822,0.999999986615,0.000153897203975,-4.82892817985e-05,2.7471231017e-05,1793254792277319680
+164,2.733333333,POSE1_TO_POSE2_PRESS,784.667374798,761.332625202,738,721.332625202,687,651.667374798,918.332625202,801,839,658,636,657,0.421979532513,-0.0155674466203,0.049990599445,0.999999989838,0.000138742520176,9.40306869657e-06,3.1411480228e-05,1793254792293986048
+165,2.750000000,POSE1_TO_POSE2_PRESS,785,761.253957726,738,721,687,652,918.253957726,801,839.253957726,658,636,657,0.422906231232,-0.0155716249396,0.0499995797505,0.999999990121,0.000134240165216,2.54834471632e-05,3.30005289242e-05,1793254792310652416
+166,2.766666667,POSE1_TO_POSE2_PRESS,785,761.832360812,738,721,687,652,918.832360812,801,839.832360812,658,636,657,0.423803544608,-0.0155700397953,0.049982531305,0.99999998916,0.000143346761189,-1.15978145671e-05,3.1585786581e-05,1793254792327319296
+167,2.783333333,POSE1_TO_POSE2_PRESS,785,762,738,721,687.407492584,652,919,801,840,658,636,657,0.424748136692,-0.0155736155514,0.0499831680706,0.99999998954,0.00014070984402,-9.73129724048e-06,3.20443738805e-05,1793254792343986176
+168,2.800000000,POSE1_TO_POSE2_PRESS,785,762,738,721,687.981289247,652,919,801,840,658,636,657,0.425712023901,-0.0155792975516,0.0499910224477,0.999999990533,0.000133280215456,8.03041835471e-06,3.32674963098e-05,1793254792360653568
+169,2.816666667,POSE1_TO_POSE2_PRESS,785,762,738,721,687.431236674,652,919,801.568763326,840,657.431236674,636,657,0.426664186963,-0.0155769601988,0.0500030541876,0.999999989826,0.000137972787969,5.27940080264e-06,3.58291647446e-05,1793254792377319936
+170,2.833333333,POSE1_TO_POSE2_PRESS,785,762,738.154758598,721,687,652,919,802,840,657.154758598,636,657,0.427604033998,-0.0155737018309,0.0500005409891,0.999999988795,0.000144216225711,-1.58380937057e-05,3.6889338152e-05,1793254792393986304
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+230,3.833333333,POSE1_TO_POSE2_PRESS,787,762,739,718,686,650,919,798,841,658,632,658,0.45873123543,-0.0156274179813,0.0495930537442,0.999999799358,7.64863248304e-05,-0.000628705457205,1.27612269362e-05,1793254793393986048
+231,3.850000000,POSE1_TO_POSE2_PRESS,787,762,739,717.45007746,686,650,919,798,841,658,632,658,0.458742636651,-0.0156275111819,0.049592760571,0.999999799094,7.57907087998e-05,-0.000629210835417,1.27046978666e-05,1793254793410652672
+232,3.866666667,POSE1_TO_POSE2_PRESS,787,762,739,717,686,650,919,798,841,658,632,658,0.458752165212,-0.0156277466392,0.0495923014025,0.999999798663,7.53283382379e-05,-0.000629949758199,1.27749376533e-05,1793254793427319552
+233,3.883333333,POSE1_TO_POSE2_PRESS,787,762,739,717,686,650,919,798,841,658,632,658,0.458758337186,-0.0156283623295,0.0495916712772,0.999999798172,7.56255368029e-05,-0.000630682774453,1.32611893333e-05,1793254793443985920
+234,3.900000000,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649.706743529,919,798,841,658,632,658,0.458762499252,-0.0156271242644,0.049590929082,0.999999797702,7.65065013365e-05,-0.000631327015643,1.30072895405e-05,1793254793460652544
+235,3.916666667,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649.131059039,919,798,841,658,632,658,0.458764725626,-0.0156241008935,0.049590078955,0.99999979725,7.79496764008e-05,-0.000631885759862,1.2040568317e-05,1793254793477319424
+236,3.933333333,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649.44241205,919,798,841,658,632,657.55758795,0.458766767039,-0.0156234217994,0.0495900156234,0.999999797067,7.79693450656e-05,-0.000632176048232,1.18293201564e-05,1793254793493985792
+237,3.950000000,POSE1_TO_POSE2_PRESS,787,762,738.984220926,717,685.984220926,649.984220926,919,798,841,658,632,657.015779074,0.458768700503,-0.015623429583,0.0495901504882,0.99999979693,7.75267366512e-05,-0.00063244682544,1.18375191835e-05,1793254793510652416
+238,3.966666667,POSE1_TO_POSE2_PRESS,787,762,738.390777244,717,685.390777244,649.390777244,919,798,841,658,632,657.609222756,0.458768677982,-0.0156232862491,0.0495890508219,0.99999979553,7.5521619031e-05,-0.000634900250434,1.17271706639e-05,1793254793527319296
+239,3.983333333,POSE1_TO_POSE2_PRESS,787,762,738.197434039,717,685.197434039,649,919,798,840.802565961,657.802565961,632,658,0.458768490642,-0.0156230261583,0.0495881399297,0.99999979448,7.51275202494e-05,-0.000636598782192,1.1717863992e-05,1793254793543986176
+240,4.000000000,POSE1_TO_POSE2_PRESS,787,762,738.775556285,717,685.775556285,649,919,798,840.224443715,657.224443715,632,658,0.458767985503,-0.0156225409396,0.049587593028,0.999999794116,7.78397546026e-05,-0.000636841744371,1.19033841157e-05,1793254793560652800
+241,4.016666667,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649,919,798,840.350495869,657.350495869,632,658,0.458769160343,-0.0156230729398,0.0495879091412,0.999999794739,7.81462461466e-05,-0.000635819547498,1.21891552429e-05,1793254793577319424
+242,4.033333333,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649,919,798,840.92341572,657.92341572,632,658,0.458771401295,-0.0156242504652,0.0495887729221,0.999999795988,7.69260579831e-05,-0.000633994483196,1.25385454505e-05,1793254793593985792
+243,4.050000000,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649,919,798,841,658,632,657.501057544,0.458772008353,-0.0156244720669,0.0495882985625,0.999999795578,7.55761294707e-05,-0.000634803024002,1.25117746584e-05,1793254793610652416
+244,4.066666667,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649.077258013,919,798,841,658,631.922741987,657.077258013,0.458772229827,-0.0156243866069,0.0495877031307,0.999999794941,7.44935581e-05,-0.00063593631019,1.23625636086e-05,1793254793627319296
+245,4.083333333,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649.671544858,919,798,841,658,631.328455142,657.671544858,0.458771558054,-0.0156232333126,0.0495876792305,0.999999794512,7.53341752756e-05,-0.000636523386899,1.17823803749e-05,1793254793643985920
+246,4.100000000,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649.742494656,919,798,841,658,631.257505344,658,0.458771253865,-0.0156227164834,0.0495872397507,0.999999794137,7.63942613593e-05,-0.000636986851967,1.16919514332e-05,1793254793660652544
+247,4.116666667,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649.166821937,919,798,841,658,631.833178063,658,0.458771403854,-0.0156229860549,0.0495862867905,0.999999793831,7.77255180296e-05,-0.000637297585558,1.22066509687e-05,1793254793677319168
+248,4.133333333,POSE1_TO_POSE2_PRESS,786.59110521,762,739,717,686,649.40889479,919,798,841,658,631.59110521,658,0.458771680483,-0.0156230404245,0.0495862185937,0.999999793879,7.69087792362e-05,-0.000637320023171,1.22238525153e-05,1793254793693985792
+249,4.150000000,POSE1_TO_POSE2_PRESS,786.015370561,762,739,717,686,649.984629439,919,798,841,658,631.015370561,658,0.458772008783,-0.015623006986,0.0495865114036,0.999999794071,7.52156015586e-05,-0.000637224828402,1.20380617295e-05,1793254793710652416
+250,4.166666667,HOLD_POSE2,786,762,739,717,686,650,919,798,840,658,631,657,0.458773647365,-0.0156244349298,0.0495880142611,0.999999795288,7.40914846081e-05,-0.000635446557117,1.18933118167e-05,1793254793739597312
+251,4.183333333,HOLD_POSE2,786.584718951,761.415281049,738.415281049,717,686,649.415281049,919,798,840.584718951,657.415281049,631.584718951,657,0.458773417604,-0.0156230762492,0.0495875193394,0.999999794843,7.42498177965e-05,-0.000636131491944,1.17550833452e-05,1793254793756264192
+252,4.200000000,HOLD_POSE2,787,761.167103131,738.167103131,717,686,649,919,797.832896869,841,657.167103131,632,657,0.458773699638,-0.0156219982158,0.0495873808088,0.999999794813,7.45852967044e-05,-0.000636139068838,1.17309369407e-05,1793254793772931072
+253,4.216666667,HOLD_POSE2,787,761.743765062,738.743765062,717,686,649,919,797.256234938,841,657.743765062,632,657,0.45877523605,-0.0156216080304,0.0495881157697,0.999999795802,7.53549481717e-05,-0.000634486486053,1.19863981631e-05,1793254793789597696
+254,4.233333333,HOLD_POSE2,787,762,739,717,686,649,919,797.31751933,841,658,632,657.31751933,0.458774658495,-0.015621029093,0.0495873490255,0.999999795178,7.64137418451e-05,-0.000635343216764,1.19910543515e-05,1793254793806264320
+255,4.250000000,HOLD_POSE2,787,762,739,717,686,649,919,797.888948401,841,658,632,657.888948401,0.458772390472,-0.0156202992171,0.0495853814173,0.999999793258,7.77037529619e-05,-0.000638206562846,1.17951500075e-05,1793254793822930688
+256,4.266666667,HOLD_POSE2,787,762,739,717,686,649,919,798,841,658,631.522056735,657.522056735,0.458773008435,-0.0156199164612,0.0495856679395,0.999999793553,7.78212169598e-05,-0.000637733358623,1.15459851669e-05,1793254793839597568
+257,4.283333333,HOLD_POSE2,787,762,738.930841399,717,686,649,919,798,841,657.930841399,631.069158601,657.069158601,0.458774042071,-0.0156198775137,0.0495863238849,0.9999997942,7.74649969946e-05,-0.000636765184855,1.13410854572e-05,1793254793856264192
+258,4.300000000,HOLD_POSE2,787,762,738.354418292,717,686,649,919,798,841,657.354418292,631.645581708,657.645581708,0.458773018433,-0.0156217461768,0.0495857012652,0.999999793501,7.57089758167e-05,-0.000638069833531,1.15550948767e-05,1793254793872930816
+259,4.316666667,HOLD_POSE2,787,762,738,717.221802485,686,649,919,798,841,657.221802485,632,658,0.458772827975,-0.0156225322197,0.0495853641334,0.99999979329,7.4593225029e-05,-0.000638529930901,1.16610806513e-05,1793254793889597696
+260,4.333333333,HOLD_POSE2,787,762,738,717.797700199,686,649,919,798,841,657.797700199,632,658,0.458773967641,-0.0156215899203,0.0495854827669,0.999999793864,7.44996301818e-05,-0.000637641749351,1.15946127147e-05,1793254793906264320
+261,4.350000000,HOLD_POSE2,787,762,738.382130043,717.617869957,686,649,919,798,841,658,632,658,0.458775247497,-0.0156208110443,0.049586677206,0.999999794553,7.51545759068e-05,-0.000636479360643,1.18166404118e-05,1793254793922930944
+262,4.366666667,HOLD_POSE2,787,762,738.971180012,717.028819988,686,649,919,798,841,658,632,658,0.458776603265,-0.0156201206604,0.0495884541841,0.999999795302,7.62148495008e-05,-0.000635168491183,1.21948858515e-05,1793254793939597568
+263,4.383333333,HOLD_POSE2,787,761.448952754,739,717,686,649,919,798,841,658,632,657.448952754,0.458774699997,-0.0156221645586,0.0495872707828,0.99999979409,7.39723900441e-05,-0.000637336141686,1.23093926393e-05,1793254793956264192
+264,4.400000000,HOLD_POSE2,787,761.130108395,738.869891605,717,686,649,919,797.869891605,841,658,632,657,0.458773406315,-0.0156236184298,0.0495863743848,0.999999793297,7.22103548504e-05,-0.000638781829872,1.22577793276e-05,1793254793972930816
+265,4.416666667,HOLD_POSE2,787,761.708021193,738.291978807,717,686,649,919,797.291978807,841,658,632,657,0.458774787724,-0.015622557438,0.0495869899414,0.999999794325,7.26866018618e-05,-0.000637126791019,1.1681113788e-05,1793254793989597440
+266,4.433333333,HOLD_POSE2,787,761.717271912,738.282728088,717,686,649,919,797.282728088,841,658,632,657.282728088,0.458776324877,-0.0156215444475,0.0495877141756,0.999999795177,7.39219526716e-05,-0.000635645652809,1.17029811326e-05,1793254794006264064
+267,4.450000000,HOLD_POSE2,787,761.145838726,738.854161274,717,686,649,919,797.854161274,841,658,632,657.854161274,0.458778021069,-0.015620580473,0.0495885493848,0.999999795846,7.59324550726e-05,-0.000634342091683,1.23360346704e-05,1793254794022930944
+268,4.466666667,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,649,919,798,841,658,632,657,0.458776464356,-0.015621235136,0.0495874514066,0.999999795047,7.62117338586e-05,-0.000635573597399,1.2022997797e-05,1793254794055424000
+269,4.483333333,POSE2_TO_POSE3_RETREAT,787,762,739,717.580310632,686,649,919,798,841,658,632,657.580310632,0.458776620235,-0.0156218926466,0.0495874204663,0.999999795009,7.32403334588e-05,-0.000635977667693,1.2230076196e-05,1793254794072090624
+270,4.500000000,POSE2_TO_POSE3_RETREAT,787,762,738.840481748,717.840481748,686,649.159518252,919,798,841,658,632,658,0.458776851309,-0.0156220334383,0.0495874593019,0.999999794946,7.18588208471e-05,-0.000636234465994,1.22823892334e-05,1793254794088757248
+271,4.516666667,POSE2_TO_POSE3_RETREAT,787,762,738.264156077,717.264156077,686,649.735843923,919,798,841,658,632,658,0.458777278859,-0.0156208240883,0.049587680456,0.999999794828,7.4631547121e-05,-0.000636106455389,1.19303137877e-05,1793254794105424640
+272,4.533333333,POSE2_TO_POSE3_RETREAT,787,761.682968801,738.317031199,717,686,649.682968801,919,798,841,658,631.682968801,657.682968801,0.458777465861,-0.0156212048845,0.0495879238015,0.999999794988,7.52547688487e-05,-0.000635779200217,1.20598829266e-05,1793254794122091520
+273,4.550000000,POSE2_TO_POSE3_RETREAT,787,761.0976677,738.9023323,717,686,649.0976677,919,798,841,658,631.0976677,657.0976677,0.458777449314,-0.0156229312532,0.0495881859251,0.999999795386,7.40590925309e-05,-0.000635283345495,1.25970168509e-05,1793254794138757632
+274,4.566666667,POSE2_TO_POSE3_RETREAT,786.518080038,761.481919962,739,717,686,649,919,798,841,658,631,657,0.458776451453,-0.0156220697171,0.049587688128,0.99999979475,7.3242525097e-05,-0.000636384823009,1.22574444164e-05,1793254794155424512
+275,4.583333333,POSE2_TO_POSE3_RETREAT,786.060387531,762,739,716.939612469,686,649,919,798,841,658,631,657,0.4587751881,-0.0156208698605,0.0495869630775,0.999999793912,7.25330723152e-05,-0.000637788037966,1.18495198986e-05,1793254794172091904
+276,4.600000000,POSE2_TO_POSE3_RETREAT,786.639063222,762,739,716.360936778,686,649,919,798,841,658,631,657,0.458773333012,-0.0156212149654,0.0495855938998,0.999999793142,7.20912559488e-05,-0.000639035125591,1.2362027682e-05,1793254794188758016
+277,4.616666667,POSE2_TO_POSE3_RETREAT,787,762,739,716.216354287,686,649.216354287,919,798,841,658,631.216354287,657,0.458769054599,-0.0156210554568,0.0495831210698,0.999999791396,7.22822745264e-05,-0.000641742398008,1.2221940942e-05,1793254794205424384
+278,4.633333333,POSE2_TO_POSE3_RETREAT,787,762,739,716.791350058,686,649.791350058,919,798,841,658,631.791350058,657,0.458760759142,-0.0156200594716,0.0495788187613,0.999999788016,7.35223172581e-05,-0.000646870157759,1.10000754087e-05,1793254794222091264
+279,4.650000000,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,649.6260748,919,798,841,658,632,657.3739252,0.458738915198,-0.0156192521227,0.0495690063749,0.999999777962,7.33965656924e-05,-0.000662257222984,1.01876042597e-05,1793254794238757888
+280,4.666666667,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,649.039182821,919,798,841,658,632,657.960817179,0.458709354798,-0.0156185522104,0.0495560557575,0.999999763749,7.24929345426e-05,-0.000683487412285,9.60830102519e-06,1793254794255424000
+281,4.683333333,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,649,919,798,841,658,632,658,0.458655314373,-0.0156158537413,0.0495367449788,0.999999746691,7.29529599613e-05,-0.000707980698297,7.69777635938e-06,1793254794272090624
+282,4.700000000,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,649,919,797.87450156,841,658,632,658,0.458596800307,-0.0156126726099,0.0495178324983,0.999999730181,7.35271997558e-05,-0.00073089000172,5.60196658456e-06,1793254794288757248
+283,4.716666667,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,649,919,797.30066213,841,658,632,658,0.458528560664,-0.0156082779532,0.0495019684146,0.999999718011,7.41609542128e-05,-0.000747306601848,3.18445336584e-06,1793254794305424128
+284,4.733333333,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,649,919,797.274276886,841,657.725723114,632,657.725723114,0.458453228794,-0.0156037348538,0.0494910346871,0.999999708943,7.60489927822e-05,-0.000759162093676,1.62331663191e-06,1793254794322090752
+285,4.750000000,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,649,919,797.850426085,841,657.149573915,632,657.149573915,0.458370091139,-0.0155990283768,0.0494855273677,0.999999703478,7.93175109313e-05,-0.0007659975761,1.00471790918e-06,1793254794338757632
+286,4.766666667,POSE2_TO_POSE3_RETREAT,787,762,738.564717755,717,686,649,919,797.564717755,841,657,632,657.435282245,0.458278369009,-0.015592432892,0.0494871614337,0.999999705845,8.40832314188e-05,-0.000762390228035,6.49004593482e-07,1793254794355424256
+287,4.783333333,POSE2_TO_POSE3_RETREAT,787.022898298,762,738,716.977101702,686,649,919,797.022898298,841,657.022898298,632,657.977101702,0.45818225987,-0.0155852723315,0.0494912578172,0.999999710815,8.91099439085e-05,-0.000755267051437,3.97526201368e-07,1793254794372090624
+288,4.800000000,POSE2_TO_POSE3_RETREAT,787.603377378,762,738,716.396622622,686,649,919,797.603377378,841,657.603377378,632,657.396622622,0.458052621319,-0.0155804806655,0.0494943380509,0.999999713631,8.77085294824e-05,-0.000751694993983,4.39640828653e-07,1793254794388757248
+289,4.816666667,POSE2_TO_POSE3_RETREAT,787.817622048,762,738,716.182377952,686,649,919,798,841,658,632,657,0.457915935035,-0.0155740374672,0.0494984108217,0.999999716759,8.88415849409e-05,-0.000747387904854,3.82630263472e-07,1793254794405424128
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,785,761,738,721.745715295,688,651,919,800,839,657,635.254284705,657,0.418799212235,-0.0153650658873,0.0498016819029,0.999999944405,-3.45173064916e-05,-0.00032666350517,-5.73572648319e-05,1793254795355424768
+347,5.783333333,POSE2_TO_POSE3_RETREAT,785,761,738,721.171432718,688,651,919,800,839,657,635.828567282,657,0.417904703824,-0.0153604254864,0.0497820897786,0.999999930344,-3.49294222144e-05,-0.000366981167787,-5.84501952094e-05,1793254795372091648
+348,5.800000000,POSE2_TO_POSE3_RETREAT,784.585743626,761,738,721,688,651,919,800,839,657.414256374,635.585743626,657.414256374,0.417059619719,-0.0153623322297,0.0497748429648,0.99999992824,-3.33062854275e-05,-0.000372639438885,-5.95867079891e-05,1793254795388758016
+349,5.816666667,POSE2_TO_POSE3_RETREAT,784.00469638,761,738,721.00469638,688,651,919,800,839,658,635,657.99530362,0.416236053148,-0.0153669943848,0.0497730714194,0.999999931714,-3.09334529168e-05,-0.000363219395175,-6.07261422664e-05,1793254795405424384
+350,5.833333333,POSE2_TO_POSE3_RETREAT,784.582544539,761,738,721.582544539,688,651,919,800,839,658,635,657.417455461,0.415471688356,-0.0153679067985,0.049798359217,0.999999948101,-4.27669446142e-05,-0.00031364615273,-5.99586694539e-05,1793254795422090752
+351,5.850000000,POSE2_TO_POSE3_RETREAT,784.840188667,761,738,721.840188667,688,651,919,800,839,658,635,657,0.414697844945,-0.0153681680315,0.0498115629924,0.999999955501,-5.20463872623e-05,-0.000287586166867,-5.98546409269e-05,1793254795438757376
+352,5.866666667,POSE2_TO_POSE3_RETREAT,784.26443487,761,738,721.26443487,688,651,919,800,839,658,635,657,0.413899331278,-0.0153667344306,0.049793315575,0.99999994454,-5.4678385146e-05,-0.000322724346414,-6.14773652312e-05,1793254795455424000
+353,5.883333333,POSE2_TO_POSE3_RETREAT,784.317840734,761,738,721.317840734,688,651,919,800.317840734,839,657.682159266,635.317840734,657,0.413136439232,-0.0153654134701,0.0497786652377,0.99999993584,-5.5112753236e-05,-0.000348347381855,-6.2739426673e-05,1793254795472090624
+354,5.900000000,POSE2_TO_POSE3_RETREAT,784.905655938,761,738,721.905655938,688,651,919,800.905655938,839,657.094344062,635.905655938,657,0.412403804301,-0.0153641881867,0.0497670702674,0.999999929594,-5.36804506455e-05,-0.000365888235486,-6.36951403901e-05,1793254795488757760
+355,5.916666667,POSE2_TO_POSE3_RETREAT,784.513264799,761,738,722,688,651,919,801,839,657.486735201,635.513264799,657,0.411706173781,-0.0153654397995,0.0497886704093,0.999999939374,-5.62933600587e-05,-0.000338176693619,-6.09934890089e-05,1793254795505424128
+356,5.933333333,POSE2_TO_POSE3_RETREAT,784,761,738,722,688,651,919,801,839,658,635,657,0.411017213802,-0.0153670415569,0.049812803206,0.999999949365,-5.95330560804e-05,-0.000307181710627,-5.80080226171e-05,1793254795522090752
+357,5.950000000,POSE2_TO_POSE3_RETREAT,784,761,738,722,688,651,919,801,839,658,635,657,0.410343516255,-0.015367691264,0.0498075123449,0.999999945969,-6.16417430269e-05,-0.000317602701676,-5.82275694613e-05,1793254795538758400
+358,5.966666667,POSE2_TO_POSE3_RETREAT,784,761,738,722,688,651,918.783375455,801,839,658,635,657,0.409691212135,-0.015368076548,0.0497988718021,0.999999941145,-6.42477442035e-05,-0.000331802791337,-5.9062669294e-05,1793254795555425280
+359,5.983333333,POSE2_TO_POSE3_RETREAT,784,761,738,722,688,651,918.20903519,801,839,658,635,657,0.409074235406,-0.0153680251856,0.0497846998745,0.999999933817,-6.76749684335e-05,-0.0003522433684,-6.09142419992e-05,1793254795572091136
+360,6.000000000,POSE2_TO_POSE3_RETREAT,784,760.623793692,738,722,688,651,918,800.623793692,838.623793692,658,635,657,0.408506849382,-0.0153701369454,0.0497901199297,0.999999937246,-7.29342437967e-05,-0.000341346752281,-6.05868855758e-05,1793254795588757248
+361,6.016666667,POSE2_TO_POSE3_RETREAT,784,760.032314226,738,722,688,651,918,800.032314226,838.032314226,658,635,657,0.407967840144,-0.0153734864891,0.0498067509278,0.999999946285,-7.92418576196e-05,-0.000312518337109,-5.90127002356e-05,1793254795605423872
+362,6.033333333,POSE2_TO_POSE3_RETREAT,784,760.546566652,738,722,687.453433348,651,918,800.546566652,838,658,634.453433348,657,0.40743383113,-0.0153745326688,0.0498193728697,0.999999950054,-8.54116974723e-05,-0.000298723590616,-5.79682166549e-05,1793254795622090752
+363,6.050000000,POSE2_TO_POSE3_RETREAT,784.124207711,761,738,722.124207711,687.124207711,651,918.124207711,801,838,658,634.124207711,657,0.406902741457,-0.0153748646187,0.049824224985,0.999999950035,-9.06670765646e-05,-0.000297279378362,-5.77437745933e-05,1793254795638757376
+364,6.066666667,POSE2_TO_POSE3_RETREAT,784.69998842,761,738,722.69998842,687.69998842,651,918.69998842,801,838,658,634.69998842,657,0.406381214709,-0.0153730838403,0.0498016712234,0.999999936907,-9.26267652235e-05,-0.000337578482605,-6.03894057757e-05,1793254795655424256
+365,6.083333333,POSE2_TO_POSE3_RETREAT,784.7185832,761,738,722.7185832,688,651,919,800.7185832,838,657.7185832,635,657,0.40588923413,-0.0153719967761,0.0497800805152,0.999999923309,-9.73190716224e-05,-0.000374051998929,-6.32174073461e-05,1793254795672090624
+366,6.100000000,POSE2_TO_POSE3_RETREAT,784.131010704,761,738,722.131010704,688,651,919,800.131010704,838,657.131010704,635,657,0.405429397108,-0.0153716644096,0.0497595375223,0.999999909729,-0.000104984215687,-0.000406363623851,-6.6243811062e-05,1793254795688757504
+367,6.116666667,POSE2_TO_POSE3_RETREAT,784.450010338,761,738,722,688,651,918.549989662,800.450010338,838,657,635,657,0.405021142928,-0.0153718675725,0.0497656407739,0.999999912392,-0.000111611251693,-0.000397977315148,-6.6135814474e-05,1793254795705424128
+368,6.133333333,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918.029008866,801,838,657.029008866,635,657,0.404630906895,-0.015372513905,0.049780137884,0.999999919991,-0.000118169743242,-0.000376593487571,-6.50430361656e-05,1793254795722090496
+369,6.150000000,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918.605317743,801,838,657.605317743,635,657,0.404301353759,-0.0153786221127,0.0498087416158,0.999999935173,-0.000129055138473,-0.000330320392899,-6.23397345895e-05,1793254795738757120
+370,6.166666667,POSE2_TO_POSE3_RETREAT,785,761,738,722.181294153,688,651,919,801,838,658,635,657,0.40397913582,-0.0153837926818,0.0498334966601,0.999999945937,-0.000139403245754,-0.000291672706101,-6.01688389006e-05,1793254795755424256
+371,6.183333333,POSE2_TO_POSE3_RETREAT,785,761,738,722.756548023,688,651,919,801,838,658,635,657,0.403672857613,-0.0153869257222,0.0498498883433,0.999999950871,-0.000148583803085,-0.000269595354325,-5.91548838859e-05,1793254795772091392
+372,6.200000000,POSE2_TO_POSE3_RETREAT,785,761,738,722.660308758,688,651,919,801,838,657.660308758,635,657,0.403376275638,-0.0153883852573,0.0498516724739,0.999999949025,-0.000158375516846,-0.000270721959035,-5.98025187858e-05,1793254795788758528
+373,6.216666667,POSE2_TO_POSE3_RETREAT,785,761,738,722.07137685,688,651,919,801,838,657.07137685,635,657,0.40308680802,-0.0153886168966,0.0498427386491,0.999999942159,-0.000168615653582,-0.000288873932914,-6.1669307111e-05,1793254795805425152
+374,6.233333333,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918.490432508,801,838,657,635,657,0.40281593912,-0.015389704249,0.0498309177016,0.999999933603,-0.000175574508267,-0.000313004662714,-6.3210468012e-05,1793254795822091264
+375,6.250000000,POSE2_TO_POSE3_RETREAT,784.911436781,761,738.088563219,722,688,651,918,801,838.088563219,657,635,657,0.402555086585,-0.0153908673269,0.0498198994629,0.999999925227,-0.000182034188895,-0.000335017101534,-6.45977805434e-05,1793254795838757632
+376,6.266666667,POSE2_TO_POSE3_RETREAT,784.337086996,761,738.662913004,722,688,651,918,801,838.662913004,657,635,657,0.402335106248,-0.0153917984516,0.0498154682625,0.999999922043,-0.000188238003682,-0.000340887548738,-6.53875335318e-05,1793254795855424256
+377,6.283333333,POSE2_TO_POSE3_RETREAT,784.242888254,761,738.757111746,722.242888254,688,651,918.242888254,801,838.757111746,657.242888254,635,657,0.402135014085,-0.0153929920296,0.0498127905097,0.999999919799,-0.000193685740771,-0.000344311509452,-6.5852179873e-05,1793254795872090880
+378,6.300000000,POSE2_TO_POSE3_RETREAT,784.83085575,761,738.16914425,722.83085575,688,651,918.83085575,801,838.16914425,657.83085575,635,657,0.40196317771,-0.0153945584836,0.0498126039372,0.99999991896,-0.000198059293318,-0.000344259666896,-6.58549365822e-05,1793254795888757504
+379,6.316666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,800.587491856,838,658,635,657,0.401816414742,-0.0153947187337,0.0498150429561,0.999999921231,-0.000198066658302,-0.000337701459249,-6.53148359934e-05,1793254795905424128
+380,6.333333333,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,800.008389867,838,658,635,657,0.401679777821,-0.01539431108,0.0498185423357,0.999999924686,-0.000196310712591,-0.000328515617699,-6.45554992814e-05,1793254795922091008
+381,6.350000000,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,800,838,658,635,657,0.401570587381,-0.0153917685816,0.0498231911983,0.999999939738,-0.000133319521549,-0.000316578241709,-5.02813027414e-05,1793254795938758144
+382,6.366666667,POSE2_TO_POSE3_RETREAT,785,760.851838986,738,723,688,651,918.851838986,800.148161014,838,657.851838986,635,657,0.401467716807,-0.0153894520248,0.0498277183858,0.999999948942,-8.64566774558e-05,-0.000305056410448,-3.97796252455e-05,1793254795955425280
+383,6.383333333,POSE2_TO_POSE3_RETREAT,785,760.277355312,738,723,688,651,918.277355312,800.722644688,838,657.277355312,635,657,0.401381870223,-0.0153878759033,0.0498318468379,0.99999995178,-8.85922675917e-05,-0.000294846675288,-4.07047843475e-05,1793254795972091392
+384,6.400000000,POSE2_TO_POSE3_RETREAT,785,760.304252208,738,722.695747792,688,651,918.304252208,801,838,657.304252208,635,657,0.401303893739,-0.0153908427212,0.0498340050813,0.999999952358,-9.53276244273e-05,-0.000290715531238,-4.10047430592e-05,1793254795988757504
+385,6.416666667,POSE2_TO_POSE3_RETREAT,785,760.89250957,738,722.10749043,688,651,918.89250957,801,838,657.89250957,635,657,0.401233263613,-0.0153980501597,0.0498343242279,0.999999950808,-0.000106356647812,-0.000292258465471,-4.07211066597e-05,1793254796005424128
+386,6.433333333,POSE2_TO_POSE3_RETREAT,785,761,738,722.473188605,688,651,918.526811395,801,838,658,635,657,0.401178413614,-0.0154008298703,0.0498341491787,0.999999950264,-0.000112952500689,-0.000291540347897,-4.14414345893e-05,1793254796022090752
+387,6.450000000,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651.052010605,918.052010605,801,838,658,635,657,0.401128533398,-0.0154023983331,0.0498338727945,0.999999949975,-0.000118094486325,-0.000290363977827,-4.23379284457e-05,1793254796038757632
+388,6.466666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651.629190525,918.629190525,801,838,658,635,657,0.401093209923,-0.0154017323434,0.0498336888794,0.999999950105,-0.000118564493999,-0.00028966497033,-4.27467048806e-05,1793254796055424256
+389,6.483333333,POSE2_TO_POSE3_RETREAT,785,761,738,722.794639274,688,651.794639274,918.794639274,801,838,658,635,657,0.40106171125,-0.015401915242,0.0498336401171,0.999999950224,-0.000120317588156,-0.000288474553179,-4.31043346658e-05,1793254796072091136
+390,6.500000000,POSE2_TO_POSE3_RETREAT,785,761,738,722.220283388,688,651.220283388,918.220283388,801,838,658,635,657,0.401037085037,-0.0154036234357,0.0498338341995,0.999999950312,-0.000124376150878,-0.000286401164,-4.3370063376e-05,1793254796088757760
+391,6.516666667,POSE2_TO_POSE3_RETREAT,785,761,738,722.363115517,688,651,918.363115517,801,838,658,635,657,0.401019678813,-0.0154039640391,0.0498352471924,0.999999951057,-0.000125336361553,-0.000283324483308,-4.3629582475e-05,1793254796105424384
+392,6.533333333,POSE2_TO_POSE3_RETREAT,785,761,738,722.952140442,688,651,918.952140442,801,838,658,635,657,0.401006764446,-0.0154034538069,0.0498374185207,0.999999952209,-0.000124368957183,-0.00027962361292,-4.38852383041e-05,1793254796122091008
+393,6.550000000,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,658,635,657,0.401001014777,-0.0154036405113,0.0498384981031,0.999999952882,-0.000125396443134,-0.000276743386544,-4.38704758707e-05,1793254796138757376
+394,6.566666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,658,635,657,0.400996147982,-0.0154041142285,0.0498395185377,0.99999995349,-0.000126162641572,-0.00027420123076,-4.37823290327e-05,1793254796155424000
+395,6.583333333,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,658,635,657,0.400992309073,-0.0154055174081,0.049840693227,0.999999954029,-0.000125123703365,-0.000272753983588,-4.34901697856e-05,1793254796172090624
+396,6.600000000,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,658,635,657,0.400989265216,-0.0154064632662,0.0498415282152,0.999999954445,-0.000125148858713,-0.000271247634438,-4.32705481064e-05,1793254796188757504
+397,6.616666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,658,635,657,0.400987161541,-0.0154068683241,0.0498419614939,0.999999954716,-0.000126432345804,-0.000269671394716,-4.31367048749e-05,1793254796205424384
+398,6.633333333,POSE2_TO_POSE3_RETREAT,785,760.576429414,738,723,688,651,919,801,838,658,635,657,0.400985868568,-0.0154070593066,0.0498425314885,0.999999954574,-0.000128378466169,-0.000269266551207,-4.32125267415e-05,1793254796222091008
+399,6.650000000,POSE2_TO_POSE3_RETREAT,785,760.014924332,738.014924332,722.985075668,688,651,918.985075668,801,838,658,635,657,0.400984920192,-0.0154071834905,0.049843148202,0.999999954285,-0.000130523217783,-0.000269282034163,-4.33621238352e-05,1793254796238757376
+400,6.666666667,POSE2_TO_POSE3_RETREAT,785,760.593716615,738.593716615,722.406283385,688,651,918.406283385,801,838,658,635,657,0.400984834258,-0.0154079941003,0.049843479893,0.99999995478,-0.000130236010548,-0.000267612370636,-4.31550196588e-05,1793254796255424000
+401,6.683333333,POSE2_TO_POSE3_RETREAT,785,761,739,722.170794088,688,651,918.170794088,801,838,658,635,657,0.400984909895,-0.0154083859785,0.0498440328888,0.999999955267,-0.000129582055651,-0.000266132275788,-4.29882085111e-05,1793254796272090880
+402,6.700000000,POSE2_TO_POSE3_RETREAT,785,761,739,722.743832902,688,651,918.743832902,801,838,658,635,657,0.400985366055,-0.0154077916832,0.0498451070895,0.99999995574,-0.000128064357101,-0.000265098642633,-4.2916293274e-05,1793254796288758528
+403,6.716666667,POSE2_TO_POSE3_RETREAT,785,761,738.682701865,723,688,651,919,801,838,658,635,657,0.400985546651,-0.0154079408334,0.0498454592658,0.999999955885,-0.000127718544467,-0.000264721403599,-4.29011674422e-05,1793254796305424896
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c825d9d0f84733c9388436556ecdbc12e9c148fe
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_04/simulation_data.csv
@@ -0,0 +1,418 @@
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+346,5.766666667,pose2_to_pose3_retreat,0.589504460344,-0.00981824824256,1.04002055454,0.560075608,-0.00114401079079,1.03969225765
+347,5.783333333,pose2_to_pose3_retreat,0.58883026776,-0.00981821275768,1.04002049968,0.55940141496,-0.00114397676806,1.03969220515
+348,5.800000000,pose2_to_pose3_retreat,0.588174005928,-0.00981826524282,1.04002044521,0.558745153662,-0.00114402728539,1.03969215475
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+352,5.866666667,pose2_to_pose3_retreat,0.585703772166,-0.00981826469982,1.04002045188,0.556274919763,-0.00114402734238,1.03969215777
+353,5.883333333,pose2_to_pose3_retreat,0.585117494278,-0.00981831525951,1.04002047143,0.555688642234,-0.00114407687717,1.03969217225
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+355,5.916666667,pose2_to_pose3_retreat,0.583990821587,-0.00981812071273,1.04002036384,0.554561968334,-0.001143885707,1.0396920838
+356,5.933333333,pose2_to_pose3_retreat,0.583454542931,-0.00981821136246,1.04002039731,0.55402569228,-0.00114396788573,1.03969210781
+357,5.950000000,pose2_to_pose3_retreat,0.582936317565,-0.00981818900235,1.04002039889,0.553507466149,-0.00114394805292,1.03969211119
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+359,5.983333333,pose2_to_pose3_retreat,0.581963887209,-0.00981817465623,1.04002066272,0.552535034611,-0.00114393785582,1.03969237137
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+364,6.066666667,pose2_to_pose3_retreat,0.579856778761,-0.00981824540644,1.04002047063,0.550427927456,-0.00114400435727,1.03969217569
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+366,6.100000000,pose2_to_pose3_retreat,0.579128658594,-0.00981822429986,1.04002041437,0.549699805992,-0.00114398755341,1.03969212205
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+368,6.133333333,pose2_to_pose3_retreat,0.578508825559,-0.00981823198265,1.0400206868,0.549079973189,-0.00114399471179,1.03969238759
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+370,6.166666667,pose2_to_pose3_retreat,0.577980846787,-0.00981826284128,1.04002045378,0.548551995012,-0.00114402355684,1.03969215445
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+372,6.200000000,pose2_to_pose3_retreat,0.577510824426,-0.00981830207749,1.04002038883,0.548081973066,-0.00114406105457,1.03969209823
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+377,6.283333333,pose2_to_pose3_retreat,0.576562632358,-0.00981826659491,1.04002058262,0.547133781878,-0.00114402261643,1.0396922915
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+379,6.316666667,pose2_to_pose3_retreat,0.576309718292,-0.00981823906084,1.04002048648,0.546880866413,-0.00114400004471,1.03969218972
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+381,6.350000000,pose2_to_pose3_retreat,0.576117708991,-0.00981819791083,1.04002065843,0.546688857255,-0.00114395825272,1.03969236588
+382,6.366666667,pose2_to_pose3_retreat,0.576039189594,-0.00981838907169,1.04002059612,0.546610338624,-0.00114414717187,1.03969229463
+383,6.383333333,pose2_to_pose3_retreat,0.575970792919,-0.00981831933897,1.04002058171,0.546541941535,-0.00114407889842,1.0396922788
+384,6.400000000,pose2_to_pose3_retreat,0.57591093489,-0.00981827345953,1.04002058453,0.546482083434,-0.00114403324658,1.03969228189
+385,6.416666667,pose2_to_pose3_retreat,0.575859386534,-0.00981826540297,1.04002053567,0.546430534862,-0.00114402577605,1.03969223685
+386,6.433333333,pose2_to_pose3_retreat,0.57581562545,-0.00981818342312,1.04002040961,0.546386772202,-0.00114394878466,1.03969212036
+387,6.450000000,pose2_to_pose3_retreat,0.575779126334,-0.00981826593835,1.04002055856,0.546350272407,-0.00114403397214,1.03969225945
+388,6.466666667,pose2_to_pose3_retreat,0.575749827125,-0.00981823189843,1.04002054474,0.546320975203,-0.00114399296543,1.03969225001
+389,6.483333333,pose2_to_pose3_retreat,0.575726324979,-0.00981830178496,1.0400204141,0.546297473448,-0.0011440617125,1.03969211438
+390,6.500000000,pose2_to_pose3_retreat,0.575708480565,-0.00981837229215,1.04002039484,0.546279629781,-0.00114412977203,1.03969209294
+391,6.516666667,pose2_to_pose3_retreat,0.575695120092,-0.00981833530559,1.04002048031,0.546266269419,-0.00114409228081,1.0396921818
+392,6.533333333,pose2_to_pose3_retreat,0.575685728791,-0.00981814499967,1.04002054673,0.546256875453,-0.00114391085145,1.03969225261
+393,6.550000000,pose2_to_pose3_retreat,0.575679500895,-0.00981810489249,1.04002037172,0.546250647413,-0.00114387107761,1.03969208171
+394,6.566666667,pose2_to_pose3_retreat,0.575675369685,-0.00981811531591,1.04002029042,0.546246516237,-0.00114388138807,1.03969200044
+395,6.583333333,pose2_to_pose3_retreat,0.575672828229,-0.00981816672595,1.04002030595,0.546243974855,-0.00114393269331,1.03969201214
+396,6.600000000,pose2_to_pose3_retreat,0.575670903847,-0.00981821613566,1.04002038906,0.546242051024,-0.00114398035795,1.03969209197
+397,6.616666667,pose2_to_pose3_retreat,0.575669541363,-0.00981826856067,1.04002056664,0.546240689754,-0.00114402877568,1.03969226658
+398,6.633333333,pose2_to_pose3_retreat,0.575668634301,-0.00981830346222,1.04002068486,0.546239783499,-0.00114406100942,1.03969238283
+399,6.650000000,pose2_to_pose3_retreat,0.575668202731,-0.00981825196594,1.04002060287,0.546239350721,-0.0011440135301,1.03969230293
+400,6.666666667,pose2_to_pose3_retreat,0.575668026415,-0.00981822955092,1.04002056658,0.546239173881,-0.00114399286303,1.03969226755
+401,6.683333333,pose2_to_pose3_retreat,0.575667994803,-0.00981822553208,1.04002056008,0.546239142175,-0.00114398915759,1.03969226121
+402,6.700000000,pose2_to_pose3_retreat,0.575667937427,-0.00981821823784,1.04002054827,0.546239084628,-0.00114398243216,1.03969224969
+403,6.716666667,pose2_to_pose3_retreat,0.575667927491,-0.00981821697468,1.04002054622,0.546239074662,-0.00114398126751,1.0396922477
+404,6.733333333,pose2_to_pose3_retreat,0.57566783096,-0.00981820470267,1.04002052635,0.546238977844,-0.00114396995248,1.03969222833
+405,6.750000000,pose2_to_pose3_retreat,0.575667699141,-0.00981818794441,1.04002049922,0.546238845631,-0.00114395450105,1.03969220188
+406,6.766666667,pose2_to_pose3_retreat,0.575667567479,-0.00981817120624,1.04002047212,0.546238713578,-0.00114393906816,1.03969217546
+407,6.783333333,pose2_to_pose3_retreat,0.575667470527,-0.00981815888064,1.04002045217,0.546238616336,-0.00114392770371,1.03969215601
+408,6.800000000,pose2_to_pose3_retreat,0.575667460618,-0.00981815762094,1.04002045013,0.546238606398,-0.00114392654225,1.03969215402
+409,6.816666667,pose2_to_pose3_retreat,0.575667390188,-0.00981814866715,1.04002043563,0.546238535758,-0.00114391828669,1.03969213989
+410,6.833333333,pose2_to_pose3_retreat,0.575667317199,-0.00981816885961,1.04002047646,0.546238463117,-0.00114393734964,1.03969217937
+411,6.850000000,pose2_to_pose3_retreat,0.575667249904,-0.00981820009117,1.04002053801,0.546238396384,-0.00114396674663,1.03969223893
+412,6.866666667,pose2_to_pose3_retreat,0.57566723646,-0.00981820633027,1.04002055031,0.546238383053,-0.00114397261924,1.03969225082
+413,6.883333333,pose2_to_pose3_retreat,0.575667205149,-0.00981822086139,1.04002057895,0.546238352005,-0.00114398629679,1.03969227853
+414,6.900000000,pose2_to_pose3_retreat,0.575667133497,-0.00981825411501,1.04002064448,0.546238280952,-0.00114401759707,1.03969234195
+415,6.916666667,pose2_to_pose3_retreat,0.575667013141,-0.00981826491759,1.04002066212,0.546238161029,-0.00114402693786,1.03969235937
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e04aff4893ee3e9e70f5c037cc9ad280d8b0f185
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b6ddb7f7b2ff4dd581c9ee2742c77ca1f2d7e57f695be0ef3ef58db6a3bcaca
+size 26562936
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c6d4b4ad27c2b7c825928878e73f531d45326909
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_05/franka_data.csv
@@ -0,0 +1,419 @@
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+12,0.200000000,BASELINE,785,761,738,723,688,651.036302358,919,801,838,658,635,657,0.400983774181,-0.0154129392066,0.0498480246713,0.999999964954,1.33322791133e-05,-0.000260916138235,-4.28491230008e-05,1793254796869100544
+13,0.216666667,BASELINE,784.460174842,761,738,723,688,651,919,801,838,658,635,657,0.400983064177,-0.0154113960784,0.0498473693291,0.99999996497,1.38239836133e-05,-0.000260835087359,-4.28307639165e-05,1793254796885767168
+14,0.233333333,BASELINE,784.115685667,761,738,723,688,651,919,801,838,657.884314333,635,657,0.400982635377,-0.0154102635821,0.049847044329,0.999999965038,1.39163040019e-05,-0.000260576413284,-4.2787933102e-05,1793254796902434048
+15,0.250000000,BASELINE,784.691257393,761,738,723,688,651,919,801,838,657.308742607,635,657,0.400983325268,-0.0154114702094,0.0498479783631,0.999999965171,1.23342537195e-05,-0.00026015995441,-4.26994998305e-05,1793254796919100672
+16,0.266666667,BASELINE,785,761,738,723,688,651,919,801,838,657.273649568,635,657,0.400984103931,-0.0154117631722,0.0498486546576,0.99999996534,1.25679696207e-05,-0.000259488825917,-4.27432322037e-05,1793254796935767296
+17,0.283333333,BASELINE,785,761,738,723,688,651,919,801,838,657.863933513,635,657,0.40098498531,-0.0154109989522,0.0498490327266,0.99999996555,1.49026719214e-05,-0.000258523024383,-4.29398907747e-05,1793254796952434176
+18,0.300000000,BASELINE,785,761,738,723,687.554948102,651,919,801,837.554948102,658,635,657,0.400985774405,-0.0154117405443,0.049849619569,0.999999965795,1.35867597288e-05,-0.000257666386718,-4.28133142384e-05,1793254796969100800
+19,0.316666667,BASELINE,785,760.976719943,738.023280057,722.976719943,687,651,919,801,837.023280057,658,635,657.023280057,0.400986508571,-0.0154128760817,0.0498502359426,0.99999996604,1.13206900776e-05,-0.000256862471801,-4.25872950593e-05,1793254796985767680
+20,0.333333333,BASELINE,785,760.401916523,738.598083477,722.401916523,687,651,919,801,837.598083477,658,635,657.598083477,0.400986596377,-0.0154126579438,0.0498500702973,0.999999966123,1.24525805123e-05,-0.000256532878674,-4.22993587621e-05,1793254797002434048
+21,0.350000000,BASELINE,785,760.176798122,738.823201878,722.176798122,687.176798122,651.176798122,919,801,838,657.823201878,635,657.823201878,0.400986267594,-0.0154125690869,0.049849837414,0.999999966094,1.29871854235e-05,-0.000256645586146,-4.21548614584e-05,1793254797019100672
+22,0.366666667,BASELINE,785,760.764605255,738.235394745,722.764605255,687.764605255,651.764605255,919,801,838,657.235394745,635,657.235394745,0.40098497035,-0.0154127807745,0.0498494482199,0.999999965803,1.2133258841e-05,-0.000257786525924,-4.23438220296e-05,1793254797035767296
+23,0.383333333,BASELINE,785,760.652264772,738,723,688,651.652264772,919,801,838,657.347735228,635,657,0.400985169734,-0.0154129204801,0.049849602623,0.999999965839,1.17534464465e-05,-0.000257658762381,-4.2375645312e-05,1793254797052433920
+24,0.400000000,BASELINE,785,760.072258863,738,723,688,651.072258863,919,801,838,657.927741137,635,657,0.400986368795,-0.0154130121052,0.0498501201233,0.999999966094,1.16903198144e-05,-0.000256683565151,-4.23025083385e-05,1793254797069100544
+25,0.416666667,BASELINE,785,760.50355081,738,722.49644919,688,651,919,801,838,658,635,657,0.400985962552,-0.0154131025261,0.0498500212634,0.999999965973,1.110248455e-05,-0.000257159011426,-4.24219055283e-05,1793254797085767424
+26,0.433333333,BASELINE,785,761,738,722,688,651,919,801,838,657.921053043,635,657,0.400985571397,-0.015413134936,0.0498499777281,0.999999965873,1.07620602381e-05,-0.000257547061728,-4.25172938021e-05,1793254797102434304
+27,0.450000000,BASELINE,785,761,738,722,688,651,919,801,838,657.344499073,635,657,0.400986715316,-0.0154128027786,0.0498508357848,0.999999966239,1.2451746696e-05,-0.000256083016371,-4.22886485338e-05,1793254797119100672
+28,0.466666667,BASELINE,785,761,738,722.237370968,688,651,918.762629032,801,838,657.237370968,635,657,0.400986713508,-0.015412173789,0.0498506375628,0.999999966275,1.34842235378e-05,-0.000255889425156,-4.22876567073e-05,1793254797135767040
+29,0.483333333,BASELINE,785,761,738,722.827132994,688,651,918.172867006,801,838,657.827132994,635,657,0.400985010804,-0.0154111041347,0.0498488712332,0.999999965826,1.35410342424e-05,-0.000257581897362,-4.26246297169e-05,1793254797152433664
+30,0.500000000,BASELINE,785,761,738,723,688,651,918.40964607,801,838,657.59035393,635,657,0.400984514556,-0.0154117889054,0.0498490775954,0.999999965738,1.16466537543e-05,-0.000258027647521,-4.25363520217e-05,1793254797169100288
+31,0.516666667,BASELINE,785,761,738,723,688,651,918.989153328,801,838,657.010846672,635,657,0.40098451857,-0.0154132011546,0.0498501019412,0.999999965796,8.9432049493e-06,-0.000257956439938,-4.22717426122e-05,1793254797185766912
+32,0.533333333,BASELINE,785,761,738,723,688,651,919,801,838,657,635,657,0.400985444263,-0.0154117723635,0.0498501819854,0.999999966066,1.07229003425e-05,-0.000256749595523,-4.27997807729e-05,1793254797202433536
+33,0.550000000,BASELINE,785,761,738,723,688,651,919,801,838,657.13822545,635,657,0.400986042652,-0.0154109584287,0.0498501427409,0.999999966216,1.23025559668e-05,-0.000256041945541,-4.31148674996e-05,1793254797219100672
+34,0.566666667,BASELINE,785,761,738,723,688,651,919,801,838,657.710527568,635,657,0.400985557983,-0.0154122455363,0.0498497854509,0.999999965987,1.29854785604e-05,-0.000256969966261,-4.27137324617e-05,1793254797235767552
+35,0.583333333,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400985953199,-0.0154129418878,0.0498500171469,0.999999966092,1.25296938154e-05,-0.000256632907542,-4.24200288352e-05,1793254797252434432
+36,0.600000000,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400987248964,-0.0154130336083,0.0498508516621,0.999999966536,1.09084570217e-05,-0.000255001056601,-4.22362798102e-05,1793254797269100544
+37,0.616666667,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400987075714,-0.0154122430422,0.0498505711094,0.999999966356,1.1989723684e-05,-0.00025559915733,-4.25908520231e-05,1793254797285767168
+38,0.633333333,BASELINE,785,761,738,723,688,651.046932742,919,801,838,658,635,657,0.400986597939,-0.015411329069,0.0498501216086,0.99999996608,1.35743507553e-05,-0.000256526242176,-4.30180250551e-05,1793254797302433536
+39,0.650000000,BASELINE,785,761,738,723,688,651.621143141,919,801,838,658,635,657,0.400986501969,-0.0154113127599,0.049850660768,0.999999966377,1.38177164599e-05,-0.000255376359391,-4.28672145614e-05,1793254797319100160
+40,0.666666667,BASELINE,784.799539233,761,738.200460767,723,688,652,919,801,838,657.799539233,635.200460767,657,0.400986318297,-0.0154116140293,0.0498509642569,0.999999966556,1.31904573538e-05,-0.000254746418643,-4.2636486337e-05,1793254797335767040
+41,0.683333333,BASELINE,784.210316994,761,738.789683006,723,688,652,919,801,838,657.210316994,635.789683006,657,0.40098596454,-0.0154125311914,0.0498508107006,0.999999966504,1.08747612008e-05,-0.000255124822062,-4.22507705146e-05,1793254797352433920
+42,0.700000000,BASELINE,784.372444124,761,738.627555876,723,688,651.627555876,919,801,838,657.372444124,635.627555876,657,0.400985635905,-0.0154130802875,0.0498504583255,0.999999966341,9.43902164475e-06,-0.000255824291842,-4.22216452869e-05,1793254797369100800
+43,0.716666667,BASELINE,784.951618881,761,738.048381119,723,688,651.048381119,919,801,838,657.951618881,635.048381119,657,0.400985321215,-0.0154134250833,0.0498499955932,0.999999966118,8.49171512372e-06,-0.000256701974254,-4.23904509694e-05,1793254797385768192
+44,0.733333333,BASELINE,785,761,738,722.471877677,688,651,919,801,838.528122323,658,635,657,0.400985534227,-0.0154130427849,0.0498505808556,0.999999966156,1.01017374192e-05,-0.000256446524671,-4.26863693002e-05,1793254797402434560
+45,0.750000000,BASELINE,785,761,738,722.10568427,688,651,919,801,838.89431573,658,635,657,0.400985719229,-0.0154127424265,0.0498511551192,0.999999966207,1.17171697465e-05,-0.000256149733482,-4.28548074885e-05,1793254797419100928
+46,0.766666667,BASELINE,785,761,738,722.689131921,688,651,919,801,838.310868079,658,635,657,0.400985560171,-0.0154131120918,0.0498512478318,0.999999966224,1.23033043728e-05,-0.000256132960799,-4.23945732228e-05,1793254797435767296
+47,0.783333333,BASELINE,785,761,738,723,688,651,918.728214303,801,838,658,635.271785697,657,0.400985593732,-0.0154128901488,0.0498511620447,0.999999966202,1.2967295926e-05,-0.000256209102583,-4.22460948016e-05,1793254797452433920
+48,0.800000000,BASELINE,785,761,738,723,688,651,918.146465842,801,838,658,635.853534158,657,0.400985846969,-0.0154119934956,0.0498508726844,0.999999966137,1.3720080852e-05,-0.0002563912103,-4.24531637413e-05,1793254797469100544
+49,0.816666667,BASELINE,785,760.567784064,738,722.567784064,688,651,918.432215936,801,838,658,635.567784064,657,0.400985651587,-0.0154128175151,0.0498504927813,0.999999966148,1.24688122795e-05,-0.000256405084865,-4.24743794496e-05,1793254797485766912
+50,0.833333333,BASELINE,785,760.009811632,738,722,688,651,919,801,838,658,635,657,0.400985303612,-0.0154141898621,0.0498500907489,0.999999966181,1.0584757303e-05,-0.000256367785271,-4.24348459661e-05,1793254797502433792
+51,0.850000000,BASELINE,785,760.584290731,738,722,688,651,919,801,838,658,635,657,0.400984861306,-0.0154137981687,0.049850168516,0.999999966103,1.10917293004e-05,-0.000256643198536,-4.24981864053e-05,1793254797519100416
+52,0.866666667,BASELINE,784.837187171,761,738,722.162812829,688,651,919,801,838,658,635,657,0.400984959627,-0.0154134065225,0.0498504938001,0.999999966179,1.1331613364e-05,-0.00025633842022,-4.24774510386e-05,1793254797535767296
+53,0.883333333,BASELINE,784.248079273,761,738,722.751920727,688,651,919,801,838,658,635,657,0.400986473482,-0.0154130149999,0.0498514671618,0.99999996666,1.08721773846e-05,-0.000254514518282,-4.22365788275e-05,1793254797552434176
+54,0.900000000,BASELINE,784,760.664496001,738,722.664496001,688,651,918.664496001,801,838,657.664496001,635,657,0.40098636858,-0.0154133838017,0.0498514493576,0.999999966607,1.00496096128e-05,-0.000254782025893,-4.20847205006e-05,1793254797569100800
+55,0.916666667,BASELINE,784,760.084931613,738,722.084931613,688,651,918.084931613,801,838,657.084931613,635,657,0.400985086124,-0.015414305697,0.0498507105357,0.999999966164,8.96288379743e-06,-0.000256570917028,-4.19976148049e-05,1793254797585767168
+56,0.933333333,BASELINE,784.492765245,760,738,722.492765245,688,651,918.492765245,801,838,657.492765245,635,657,0.400985249955,-0.0154146564072,0.049850417067,0.999999966257,9.18007257471e-06,-0.000256177797149,-4.21252612038e-05,1793254797602433536
+57,0.950000000,BASELINE,785,760.069568427,738,723,688,651,919,801,838,658,635,657,0.400985636391,-0.0154146628669,0.0498502351307,0.999999966398,9.49165220643e-06,-0.000255582183835,-4.23174136845e-05,1793254797619100160
+58,0.966666667,BASELINE,785,760.642227546,738,723,688,651,919,801,838,658,635,657,0.400985836733,-0.0154128890933,0.049850306751,0.999999966221,8.86674276676e-06,-0.000256231647782,-4.2709387876e-05,1793254797635767040
+59,0.983333333,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400985788944,-0.0154118996167,0.0498503802364,0.999999966194,9.34436478698e-06,-0.000256293003029,-4.28741762133e-05,1793254797652433920
+60,1.000000000,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400985328031,-0.0154122159445,0.049850456827,0.999999966414,1.16576310303e-05,-0.000255375195031,-4.2660714705e-05,1793254797669101056
+61,1.016666667,BASELINE,784.603291357,761,738,723,688,651.396708643,919,801,838,658,635,657,0.4009848885,-0.0154127373835,0.0498504449221,0.999999966397,1.19472777644e-05,-0.00025544517955,-4.25672201204e-05,1793254797685767936
+62,1.033333333,BASELINE,784.023886677,761,738,723,688,651.976113323,919,801,838,658,635,657,0.400984458815,-0.0154133532823,0.0498503922622,0.999999966271,1.13049878593e-05,-0.000255970071728,-4.25289738574e-05,1793254797702434560
+63,1.050000000,BASELINE,784.551232361,761,738,723,688,651.448767639,919,801,838,658,635,657,0.40098482491,-0.0154133757494,0.0498501810698,0.999999966057,1.1467636136e-05,-0.000256814685965,-4.24454351576e-05,1793254797719100928
+64,1.066666667,BASELINE,784.874020667,761,738.125979333,723,688,651,919,801,838,657.874020667,635,657,0.400985480207,-0.0154129678889,0.0498502839293,0.999999966031,1.18312843836e-05,-0.0002569076854,-4.2377642998e-05,1793254797735767552
+65,1.083333333,BASELINE,784.299941671,761,738.700058329,723,688,651,919,801,838,657.299941671,635,657,0.400987042464,-0.015411120145,0.0498515280967,0.999999966692,1.27867648398e-05,-0.000254278343963,-4.23727873961e-05,1793254797752433920
+66,1.100000000,BASELINE,784,761,738.716737094,723,688,651,919,801,838.283262906,657.283262906,635,657,0.40098794292,-0.0154108290799,0.0498522218321,0.999999967097,1.30951652765e-05,-0.000252666459211,-4.23612037738e-05,1793254797769100544
+67,1.116666667,BASELINE,784,761,738.123547989,723,688,651,919,801,838.876452011,657.876452011,635,657,0.40098811928,-0.0154122412226,0.0498523133237,0.999999967229,1.26955765491e-05,-0.000252167803635,-4.23422588287e-05,1793254797785767168
+68,1.133333333,BASELINE,784.456645733,761,738.456645733,723,688,651,919,801,838.543354267,657.543354267,635,657,0.400987562796,-0.0154129471406,0.0498521393279,0.99999996714,1.1917448079e-05,-0.000252575551617,-4.22304135011e-05,1793254797802434048
+69,1.150000000,BASELINE,785,761,738.966696709,723,688,651,919,801,838,657.033303291,635,657,0.400986885905,-0.0154134135275,0.049851899368,0.999999966997,1.10767092806e-05,-0.000253196135276,-4.21248958175e-05,1793254797819100928
+70,1.166666667,BASELINE,785,761,738.391949866,723,688,651,919,801,838,657.608050134,635,657,0.40098738582,-0.0154130061234,0.0498517224466,0.999999966931,1.08370562653e-05,-0.000253400336481,-4.2519584474e-05,1793254797835767552
+71,1.183333333,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400987670858,-0.0154128685578,0.0498515144228,0.999999966877,1.03082727231e-05,-0.000253596572135,-4.27615834079e-05,1793254797852434176
+72,1.200000000,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400987495162,-0.0154133095749,0.0498512397097,0.999999966846,9.15954068419e-06,-0.000253775728233,-4.2676187872e-05,1793254797869100800
+73,1.216666667,BASELINE,785,761,738,723,688,651,919,801,838.358826723,658,635,657,0.400987172287,-0.0154131949849,0.0498509889755,0.999999966836,9.40681781236e-06,-0.000253835622318,-4.25070426289e-05,1793254797885767168
+74,1.233333333,BASELINE,785,761,738,723,688,651,919,801,838.9389212,658,635,657,0.400986758653,-0.015412737784,0.0498507530277,0.999999966838,1.05149333839e-05,-0.000253821974384,-4.22862537744e-05,1793254797902434048
+75,1.250000000,BASELINE,784.484024884,761,738.515975116,723,688,651,919,801,838.484024884,658,635,657,0.400986176995,-0.0154138579576,0.0498508376939,0.999999966663,1.02716173658e-05,-0.000254529869192,-4.22292039348e-05,1793254797919100672
+76,1.266666667,BASELINE,784.091702772,761,739,723,688,651,919,801,838,658,635,657,0.400985497472,-0.0154146196914,0.0498508436898,0.999999966469,9.92619568885e-06,-0.000255295406867,-4.22802263464e-05,1793254797935767296
+77,1.283333333,BASELINE,784.662372219,761,739,723,688,651,919,801,838,658,635,657,0.400984410075,-0.0154125397378,0.0498502417204,0.999999966288,9.87813964193e-06,-0.000255918513844,-4.27950704431e-05,1793254797952434176
+78,1.300000000,BASELINE,785,761,738.75694651,723,688,651,919,801,838,658,635,657,0.400984118987,-0.0154118828467,0.0498505077948,0.99999996633,9.67758594583e-06,-0.000255754386176,-4.28544220127e-05,1793254797969100800
+79,1.316666667,BASELINE,785,761,738.161760291,723,688,651,919,801,838,658,635,657,0.400984981581,-0.0154132876702,0.0498520314797,0.999999966692,9.25609564586e-06,-0.000254449723154,-4.22538618963e-05,1793254797985767680
+80,1.333333333,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400985515128,-0.0154133176354,0.0498516401582,0.999999966654,1.08228450505e-05,-0.000254525945915,-4.2332679788e-05,1793254798002434304
+81,1.350000000,BASELINE,785,761,738,723,688,651,919,801,838,657.99972888,635,657,0.400985926293,-0.0154128349678,0.0498505353905,0.999999966462,1.31296662132e-05,-0.000255116225393,-4.26648150907e-05,1793254798019100928
+82,1.366666667,BASELINE,785,761,738,723,688,651,919,801,838,657.426002856,635,657,0.400987230668,-0.0154133730188,0.0498520950737,0.999999967044,1.1278570423e-05,-0.000252939540312,-4.24988853852e-05,1793254798035767552
+83,1.383333333,BASELINE,785,761,738,723,688,651,919,801,838,657.148137421,635.148137421,657,0.400987822317,-0.0154138444702,0.04985299856,0.999999967378,9.76560341326e-06,-0.00025170127526,-4.23594975044e-05,1793254798052433920
+84,1.400000000,BASELINE,785,761,738,723,688,651,919,801,838,657.72347245,635.72347245,657,0.400986358614,-0.0154141238622,0.0498520097108,0.999999967016,9.22772926574e-06,-0.000253169218485,-4.22966507042e-05,1793254798069100544
+85,1.416666667,BASELINE,785,761,738,723,688,651,919,801,838,658,635.692067476,657,0.400986080234,-0.0154132330903,0.0498515549208,0.999999966836,1.10186307096e-05,-0.000253805856826,-4.22905015038e-05,1793254798085767168
+86,1.433333333,BASELINE,785,761,738,723,688,651,919,801,838,658,635.099162781,657,0.400986898796,-0.0154112594055,0.0498515943691,0.999999966817,1.49646674265e-05,-0.000253673174725,-4.2336822367e-05,1793254798102434048
+87,1.450000000,BASELINE,785,760.518732233,738,722.518732233,688,651,919,801,838,657.518732233,635,657,0.400986464573,-0.0154112723941,0.0498512151125,0.999999966703,1.46345211249e-05,-0.000254101890975,-4.25663160313e-05,1793254798119101184
+88,1.466666667,BASELINE,785,760.058342093,738,722.058342093,688,651,919,801,838,657,635,657,0.400985745911,-0.0154116764424,0.0498507153902,0.999999966553,1.34706278486e-05,-0.000254719174333,-4.27978867297e-05,1793254798135767808
+89,1.483333333,BASELINE,785,760.627959467,738,722.627959467,688,651,919,801,838,657,635,657,0.400984739545,-0.0154120108863,0.0498498969143,0.999999966241,1.2526508664e-05,-0.000256000866126,-4.27252686497e-05,1793254798152434432
+90,1.500000000,BASELINE,785,761,738.206171755,723,688,651,919,801,838,657.206171755,635,657,0.400984108392,-0.0154124603754,0.049849628858,0.999999966116,1.15827246959e-05,-0.000256552714702,-4.25893012813e-05,1793254798169101056
+91,1.516666667,BASELINE,785,761,738.800568345,723,688,651,919,801,838,657.800568345,635,657,0.400984183773,-0.0154131264964,0.0498503972509,0.999999966348,1.06395720526e-05,-0.000255730256249,-4.23340461598e-05,1793254798185767168
+92,1.533333333,BASELINE,785,761,739,723,688,651,919,801,838,658,635,657,0.400984509767,-0.0154130975786,0.0498507121619,0.999999966439,9.4351051559e-06,-0.000255408277204,-4.2428261868e-05,1793254798202433792
+93,1.550000000,BASELINE,785,761,739,723,688,651,919,801,838,658,635,657,0.400984962304,-0.0154127177114,0.0498507980941,0.999999966457,8.09869140274e-06,-0.000255339007764,-4.26989376848e-05,1793254798219100416
+94,1.566666667,BASELINE,785,761,738.459869704,723,688,651,919,801,838,658,635,657,0.400985731413,-0.0154123035142,0.0498512679227,0.999999966628,1.12680350822e-05,-0.00025456356587,-4.25918759674e-05,1793254798235767552
+95,1.583333333,BASELINE,785,761,738,723,688,651,918.882164381,801,838,657.882164381,635,657,0.400986381766,-0.0154122412187,0.0498515957975,0.999999966758,1.37448231159e-05,-0.000253955383057,-4.24497064385e-05,1793254798252434432
+96,1.600000000,BASELINE,785,761,738,723,688,651,918.295813366,801,838,657.295813366,635,657,0.400986477455,-0.0154135870331,0.0498512592227,0.999999966723,1.22938453069e-05,-0.000254196245697,-4.22663829303e-05,1793254798269101568
+97,1.616666667,BASELINE,784.712846142,761,738,723,688,651,918.287153858,801,838,657.287153858,635.287153858,657,0.400986500178,-0.0154143821169,0.049851087164,0.99999996669,1.09163858132e-05,-0.0002543999362,-4.22078462703e-05,1793254798285767936
+98,1.633333333,BASELINE,784.133324188,761,738,723,688,651,918.866675812,801,838,657.866675812,635.866675812,657,0.40098644861,-0.0154146164697,0.0498510826087,0.999999966658,9.61377969232e-06,-0.000254565779564,-4.22763623916e-05,1793254798302434048
+99,1.650000000,BASELINE,784.444733855,761,738.444733855,723,688,651,919,801,838,658,635.555266145,657,0.40098660906,-0.015413418314,0.0498515025839,0.999999966822,1.11596274748e-05,-0.000253817269694,-4.25121827999e-05,1793254798319100672
+100,1.666666667,BASELINE,785,761,739,723,688,651,919,801,838.022278376,658,635,657,0.400986816481,-0.0154119129982,0.0498520263277,0.99999996703,1.33404487104e-05,-0.000252848773975,-4.27800752918e-05,1793254798335767296
+101,1.683333333,BASELINE,785,761,739,723,688,651,919,801,838.597932708,658,635,657,0.400986617042,-0.0154134100998,0.0498519767483,0.999999966985,1.01523761365e-05,-0.000253202304621,-4.26028863667e-05,1793254798352433920
+102,1.700000000,BASELINE,785,761,739,723,688,651,919,801,838.823008329,658,635,657,0.400986408034,-0.0154139527437,0.0498520088258,0.999999966942,8.56989397569e-06,-0.000253455221066,-4.24668214201e-05,1793254798369100544
+103,1.716666667,BASELINE,785,761,739,723,688,651,919,801,838.236063542,658,635,657,0.400986176863,-0.0154122846453,0.0498522300393,0.999999966918,1.07063262023e-05,-0.000253475092005,-4.24260090219e-05,1793254798385767680
+104,1.733333333,BASELINE,784.652795167,761,739,723,688,651,919,801,838,657.652795167,635,657,0.400986138946,-0.0154128003551,0.0498521654088,0.999999966872,1.10940643188e-05,-0.00025365514441,-4.23245218772e-05,1793254798402434560
+105,1.750000000,BASELINE,784.072000126,761,739,723,688,651,919,801,838,657.072000126,635,657,0.400986231044,-0.015414785273,0.0498519084702,0.999999966814,1.0305327603e-05,-0.000253942962663,-4.21822143675e-05,1793254798419101440
+106,1.766666667,BASELINE,784.503419282,761,738.496580718,723,688,651,919,801,838,657.503419282,635,657,0.400985554026,-0.0154141525004,0.049851232015,0.999999966613,1.1433024227e-05,-0.000254648035607,-4.2401562505e-05,1793254798435768064
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,761,738,723,688,651,919,801,838,658,635,657,0.400985088293,-0.015414154213,0.0498508857927,0.999999966547,1.12504016806e-05,-0.000254964692075,-4.21008600142e-05,1793254798479323648
+108,1.800000000,POSE1_TO_POSE2_PRESS,784.595657195,761,738,723,688,651,919,801,838,658,635,657,0.400986110897,-0.015414787022,0.0498519525609,0.999999966869,8.59046373389e-06,-0.000253785093443,-4.21942206135e-05,1793254798495989760
+109,1.816666667,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,657.814080355,635,657,0.400986623976,-0.0154149053478,0.049852489662,0.999999967052,7.14151328202e-06,-0.000253103180231,-4.22258315983e-05,1793254798512656128
+110,1.833333333,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,657.235219584,635,657,0.400986060175,-0.0154139363135,0.0498519073121,0.999999966954,8.25198412194e-06,-0.000253473124821,-4.21269348053e-05,1793254798529323008
+111,1.850000000,POSE1_TO_POSE2_PRESS,785,761,738,722.658997455,688,651,919,801,838,657,635,657,0.400986037079,-0.0154131247156,0.0498514267286,0.999999966813,1.07235267199e-05,-0.000253921459686,-4.22287730643e-05,1793254798545989632
+112,1.866666667,POSE1_TO_POSE2_PRESS,785,761,738,722.08458149,688,651,919,801,838,657,635,657,0.400986384093,-0.0154124208815,0.0498510158033,0.999999966633,1.41267116039e-05,-0.000254423452022,-4.24680128105e-05,1793254798562656000
+113,1.883333333,POSE1_TO_POSE2_PRESS,785,761,738,722.501391492,688,651.501391492,919,801,838,657.501391492,635,657,0.400986509046,-0.0154119097887,0.0498514964666,0.999999966713,1.39893144344e-05,-0.000254102850098,-4.25426589015e-05,1793254798579322368
+114,1.900000000,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651.91187675,919,800.91187675,838,658,635,657,0.40098670602,-0.0154117070518,0.0498520332634,0.999999966802,1.29022212599e-05,-0.000253805628035,-4.25810928852e-05,1793254798595988992
+115,1.916666667,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651.332046144,919,800.332046144,838,658,635,657,0.400987518801,-0.015413039168,0.0498520242455,0.999999966677,9.92731994464e-06,-0.00025443141235,-4.257605419e-05,1793254798612655616
+116,1.933333333,POSE1_TO_POSE2_PRESS,785,761,738.246613743,723,688,651,919,800.246613743,838,658,635,657,0.400994200686,-0.0154141668297,0.0498543725503,0.999999967791,8.43757333226e-06,-0.000250130459761,-4.22144146573e-05,1793254798629322496
+117,1.950000000,POSE1_TO_POSE2_PRESS,785,761,738.823704749,723,688,651,919,800.823704749,838,658,635,657,0.401008747524,-0.0154150205102,0.0498598798094,0.999999970489,8.93802368255e-06,-0.000239227383006,-4.13749085287e-05,1793254798645989120
+118,1.966666667,POSE1_TO_POSE2_PRESS,784.603036194,761,738.603036194,723,688,651,919,801,838,658,635,657,0.401044017903,-0.0154153239249,0.0498724693753,0.999999976478,1.21420020145e-05,-0.000212813746688,-4.00833493766e-05,1793254798662656000
+119,1.983333333,POSE1_TO_POSE2_PRESS,784.031462621,761,738.031462621,723,688,651,919,801,838,658,635,657,0.401088403805,-0.015415385298,0.0498881741876,0.999999982995,1.65351628299e-05,-0.000179577584972,-3.85929486288e-05,1793254798679323392
+120,2.000000000,POSE1_TO_POSE2_PRESS,784,761,738.560414734,723,688,651,919,801,838,658,635,657,0.401149859733,-0.0154219077575,0.0499051387727,0.999999988153,1.10003557251e-05,-0.00014920641406,-3.62017452338e-05,1793254798695990016
+121,2.016666667,POSE1_TO_POSE2_PRESS,784,761,738.850215359,723,688,651,919,801,838,658,635,657,0.401215479248,-0.0154284974278,0.0499208542722,0.999999991769,5.6904265286e-06,-0.000123634660962,-3.38226791266e-05,1793254798712656640
+122,2.033333333,POSE1_TO_POSE2_PRESS,784,761,738.271414815,723,688,651,919,801,838,658,635,657,0.401290176115,-0.0154342015945,0.0499327819329,0.999999993299,2.68104556755e-06,-0.000111331466567,-3.16286724582e-05,1793254798729323008
+123,2.050000000,POSE1_TO_POSE2_PRESS,784,761,738,722.694403667,688,651,919,801,838,658,635,657,0.401373497414,-0.0154393027401,0.049939844702,0.999999994343,1.04080778503e-06,-0.000101980998348,-3.02114273986e-05,1793254798745989376
+124,2.066666667,POSE1_TO_POSE2_PRESS,784,761,738,722.118972552,688,651,919,801,838,658,635,657,0.401464433892,-0.0154438714313,0.0499426118791,0.99999999503,6.0949324171e-07,-9.52377225968e-05,-2.94800457445e-05,1793254798762655744
+125,2.083333333,POSE1_TO_POSE2_PRESS,784.465733064,761,738,722.465733064,687.534266936,651.465733064,919,801,838,657.534266936,635,657,0.401573844411,-0.0154497704274,0.0499469545764,0.999999995542,-1.05790283431e-06,-9.00600625565e-05,-2.83567338377e-05,1793254798779322624
+126,2.100000000,POSE1_TO_POSE2_PRESS,785,761,738.052162725,723,687.052162725,651.947837275,919,801,838,657.052162725,635,657,0.401689822722,-0.0154561303239,0.0499512229112,0.999999995926,-3.02082720399e-06,-8.60341949655e-05,-2.71563629744e-05,1793254798795988992
+127,2.116666667,POSE1_TO_POSE2_PRESS,785,761,738.631584748,723,687.631584748,651.368415252,919,801,838,657.631584748,635,657,0.401823516963,-0.0154636442084,0.0499505887766,0.999999995638,-4.7144024138e-06,-8.95258904946e-05,-2.62096491723e-05,1793254798812655616
+128,2.133333333,POSE1_TO_POSE2_PRESS,785,761,739,723,688,651,919,801,838,658,635.21020801,657,0.401967795691,-0.0154722732645,0.049949243312,0.999999995249,-7.46656717712e-06,-9.38932972158e-05,-2.50980930849e-05,1793254798829322496
+129,2.150000000,POSE1_TO_POSE2_PRESS,785,761,739,723,688,651,919,801,838,658,635.787436586,657,0.402130554789,-0.0154828493955,0.0499466558741,0.999999994667,-1.20670159287e-05,-9.97896843957e-05,-2.36987245206e-05,1793254798845989376
+130,2.166666667,POSE1_TO_POSE2_PRESS,784.637703685,761,738.637703685,723,688,651,919,801,838,658,635.637703685,657,0.402316125763,-0.015493908796,0.0499466867164,0.999999994544,-1.69767075409e-05,-0.000100668967983,-2.21469893321e-05,1793254798862656000
+131,2.183333333,POSE1_TO_POSE2_PRESS,784.064224701,761,738.064224701,723,688,651,919,801,838,658,635.064224701,657,0.402514993804,-0.0155052498954,0.049948243755,0.999999994683,-2.20666573778e-05,-9.86237804267e-05,-2.05064394442e-05,1793254798879322624
+132,2.200000000,POSE1_TO_POSE2_PRESS,784.523662356,761,738.523662356,723,688,651,919,801,838.523662356,658,635.523662356,657,0.402756775683,-0.0155158765064,0.0499543440585,0.999999995559,-2.23081695326e-05,-8.97602597938e-05,-1.81129077058e-05,1793254798895989248
+133,2.216666667,POSE1_TO_POSE2_PRESS,784.888428484,761,738.888428484,723,688,651,919,801.111571516,839,658,635.888428484,657,0.403011082044,-0.0155257560664,0.049960618499,0.999999996512,-2.09159507361e-05,-7.93409072703e-05,-1.5626102579e-05,1793254798912655872
+134,2.233333333,POSE1_TO_POSE2_PRESS,784.30806117,761,738.30806117,723,688,651,919,801.69193883,839,658,635.30806117,657,0.403295272998,-0.0155328753174,0.0499652171249,0.99999999762,-1.5228410154e-05,-6.59973994045e-05,-1.31463936993e-05,1793254798929322752
+135,2.250000000,POSE1_TO_POSE2_PRESS,784.270013095,761,738,722.729986905,688,651,919,801.729986905,839,658,635,657,0.403596367214,-0.0155319412086,0.0499699077082,0.999999998458,5.43625973411e-08,-5.44809340719e-05,-1.07932130442e-05,1793254798945989376
+136,2.266666667,POSE1_TO_POSE2_PRESS,784.845493188,761,738,722.154506812,688,651,919,801.154506812,839,658,635,657,0.403916584146,-0.0155218962982,0.0499747023234,0.999999998606,2.61922632142e-05,-4.50314107444e-05,-8.58317446834e-06,1793254798962656000
+137,2.283333333,POSE1_TO_POSE2_PRESS,785,761,738.420096549,722.420096549,688,651,919,801,838.579903451,658,635.420096549,657,0.40426823992,-0.0155174399779,0.0499801001222,0.999999998076,5.11982029502e-05,-3.45350809755e-05,-5.79284618685e-06,1793254798979322880
+138,2.300000000,POSE1_TO_POSE2_PRESS,785,761,738.994378117,722.994378117,688,651,919,801,838.005621883,658,635.994378117,657,0.404631434458,-0.0155150347978,0.049985719303,0.999999996844,7.57886866138e-05,-2.3654549551e-05,-2.78953838918e-06,1793254798995990272
+139,2.316666667,POSE1_TO_POSE2_PRESS,785,761,738.413981821,723,688,651,919,801,838.586018179,658,636,657,0.405031295612,-0.0155258033884,0.0499823126451,0.999999996112,8.41386688136e-05,-2.63756507536e-05,4.4969966509e-07,1793254799012656128
+140,2.333333333,POSE1_TO_POSE2_PRESS,784.826165954,761.173834046,738.173834046,723,688,651.173834046,919,801,839,657.826165954,636,657,0.405433175338,-0.0155336339293,0.0499735873292,0.999999994599,9.54626328856e-05,-4.09788670995e-05,3.08083683983e-06,1793254799029322240
+141,2.350000000,POSE1_TO_POSE2_PRESS,784.247652264,761.752347736,738.752347736,723,688,651.752347736,919,801,839,657.247652264,636,657,0.405838910298,-0.0155343215999,0.0499526880894,0.999999990045,0.000114083693349,-8.29301979296e-05,4.29090588011e-06,1793254799045988864
+142,2.366666667,POSE1_TO_POSE2_PRESS,784,761.671366277,738.671366277,723,688,651.671366277,919,801,838.671366277,657,635.671366277,657,0.406274730104,-0.0155325521252,0.049934715752,0.99999998385,0.000138061045087,-0.000114934356078,5.38523623263e-06,1793254799062655488
+143,2.383333333,POSE1_TO_POSE2_PRESS,784,761.096747681,738.096747681,723,688,651.096747681,919,801,838.096747681,657,635.096747681,657,0.40673306869,-0.0155289434584,0.0499189342215,0.999999976465,0.000166047624035,-0.000139492983257,6.39293541255e-06,1793254799079322112
+144,2.400000000,POSE1_TO_POSE2_PRESS,784,761,738,722.511057772,687.511057772,651,919,801,838.488942228,657.488942228,635,657,0.407259900672,-0.0155290112138,0.0499206037012,0.999999972436,0.00019201137411,-0.000134756528213,1.00235688785e-05,1793254799095988736
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,761,738,722,687,651.075786227,919,801.075786227,839,657.924213773,635.075786227,657,0.40781001342,-0.0155304170833,0.0499292049029,0.99999996941,0.000217080132431,-0.000117659204454,1.45616800866e-05,1793254799112655872
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,761,738,722,687,651.65540169,919,801.65540169,839,657.34459831,635.65540169,657,0.408422710245,-0.0155357705657,0.0499604005449,0.999999969554,0.000238921558793,-5.78156112204e-05,2.16024433954e-05,1793254799129322752
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,761,738,722,687,651.766669128,919,801.766669128,839,657,636,657,0.409038414132,-0.0155401996928,0.0499829452457,0.999999965323,0.000261299172033,-1.74342868448e-05,2.77991308375e-05,1793254799145989632
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,761,738,722,687,651.191212522,919,801.191212522,839,657,636,657,0.409658527146,-0.0155432734666,0.0499928053409,0.999999958988,0.000284462978995,-5.58988040459e-06,3.27581759958e-05,1793254799162656000
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,761,738,722,687,651,919,801,839,657.376502935,635.623497065,657,0.410261412685,-0.0155424204295,0.0499861418447,0.999999978788,0.000201009249697,-2.68405026661e-05,3.60271980132e-05,1793254799179322624
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,761,738,722,687,651,919,801,839,657.940366124,635.059633876,657,0.410855725247,-0.0155396132821,0.0499712556651,0.999999995097,6.4499120669e-05,-6.45603005483e-05,3.84552081479e-05,1793254799195988992
+151,2.516666667,POSE1_TO_POSE2_PRESS,784,761,738.539510215,722,687.539510215,651.539510215,919,801,839,658,635.539510215,657,0.411531668712,-0.015537224433,0.0499472356061,0.999999989707,8.30964307247e-05,-0.000109970994829,3.98537288014e-05,1793254799212655616
+152,2.533333333,POSE1_TO_POSE2_PRESS,784.136936535,761.136936535,739,722,687.863063465,651.863063465,919,801,839,658,636,657,0.412240792336,-0.0155363237402,0.0499344499951,0.999999983433,0.000119352361493,-0.000130759205408,4.23175895232e-05,1793254799229322240
+153,2.550000000,POSE1_TO_POSE2_PRESS,784.715371579,761.715371579,739,722,687.284628421,651.284628421,919,801,839,658,636,657,0.413025765866,-0.0155400615279,0.0499613683033,0.999999984657,0.000153398064525,-6.92292064736e-05,4.86087756954e-05,1793254799245988864
+154,2.566666667,POSE1_TO_POSE2_PRESS,785,762,739,722,687,651.292260588,919,801,839,658,636,657,0.413794057956,-0.0155436121311,0.0499727917681,0.999999990617,0.000123459928564,-4.59176634994e-05,3.76138373014e-05,1793254799262655744
+155,2.583333333,POSE1_TO_POSE2_PRESS,785,762,739,722,687,651.867651928,919,801,839,658,636,657,0.414546189805,-0.0155469813979,0.0499692044315,0.999999997676,3.15367284646e-05,-5.96306746328e-05,9.87277083008e-06,1793254799279322624
+156,2.600000000,POSE1_TO_POSE2_PRESS,785,762,739,722,687,652,919,801,839,658,636,657,0.415307222054,-0.0155577171674,0.0499495172071,0.999999995523,2.52679001217e-05,-9.09637060361e-05,6.427108125e-06,1793254799295989248
+157,2.616666667,POSE1_TO_POSE2_PRESS,784.984423175,761.984423175,738.984423175,721.984423175,687,651.984423175,919,801.015576825,839,657.984423175,636,657,0.416073729059,-0.0155702106801,0.0499260969277,0.999999991018,4.52832089292e-05,-0.000125728328453,1.03117826917e-05,1793254799312655872
+158,2.633333333,POSE1_TO_POSE2_PRESS,784.390994538,761.390994538,738.390994538,721.390994538,687,651.390994538,919,801.609005462,839,657.390994538,636,657,0.416944702125,-0.0155662771635,0.0499426070562,0.999999991421,9.11565928239e-05,-9.25334389558e-05,1.68931989674e-05,1793254799329322240
+159,2.650000000,POSE1_TO_POSE2_PRESS,784,761,738,721.197542833,687,651,919,801.802457167,839,657.197542833,636,657,0.417816185585,-0.0155632165405,0.0499605867335,0.999999989828,0.000127260521204,-6.02080131915e-05,2.28893446848e-05,1793254799345988864
+160,2.666666667,POSE1_TO_POSE2_PRESS,784,761,738,721.776632855,687,651,919,801.223367145,839,657.776632855,636,657,0.418688654798,-0.0155618418817,0.049981404793,0.999999988738,0.000144495079815,-2.95619291393e-05,2.77550601199e-05,1793254799362655744
+161,2.683333333,POSE1_TO_POSE2_PRESS,784.352613104,761,738.352613104,721.647386896,687,651.352613104,919,801.352613104,839,657.647386896,636,657,0.419544430702,-0.0155601507802,0.0499755904911,0.999999987454,0.000149919395344,-4.21215836875e-05,2.90141942963e-05,1793254799379322112
+162,2.700000000,POSE1_TO_POSE2_PRESS,784.926640627,761,738.926640627,721.073359373,687,651.926640627,919,801.926640627,839,657.073359373,636,657,0.420389724434,-0.0155582609765,0.0499530530754,0.99999998532,0.000147927768683,-8.18111827982e-05,2.80086673983e-05,1793254799395988736
+163,2.716666667,POSE1_TO_POSE2_PRESS,785,761,738.487089093,721,687,652,919,801.487089093,839.512910907,657.512910907,636,657,0.421325250432,-0.0155628611837,0.0499745776187,0.999999989059,0.000141956699052,-2.91529262647e-05,2.96743617042e-05,1793254799412655616
+164,2.733333333,POSE1_TO_POSE2_PRESS,785,761,738,721,687,652,919,801,840,658,636,657,0.422272519705,-0.0155680278937,0.0499964393371,0.999999989843,0.000137231838904,2.21148610461e-05,3.15025525899e-05,1793254799429322240
+165,2.750000000,POSE1_TO_POSE2_PRESS,785,761,738,721,687,652,919,801,840,658,636,657,0.423212659857,-0.0155713401546,0.049988784298,0.999999989492,0.000141331208899,1.40323884449e-06,3.22265695789e-05,1793254799445988864
+166,2.766666667,POSE1_TO_POSE2_PRESS,784.740715096,761,738,721,687,651.740715096,919,801,840,657.740715096,636,657,0.424153596635,-0.0155738862162,0.0499830910152,0.999999989003,0.000144365219219,-9.7055819751e-06,3.25278985296e-05,1793254799462655488
+167,2.783333333,POSE1_TO_POSE2_PRESS,784.166458895,761,738,721,687,651.166458895,919,801,840,657.166458895,636,657,0.425095501256,-0.0155755015228,0.0499797808126,0.999999988763,0.000146105064101,-9.14921890964e-06,3.23157592113e-05,1793254799479322368
+168,2.800000000,POSE1_TO_POSE2_PRESS,784.408630687,761,738,721.408630687,687,651.408630687,919,801,840,657.408630687,636,657,0.426054975995,-0.0155785776203,0.0499931655175,0.999999989573,0.000140143189264,2.06134163994e-06,3.47802156455e-05,1793254799495988992
+169,2.816666667,POSE1_TO_POSE2_PRESS,784.984060412,761,738,721.984060412,687,651.984060412,919,801,840,657.984060412,636,657,0.427021622627,-0.0155822499981,0.0500133649202,0.999999990524,0.000131037547829,1.76208410744e-05,3.83372322172e-05,1793254799512655360
+170,2.833333333,POSE1_TO_POSE2_PRESS,785,761.574422695,738,721.425577305,687,652,919,801.574422695,839.425577305,657.425577305,636,657,0.427904387688,-0.0155745390789,0.0499790267556,0.999999987579,0.000143595257196,-5.40604758557e-05,3.6052602514e-05,1793254799529322240
+171,2.850000000,POSE1_TO_POSE2_PRESS,785,762,738,720.838248897,687,652,919,801.838248897,839.161751103,657,636,657,0.428826798117,-0.0155685016352,0.0499537870308,0.999999982141,0.00015667413045,-9.99874122571e-05,3.42714599745e-05,1793254799545989120
+172,2.866666667,POSE1_TO_POSE2_PRESS,785,762,738,720.259831574,687,652,919,801.259831574,839.740168426,657,636,657,0.429857489742,-0.0155676104153,0.0499559870379,0.999999982372,0.000169505675573,-7.31693576562e-05,3.42159939364e-05,1793254799562656000
+173,2.883333333,POSE1_TO_POSE2_PRESS,785,762,738.316625142,720,687,652,919,801,840,657,636,657,0.430838902272,-0.0155671885595,0.0499520007073,0.999999980693,0.000179379326437,-7.26733250136e-05,3.39948011385e-05,1793254799579322624
+174,2.900000000,POSE1_TO_POSE2_PRESS,785,762,738.8914828,720,687,652,919,801,840,657,636,657,0.431780123801,-0.0155671495068,0.0499429689353,0.999999977595,0.000186840583056,-9.36449570724e-05,3.36384452404e-05,1793254799595989248
+175,2.916666667,POSE1_TO_POSE2_PRESS,784.522637947,762,738.522637947,720.477362053,687,652,919,801.477362053,840,657,636,657,0.432726028892,-0.0155676037265,0.0499413785936,0.999999981817,0.000165529048121,-8.86044016306e-05,3.33848243231e-05,1793254799612655872
+176,2.933333333,POSE1_TO_POSE2_PRESS,784.064799826,761.935200174,738,720.935200174,687,652,919,801.935200174,840,657,636,657,0.433678340927,-0.0155682113534,0.0499450961313,0.999999986482,0.000142968405303,-7.39503376278e-05,3.35893195679e-05,1793254799629322496
+177,2.950000000,POSE1_TO_POSE2_PRESS,784.644245916,761.355754084,738,720.355754084,687,652,919,801.355754084,840,657,636,657,0.434672881177,-0.0155691257276,0.049977216678,0.999999985433,0.000163662857083,-3.10185759412e-05,3.72423497039e-05,1793254799645988864
+178,2.966666667,POSE1_TO_POSE2_PRESS,785,761,738,720,687,652,919,801,840,657,636,657,0.435634039344,-0.0155674307858,0.0499846509469,0.999999982186,0.000181530134386,-3.43103142596e-05,3.86929653524e-05,1793254799662655488
+179,2.983333333,POSE1_TO_POSE2_PRESS,785,761,738,720,687,652,919,801,840,657,636,657,0.436542107637,-0.0155615860531,0.0499528247818,0.999999974162,0.000194901147048,-0.000111114744567,3.66409165822e-05,1793254799679322368
+180,3.000000000,POSE1_TO_POSE2_PRESS,785,761.376488252,738,720,687,652,919,801.376488252,840,657,636,657,0.437493651769,-0.0155621643693,0.0499548047305,0.999999974803,0.000198749543316,-9.75197268085e-05,3.71695175077e-05,1793254799695988736
+181,3.016666667,POSE1_TO_POSE2_PRESS,785,761.948636426,738,720,687,652,919,801.948636426,840,657,636,657,0.438467790122,-0.0155660807269,0.0499743536267,0.999999979023,0.000197649060729,-3.69443568304e-05,3.90392751565e-05,1793254799712655616
+182,3.033333333,POSE1_TO_POSE2_PRESS,785.537876506,762,738,720,687,652,919,801.462123494,840,657,636,657,0.439361575258,-0.015562951907,0.0499758242117,0.999999982184,0.000180860691523,-3.73575165198e-05,3.90547369327e-05,1793254799729322496
+183,3.050000000,POSE1_TO_POSE2_PRESS,785.873693512,762,738,720,687,652,919,801,840,657.126306488,636,657,0.440248824457,-0.0155600646462,0.0499741292636,0.999999983738,0.000170360634636,-4.44278512129e-05,3.90787306433e-05,1793254799745989120
+184,3.066666667,POSE1_TO_POSE2_PRESS,785.294218204,762,738,720,687,652,919,801,840,657.705781796,636,657,0.441141057447,-0.01556053707,0.0499674740463,0.999999980094,0.000187973419687,-5.3801734766e-05,3.97894968049e-05,1793254799762655744
+185,3.083333333,POSE1_TO_POSE2_PRESS,785,762,738,719.716283817,687,652,919,801,840,657.716283817,636.283716183,657,0.442044374729,-0.0155625870348,0.0499765023738,0.999999979928,0.00019287328915,-3.62291898812e-05,4.03938519514e-05,1793254799779322624
+186,3.100000000,POSE1_TO_POSE2_PRESS,785,762,738,719.139938794,687,652,919,801,840,657.139938794,636.860061206,657,0.442959124451,-0.0155662640976,0.0500017069293,0.999999982073,0.000184660878301,9.13627887078e-06,4.08884531929e-05,1793254799795989248
+187,3.116666667,POSE1_TO_POSE2_PRESS,785.443564789,761.556435211,737.556435211,719,687,652,919,801,840,657,636.556435211,657,0.44374474351,-0.0155636910971,0.0499804980527,0.999999981595,0.000184809076232,-3.32579850599e-05,3.93564397602e-05,1793254799812655872
+188,3.133333333,POSE1_TO_POSE2_PRESS,786,761.029051888,737.029051888,719,687,652,919,801,840,657,636,657,0.444490677052,-0.0155597094211,0.049944534782,0.999999976682,0.000186848294112,-0.000101699708406,3.71686227709e-05,1793254799829322240
+189,3.150000000,POSE1_TO_POSE2_PRESS,786,761.608626575,737.608626575,719,687,652,919,801,840,657,636,657,0.445269236007,-0.0155670118983,0.049911008853,0.999999975758,0.000173919055841,-0.000130465867817,3.48681428118e-05,1793254799845989120
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+191,3.183333333,POSE1_TO_POSE2_PRESS,786,762,738,718.240788394,687,652,919,801,840,657.759211606,635.240788394,657,0.446813839494,-0.0155833064741,0.049887319729,0.999999975731,0.000162549034123,-0.000144623311655,3.46534113433e-05,1793254799879322368
+192,3.200000000,POSE1_TO_POSE2_PRESS,786,762,738,718.334514774,687,652,919,801,840,658,635,657,0.447542747037,-0.0155884341742,0.0498669667773,0.999999970632,0.000163500002148,-0.00017557855718,3.42817393616e-05,1793254799895988992
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+196,3.266666667,POSE1_TO_POSE2_PRESS,785.670390286,762,738,718,687,651,919,800,840,657.329609714,635,657.329609714,0.450254920189,-0.0156022013521,0.0498359666701,0.999999955853,0.000177110175509,-0.000235566397365,3.78726953082e-05,1793254799962655744
+197,3.283333333,POSE1_TO_POSE2_PRESS,786,762,738,718,686.751898879,651,919,800,840,657.248101121,635,657.248101121,0.450887071766,-0.0156052087399,0.0498437095939,0.999999954108,0.000182385826913,-0.000238465669254,4.06564245952e-05,1793254799979322112
+198,3.300000000,POSE1_TO_POSE2_PRESS,786,762,738,718,686.176554297,651,919,800,840,657.823445703,635,657.823445703,0.451467991779,-0.0156085159453,0.0498327347382,0.999999943555,0.000187431994474,-0.000275608807249,4.24036275578e-05,1793254799995988736
+199,3.316666667,POSE1_TO_POSE2_PRESS,786,762,738,718,686,651,919,800,840.405221969,658,635,657.594778031,0.451996815271,-0.0156085499612,0.0497954334963,0.999999922843,0.000190694236986,-0.000340950386106,4.12606669012e-05,1793254800012655872
+200,3.333333333,POSE1_TO_POSE2_PRESS,786,762,738,718,686,651,919,800,840.989845752,658,635,657.010154248,0.45250257439,-0.0156071348553,0.0497464769094,0.999999892902,0.000193166691182,-0.000418776115459,3.88381591096e-05,1793254800029323008
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+202,3.366666667,POSE1_TO_POSE2_PRESS,786,761.151938957,738,718,686,650.848061043,919,799.151938957,841,657,634.848061043,657.151938957,0.453558430327,-0.0156102741286,0.0497358454972,0.999999892888,0.000197632057773,-0.000416726761784,3.87857727098e-05,1793254800062655744
+203,3.383333333,POSE1_TO_POSE2_PRESS,786,761.729300147,738,718,686,650.270699853,919,799.729300147,841,657,634.270699853,657.729300147,0.454066910476,-0.0156142057274,0.0497463613089,0.999999903335,0.000198127470649,-0.000390484427367,3.99755899178e-05,1793254800079322624
+204,3.400000000,POSE1_TO_POSE2_PRESS,786,762,738.305406542,718,686,650,919,799.694593458,841,657.305406542,634,658,0.454524250684,-0.0156161420591,0.0497410374286,0.999999900669,0.000198800004995,-0.000396932975667,3.98043352425e-05,1793254800095988992
+205,3.416666667,POSE1_TO_POSE2_PRESS,786,762,738.880405254,718,686,650,919,799.119594746,841,657.880405254,634,658,0.45493644799,-0.0156163171044,0.0497217313424,0.99999988592,0.000199628890025,-0.000432238818238,3.84316185777e-05,1793254800112655616
+206,3.433333333,POSE1_TO_POSE2_PRESS,786,762,738.534293673,717.534293673,686,650,919,799,841,658,634,657.534293673,0.455303477515,-0.0156168533853,0.0496892288068,0.999999869209,0.000165770220801,-0.000483029269754,2.80329332196e-05,1793254800129322496
+207,3.450000000,POSE1_TO_POSE2_PRESS,786,762,738,717,686,650,919,799,841,658,633.947007208,657,0.455657454203,-0.0156180038924,0.0496551489148,0.999999849537,0.000118706736318,-0.00053534150814,1.56433448678e-05,1793254800145989120
+208,3.466666667,POSE1_TO_POSE2_PRESS,786,762,738,717,686,650,919,799,841,658,633.366884039,657,0.455999581656,-0.0156243205942,0.0496398512937,0.999999841384,3.09051346418e-05,-0.000562341463866,7.02801241617e-06,1793254800162655744
+209,3.483333333,POSE1_TO_POSE2_PRESS,786,762,738.211317928,717,686,650,919,799,841,658,633,657.211317928,0.456335269401,-0.0156295649044,0.0496321919542,0.999999834998,-2.16252536076e-05,-0.000574046548544,2.43599266262e-06,1793254800179322624
+210,3.500000000,POSE1_TO_POSE2_PRESS,786,762,738.786214352,717,686,650,919,799,841,658,633,657.786214352,0.45665987741,-0.0156329641338,0.0496376744969,0.999999843413,-1.34705083194e-05,-0.000559436377152,4.76619760789e-06,1793254800195989248
+211,3.516666667,POSE1_TO_POSE2_PRESS,786,762,739,717,686,650,919,799,841,657.638556387,633,657.638556387,0.456959243082,-0.0156333718571,0.0496425594797,0.99999984897,-2.27685121077e-06,-0.000549553887812,6.73745084605e-06,1793254800212655872
+212,3.533333333,POSE1_TO_POSE2_PRESS,786,762,739,717,686,650,919,799,841,657.063130025,633,657.063130025,0.457243664754,-0.0156320085417,0.0496470906939,0.999999852769,1.07159108386e-05,-0.00054247029117,8.49619682052e-06,1793254800229322240
+213,3.550000000,POSE1_TO_POSE2_PRESS,786,762,738.47347167,717,686,650,919,798.47347167,841,657.52652833,632.47347167,657,0.457490786505,-0.0156315503215,0.0496428807483,0.999999849915,2.05937445528e-05,-0.000547412356934,9.2864748424e-06,1793254800245988608
+214,3.566666667,POSE1_TO_POSE2_PRESS,786,762,738,717,686,649.884835838,919,798,841,658,632,657,0.457725647497,-0.0156315802829,0.0496380406701,0.999999846266,2.93107775994e-05,-0.000553631172644,1.00742981386e-05,1793254800262655488
+215,3.583333333,POSE1_TO_POSE2_PRESS,786,762,738,717,686,649.307345374,919,798,841,658,632,657,0.457929740218,-0.0156331222934,0.0496349952165,0.999999843071,3.49087509404e-05,-0.000559026349974,1.13313727098e-05,1793254800279322624
+216,3.600000000,POSE1_TO_POSE2_PRESS,786,762,738.268248848,717,685.731751152,649.268248848,919,798,841,658,632,657,0.458116435507,-0.015634063226,0.049631450373,0.999999839607,4.09826097598e-05,-0.000564760276928,1.23292623082e-05,1793254800295989248
+217,3.616666667,POSE1_TO_POSE2_PRESS,786,762,738.84168567,717,685.15831433,649.84168567,919,798,841,658,632,657,0.458283337644,-0.0156343203093,0.0496273373715,0.999999835831,4.7597885388e-05,-0.000570879600598,1.30322758694e-05,1793254800312655872
+218,3.633333333,POSE1_TO_POSE2_PRESS,786,762,739,717.426535403,685.426535403,650,919,798,841,658,632,657.426535403,0.458425281613,-0.0156340039624,0.0496196103993,0.999999827898,5.22766415432e-05,-0.000584203388001,1.33565013519e-05,1793254800329322240
+219,3.650000000,POSE1_TO_POSE2_PRESS,786,762,739,718,686,649.984498435,919,798,841,657.984498435,632,657.984498435,0.458556957551,-0.0156334215392,0.0496105254271,0.999999818218,5.61435928203e-05,-0.000600192105715,1.34999350193e-05,1793254800345988864
+220,3.666666667,POSE1_TO_POSE2_PRESS,786,762,739,718,686,649.404134612,919,798,841,657.404134612,632,657.404134612,0.458661311986,-0.0156311123171,0.049602178401,0.999999810291,5.73403374647e-05,-0.000613170253981,1.23193831174e-05,1793254800362655488
+221,3.683333333,POSE1_TO_POSE2_PRESS,786,762,739,717.837610439,686,649.162389561,919,798,841,657.162389561,632,657.162389561,0.458758680023,-0.015629453399,0.04959418989,0.999999802257,5.90803810929e-05,-0.000625989205209,1.15323143855e-05,1793254800379322112
+222,3.700000000,POSE1_TO_POSE2_PRESS,786,762,739,717.302823878,686,649.697176122,919,798,841,657.697176122,632,657.697176122,0.458840026613,-0.0156292857792,0.0495870235383,0.999999794201,6.20663353849e-05,-0.000638443078988,1.16475941608e-05,1793254800395988992
+223,3.716666667,POSE1_TO_POSE2_PRESS,786,762,738.729957427,717,686,649.729957427,919,798,841,658,632,658,0.458916479362,-0.0156306629881,0.049583825359,0.999999790308,6.335098325e-05,-0.00064437572404,1.23041012216e-05,1793254800412655616
+224,3.733333333,POSE1_TO_POSE2_PRESS,786,762,738.107378151,717,686,649.107378151,919,798,841,658,632,658,0.458986543284,-0.0156340569486,0.0495858075709,0.999999792008,6.24146004125e-05,-0.000641795000397,1.36671727542e-05,1793254800429322240
+225,3.750000000,POSE1_TO_POSE2_PRESS,786,762,738.489268935,717,686,649,919,798,841,658,632,658,0.459043732181,-0.0156347983337,0.0495882716282,0.999999793886,6.12910921076e-05,-0.000638971433875,1.36969286476e-05,1793254800445989120
+226,3.766666667,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649,919,798,841,658,632,658,0.459095669749,-0.015635069507,0.0495904090589,0.999999795405,6.02226755103e-05,-0.000636694665999,1.35440078137e-05,1793254800462655744
+227,3.783333333,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649,919,798,841,658,632,658,0.459131317483,-0.0156358649011,0.0495898374378,0.999999794462,5.97511430676e-05,-0.000638207641023,1.39950787163e-05,1793254800479322368
+228,3.800000000,POSE1_TO_POSE2_PRESS,786.234748427,762,739,717,686,649,919,798,841,658,632,657.765251573,0.459161726881,-0.015635471596,0.04958815321,0.999999792906,6.02280451847e-05,-0.000640592698125,1.41951056907e-05,1793254800495988992
+229,3.816666667,POSE1_TO_POSE2_PRESS,786.807607454,762,739,717,686,649,919,798,841,658,632,657.192392546,0.459184591445,-0.0156333661951,0.0495848664836,0.999999790456,6.20709874856e-05,-0.000644233824012,1.40335514585e-05,1793254800512655616
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+231,3.850000000,POSE1_TO_POSE2_PRESS,786.041506854,762,739,717,686,649.958493146,919,798,841.958493146,658,632,657.958493146,0.459214923094,-0.0156307451258,0.0495823995771,0.999999787078,6.26898804729e-05,-0.000649408961412,1.35194140981e-05,1793254800545988864
+232,3.866666667,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649.450242474,919,798,841.450242474,658,631.450242474,657.450242474,0.459221453311,-0.0156288102663,0.0495815069183,0.999999785472,6.42067859939e-05,-0.000651739145086,1.29934353365e-05,1793254800562655744
+233,3.883333333,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649,919,798,841,657.861261849,631.138738151,657.138738151,0.459227514397,-0.0156273139354,0.0495806463143,0.999999784342,6.55711498515e-05,-0.000653343715588,1.25888848952e-05,1793254800579322368
+234,3.900000000,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649,919,798,841,657.283273776,631.716726224,657.716726224,0.459233831495,-0.0156273989536,0.0495799052888,0.999999784753,6.60795772052e-05,-0.00065266197517,1.26301608867e-05,1793254800595989248
+235,3.916666667,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649,919,798,841,657.29384197,632,658,0.45923800722,-0.0156281243542,0.0495796631208,0.9999997849,6.51662768288e-05,-0.000652527943754,1.27103371351e-05,1793254800612655616
+236,3.933333333,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649,919,798,841,657.870119317,632,658,0.4592401247,-0.0156294652785,0.0495799004453,0.999999784788,6.28864385411e-05,-0.000652920359853,1.28279035838e-05,1793254800629321984
+237,3.950000000,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649,919,798,841,658,632,657.545203891,0.45924078395,-0.0156288820214,0.0495789263642,0.999999783755,6.40812960927e-05,-0.000654380932164,1.29962345405e-05,1793254800645988608
+238,3.966666667,POSE1_TO_POSE2_PRESS,786.041372069,762,739,717.041372069,686,649,919,798,841,658,631.958627931,657.041372069,0.459240811439,-0.015627779755,0.0495775054362,0.999999782347,6.61008431271e-05,-0.000656326624913,1.31408871906e-05,1793254800662655488
+239,3.983333333,POSE1_TO_POSE2_PRESS,786.620863954,762,739,717.620863954,686,649,919,798,841,658,631.379136046,657.620863954,0.45923814022,-0.0156272086604,0.0495748568671,0.999999779604,6.56974063789e-05,-0.000660539887481,1.27854476183e-05,1793254800679322112
+240,4.000000000,POSE1_TO_POSE2_PRESS,786.800637121,762,739,717.800637121,686,649,919,798,841,658,631.199362879,657.800637121,0.459237697993,-0.0156271188377,0.049574036439,0.999999778838,6.52719221434e-05,-0.000661739713915,1.27928265553e-05,1793254800695988992
+241,4.016666667,POSE1_TO_POSE2_PRESS,786.224017221,762,739,717.224017221,686,649,919,798,841,658,631.775982779,657.224017221,0.459241473719,-0.0156279397321,0.0495766754266,0.999999781829,6.48047171802e-05,-0.000657237174915,1.34867717943e-05,1793254800712655616
+242,4.033333333,POSE1_TO_POSE2_PRESS,786,762,739,716.647998089,686,649,919,798,841,658,632,657,0.459242259912,-0.0156282668759,0.0495768153324,0.999999781936,6.43809556465e-05,-0.000657110779286,1.37331420229e-05,1793254800729322496
+243,4.050000000,POSE1_TO_POSE2_PRESS,786,762,739,716.072360662,686,649,919,798,841,658,632,657,0.459241146782,-0.0156282803278,0.0495753675097,0.999999780214,6.39847948157e-05,-0.000659764655896,1.36951567568e-05,1793254800745989376
+244,4.066666667,POSE1_TO_POSE2_PRESS,786,762,738.484905968,716.515094032,686,649.515094032,919,798,841,657.484905968,632,657,0.459241640547,-0.015627429814,0.0495750754812,0.999999780129,6.55242049126e-05,-0.000659750545776,1.33341181751e-05,1793254800762655744
+245,4.083333333,POSE1_TO_POSE2_PRESS,786,762,738.102661095,717,686,649.897338905,919,798,841,657.102661095,632,657,0.459242257464,-0.015626700657,0.0495748498186,0.999999780263,6.65905188431e-05,-0.000659447381436,1.30131762173e-05,1793254800779322368
+246,4.100000000,POSE1_TO_POSE2_PRESS,786,762,738.682847449,717,686,649.317152551,919,798,841,657.682847449,632,657,0.459242372557,-0.0156271137949,0.0495741598775,0.99999978033,6.41617588425e-05,-0.000659583997287,1.30947957364e-05,1793254800795988992
+247,4.116666667,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649,919,798,841,658,632,657,0.459242872631,-0.015627691949,0.049574135101,0.999999780644,6.21183795247e-05,-0.000659302046054,1.31595729437e-05,1793254800812655616
+248,4.133333333,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649,919,798,841,658,632,657,0.459243836893,-0.0156284690712,0.0495749123457,0.999999781259,6.05396720891e-05,-0.000658515408185,1.32040425688e-05,1793254800829322240
+249,4.150000000,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649,919,798,841,658,632,657,0.459244252833,-0.0156279627474,0.0495751529617,0.999999781072,6.13647784169e-05,-0.000658725196588,1.30712499768e-05,1793254800845988608
+250,4.166666667,HOLD_POSE2,786,762,738,717,686,649,919,798,841,658,631,658,0.459243840862,-0.0156265209377,0.0495741599681,0.999999779728,6.5062872793e-05,-0.000660408360592,1.30939884523e-05,1793254800891146240
+251,4.183333333,HOLD_POSE2,786,762,738,717,686,649.57594275,919,798,841,658,631,657.42405725,0.459244242754,-0.0156271577266,0.0495748238996,0.99999978041,6.21115778401e-05,-0.000659666052636,1.27719618883e-05,1793254800907813376
+252,4.200000000,HOLD_POSE2,786,762,738.153802001,717,686,649.846197999,919,798,841,658,631,657,0.459244452772,-0.0156277978932,0.0495753193147,0.999999780841,6.01384552903e-05,-0.000659198146378,1.26349365297e-05,1793254800924480256
+253,4.216666667,HOLD_POSE2,786,762,738.737012169,717,686,649.262987831,919,798,841,658,631,657,0.459244127085,-0.0156284474904,0.0495753442398,0.999999780593,6.08963447691e-05,-0.000659496356982,1.30144260187e-05,1793254800941146368
+254,4.233333333,HOLD_POSE2,786,762,739,717,686,649.317510151,919,798,841,657.682489849,631,657,0.459244832238,-0.0156288430507,0.0495755078225,0.999999780932,6.06999703468e-05,-0.00065899685673,1.32337287518e-05,1793254800957812736
+255,4.250000000,HOLD_POSE2,786,762,739,717,686,649.895780671,919,798,841,657.104219329,631,657,0.459246383986,-0.0156290299789,0.0495757852801,0.99999978175,5.97198911509e-05,-0.000657842223463,1.33214754871e-05,1793254800974479104
+256,4.266666667,HOLD_POSE2,786,761.522411081,739,717,686,649.522411081,919,797.522411081,841,657.477588919,631,657.477588919,0.459244628472,-0.0156282528639,0.049574776837,0.999999780658,5.96714791879e-05,-0.000659511418533,1.29435443171e-05,1793254800991145728
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+258,4.300000000,HOLD_POSE2,786,761.63382076,739,717.63382076,685.36617924,649,919,797.63382076,841,658,631,657.36617924,0.45924372568,-0.0156263410849,0.0495740709702,0.999999779524,6.34376254205e-05,-0.000660878818976,1.29253010331e-05,1793254801024479744
+259,4.316666667,HOLD_POSE2,786,762,739,717.796099712,685.203900288,649,919,798,841,658,631,657.203900288,0.459245144257,-0.015625978409,0.0495745989305,0.99999978,6.5398393129e-05,-0.000659961140581,1.32337214569e-05,1793254801041146368
+260,4.333333333,HOLD_POSE2,786,762,739,717.23376082,685.76623918,649,919,798,841,658,631,657.76623918,0.45924694796,-0.0156266111598,0.0495753349413,0.999999780969,6.50287552374e-05,-0.000658523413235,1.34271371616e-05,1793254801057812992
+261,4.350000000,HOLD_POSE2,786,762,739,717,686,649,919,798,841,658,631,657.647136431,0.459247063362,-0.0156264156368,0.0495757362056,0.999999781196,6.46772753616e-05,-0.000658213318992,1.3390386949e-05,1793254801074479360
+262,4.366666667,HOLD_POSE2,786,762,739,717,686,649,919,798,841,658,631,657.043234509,0.459245977653,-0.0156256308534,0.0495758993205,0.999999780897,6.43387136373e-05,-0.00065870545861,1.31898894115e-05,1793254801091145728
+263,4.383333333,HOLD_POSE2,786,762,739,717,686,649,919,797.460402207,841,658,631.539597793,657.539597793,0.459246155524,-0.0156276591288,0.0495751092936,0.999999781,6.14914654289e-05,-0.000658808583575,1.37601086421e-05,1793254801107812608
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+266,4.433333333,HOLD_POSE2,786,762,739,717,686,649,919,797.726192762,841,657.273807238,631,657.726192762,0.459245603069,-0.0156274606281,0.0495739255666,0.999999780178,6.10039285967e-05,-0.000660111094717,1.32519803368e-05,1793254801157812480
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,786,762,739,717,686,649,919,797,840,658,632,657,0.459246479248,-0.0156261148724,0.0495744094913,0.999999780909,6.24695316077e-05,-0.000658869385467,1.30491195304e-05,1793254801207248640
+269,4.483333333,POSE2_TO_POSE3_RETREAT,786,762,739,717,686,649,919,797.57679207,840.57679207,658,631.42320793,657,0.459245594216,-0.0156274499203,0.0495731153234,0.999999779058,6.11895950667e-05,-0.000661786695448,1.33164304112e-05,1793254801223914496
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,786,762,739,717.726663598,686,649,919,798,841,658,631,657.726663598,0.459247370176,-0.0156300274471,0.0495740500762,0.999999780653,5.89382912059e-05,-0.000659564110849,1.3948435168e-05,1793254801257246976
+272,4.533333333,POSE2_TO_POSE3_RETREAT,786,762,739,717.690513109,686,649,919,797.690513109,841,658,631,658,0.459247667296,-0.0156301126136,0.0495748164457,0.999999781445,5.86462747623e-05,-0.000658385770825,1.40892318333e-05,1793254801273913600
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,786,762,738.51802487,717,686,649,919,797,841,658,631,658,0.45924772319,-0.0156298235826,0.049575233409,0.99999978152,5.9937127937e-05,-0.0006581492238,1.43859655326e-05,1793254801307246848
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,786,761.337253708,739,717,685.337253708,649,919,797.662746292,841,657.662746292,632,657.662746292,0.45804727685,-0.0156067394302,0.0494826673867,0.999999700884,4.45639090278e-05,-0.000772037726525,1.42582563642e-05,1793254801590580480
+292,4.866666667,POSE2_TO_POSE3_RETREAT,786,761.931374105,739,717,685.931374105,649,919,797.068625895,841,657.068625895,632,657.068625895,0.457859961808,-0.0155972957566,0.0494878373157,0.999999703755,4.96276857863e-05,-0.000768007010854,1.38455271457e-05,1793254801607247104
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,785,762,738,718.567513886,687,651,919,800.432486114,840,658,635,657,0.445711572312,-0.0154634705561,0.0496892005203,0.999999881221,-0.000169534110735,-0.000455534555925,-3.61084603017e-05,1793254802023913728
+318,5.300000000,POSE2_TO_POSE3_RETREAT,785.012089505,761.987910495,737.987910495,718.012089505,687,651.012089505,919,800.987910495,840,657.987910495,635,657.012089505,0.444904878969,-0.0154531698116,0.0496876747868,0.999999886111,-0.000119156018736,-0.000460409243325,-4.00511933638e-05,1793254802040580352
+319,5.316666667,POSE2_TO_POSE3_RETREAT,785.587116461,761.412883539,737.412883539,718.587116461,687,651.587116461,919,800.412883539,840,657.412883539,635,657.587116461,0.444122713089,-0.0154450154098,0.0497281741989,0.999999916789,-2.20975336395e-05,-0.000405313081951,-4.06803123583e-05,1793254802057246976
+320,5.333333333,POSE2_TO_POSE3_RETREAT,785.838750847,761,737.161249153,719,687,651.838750847,918.838750847,800,840,657.161249153,635,657.838750847,0.443321109434,-0.0154374492326,0.0497565371046,0.999999930474,4.00918807996e-05,-0.000368346772187,-4.20182251159e-05,1793254802073913600
+321,5.350000000,POSE2_TO_POSE3_RETREAT,785.266895354,761,737.733104646,719,687,651.266895354,918.266895354,800,840,657.733104646,635,657.266895354,0.442470009301,-0.0154313809162,0.0497539954953,0.999999927619,1.34903640456e-05,-0.000377546498778,-4.51610179332e-05,1793254802090580224
+322,5.366666667,POSE2_TO_POSE3_RETREAT,785,761.319557969,738,719,687,651.319557969,918.319557969,800.319557969,840,657.680442031,635.319557969,657.319557969,0.441634448015,-0.0154314431951,0.0497688927014,0.999999937242,-2.02657036917e-05,-0.000350489208547,-4.75704423893e-05,1793254802107246848
+323,5.383333333,POSE2_TO_POSE3_RETREAT,785,761.918787006,738,719,687,651.918787006,918.918787006,800.918787006,840,657.081212994,635.918787006,657.918787006,0.440812486079,-0.0154368708549,0.0497990520279,0.999999954421,-6.0283297169e-05,-0.000291700463823,-4.93380364532e-05,1793254802123913472
+324,5.400000000,POSE2_TO_POSE3_RETREAT,785,761.503557554,738,719.496442446,687,651.503557554,919,800.503557554,840,657.496442446,635.503557554,657.503557554,0.439915853004,-0.0154393379558,0.0498181697237,0.999999959907,-9.53752956976e-05,-0.000261739955839,-5.08043806836e-05,1793254802140580096
+325,5.416666667,POSE2_TO_POSE3_RETREAT,785,761,737.929242353,719.929242353,687,651.070757647,919,800,840,658,635,657,0.439000396032,-0.0154406292356,0.0498283534093,0.999999959568,-0.000128721589961,-0.000247965177792,-5.29990957316e-05,1793254802157246720
+326,5.433333333,POSE2_TO_POSE3_RETREAT,785,761,737.354628333,719.354628333,687,651.645371667,919,800,840,658,635,657,0.438034258958,-0.015436852775,0.0497872458743,0.999999935795,-0.00015513580735,-0.00031726343954,-6.07167601147e-05,1793254802173913600
+327,5.450000000,POSE2_TO_POSE3_RETREAT,785,761,737,719,687,651.773169085,919,800,839.773169085,658,635,657.226830915,0.437088959456,-0.0154328886508,0.0497666072998,0.999999928433,-0.000126138042605,-0.000352756901525,-5.27827914266e-05,1793254802190580480
+328,5.466666667,POSE2_TO_POSE3_RETREAT,785,761,737,719,687,651.180674882,919,800,839.180674882,658,635,657.819325118,0.43617725106,-0.0154286220024,0.0497789657529,0.999999944081,-7.81327040222e-06,-0.000333755269052,-1.96175732628e-05,1793254802207247104
+329,5.483333333,POSE2_TO_POSE3_RETREAT,785.401699976,761,737.401699976,719.401699976,687,651.401699976,919,800,839.401699976,658,635,657.598300024,0.435205447057,-0.0154223179587,0.0497774902477,0.999999937604,1.87002171046e-05,-0.000352519348702,-1.31414855547e-05,1793254802223913728
+330,5.500000000,POSE2_TO_POSE3_RETREAT,785.979635203,761,737.979635203,719.979635203,687,651.979635203,919,800,839.979635203,658,635,657.020364797,0.43420727775,-0.0154151200617,0.0497699454581,0.999999924604,4.93392210183e-06,-0.000387852138942,-1.83745507249e-05,1793254802240580096
+331,5.516666667,POSE2_TO_POSE3_RETREAT,785.447029813,761,738,720,687,651.447029813,919,800,840,658,635,657.552970187,0.433264354396,-0.0154148734893,0.0497722370411,0.99999993259,1.70922598072e-06,-0.000366316167629,-2.51078913256e-05,1793254802257246720
+332,5.533333333,POSE2_TO_POSE3_RETREAT,785,761,738,720,687,651,919,800.125889087,840,658,635,658,0.432325473651,-0.0154172434646,0.0497791743126,0.99999994147,-7.75635508315e-06,-0.000340669557967,-3.07331955112e-05,1793254802273913344
+333,5.550000000,POSE2_TO_POSE3_RETREAT,785,761,738,720,687,651,919,800.697928823,840,658,635,658,0.431393768832,-0.0154279866886,0.0498013026589,0.999999951277,-4.07041397286e-05,-0.000307816038572,-3.22374227075e-05,1793254802290579968
+334,5.566666667,POSE2_TO_POSE3_RETREAT,785.281894957,761,738,720,687,651,919,801,840,658,635,657.718105043,0.430431360267,-0.0154323509838,0.0497985071442,0.999999947173,-6.82350008424e-05,-0.000315816933988,-3.54733841898e-05,1793254802307247104
+335,5.583333333,POSE2_TO_POSE3_RETREAT,785.879205647,761,738,720,687,651,919,801,840,658,635,657.120794353,0.429434596965,-0.0154295778166,0.0497678240137,0.999999926874,-8.97047973271e-05,-0.000369530338492,-4.06470043324e-05,1793254802323914496
+336,5.600000000,POSE2_TO_POSE3_RETREAT,785.137349181,761,738,720.431325409,687,651,919,800.568674591,839.568674591,657.568674591,635,657,0.428455460328,-0.0154263997489,0.049768206394,0.999999925976,-9.29471341968e-05,-0.000371163777821,-4.05808676922e-05,1793254802340580864
+337,5.616666667,POSE2_TO_POSE3_RETREAT,784.056020893,761,738,720.971989554,687,651,919,800.028010446,839.028010446,657.028010446,635,657,0.427480791884,-0.0154231190408,0.0497764637165,0.999999930385,-9.15689070671e-05,-0.000359595222634,-3.9186480526e-05,1793254802357246976
+338,5.633333333,POSE2_TO_POSE3_RETREAT,784.584598037,761,738,721,687,651.584598037,919,800.584598037,839.584598037,657.584598037,635.584598037,657.584598037,0.426475644764,-0.0154168535163,0.0497614404819,0.999999921412,-5.92191457174e-05,-0.000389812955874,-4.14088854393e-05,1793254802373913600
+339,5.650000000,POSE2_TO_POSE3_RETREAT,785,761,738,721,687.192420002,651.807579998,919,801,840,658,636,657.807579998,0.425513766809,-0.0154145861769,0.0497575323078,0.999999921513,-4.51365872878e-05,-0.000391251911532,-4.31135865719e-05,1793254802390580480
+340,5.666666667,POSE2_TO_POSE3_RETREAT,785,761,738,721,687.78223829,651.21776171,919,801,840,658,636,657.21776171,0.424644690241,-0.0154209129614,0.049779206706,0.99999994248,-7.2275533922e-05,-0.000328539814328,-4.33409657719e-05,1793254802407247104
+341,5.683333333,POSE2_TO_POSE3_RETREAT,785,761,738,721,688,651,919,800.634681911,840,657.634681911,635.634681911,657,0.423756442496,-0.0154266385296,0.0498065956719,0.999999957061,-9.33811073992e-05,-0.000274582113265,-4.19758376448e-05,1793254802423913728
+342,5.700000000,POSE2_TO_POSE3_RETREAT,785,761,738,721,688,651,919,800.055546131,840,657.055546131,635.055546131,657,0.42285697407,-0.0154320122103,0.0498373293263,0.999999967576,-0.000110955395202,-0.000225748292435,-3.96786279702e-05,1793254802440580352
+343,5.716666667,POSE2_TO_POSE3_RETREAT,784.47788552,761.52211448,738,721,687.47788552,651,919,800.52211448,839.47788552,657.52211448,635,657,0.421900623884,-0.0154280816348,0.0498152043789,0.999999957221,-0.000102952505232,-0.000270695394026,-4.10168758594e-05,1793254802457247232
+344,5.733333333,POSE2_TO_POSE3_RETREAT,784,761.901039272,738,721,687,651,919,800.901039272,839,658,635,657,0.420947450639,-0.0154240300679,0.0497931675805,0.999999944784,-9.34354875187e-05,-0.000316064596935,-4.24745417215e-05,1793254802473913856
+345,5.750000000,POSE2_TO_POSE3_RETREAT,784,761.327348928,738,721,687,651,919,800.327348928,839,658,635,657,0.420038465738,-0.0154241331727,0.0497984542414,0.999999945226,-8.9671609095e-05,-0.000315732062365,-4.26549312008e-05,1793254802490580736
+346,5.766666667,POSE2_TO_POSE3_RETREAT,784,761,738,721,687,651,919,800,839,658,635,657,0.419155307721,-0.0154210085672,0.0497982404709,0.999999941877,-8.80142653684e-05,-0.000326563027456,-4.30866262182e-05,1793254802507247104
+347,5.783333333,POSE2_TO_POSE3_RETREAT,784,761,738,721,687,651,919,800,839,658,635,657,0.418306469631,-0.0154135948438,0.0497907174944,0.999999933032,-8.91561742172e-05,-0.000352228522479,-4.38522666196e-05,1793254802523913472
+348,5.800000000,POSE2_TO_POSE3_RETREAT,784.426392707,761,738,721,687.426392707,651,919,800.426392707,839,658,635,657,0.417438424304,-0.0154130500832,0.0497779230097,0.999999926073,-9.31746972592e-05,-0.000370263038604,-4.55930738118e-05,1793254802540580096
+349,5.816666667,POSE2_TO_POSE3_RETREAT,784.994972465,761,738,721,687.994972465,651,919,801,839,658,635,657,0.416564419334,-0.0154149554421,0.0497636057714,0.999999919941,-9.81517008949e-05,-0.000384985126131,-4.76534567543e-05,1793254802557246976
+350,5.833333333,POSE2_TO_POSE3_RETREAT,784.419693537,761,738,721,687.419693537,651,919,801,839,658,635,657,0.415792456503,-0.0154165321897,0.0497900976576,0.999999938901,-9.53244786966e-05,-0.000333094020078,-4.64616901461e-05,1793254802573913600
+351,5.850000000,POSE2_TO_POSE3_RETREAT,784,761,738,721.155154283,687,651,919,801,839,658,635,657,0.415011084032,-0.0154177754822,0.0498071799185,0.999999949972,-9.28564273329e-05,-0.000298898119157,-4.57637530009e-05,1793254802590580480
+352,5.866666667,POSE2_TO_POSE3_RETREAT,784,761,738,721.72883931,687,651,919,801,839,658,635,657,0.414204328761,-0.0154181192758,0.0497988795954,0.999999945943,-9.1357244042e-05,-0.000312435260304,-4.63979274325e-05,1793254802607247104
+353,5.883333333,POSE2_TO_POSE3_RETREAT,784.312869979,761,738,721.687130021,687.312869979,651,919,801,839,657.687130021,635,657,0.413422209532,-0.0154173913072,0.0497852175307,0.999999937668,-9.43668094751e-05,-0.00033690094308,-4.75043025553e-05,1793254802623913728
+354,5.900000000,POSE2_TO_POSE3_RETREAT,784.90617369,761,738,721.09382631,687.90617369,651,919,801,839,657.09382631,635,657,0.412662172296,-0.0154157026895,0.0497667495939,0.999999924774,-0.000101417687015,-0.000371162168977,-4.90339237126e-05,1793254802640580352
+355,5.916666667,POSE2_TO_POSE3_RETREAT,785,761,738,721.486209965,688,651,919,800.513790035,839,657.486209965,635.486209965,657,0.411973967745,-0.0154146853127,0.0497807659359,0.999999931444,-0.000104962625089,-0.000351838707239,-4.79973188632e-05,1793254802657246976
+356,5.933333333,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,919,800.063474092,839,658,636,657,0.411299974383,-0.0154140899573,0.0498000740589,0.999999940727,-0.000107828035678,-0.000323668374212,-4.64491806994e-05,1793254802673913344
+357,5.950000000,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,919,800.638482743,839,658,636,657,0.410631763237,-0.015415879482,0.0498128515554,0.999999946284,-0.000110524689199,-0.000305321552512,-4.46635420091e-05,1793254802690579968
+358,5.966666667,POSE2_TO_POSE3_RETREAT,784.782280244,761,738,722.217719756,688,651,919,801,839,658,635.782280244,657,0.409971230238,-0.0154161626637,0.0498118548882,0.999999944864,-0.00011263376927,-0.000309222468075,-4.43623269096e-05,1793254802707246592
+359,5.983333333,POSE2_TO_POSE3_RETREAT,784.195883162,761,738,722.804116838,688,651,919,801,839,658,635.195883162,657,0.409323699153,-0.0154138950684,0.0497875336395,0.999999930917,-0.000113747877228,-0.000350796752348,-4.65747714013e-05,1793254802723913472
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,784,761,738,722.030394366,688,651,919,800.030394366,838.030394366,657.030394366,635,657,0.408163234086,-0.0154190701758,0.0497972481876,0.999999938114,-0.000124342220181,-0.000325831949293,-4.63000439363e-05,1793254802757246720
+362,6.033333333,POSE2_TO_POSE3_RETREAT,784,761,738,722,688,651,919,800.545528385,838.545528385,657.545528385,635,657,0.407640494729,-0.0154208838081,0.049812996301,0.999999943016,-0.000129141793272,-0.000308644729146,-4.50454986492e-05,1793254802773914112
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,919,801,839,658,635,657,0.406096899971,-0.0154225313762,0.0497910219078,0.999999926324,-0.000140628530957,-0.000353904523931,-4.8249580067e-05,1793254802823915008
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..12cf25bbbdd84a1e9518e5986e092643d529d549
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,419 @@
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+392,6.533333333,pose2_to_pose3_retreat,0.575690551572,-0.00981823862096,1.04002052165,0.546261698787,-0.00114400257745,1.03969222805
+393,6.550000000,pose2_to_pose3_retreat,0.57568217595,-0.00981828561649,1.04002060397,0.546253323546,-0.00114404826608,1.03969231089
+394,6.566666667,pose2_to_pose3_retreat,0.575676575355,-0.00981826438833,1.04002062581,0.546247722397,-0.00114402894885,1.03969233177
+395,6.583333333,pose2_to_pose3_retreat,0.575673319043,-0.00981821351137,1.040020578,0.546244465223,-0.00114398114165,1.03969228005
+396,6.600000000,pose2_to_pose3_retreat,0.57567140791,-0.009818216762,1.04002056931,0.54624255443,-0.00114398335248,1.03969226842
+397,6.616666667,pose2_to_pose3_retreat,0.575670542152,-0.00981823966836,1.04002057791,0.546241689372,-0.00114400394841,1.03969227527
+398,6.633333333,pose2_to_pose3_retreat,0.575669827094,-0.00981825858749,1.04002058502,0.546240974893,-0.00114402095927,1.03969228094
+399,6.650000000,pose2_to_pose3_retreat,0.575669270027,-0.00981827332645,1.04002059055,0.546240418277,-0.00114403421159,1.03969228535
+400,6.666666667,pose2_to_pose3_retreat,0.575668905369,-0.00981827563319,1.04002057502,0.546240053738,-0.00114403609221,1.03969227037
+401,6.683333333,pose2_to_pose3_retreat,0.575668542282,-0.00981827100073,1.04002054148,0.546239690605,-0.00114403155178,1.0396922386
+402,6.700000000,pose2_to_pose3_retreat,0.575668112698,-0.00981826551984,1.04002050181,0.546239260965,-0.00114402617978,1.039692201
+403,6.716666667,pose2_to_pose3_retreat,0.575667885446,-0.00981826262043,1.04002048082,0.546239033684,-0.00114402333797,1.03969218112
+404,6.733333333,pose2_to_pose3_retreat,0.575667838799,-0.00981826202528,1.04002047651,0.546238987031,-0.00114402275464,1.03969217703
+405,6.750000000,pose2_to_pose3_retreat,0.575667659049,-0.00981825973193,1.0400204599,0.546238807258,-0.00114402050686,1.0396921613
+406,6.766666667,pose2_to_pose3_retreat,0.575667516875,-0.00981825791799,1.04002044677,0.546238665066,-0.00114401872896,1.03969214886
+407,6.783333333,pose2_to_pose3_retreat,0.575667415019,-0.00981824773015,1.04002046938,0.546238562933,-0.0011440094798,1.03969217144
+408,6.800000000,pose2_to_pose3_retreat,0.575667356692,-0.009818241683,1.04002048309,0.546238504441,-0.00114400399208,1.03969218513
+409,6.816666667,pose2_to_pose3_retreat,0.575667325575,-0.00981823845691,1.0400204904,0.546238473236,-0.00114400106444,1.03969219243
+410,6.833333333,pose2_to_pose3_retreat,0.575667286109,-0.0098182343653,1.04002049968,0.54623843366,-0.00114399735134,1.03969220169
+411,6.850000000,pose2_to_pose3_retreat,0.575667234752,-0.0098182290408,1.04002051175,0.546238382158,-0.00114399251941,1.03969221374
+412,6.866666667,pose2_to_pose3_retreat,0.575667174626,-0.00981822280713,1.04002052588,0.546238321861,-0.00114398686242,1.03969222784
+413,6.883333333,pose2_to_pose3_retreat,0.57566709782,-0.00981821484421,1.04002054394,0.546238244839,-0.00114397963616,1.03969224586
+414,6.900000000,pose2_to_pose3_retreat,0.575667069384,-0.00981821189612,1.04002055062,0.546238216323,-0.0011439769608,1.03969225254
+415,6.916666667,pose2_to_pose3_retreat,0.575667020304,-0.00981820954917,1.04002055821,0.546238167237,-0.00114397463442,1.03969226005
+416,6.933333333,pose2_to_pose3_retreat,0.575666987875,-0.00981821134934,1.04002055838,0.546238134968,-0.00114397589794,1.03969226011
+417,6.950000000,pose2_to_pose3_retreat,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..90d899b37234a6a27d4f1075caaccd28c92032c9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cf6168b04d40de72b3f73f6d0d03f217265be88c575f4c57ba7120016dbb3c6
+size 26242671
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..06bc8c3f99e9e0cfba2d7bd58b47178efaa4dc86
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_01/franka_data.csv
@@ -0,0 +1,415 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,784,760,738,721,686,651,918,801,839,657,636,658,0.401007934319,-0.0155045820871,0.0698353147884,0.999999982919,4.21804481363e-05,-0.000179709823102,9.31735630163e-06,1793254805257250048
+1,0.016666667,BASELINE,784,760.572906597,738,721,686,651,918,801,839,657,636,657.427093403,0.401007118697,-0.0155043427502,0.0698346415392,0.999999982739,4.2955886501e-05,-0.000180521517322,9.42399452473e-06,1793254805273916672
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+12,0.200000000,BASELINE,784,761,737.965633765,721,686.034366235,651,918,800.965633765,839,657.965633765,636,657,0.401005470302,-0.0155031454649,0.0698349006276,0.999999982227,4.5973540808e-05,-0.000182623732186,9.00673804686e-06,1793254805457250048
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+20,0.333333333,BASELINE,784,761,737.59798453,721,686.59798453,651.59798453,918,801,839,658,636,657.59798453,0.401004785028,-0.0155045403101,0.069834816442,0.999999982262,4.37098272481e-05,-0.000182986686705,9.04551299313e-06,1793254805590583296
+21,0.350000000,BASELINE,784,761,738,721,687,651.820215721,918.179784279,801,839,658,636,657.820215721,0.401005509454,-0.0155046937482,0.0698353228525,0.999999982405,4.44619612991e-05,-0.000182020730195,8.99924129528e-06,1793254805607249920
+22,0.366666667,BASELINE,784,761,738,721,687,651.230320485,918.769679515,801,839,658,636,657.230320485,0.401004554154,-0.0155035153732,0.0698351289845,0.999999982207,4.6688100803e-05,-0.000182556550934,8.85657990686e-06,1793254805623916544
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+30,0.500000000,BASELINE,784,761,738,721,686,651,918,801,839,657.585723381,636,657,0.401005235078,-0.0155039987665,0.0698351611708,0.99999998225,4.63990188036e-05,-0.000182385867218,9.08896566657e-06,1793254805757250048
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+39,0.650000000,BASELINE,784,761,737.628375786,721,686.628375786,651,918,801,839,657,636,657,0.401003043667,-0.0155036138112,0.0698347232892,0.999999982015,4.52347367738e-05,-0.000183984309468,8.5998980037e-06,1793254805907249664
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+43,0.716666667,BASELINE,784,761,737.957844298,721,687,651,918,801,839,658,636,657,0.401003079408,-0.0155033130724,0.0698344471227,0.99999998165,4.61873758596e-05,-0.000185726462382,8.53699276297e-06,1793254805973916672
+44,0.733333333,BASELINE,784,761,737.465679776,721,687,651,918,801,839,658,636,657,0.4010033983,-0.015504209013,0.0698348461551,0.999999981852,4.43581728289e-05,-0.00018508192651,8.53944318038e-06,1793254805990583296
+45,0.750000000,BASELINE,784,761,737,721,687,651,918,801,839,658,636,657,0.401003735635,-0.0155050450206,0.0698352334659,0.999999982041,4.27585426465e-05,-0.000184436138524,8.52403609481e-06,1793254806007249664
+46,0.766666667,BASELINE,784,761,737,721,687,651,918,801,839,658,636,657,0.401004407131,-0.0155049308462,0.0698356145554,0.999999982116,4.38190953391e-05,-0.000183780725824,8.55735082778e-06,1793254806023916288
+47,0.783333333,BASELINE,784,761,737.263605732,721,686.736394268,651,918,801,839,658,636,657.263605732,0.401005388951,-0.0155042773334,0.0698360897714,0.9999999823,4.50434500947e-05,-0.00018248029976,8.53350214615e-06,1793254806040582912
+48,0.800000000,BASELINE,784,761,737.855918491,721,686.144081509,651,918,801,839,658,636,657.855918491,0.401006757735,-0.0155029512846,0.06983668236,0.999999982617,4.64720603741e-05,-0.000180375564746,8.43837271204e-06,1793254806057249536
+49,0.816666667,BASELINE,784,761,738,720.561750604,686.438249396,651,918,801,839,657.561750604,636,657.561750604,0.401004053682,-0.0155035287018,0.0698351008898,0.99999998208,4.5186686723e-05,-0.000183647579762,8.44858282606e-06,1793254806073916160
+50,0.833333333,BASELINE,784,761,737.982761418,720.017238582,686.982761418,651,918,801,839,657.017238582,636,657,0.40100022054,-0.0155046945391,0.0698329302296,0.999999981282,4.31075303181e-05,-0.000188427920689,8.49082650092e-06,1793254806090583296
+51,0.850000000,BASELINE,784,761,737.408075337,720.591924663,686.408075337,651,918,801,839,657.591924663,636,657,0.401002211385,-0.0155051024325,0.0698343053234,0.999999981699,4.35704840217e-05,-0.00018609404603,8.47398157817e-06,1793254806107250944
+52,0.866666667,BASELINE,784,761,737,721,686,651,918,800.833371307,839,658,636,657,0.401003586099,-0.0155053244398,0.0698351678363,0.999999981977,4.38671394258e-05,-0.000184526349269,8.48785825976e-06,1793254806123918080
+53,0.883333333,BASELINE,784,761,737,721,686,651,918,800.258623349,839,658,636,657,0.401003451741,-0.0155050911614,0.0698347748981,0.999999981924,4.37564847619e-05,-0.000184835231975,8.57698055794e-06,1793254806140584448
+54,0.900000000,BASELINE,784,761,737,721,686,651,918,800.327494436,839,657.672505564,636,657,0.401003687724,-0.0155042911216,0.0698350775641,0.999999981938,4.49875959978e-05,-0.000184466006917,8.5525647932e-06,1793254806157251072
+55,0.916666667,BASELINE,784,761,737,721,686,651,918,800.922913912,839,657.077086088,636,657,0.401004226686,-0.015503027411,0.0698359493078,0.999999982001,4.73164134706e-05,-0.000183542018065,8.43526289598e-06,1793254806173917440
+56,0.933333333,BASELINE,784,760.500729983,737.499270017,721,686,651,918,800.500729983,839,657,636,657,0.401005462387,-0.015503619825,0.0698371204289,0.99999998238,4.56054807962e-05,-0.000181896093445,8.61225115772e-06,1793254806190583808
+57,0.950000000,BASELINE,784,760.073209196,738,721,686,651,918,800.073209196,839,657.073209196,636,657,0.40100631747,-0.0155043663391,0.0698380022605,0.999999982686,4.35317746435e-05,-0.000180710379837,8.7751662304e-06,1793254806207249920
+58,0.966666667,BASELINE,784,760.650024642,738,721,686,651,918,800.650024642,839,657.650024642,636,657,0.401003841481,-0.0155042740195,0.0698365877934,0.999999982212,4.30953728568e-05,-0.000183429028472,8.54020130938e-06,1793254806223916544
+59,0.983333333,BASELINE,784,761,737.76869325,721,686,651.23130675,918.23130675,801,839.23130675,658,635.76869325,657,0.401002757424,-0.0155038397464,0.0698357858423,0.999999981916,4.41661550083e-05,-0.000184791142967,8.38445194986e-06,1793254806240583424
+60,1.000000000,BASELINE,784,761,737.180519758,721,686,651.819480242,918.819480242,801,839.819480242,658,635.180519758,657,0.40100382088,-0.0155028778974,0.0698359288984,0.999999981895,4.75622640571e-05,-0.000184060357781,8.3509186135e-06,1793254806257250048
+61,1.016666667,BASELINE,784,761,737,721,686,651.599473262,918.599473262,801,840,658,635.400526738,657,0.401002901547,-0.0155025721062,0.069834980111,0.999999981669,4.74027535038e-05,-0.000185327015135,8.28398858294e-06,1793254806273916672
+62,1.033333333,BASELINE,784,761,737,721,686,651.021582822,918.021582822,801,840,658,635.978417178,657,0.401001104182,-0.0155025568346,0.0698335478268,0.99999998135,4.56687215052e-05,-0.000187478192268,8.20226962577e-06,1793254806290583296
+63,1.050000000,BASELINE,784,761,737.55317628,721,686.55317628,651,918,801,840,658,635.44682372,657,0.401002717048,-0.0155034462655,0.0698346946856,0.999999981763,4.47955740023e-05,-0.000185460736073,8.45221074457e-06,1793254806307249920
+64,1.066666667,BASELINE,784,761,738,721,687,651,918,801,839.872322561,657.872322561,635.127677439,657,0.401004034515,-0.0155041172543,0.0698356205298,0.999999982099,4.39411562701e-05,-0.000183841743661,8.58439609208e-06,1793254806323916544
+65,1.083333333,BASELINE,784,761,738,721,687,651,918,801,839.298298472,657.298298472,635.701701528,657,0.401003856772,-0.0155039018892,0.0698354239249,0.999999982079,4.30354552804e-05,-0.000184181124033,8.25993726776e-06,1793254806340583168
+66,1.100000000,BASELINE,784,761,737.71445614,721,686.71445614,651,918,801,839,657,636,657,0.401003378287,-0.0155040791011,0.0698349831577,0.999999981995,4.24263190248e-05,-0.000184777086556,8.17647001524e-06,1793254806357250048
+67,1.116666667,BASELINE,784,761,737.119991814,721,686.119991814,651,918,801,839,657,636,657,0.401002574441,-0.0155046810291,0.0698342782394,0.999999981844,4.21380264148e-05,-0.000185650636807,8.35372360291e-06,1793254806373916672
+68,1.133333333,BASELINE,784,761,737.45930112,721,686.45930112,651,918,801,839,657,636,657,0.401002351467,-0.0155040743338,0.0698343560882,0.999999981733,4.42175966251e-05,-0.000185769107951,8.3257949626e-06,1793254806390583296
+69,1.150000000,BASELINE,784,760.965216072,738,721,686.965216072,651,918,801,839,657.034783928,635.965216072,657,0.401002327756,-0.0155031926653,0.0698346533314,0.99999998164,4.68593850858e-05,-0.000185624295975,8.26190402357e-06,1793254806407250176
+70,1.166666667,BASELINE,784,760.389319393,738,721,686.389319393,651,918,801,839,657.610680607,635.389319393,657,0.401003118638,-0.0155027882955,0.0698352840482,0.999999981774,4.89317617463e-05,-0.000184354332364,8.44578462786e-06,1793254806423916800
+71,1.183333333,BASELINE,784,760.191267643,737.808732357,721,686,651,918,801,839.191267643,658,635.191267643,657,0.401003890748,-0.0155025074765,0.0698357389911,0.999999981892,4.98002552502e-05,-0.000183472546471,8.55834231956e-06,1793254806440583168
+72,1.200000000,BASELINE,784,760.781641868,737.218358132,721,686,651,918,801,839.781641868,658,635.781641868,657,0.401004623689,-0.0155024844632,0.0698358271576,0.999999981986,4.81566792201e-05,-0.000183400747231,8.52207485237e-06,1793254806457249792
+73,1.216666667,BASELINE,784,761,737,721,686,651,918,801,839.633664923,658,636,657,0.401004234276,-0.0155023041713,0.0698353502293,0.99999998177,4.7999377996e-05,-0.000184619722045,8.45507799018e-06,1793254806473916416
+74,1.233333333,BASELINE,784,761,737,721,686,651,918,801,839.05230627,658,636,657,0.401003186087,-0.0155020315632,0.0698345416136,0.999999981369,4.87144588591e-05,-0.000186596327978,8.37004424315e-06,1793254806490583296
+75,1.250000000,BASELINE,784,760.47732177,737,721.52267823,686.52267823,651,918,801,839,658,636,657,0.401003248186,-0.0155023580983,0.0698350949271,0.999999981624,4.79794195879e-05,-0.00018543137457,8.09248592638e-06,1793254806507249920
+76,1.266666667,BASELINE,784,760.097079019,737.097079019,721.902920981,686.902920981,651,918,801,839,658,636,657,0.401003450865,-0.0155027568101,0.0698356445725,0.999999981887,4.73574577474e-05,-0.000184176384353,7.91625863888e-06,1793254806523916800
+77,1.283333333,BASELINE,784,760.671708477,737.671708477,721.328291523,686.328291523,651,918,801,839,658,636,657,0.401003805096,-0.0155032191798,0.0698355138001,0.999999981884,4.79970116177e-05,-0.000184006383211,8.33213258731e-06,1793254806540583936
+78,1.300000000,BASELINE,783.745041687,761,738,721,686,651,918,801,839.254958313,657.745041687,636,657,0.401004307823,-0.0155029023515,0.0698355724093,0.999999981922,4.83125681243e-05,-0.000183717812525,8.3692165671e-06,1793254806557250560
+79,1.316666667,BASELINE,783.150303627,761,738,721,686,651,918,801,839.849696373,657.150303627,636,657,0.401005008451,-0.0155015470959,0.069835883405,0.999999982013,4.81963373568e-05,-0.000183271225707,7.9014918729e-06,1793254806573917184
+80,1.333333333,BASELINE,783.430735348,761,738,721,686,651,918.430735348,800.569264652,840,657.430735348,636,657,0.401004637449,-0.0155010712863,0.0698361553285,0.999999982071,4.72263265723e-05,-0.0001832129391,7.78114255433e-06,1793254806590583552
+81,1.350000000,BASELINE,784,761,738,721,686.007116269,651,918.992883731,800.007116269,839.992883731,658,636,657,0.401003924304,-0.0155009116855,0.0698364089968,0.999999982116,4.59943943102e-05,-0.000183281802304,7.78506459289e-06,1793254806607250176
+82,1.366666667,BASELINE,784,761,738,721,686.581488816,651,918.418511184,800.581488816,839.418511184,658,636,657,0.401004827087,-0.0155022497423,0.0698362608097,0.999999982118,4.69002863152e-05,-0.000183018284372,8.33041122555e-06,1793254806623916800
+83,1.383333333,BASELINE,784,760.844780658,737.844780658,721,686.844780658,651,918.155219342,801,839.155219342,658,636,657,0.401005071423,-0.0155030370921,0.069835965567,0.999999982044,4.76097790421e-05,-0.000183225617633,8.6245179249e-06,1793254806640583424
+84,1.400000000,BASELINE,784,760.27277393,737.27277393,721,686.27277393,651,918.72722607,801,839.72722607,658,636,657,0.40100354773,-0.0155023457104,0.069835275458,0.999999981767,4.77919102341e-05,-0.000184697257428,8.24400756424e-06,1793254806657249792
+85,1.416666667,BASELINE,784,760.31227736,737.31227736,721,686.31227736,651,918.68772264,801,840,658,636,657,0.401002840288,-0.0155027294771,0.0698352872575,0.999999981747,4.74244585879e-05,-0.000184904605775,8.16692500306e-06,1793254806673916672
+86,1.433333333,BASELINE,784,760.909219744,737.909219744,721,686.909219744,651,918.090780256,801,840,658,636,657,0.401002876924,-0.0155040933249,0.0698359389009,0.999999981961,4.65560195642e-05,-0.000183959454357,8.36644042898e-06,1793254806690583808
+87,1.450000000,BASELINE,784,761,737.512372295,721,687,651.487627705,918,801,839.512372295,657.512372295,636,657,0.401003926646,-0.0155031199972,0.0698366272214,0.999999982104,4.70542651487e-05,-0.000183054876121,8.28581859683e-06,1793254806707250432
+88,1.466666667,BASELINE,784,761,737,721,687,651.937240566,918,801,839,657,635.937240566,657,0.401005096304,-0.0155018645842,0.06983728004,0.999999982222,4.79638508167e-05,-0.00018217511742,8.18118513562e-06,1793254806723917312
+89,1.483333333,BASELINE,784,761,737,721,687,651.361717291,918,801,839,657,635.361717291,657,0.401005761348,-0.0155017292166,0.069837589053,0.999999982244,5.02315456824e-05,-0.000181438688175,8.29086724626e-06,1793254806740583680
+90,1.500000000,BASELINE,784,761,737,721,686.780879309,651,918,801,839,657,635,657,0.401006099738,-0.0155019613696,0.0698376309752,0.999999982282,5.0704290789e-05,-0.000181089121641,8.45555497435e-06,1793254806757250048
+91,1.516666667,BASELINE,784,761,737,721,686.191049958,651,918,801,839,657,635,657,0.401005885495,-0.0155028152943,0.0698372210329,0.999999982351,4.81403374146e-05,-0.000181394050002,8.71330126384e-06,1793254806773916672
+92,1.533333333,BASELINE,784,761,737,721,686.391091915,651,918,801,839.391091915,657,635.391091915,657,0.401004375083,-0.0155034643902,0.0698361116067,0.999999982015,4.68932780876e-05,-0.000183566820452,8.59576813445e-06,1793254806790583040
+93,1.550000000,BASELINE,784,761,737,721,686.96955087,651,918,801,839.96955087,657,635.96955087,657,0.401002243693,-0.0155040153553,0.0698346670667,0.999999981479,4.62771253089e-05,-0.00018663444973,8.29844354897e-06,1793254806807249664
+94,1.566666667,BASELINE,784,761,737.544097192,721,687,651,918.544097192,801,839.455902808,657.544097192,636,657,0.401002728835,-0.0155032179615,0.0698352421271,0.999999981655,4.80870045692e-05,-0.00018522980045,8.27073983449e-06,1793254806823916800
+95,1.583333333,BASELINE,784,761,738,721,687,651,918.881937665,800.881937665,839,658,636,657,0.401003588215,-0.0155025771632,0.0698360257579,0.999999981915,4.91630640448e-05,-0.000183533826179,8.25999375698e-06,1793254806840583680
+96,1.600000000,BASELINE,784,761,738,721,687,651,918.3093728,800.3093728,839,658,636,657,0.401005328613,-0.0155028276221,0.0698371803251,0.999999982364,4.68952216462e-05,-0.000181672964562,8.25685720087e-06,1793254806857250560
+97,1.616666667,BASELINE,784,761,737.72627439,721,686.72627439,651,918,800.27372561,839.27372561,658,636,657,0.401005557543,-0.0155030654508,0.0698373495023,0.999999982425,4.63150694129e-05,-0.000181478627485,8.38000346416e-06,1793254806873917184
+98,1.633333333,BASELINE,784,761,737.130794213,721,686.130794213,651,918,800.869205787,839.869205787,658,636,657,0.401004009797,-0.0155032884331,0.0698363603892,0.999999982035,4.77187361343e-05,-0.000183243229912,8.65159061968e-06,1793254806890583808
+99,1.650000000,BASELINE,784,761,737,721,686.451465221,651,918,801,839.548534779,657.548534779,636,657,0.401004729893,-0.015503749111,0.0698364390479,0.999999982102,4.69231174232e-05,-0.000183092531043,8.42825545037e-06,1793254806907249920
+100,1.666666667,BASELINE,784,761,737.029814522,721,687,651,918,801,839,657,636,657,0.401005973861,-0.0155041959038,0.0698367913337,0.99999998228,4.56531174059e-05,-0.000182458401053,8.08959474317e-06,1793254806923916288
+101,1.683333333,BASELINE,784,761,737.604710078,721,687,651,918,801,839,657,636,657,0.401005125333,-0.0155031656864,0.0698366515234,0.999999982145,4.70276131164e-05,-0.000182841957768,8.18933206017e-06,1793254806940583168
+102,1.700000000,BASELINE,784,761,738,721,686.816249819,651,918,800.816249819,839,657.183750181,636,657,0.401004309286,-0.0155025860758,0.069836226933,0.99999998197,4.79850062179e-05,-0.00018354743689,8.25531152577e-06,1793254806957250048
+103,1.716666667,BASELINE,784,761,738,721,686.228088158,651,918,800.228088158,839,657.771911842,636,657,0.401003564727,-0.0155029981952,0.0698351755769,0.999999981707,4.80244077479e-05,-0.000184961427469,8.24699411155e-06,1793254806973916928
+104,1.733333333,BASELINE,784,761,738,721,686,651,918,800.355179176,839,658,636,657,0.401003047823,-0.015502217681,0.0698350704572,0.999999981656,4.82610496523e-05,-0.000185188464094,8.0614661238e-06,1793254806990583808
+105,1.750000000,BASELINE,784,761,738,721,686,651,918,800.935346262,839,658,636,657,0.401002675127,-0.0155006816941,0.0698355647298,0.999999981737,4.86226332871e-05,-0.000184663626011,7.76368426692e-06,1793254807007250432
+106,1.766666667,BASELINE,784,761,738,721,686.510852251,651,918,801,839,657.489147749,636,657,0.401004023852,-0.0155008121967,0.0698367716718,0.999999981978,4.93131451235e-05,-0.000183157481122,8.14603250182e-06,1793254807023916800
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,761,738,721,687,651,918,801,839,657,635,657,0.401004585416,-0.0155015764016,0.0698365584184,0.999999982096,4.70590152169e-05,-0.000183102169166,8.2009456509e-06,1793254807067582464
+108,1.800000000,POSE1_TO_POSE2_PRESS,784,761,737.400084847,721,687,651,918,801,839,657.599915153,635.599915153,657.599915153,0.401005720934,-0.0155013434572,0.0698376625366,0.999999982298,4.8601930393e-05,-0.000181576404643,8.41944129826e-06,1793254807084248832
+109,1.816666667,POSE1_TO_POSE2_PRESS,784,761,737.193346106,721,686.806653894,651,918,801,839,658,636,657.806653894,0.401005845963,-0.0155011630701,0.0698379528109,0.999999982308,4.97736187091e-05,-0.000181205898668,8.47239048107e-06,1793254807100915200
+110,1.833333333,POSE1_TO_POSE2_PRESS,784,761,737.773794997,721,686.226205003,651,918,801,839,658,636,657.226205003,0.401003947867,-0.015501087909,0.0698366136695,0.999999981935,5.02020652749e-05,-0.000183148362735,8.19389523264e-06,1793254807117581824
+111,1.850000000,POSE1_TO_POSE2_PRESS,784,761,738,721,686,651,918,801,839,658,636,657,0.401004008692,-0.0155016516753,0.069836438841,0.999999981941,4.94118680437e-05,-0.000183334752474,8.08358932776e-06,1793254807134248704
+112,1.866666667,POSE1_TO_POSE2_PRESS,784,761,738,721,686,651,918,801,839,658,636,657,0.401005320398,-0.0155026234334,0.069837007493,0.999999982188,4.78434970741e-05,-0.000182399788275,8.08068194779e-06,1793254807150915328
+113,1.883333333,POSE1_TO_POSE2_PRESS,784,761,737.490269609,720.490269609,686,651,918,801,839,658,636,657,0.401003619501,-0.0155033130287,0.0698358133093,0.99999998176,4.78198046761e-05,-0.000184729508424,8.28662280322e-06,1793254807167581440
+114,1.900000000,POSE1_TO_POSE2_PRESS,784,761,737,720.09748755,686,651,918,801,839.09748755,658,636,657,0.401002163991,-0.0155037438617,0.0698349547056,0.999999981268,4.79848739255e-05,-0.00018731864809,8.51078749265e-06,1793254807184247808
+115,1.916666667,POSE1_TO_POSE2_PRESS,784,761,737,720.678816334,686,651,918,801,839.678816334,658,636,657,0.401004253111,-0.0155031083538,0.0698371231248,0.999999981017,4.78937751985e-05,-0.000188673878294,8.66409781593e-06,1793254807200914432
+116,1.933333333,POSE1_TO_POSE2_PRESS,784,761,737,721,686.258206252,651,918,801,839.741793748,657.741793748,636,657,0.4010105155,-0.0155029025375,0.0698408958314,0.999999980793,4.8870491886e-05,-0.000189592817671,8.95425647315e-06,1793254807217580800
+117,1.950000000,POSE1_TO_POSE2_PRESS,784,761,737,721,686.835202339,651,918,801,839.164797661,657.164797661,636,657,0.401021930345,-0.0155032272324,0.0698466492431,0.999999980602,5.11655682185e-05,-0.000189973098105,9.41337252266e-06,1793254807234247168
+118,1.966666667,POSE1_TO_POSE2_PRESS,784,761,737.409193208,721,687,651,918,801,839,657.409193208,636,657,0.401049693093,-0.0155051146722,0.0698577985471,0.999999982327,4.84046023402e-05,-0.000181387660838,1.00295273731e-05,1793254807250913792
+119,1.983333333,POSE1_TO_POSE2_PRESS,784,761,737.981982634,721,687,651,918,801,839,657.981982634,636,657,0.401083991765,-0.0155076269003,0.0698711051394,0.999999984674,4.3622221422e-05,-0.000169217712706,1.07084666701e-05,1793254807267580416
+120,2.000000000,POSE1_TO_POSE2_PRESS,784,761,738,721,687,651,918.570958144,801,839,658,636,657,0.401140477502,-0.0155091939011,0.069886301531,0.999999987535,4.72132663992e-05,-0.000150221518911,1.15795462441e-05,1793254807284247296
+121,2.016666667,POSE1_TO_POSE2_PRESS,784,761,737.842022223,721,686.842022223,651,918.842022223,800.842022223,839,657.842022223,635.842022223,657,0.401202394489,-0.0155111387244,0.0698997189976,0.999999989766,4.98343676841e-05,-0.000133565451535,1.20675332305e-05,1793254807300914176
+122,2.033333333,POSE1_TO_POSE2_PRESS,784,761,737.26163773,721,686.26163773,651,918.26163773,800.26163773,839,657.26163773,635.26163773,657,0.40127690707,-0.0155141758654,0.0699082158064,0.999999991068,4.91348647574e-05,-0.000123759274897,1.15145084065e-05,1793254807317580544
+123,2.050000000,POSE1_TO_POSE2_PRESS,784,761,737,720.684737651,686,651,918,800.315262349,839,657,635,657,0.401362102593,-0.0155176766202,0.069914896231,0.999999992092,4.77858853051e-05,-0.000115844543846,1.06182675942e-05,1793254807334247168
+124,2.066666667,POSE1_TO_POSE2_PRESS,784,761,737,720.110697726,686,651,918,800.889302274,839,657,635,657,0.401456067018,-0.0155215579241,0.069920085708,0.999999992909,4.59037944685e-05,-0.000109482373359,9.44030398426e-06,1793254807350913536
+125,2.083333333,POSE1_TO_POSE2_PRESS,784,761,737.463625257,720.463625257,686,651,918,801,839,657.463625257,635.463625257,657,0.401567386183,-0.0155227878112,0.0699222561869,0.999999993104,4.92521405397e-05,-0.000106377181938,7.11091768417e-06,1793254807367580160
+126,2.100000000,POSE1_TO_POSE2_PRESS,784,761,738,721,686.039446006,651,918,801,839,657.960553994,636,657,0.40168436587,-0.0155235956553,0.0699235845364,0.999999993109,5.34132092597e-05,-0.000104448954675,4.49955010862e-06,1793254807384247296
+127,2.116666667,POSE1_TO_POSE2_PRESS,784,761,738,721,686.635445019,651,918,801,839,657.364554981,636,657,0.40182271086,-0.0155273863406,0.0699232076956,0.999999992829,5.14101188927e-05,-0.000108147981238,1.79092314041e-06,1793254807400913664
+128,2.133333333,POSE1_TO_POSE2_PRESS,784,761,738,721,686.776456768,651,918,801,839.223543232,657.223543232,636,657,0.401974536815,-0.015529838906,0.0699229712221,0.999999992539,5.05837288074e-05,-0.000111176617426,-1.57818478291e-06,1793254807417580544
+129,2.150000000,POSE1_TO_POSE2_PRESS,784,761,738,721,686.200803416,651,918,801,839.799196584,657.799196584,636,657,0.402147597058,-0.0155301837554,0.0699229558457,0.999999992249,5.16107973028e-05,-0.000113149299867,-5.98763720687e-06,1793254807434247424
+130,2.166666667,POSE1_TO_POSE2_PRESS,784,761,738,721,686.366832874,651.366832874,918,801,839.633167126,658,636,657.366832874,0.402339091771,-0.0155310956165,0.0699234043922,0.999999992187,5.17611015559e-05,-0.000113302280747,-1.04230294567e-05,1793254807450914304
+131,2.183333333,POSE1_TO_POSE2_PRESS,784,761,738,721,686.930174555,651.930174555,918,801,839.069825445,658,636,657.930174555,0.402540461666,-0.0155323112203,0.0699241014577,0.99999999224,5.14417318151e-05,-0.000112480465357,-1.48723178254e-05,1793254807467580928
+132,2.200000000,POSE1_TO_POSE2_PRESS,784,761,738,721,687,651.47395561,918,801,839.52604439,658,636,657.47395561,0.402778277838,-0.0155265156835,0.0699277101883,0.999999993234,3.78084407539e-05,-0.000108248159613,-1.96200827913e-05,1793254807484247296
+133,2.216666667,POSE1_TO_POSE2_PRESS,784,761,738,721,686.877738639,651,918,801,839.877738639,658,636,657,0.403032230158,-0.0155212066505,0.0699327979337,0.999999994403,2.06733529716e-05,-0.000100880940239,-2.42621109775e-05,1793254807500913920
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,761,738,721,686.297462051,651,918,801,839.297462051,658,636,657,0.403327314018,-0.0155214362914,0.0699418830831,0.999999996102,-2.523343475e-06,-8.35773861046e-05,-2.83498271947e-05,1793254807517580544
+135,2.250000000,POSE1_TO_POSE2_PRESS,784.28045917,761,738,721,686,651,918,801,839,657.71954083,636,657,0.40363699718,-0.0155239072432,0.0699481779623,0.999999996665,-1.16307092396e-05,-7.45875912167e-05,-3.11775515628e-05,1793254807534246912
+136,2.266666667,POSE1_TO_POSE2_PRESS,784.855903001,761,738,721,686,651,918,801,839,657.144096999,636,657,0.403962035751,-0.0155287355874,0.0699515380574,0.999999996685,-5.91903080417e-06,-7.43421414197e-05,-3.26800265799e-05,1793254807550913536
+137,2.283333333,POSE1_TO_POSE2_PRESS,785,761,738,721,686.4278041,651,918,801,839,657.4278041,636,657.4278041,0.404311218341,-0.0155299838495,0.0699541694658,0.99999999689,-2.27457140714e-06,-7.25934176674e-05,-3.0734960124e-05,1793254807567580416
+138,2.300000000,POSE1_TO_POSE2_PRESS,785,761,738,721,686.998521693,651,918,801,839,657.998521693,636,657.998521693,0.404668466547,-0.0155300361389,0.0699565574469,0.999999997144,6.79306621671e-07,-7.03425058138e-05,-2.76381978237e-05,1793254807584247040
+139,2.316666667,POSE1_TO_POSE2_PRESS,784.406548972,761,738,721,687,651,918,801,839,657.406548972,636,657.406548972,0.405074119989,-0.0155288194224,0.0699631551458,0.999999998024,-3.59533536015e-06,-5.48033256651e-05,-3.05802134798e-05,1793254807600913408
+140,2.333333333,POSE1_TO_POSE2_PRESS,784,761,738,720.816357689,686.816357689,651,918,801,839.183642311,657.183642311,636,657.183642311,0.405488665621,-0.0155281146083,0.0699662640696,0.999999998343,-5.35660046483e-06,-4.69229370894e-05,-3.29136858828e-05,1793254807617579776
+141,2.350000000,POSE1_TO_POSE2_PRESS,784,761,738,720.236524043,686.236524043,651,918,801,839.763475957,657.763475957,636,657.763475957,0.405922124076,-0.0155285212866,0.0699618226962,0.999999997876,-1.65498674019e-06,-5.56401374033e-05,-3.3900448198e-05,1793254807634246656
+142,2.366666667,POSE1_TO_POSE2_PRESS,784,761,738,720.340840256,686.340840256,651,918,801,839.659159744,657.659159744,636,658,0.406379704379,-0.0155267533903,0.0699482695813,0.999999996362,-1.85733337645e-06,-7.71480191993e-05,-3.63432895758e-05,1793254807650913280
+143,2.383333333,POSE1_TO_POSE2_PRESS,784,761,738,720.916503351,686.916503351,651,918,801,839.083496649,657.083496649,636,658,0.40685390354,-0.015523487315,0.0699284389064,0.999999993422,-4.74932393952e-06,-0.000107468077259,-3.97893007312e-05,1793254807667579904
+144,2.400000000,POSE1_TO_POSE2_PRESS,784.499906293,761,738,720.500093707,686.500093707,651,918,801,839.499906293,657.499906293,636,657.500093707,0.407374859589,-0.0155233288266,0.0699267044962,0.999999993588,-2.82602225006e-06,-0.00010528383296,-4.15979838668e-05,1793254807684246272
+145,2.416666667,POSE1_TO_POSE2_PRESS,785,761,738,720,686,651.084463594,918,801,839.915536406,657.915536406,636,657,0.407915473259,-0.0155240591081,0.0699301906349,0.999999994685,-1.73450844458e-06,-9.37520370993e-05,-4.28747539556e-05,1793254807700912896
+146,2.433333333,POSE1_TO_POSE2_PRESS,785,761,738,720,686,651.66808317,918,801,839.33191683,657.33191683,636,657,0.408525380098,-0.0155269261297,0.0699463855918,0.999999997262,-1.0386393176e-05,-5.95673671574e-05,-4.26496389978e-05,1793254807717579520
+147,2.450000000,POSE1_TO_POSE2_PRESS,785,761,738,720,686,652,918,801,839.247627824,657.247627824,636,657,0.409132361086,-0.0155278440997,0.0699540921295,0.999999998142,-1.50358937378e-05,-4.0811189174e-05,-4.27165399411e-05,1793254807734246400
+148,2.466666667,POSE1_TO_POSE2_PRESS,785,761,738,720,686,652,918,801,839.821798902,657.821798902,636,657,0.40973548376,-0.0155261918829,0.0699506051095,0.999999998066,-1.44075072687e-05,-4.24003440903e-05,-4.31685181276e-05,1793254807750913280
+149,2.483333333,POSE1_TO_POSE2_PRESS,785,760.602208983,738,720,686,651.602208983,918,801,840,657.602208983,636,657.397791017,0.410375685289,-0.0155240141028,0.0699464604164,0.999999997581,-1.27860756454e-05,-5.18279477603e-05,-4.45950036929e-05,1793254807767579904
+150,2.500000000,POSE1_TO_POSE2_PRESS,785,760.02539735,738,720,686,651.02539735,918,801,840,657.02539735,636,657.97460265,0.411032573651,-0.0155215997999,0.0699420197462,0.999999996765,-1.07177371244e-05,-6.47831421642e-05,-4.64600534704e-05,1793254807784246528
+151,2.516666667,POSE1_TO_POSE2_PRESS,785,760.564567015,738,720,686,651,918,801,840,657,636,658,0.411742238351,-0.0155245205852,0.0699603171901,0.99999999839,-1.27713903314e-05,-3.07120600372e-05,-4.59709961088e-05,1793254807800913152
+152,2.533333333,POSE1_TO_POSE2_PRESS,785,761,737.848184298,719.848184298,686,651.151815702,918.151815702,801.151815702,840,657.151815702,636,657.848184298,0.412469230144,-0.0155272175434,0.0699838235448,0.999999998836,-1.43067986978e-05,9.6981418277e-06,-4.50479745272e-05,1793254807817579776
+153,2.550000000,POSE1_TO_POSE2_PRESS,785,761,737.270258294,719.270258294,686,651.729741706,918.729741706,801.729741706,840,657.729741706,636,657.270258294,0.413238032128,-0.0155285965764,0.0700190105829,0.999999997059,-1.38547456494e-05,6.1821388896e-05,-4.32112475636e-05,1793254807834246400
+154,2.566666667,POSE1_TO_POSE2_PRESS,785,761,737.306030278,719.306030278,686,652,918.693969722,801.693969722,840,658,636,657.306030278,0.413987697641,-0.015527927675,0.0700262684431,0.999999996771,-1.23154843765e-05,6.65101239851e-05,-4.33892086339e-05,1793254807850913280
+155,2.583333333,POSE1_TO_POSE2_PRESS,785,761,737.880880581,719.880880581,686,652,918.119119419,801.119119419,840,658,636,657.880880581,0.414720553575,-0.0155254598478,0.0700089930411,0.999999998488,-9.82120860487e-06,2.95319204818e-05,-4.53368914241e-05,1793254807867579904
+156,2.600000000,POSE1_TO_POSE2_PRESS,785,761,738,720,686.45410486,651.54589514,918.45410486,801,840,657.54589514,636,658,0.415475969068,-0.0155216788465,0.069959906941,0.999999997331,-1.70295298592e-05,-4.93185932461e-05,-5.11509182431e-05,1793254807884246528
+157,2.616666667,POSE1_TO_POSE2_PRESS,785,761,738,719.972029913,686.972029913,651,919,801,840,657.027970087,636,657.972029913,0.416241610079,-0.0155179196411,0.0699060152273,0.999999989042,-2.6502066446e-05,-0.000133750759476,-5.76633465565e-05,1793254807900913152
+158,2.633333333,POSE1_TO_POSE2_PRESS,785,761,738,719.376535233,686.376535233,651,919,801,840,657.623464767,636,657.376535233,0.417095086758,-0.0155215671337,0.0699233245345,0.999999991883,-3.04584719565e-05,-0.000109366049885,-5.78413758488e-05,1793254807917579776
+159,2.650000000,POSE1_TO_POSE2_PRESS,785,761,738,719,686,651.211922642,919,801.211922642,840,658,636,657,0.417954665296,-0.015523757888,0.0699447517543,0.999999994841,-3.26097647933e-05,-7.73081532027e-05,-5.72493863407e-05,1793254807934246400
+160,2.666666667,POSE1_TO_POSE2_PRESS,785,761,738,719,686,651.78827959,919,801.78827959,840,658,636,657,0.418824736888,-0.0155234435513,0.069973260371,0.999999997454,-3.16568823096e-05,-3.20550062718e-05,-5.53332283916e-05,1793254807950913024
+161,2.683333333,POSE1_TO_POSE2_PRESS,784.635858856,761,738,719,686.364141144,652,918.635858856,801.635858856,840,657.635858856,636,657,0.41972822416,-0.0155252382307,0.0699990608779,0.999999997849,-3.56828244331e-05,1.14109986297e-05,-5.38333420154e-05,1793254807967579648
+162,2.700000000,POSE1_TO_POSE2_PRESS,784.060284964,761,738,719,686.939715036,652,918.060284964,801.060284964,840,657.060284964,636,657,0.420651113684,-0.0155282574765,0.070023288963,0.999999996261,-4.25996416735e-05,5.38393264117e-05,-5.25751571196e-05,1793254807984246272
+163,2.716666667,POSE1_TO_POSE2_PRESS,784.507755833,761,738,719,686.492244167,651.492244167,918.507755833,801,840,657,636,657.507755833,0.421559267581,-0.0155258762718,0.0700243284949,0.999999996375,-4.26434146048e-05,4.95454856045e-05,-5.45525471676e-05,1793254808000912896
+164,2.733333333,POSE1_TO_POSE2_PRESS,785,761,738,719,686.079529866,651.079529866,919,801,840,657,636,657.920470134,0.422453778054,-0.0155221252871,0.0700120919269,0.99999999721,-4.14107343986e-05,2.38038440882e-05,-5.74330171829e-05,1793254808017579776
+165,2.750000000,POSE1_TO_POSE2_PRESS,785,761,738,719,686.681624368,651.681624368,919,801,840,657,636,657.318375632,0.423269969242,-0.0155135253612,0.0699304479628,0.999999991561,-3.70743435693e-05,-0.00010694800258,-6.3760077656e-05,1793254808034246400
+166,2.766666667,POSE1_TO_POSE2_PRESS,785,761,738,719,687,652,919,801.27139607,840.27139607,657,636,657.27139607,0.424138780772,-0.0155088909011,0.0698783291285,0.999999980372,-3.67929437526e-05,-0.000181954398779,-6.92519227809e-05,1793254808050912768
+167,2.783333333,POSE1_TO_POSE2_PRESS,785,761,738,719,687,652,919,801.847339795,840.847339795,657,636,657.847339795,0.425066640431,-0.0155087062956,0.0698593419689,0.999999977536,-4.1061860375e-05,-0.000194405942159,-7.38065310408e-05,1793254808067579648
+168,2.800000000,POSE1_TO_POSE2_PRESS,785,761,738,718.577724087,686.577724087,652,919,802,840.577724087,657,636,657.577724087,0.426048857714,-0.0155117014626,0.0699031360555,0.999999988254,-4.58724391758e-05,-0.000128029576692,-7.06857208526e-05,1793254808084246528
+169,2.816666667,POSE1_TO_POSE2_PRESS,785,761,738,718.003151405,686.003151405,652,919,802,840.003151405,657,636,657.003151405,0.4270506794,-0.0155158434368,0.0699695726402,0.999999996054,-5.08783716267e-05,-3.32233712139e-05,-6.4796716337e-05,1793254808100913152
+170,2.833333333,POSE1_TO_POSE2_PRESS,785,761,738,718,686,652,919,802,840.588373979,657.588373979,636,657.588373979,0.428060687281,-0.015520399573,0.070015360338,0.999999996749,-4.58282754247e-05,2.93544266083e-05,-5.94910397974e-05,1793254808117579520
+171,2.850000000,POSE1_TO_POSE2_PRESS,785,761,738,718,686.175438898,652,919,802,841,658,636.175438898,658,0.4290589165,-0.0155246444602,0.0700493561528,0.999999994321,-4.46525980522e-05,7.88447764577e-05,-5.60991300852e-05,1793254808134246144
+172,2.866666667,POSE1_TO_POSE2_PRESS,785,761,738,718,686.752089323,652,919,802,841,658,636.752089323,658,0.430030105768,-0.0155281723277,0.0700566455171,0.999999992113,-5.24641665345e-05,9.88118901948e-05,-5.70764607378e-05,1793254808150913024
+173,2.883333333,POSE1_TO_POSE2_PRESS,785,761,738,718,687,652,919,802,841,658,636.671278893,658,0.430913606225,-0.0155243673224,0.0700102270936,0.999999996534,-5.28261991662e-05,1.86437232444e-05,-6.15924853266e-05,1793254808167579904
+174,2.900000000,POSE1_TO_POSE2_PRESS,785,761,738,718,687,652,919,802,841,658,636.094661193,658,0.431730978369,-0.015515032419,0.0699233063188,0.999999987114,-4.75703539887e-05,-0.000137038899739,-6.87771240267e-05,1793254808184246528
+175,2.916666667,POSE1_TO_POSE2_PRESS,785,761.491551928,738,718,686.508448072,651.508448072,918.508448072,801.508448072,841,657.508448072,636,657.508448072,0.432668340203,-0.015515745197,0.0699023508992,0.999999983013,-5.11862372408e-05,-0.000162177791582,-7.10752030438e-05,1793254808200913152
+176,2.933333333,POSE1_TO_POSE2_PRESS,785,761.921537609,738,718,686.078462391,651.078462391,918,801.078462391,841,657.078462391,636,657,0.43363516527,-0.0155185857938,0.0699045359973,0.999999985018,-5.74325495571e-05,-0.000146779038887,-7.15598452414e-05,1793254808217579520
+177,2.950000000,POSE1_TO_POSE2_PRESS,785,761.342206587,738,718,686.657793413,651.657793413,918,801.657793413,841,657.657793413,636,657,0.434639627495,-0.0155224116984,0.0699717327513,0.99999999472,-6.93470091816e-05,-3.62812149576e-05,-6.65950620243e-05,1793254808234246400
+178,2.966666667,POSE1_TO_POSE2_PRESS,785.235046656,761,738,718,686.764953344,652,918,802,841,658,636,657.235046656,0.435621833685,-0.0155256186296,0.0700205007911,0.999999994195,-7.59382921889e-05,4.34924015712e-05,-6.28690492729e-05,1793254808250913792
+179,2.983333333,POSE1_TO_POSE2_PRESS,785.809301432,761,738,718,686.190698568,652,918,802,841,658,636,657.809301432,0.436571921176,-0.0155279322884,0.0700426733995,0.999999992228,-7.48474233375e-05,7.89263235826e-05,-6.09307711129e-05,1793254808267581696
+180,3.000000000,POSE1_TO_POSE2_PRESS,785.229314906,760.614657453,738,717.614657453,686,652,918,801.614657453,841,657.614657453,636,657.614657453,0.437475086296,-0.0155294147157,0.0700312304577,0.999999992147,-7.83982546483e-05,7.52125861249e-05,-6.2464703844e-05,1793254808284248320
+181,3.016666667,POSE1_TO_POSE2_PRESS,784.075456461,760.03772823,738,717.03772823,686,652,918,801.03772823,841,657.03772823,636,657.03772823,0.438354922244,-0.0155304838667,0.0700030743548,0.999999992937,-8.42568714129e-05,5.20352031316e-05,-6.572496913e-05,1793254808300914432
+182,3.033333333,POSE1_TO_POSE2_PRESS,784.551263763,760.551263763,738,717,686.551263763,652,918,801.551263763,841.551263763,657,636,657.551263763,0.439140824499,-0.0155236373579,0.0699265150972,0.999999991351,-7.99249459397e-05,-7.59624989516e-05,-7.1692102521e-05,1793254808317581056
+183,3.050000000,POSE1_TO_POSE2_PRESS,785,761,738,717,686.861410059,651.861410059,918,801.861410059,841.861410059,657.138589941,636,658,0.439936005205,-0.0155176976431,0.0698631617398,0.999999977564,-7.57767150648e-05,-0.000182355266032,-7.66530390185e-05,1793254808334247680
+184,3.066666667,POSE1_TO_POSE2_PRESS,785,761,738,717,686.282065942,651.282065942,918,801.282065942,841.282065942,657.717934058,636,658,0.440781596577,-0.0155164032224,0.0698525777391,0.999999974851,-7.44803469117e-05,-0.000196713156306,-7.78116474101e-05,1793254808350914560
+185,3.083333333,POSE1_TO_POSE2_PRESS,785.294744739,761,738,717,686.294744739,651.294744739,918,801,841.294744739,657.705255261,636.294744739,658,0.441647339536,-0.0155214650685,0.069878661295,0.999999981297,-8.46991908244e-05,-0.000156594143949,-7.55661078161e-05,1793254808367581184
+186,3.100000000,POSE1_TO_POSE2_PRESS,785.869151592,761,738,717,686.869151592,651.869151592,918,801,841.869151592,657.130848408,636.869151592,658,0.44253220284,-0.0155325579197,0.0699395360623,0.999999989844,-0.000105843991961,-6.47859093728e-05,-7.00906161216e-05,1793254808384247040
+187,3.116666667,POSE1_TO_POSE2_PRESS,785.556265536,761,738,717,686.556265536,652,918,801,842,657.443734464,636.556265536,657.556265536,0.443330647525,-0.0155392234063,0.0699538182348,0.999999990337,-0.000109649818288,-5.11799520162e-05,-6.84412456655e-05,1793254808400913664
+188,3.133333333,POSE1_TO_POSE2_PRESS,785,761,738,717,686,651.981073134,918,801,842,657.981073134,636,657.018926866,0.444102258829,-0.0155445501276,0.0699527851283,0.999999989802,-0.000108713384096,-6.27956063124e-05,-6.80734440541e-05,1793254808417580032
+189,3.150000000,POSE1_TO_POSE2_PRESS,785,761,738,717,686,651.388996505,918,801,842,657.388996505,636,657.611003495,0.444833285488,-0.0155488864198,0.069904190472,0.999999980554,-0.000119062718645,-0.000139584127964,-7.23350401638e-05,1793254808434246912
+190,3.166666667,POSE1_TO_POSE2_PRESS,785,761,738,717,686,651,918,800.801599619,841.801599619,657,636,657.801599619,0.445547583531,-0.0155525741253,0.0698594223774,0.999999967612,-0.000126510041849,-0.000207178231113,-7.64742984559e-05,1793254808450913792
+191,3.183333333,POSE1_TO_POSE2_PRESS,785,761,738,717,686,651,918,800.223166603,841.223166603,657,636,657.223166603,0.446229838319,-0.0155550194746,0.0698219839898,0.999999955461,-0.000128398613224,-0.000257160592688,-8.0379222e-05,1793254808467580672
+192,3.200000000,POSE1_TO_POSE2_PRESS,785.352288281,761,738,717,686,651,918,800,841.352288281,657.352288281,635.647711719,657,0.446870449944,-0.0155560911413,0.0697857901983,0.999999936791,-0.000129268360157,-0.000320869588016,-8.21650787696e-05,1793254808484247296
+193,3.216666667,POSE1_TO_POSE2_PRESS,785.925872365,761,738,717,686,651,918,800,841.925872365,657.925872365,635.074127635,657,0.447484902675,-0.0155562999059,0.0697503782228,0.999999910899,-0.000129498114877,-0.000393201194999,-8.26198076427e-05,1793254808500913920
+194,3.233333333,POSE1_TO_POSE2_PRESS,785.486373703,761,738,717,686,651,918,800,842,658,635.513626297,657.513626297,0.448115593985,-0.0155584981164,0.0697384781971,0.999999903507,-0.000129680484426,-0.000411494732889,-8.27076291417e-05,1793254808517581312
+195,3.250000000,POSE1_TO_POSE2_PRESS,785,761,738,717,686,651,918,799.898331447,842,658,636,658,0.448753794997,-0.0155622686652,0.0697367613122,0.999999903065,-0.000131830918651,-0.000411939861474,-8.24447354043e-05,1793254808534248192
+196,3.266666667,POSE1_TO_POSE2_PRESS,785,761,738,717,686,651,918,799.318818421,842,658,636,658,0.44941596436,-0.0155720414785,0.0697665043893,0.999999919426,-0.000143264354634,-0.000366191936911,-8.07894123798e-05,1793254808550914304
+197,3.283333333,POSE1_TO_POSE2_PRESS,785.258641777,761,738,717,686,650.741358223,918,799,842,658,636,658,0.450025196341,-0.0155794675638,0.0697793079781,0.999999925407,-0.000151252436163,-0.000346399870631,-7.94696474281e-05,1793254808567580672
+198,3.300000000,POSE1_TO_POSE2_PRESS,785.833591411,761,738,717,686,650.166408589,918,799,842,658,636,658,0.450569688115,-0.0155840237003,0.0697713952937,0.99999992069,-0.000155026995677,-0.000358350715425,-7.85602559618e-05,1793254808584248064
+199,3.316666667,POSE1_TO_POSE2_PRESS,785.591514341,761,738,716.591514341,685.591514341,650,918,799,842,658,635.591514341,658,0.451059414759,-0.0155867560871,0.0697343839653,0.999999898494,-0.000162273674546,-0.000412523683855,-8.06391452882e-05,1793254808600914944
+200,3.333333333,POSE1_TO_POSE2_PRESS,785.016642605,761,738,716.016642605,685.016642605,650,918,799,842,658,635.016642605,658,0.451526834287,-0.0155887456169,0.0696855200557,0.999999864791,-0.000170934631119,-0.000483894742514,-8.39352331466e-05,1793254808617581568
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+202,3.366666667,POSE1_TO_POSE2_PRESS,785.16282084,761.16282084,738,717,685.83717916,650,918,797.83717916,842,657.16282084,635,657.16282084,0.452409493721,-0.0155901744871,0.0696239956211,0.999999823119,-0.00016292224084,-0.000564974491476,-8.95714736281e-05,1793254808650914048
+203,3.383333333,POSE1_TO_POSE2_PRESS,785.741412172,761.741412172,738,717,685.258587828,650,918,797.258587828,842,657.741412172,635,657.741412172,0.452853085076,-0.0155933496354,0.0696171015201,0.999999814002,-0.000180205899723,-0.000575734457996,-8.97326081074e-05,1793254808667580160
+204,3.400000000,POSE1_TO_POSE2_PRESS,785.682206355,761.682206355,738,717,685,650,918,797,842,657.682206355,635,658,0.453273677378,-0.0155973719961,0.0696181741518,0.999999814106,-0.000186184635704,-0.000573736388401,-8.91610448036e-05,1793254808684246528
+205,3.416666667,POSE1_TO_POSE2_PRESS,785.107610655,761.107610655,738,717,685,650,918,797,842,657.107610655,635,658,0.453675684625,-0.0156020789706,0.0696256845256,0.999999821777,-0.000183028111085,-0.000561428829813,-8.79974045349e-05,1793254808700913408
+206,3.433333333,POSE1_TO_POSE2_PRESS,785.477819273,761,738,717,685,650,918,796.522180727,842,657.477819273,635,658,0.454024135958,-0.0156059320508,0.0696289437681,0.999999821176,-0.000182563186075,-0.000562813378792,-8.69483192478e-05,1793254808717580544
+207,3.450000000,POSE1_TO_POSE2_PRESS,786,761.064758795,738,716.935241205,685,650,918,796,842,658,635,658,0.454354580511,-0.0156090475589,0.0696290525685,0.999999816575,-0.000183720602558,-0.000570669856106,-8.62111228982e-05,1793254808734247424
+208,3.466666667,POSE1_TO_POSE2_PRESS,786,761.643859079,738,716.356140921,685,650,918,796,842,658,635,658,0.454640027193,-0.0156078677809,0.069611919774,0.999999794624,-0.000192837095044,-0.000604869427112,-8.77414173853e-05,1793254808750914304
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,784.053504162,760,737,718,686,651,918,800,840,657,635,658,0.420366568702,-0.0153956368645,0.0696693451537,0.999999841178,0.000155868921157,-0.000541508679749,1.07938649451e-05,1793254811000477696
+342,5.700000000,POSE2_TO_POSE3_RETREAT,784,760.535622683,737,718,686,651,918,800,840,657,635,658,0.419566560264,-0.0154028449021,0.0697458910294,0.99999990186,0.000158060925085,-0.000413446959801,1.89523435707e-05,1793254811017144576
+343,5.716666667,POSE2_TO_POSE3_RETREAT,784.123509672,760.876490328,737,718.123509672,686,651,918,800,840,657,635.123509672,657.876490328,0.418772176905,-0.0154088192798,0.0698223890082,0.999999944893,0.000161048892137,-0.000289047554225,2.70025735126e-05,1793254811033811200
+344,5.733333333,POSE2_TO_POSE3_RETREAT,784.70154085,760.29845915,737,718.70154085,686,651,918,800,840,657,635.70154085,657.29845915,0.417957556626,-0.0154078173557,0.0698616246745,0.999999958228,0.000163560314293,-0.000236455952163,2.96699183704e-05,1793254811050477824
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,783.292287934,760,737,718.146143967,686,651,918,800,840,657.853856033,636,657.853856033,0.41626182548,-0.0154057769302,0.0698243111409,0.999999943161,0.000169196418568,-0.000290436282627,2.63946179126e-05,1793254811083811584
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783.438043301,760,737,718.438043301,686.438043301,651,918,800,839.561956699,657.561956699,635.561956699,657.561956699,0.415444320812,-0.0154041010899,0.0697973860699,0.99999993324,0.000169768318315,-0.000322708884599,2.36165772454e-05,1793254811100478208
+348,5.800000000,POSE2_TO_POSE3_RETREAT,784,760,737,718.975117435,687,651,917.975117435,800,839,657,635,657.024882565,0.414639049527,-0.0154020719874,0.0697742621888,0.999999924425,0.000169809313719,-0.000349104048864,2.1003164036e-05,1793254811117145088
+349,5.816666667,POSE2_TO_POSE3_RETREAT,784,760,737,718.395040973,687,651,917.395040973,800,839,657,635,657.604959027,0.413788288771,-0.0153970916217,0.0697457347371,0.999999898409,0.000175873629726,-0.000414578997543,1.93455460498e-05,1793254811133811456
+350,5.833333333,POSE2_TO_POSE3_RETREAT,784,760,737,718.367714666,687,651,917.183857333,800,839,657.183857333,635.183857333,657.816142667,0.412999273597,-0.0153945342785,0.0697392583047,0.99999988974,0.000179315056098,-0.000433600627067,1.88999007389e-05,1793254811150477824
+351,5.850000000,POSE2_TO_POSE3_RETREAT,784,760,737,719.520480892,687,651,917.760240446,800,839,657.760240446,635.760240446,657.239759554,0.412342081849,-0.0153971499606,0.0697798596387,0.999999921624,0.000177156752169,-0.000353446865921,2.10417533968e-05,1793254811167144448
+352,5.866666667,POSE2_TO_POSE3_RETREAT,784,760,737.336081986,719.663918014,687,651,917.663918014,800,839.336081986,658,636,657.336081986,0.41170307527,-0.0153982739849,0.0698253482802,0.999999945939,0.00018181770977,-0.000272807924517,2.52845267331e-05,1793254811183811072
+353,5.883333333,POSE2_TO_POSE3_RETREAT,784,760,737.911537759,719.088462241,687,651,917.088462241,800,839.911537759,658,636,657.911537759,0.411077021083,-0.0153983355783,0.0698743178949,0.999999962816,0.000191335673785,-0.000191823418718,3.10236768283e-05,1793254811200477952
+354,5.900000000,POSE2_TO_POSE3_RETREAT,784,760,737.501160328,719,686.501160328,651,917,800,839.501160328,658,636,658,0.410417492039,-0.01539571101,0.0698691371506,0.999999959563,0.00019346761069,-0.000206161008243,3.06891858933e-05,1793254811217144576
+355,5.916666667,POSE2_TO_POSE3_RETREAT,784,760,737.086797439,719,686,651,917,800,839.086797439,658,636,657.913202561,0.409749331862,-0.015392637127,0.0698486493305,0.999999950638,0.000193818499806,-0.000245641598196,2.86113581705e-05,1793254811233811712
+356,5.933333333,POSE2_TO_POSE3_RETREAT,784,760,737.666263822,719,686,651,917,800,839.666263822,658,636,657.333736178,0.409066695225,-0.0153897824868,0.0697971095217,0.999999927065,0.000191675444992,-0.000329553201423,2.29004916299e-05,1793254811250478848
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,784,760,737.181826549,719,686,651,917,799.181826549,839.181826549,658,636,657,0.407862688609,-0.0153873838108,0.069754486397,0.999999904519,0.000191438726847,-0.000392458963521,1.70048233217e-05,1793254811283811584
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783.598374044,760,737,719.401625956,686.401625956,651,917,799.401625956,839,658,636,657.401625956,0.407349370887,-0.0153872574735,0.0697684884932,0.999999913405,0.000192869320709,-0.000368349108029,1.7637228153e-05,1793254811300478464
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,783.568760625,760,737.568760625,720,686.431239375,651,917.568760625,800,839.568760625,658,636,657.431239375,0.406372450639,-0.0153863237415,0.0697999451849,0.999999927336,0.000198512190197,-0.000324788089872,2.08362136697e-05,1793254811333811456
+362,6.033333333,POSE2_TO_POSE3_RETREAT,784,760,738,720,686.147316363,650.852683637,918,800,839.852683637,658,635.852683637,657,0.405888702797,-0.0153850622529,0.069802273333,0.999999925227,0.000203370451562,-0.000328215292947,2.14572960168e-05,1793254811350478080
+363,6.050000000,POSE2_TO_POSE3_RETREAT,784,760,738,720,686.723406689,650.276593311,918,800,839.276593311,658,635.276593311,657,0.405422007993,-0.0153830803548,0.0697926654919,0.999999916313,0.000210978117646,-0.00034995954404,1.97536139535e-05,1793254811367145216
+364,6.066666667,POSE2_TO_POSE3_RETREAT,784,760.299359951,737.700640049,720,686.700640049,650.299359951,917.700640049,800,839,658,635,657,0.405005927809,-0.0153830494436,0.0697947482291,0.999999917779,0.000208521627635,-0.000347286084416,1.8773504451e-05,1793254811383812352
+365,6.083333333,POSE2_TO_POSE3_RETREAT,784,760.875186598,737.124813402,720,686.124813402,650.875186598,917.124813402,800,839,658,635,657,0.404636591572,-0.0153848203198,0.0698076275198,0.999999928608,0.000196770627407,-0.000322062232961,1.84616331118e-05,1793254811400478976
+366,6.100000000,POSE2_TO_POSE3_RETREAT,784,760.075603829,737,720,686,651,917,799.537801914,839,657.537801914,635.462198086,657,0.404306138301,-0.0153852362809,0.0698222652628,0.999999936908,0.000200030035281,-0.000292877846476,1.98561997451e-05,1793254811417145088
+367,6.116666667,POSE2_TO_POSE3_RETREAT,784,759.051344781,737,720,686.051344781,651,917,799.051344781,839,657.051344781,635.948655219,657,0.40398646645,-0.0153852364066,0.0698363126756,0.999999943333,0.000206611101891,-0.000264911734994,2.16117973968e-05,1793254811433811200
+368,6.133333333,POSE2_TO_POSE3_RETREAT,784,759.630619893,737,720,686.630619893,651,917,799.630619893,839,657.630619893,635.369380107,657,0.403667009946,-0.0153848162389,0.0698392866745,0.999999944822,0.000204634187963,-0.000260741541169,2.22239413205e-05,1793254811450477824
+369,6.150000000,POSE2_TO_POSE3_RETREAT,784,760,737,720,687,651,917,800,839.208278699,657.791721301,635.208278699,657.208278699,0.403354273527,-0.0153830269235,0.0698354532593,0.999999942768,0.000205333616817,-0.000268003349275,2.1844161246e-05,1793254811467144448
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,784,759.642459256,737.357540744,720,687,650.642459256,917,800.357540744,839.642459256,657.357540744,635.642459256,657.642459256,0.402789868929,-0.0153764268793,0.0698123356065,0.999999928808,0.000216735659554,-0.000308332502558,1.84739166839e-05,1793254811500478464
+372,6.200000000,POSE2_TO_POSE3_RETREAT,784,759.068233643,737.931766357,720,687,650.068233643,917,800.931766357,839.068233643,657.931766357,635.068233643,657.068233643,0.402549049982,-0.0153751149996,0.0698101880887,0.99999992612,0.000223081896783,-0.000312535473356,1.77627263913e-05,1793254811517145344
+373,6.216666667,POSE2_TO_POSE3_RETREAT,784,759.522347031,737.477652969,720,686.477652969,650.522347031,917,800.477652969,839,657.477652969,635.522347031,657.522347031,0.402341318945,-0.0153753396806,0.0698042213583,0.999999924724,0.00021986546742,-0.000319251867689,1.70352143538e-05,1793254811533811712
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,784,759.30872859,737,720,686.69127141,651,917.69127141,800,839.69127141,657,636,658,0.401959152816,-0.0153744716624,0.0697925096819,0.999999919251,0.000213842838239,-0.000339852209714,1.64123829408e-05,1793254811567144704
+376,6.266666667,POSE2_TO_POSE3_RETREAT,784,759.267824574,737,720,686.732175426,650.732175426,917.732175426,800,839.732175426,657.267824574,635.732175426,658,0.401795394857,-0.0153737349621,0.0697899814193,0.999999917796,0.000211512462884,-0.000345571734298,1.5844718591e-05,1793254811583811328
+377,6.283333333,POSE2_TO_POSE3_RETREAT,784,759.841757358,737,720,686.158242642,650.158242642,917.158242642,800,839.158242642,657.841757358,635.158242642,658,0.401653470393,-0.0153733200618,0.069790773694,0.999999919078,0.000208807723301,-0.000343553499912,1.46615959946e-05,1793254811600477952
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,784,760,737.014541993,720,686.985458007,651,917,800,839,657.014541993,635,657.014541993,0.40143756163,-0.0153717042365,0.0697936905002,0.999999921705,0.000215514879413,-0.000331667602001,1.18087848093e-05,1793254811633811200
+380,6.333333333,POSE2_TO_POSE3_RETREAT,784,760,737.5937953,720,686.4062047,651,917,800,839,657.5937953,635,657.5937953,0.401348116437,-0.0153715321235,0.0697929025986,0.999999920697,0.000219029368145,-0.000332481800084,9.43036120008e-06,1793254811650478336
+381,6.350000000,POSE2_TO_POSE3_RETREAT,784,760,738,720,686,650.827493106,917,800,839,657.827493106,635.172506894,658,0.401265051406,-0.0153715587088,0.0697926010922,0.999999920441,0.000219989090898,-0.000332656855646,7.89654717132e-06,1793254811667144960
+382,6.366666667,POSE2_TO_POSE3_RETREAT,784,760,738,720,686,650.250053182,917,800,839,657.250053182,635.749946818,658,0.401196962825,-0.0153720517078,0.0697934413227,0.999999921973,0.000214951898463,-0.000331331623711,8.34532274543e-06,1793254811683811584
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,784,760,737.10428487,720.89571513,686.89571513,650.89571513,917,800,839,657,636,658,0.40108956479,-0.015372708197,0.0697933735663,0.999999922532,0.000211043233847,-0.000332142657745,8.86965857896e-06,1793254811717144832
+385,6.416666667,POSE2_TO_POSE3_RETREAT,784,760,737.484946815,720.515053185,686.515053185,651,917,800,839.484946815,657.484946815,636,658,0.401057182436,-0.0153716315533,0.0697942228906,0.999999923523,0.000211108389027,-0.000329107156219,8.7146699241e-06,1793254811733811200
+386,6.433333333,POSE2_TO_POSE3_RETREAT,784,760.07602772,737.92397228,720,686.07602772,651,917,800,840,658,636,658,0.401029571949,-0.0153704348583,0.0697953494958,0.99999992456,0.000211558681636,-0.000325651755312,8.53802275656e-06,1793254811750477824
+387,6.450000000,POSE2_TO_POSE3_RETREAT,784,760.653395691,737.346604309,720,686.653395691,651,917,800,840,658,636,658,0.401007912797,-0.0153704467642,0.0697966494902,0.999999924437,0.000212830672554,-0.000325194586303,8.75650182824e-06,1793254811767144704
+388,6.466666667,POSE2_TO_POSE3_RETREAT,783.769889246,760.769889246,737.230110754,720,687,651,917.230110754,800,839.769889246,658,636,657.769889246,0.400989439907,-0.0153709956371,0.0697981244483,0.999999924714,0.000213687078121,-0.00032376904308,9.0822827904e-06,1793254811783811328
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,783.390114137,760,738,720,687,651,917.609885863,800,839,658,636,657.390114137,0.400968175908,-0.0153721621521,0.0698006741488,0.99999992621,0.000214558456116,-0.000318517261629,9.60876221401e-06,1793254811817144320
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,784,760,738,720,686.715257423,651,917,800,839,658,636,657.715257423,0.40095713066,-0.0153756539378,0.0698038445537,0.999999929519,0.00021024737807,-0.000310907332187,9.68563864989e-06,1793254811883810816
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7327aa802742723ea331a70c7afcd5ce5f87b7fa
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_01/simulation_data.csv
@@ -0,0 +1,415 @@
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+389,6.483333333,pose2_to_pose3_retreat,0.575685421992,-0.00981823496329,1.0600206068,0.546256570126,-0.00114399572395,1.05969231523
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+401,6.683333333,pose2_to_pose3_retreat,0.57566875931,-0.00981828539511,1.0600204216,0.546239908241,-0.00114404337796,1.05969213196
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f84444c8cc5a80fa0f4ccd22bcec37686713ef5f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f91d304436e28959ba0d405ad55ca616643879659e85d65d8b84da1d12b6095
+size 26480275
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c15a2c0bdc7652525b722a15bfc2ccc388e69647
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_02/franka_data.csv
@@ -0,0 +1,419 @@
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+7,0.116666667,BASELINE,784,760,738,720,686.862917957,651,917.862917957,800,839,658,635.137082043,657,0.400956025385,-0.0153798945214,0.069811675521,0.999999933857,0.00020596153865,-0.000299632148347,9.28557331421e-06,1793254812442004224
+8,0.133333333,BASELINE,784,760,738,720,686.273481165,651,917.273481165,800,839,658,635.726518835,657,0.400954694259,-0.0153781939886,0.0698110543101,0.999999933105,0.000208234740651,-0.000300579345309,8.92580529728e-06,1793254812458670592
+9,0.150000000,BASELINE,784,760,738,720.310639589,686.310639589,651,917,800,839,658,636,657.310639589,0.400954688257,-0.0153779290116,0.0698110829976,0.999999933024,0.00020871852185,-0.000300519658301,8.79432921751e-06,1793254812475336960
+10,0.166666667,BASELINE,784,760,738,720.890158917,686.890158917,651,917,800,839,658,636,657.890158917,0.400955829239,-0.0153789066062,0.0698116742164,0.999999933524,0.000207653437245,-0.000299588444532,8.86045539023e-06,1793254812492003584
+11,0.183333333,BASELINE,784,760,738,720.53389844,687,651,917.46610156,800,839,658,636,658,0.400954619164,-0.0153780594218,0.0698108645338,0.999999933045,0.000207525945763,-0.00030127947975,8.53043976979e-06,1793254812508670208
+12,0.200000000,BASELINE,783.958903005,760,737.958903005,720,686.958903005,651,917.958903005,800,839,658,635.958903005,658,0.400953177406,-0.0153769521496,0.0698099409351,0.999999932476,0.000207521991928,-0.000303177987604,8.15003762455e-06,1793254812525336832
+13,0.216666667,BASELINE,783.385343007,760,737.385343007,720,686.385343007,651,917.385343007,800,839,658,635.385343007,658,0.40095585764,-0.0153780042109,0.0698117861534,0.999999933744,0.000206277708464,-0.000299819126402,8.31712807012e-06,1793254812542003456
+14,0.233333333,BASELINE,783.194518856,760,737.194518856,720.194518856,686.194518856,651,917,800,839,658,635.194518856,658,0.400957040887,-0.0153786441636,0.0698125731166,0.999999934359,0.000205508803402,-0.000298287996862,8.46881507809e-06,1793254812558670080
+15,0.250000000,BASELINE,783.787282851,760,737.787282851,720.787282851,686.787282851,651,917,800,839,658,635.787282851,658,0.400955159303,-0.0153784403927,0.069811193478,0.999999933654,0.00020571315666,-0.000300498844558,8.58896612969e-06,1793254812575336704
+16,0.266666667,BASELINE,784,760,738,720.629242341,687,651,917,800.370757659,839,657.629242341,636,658,0.400954722442,-0.0153796906853,0.0698110320372,0.999999933812,0.000204628172433,-0.000300706212896,8.84140441942e-06,1793254812592003328
+17,0.283333333,BASELINE,784,760,738,720.050966845,687,651,917,800.949033155,839,657.050966845,636,658,0.40095509421,-0.0153817548361,0.0698115524375,0.999999934452,0.000202821529399,-0.000299792207907,9.16788557252e-06,1793254812608670208
+18,0.300000000,BASELINE,784,760,738,720.524307626,687,651,917.524307626,800.475692374,839,657.524307626,635.475692374,658,0.400955436817,-0.0153806487615,0.0698118923875,0.999999934606,0.000202855918089,-0.000299266432174,8.77843586365e-06,1793254812625336576
+19,0.316666667,BASELINE,784,760,738,721,687,651,917.898378441,800,839,658,635.101621559,658,0.400955635608,-0.015379577411,0.0698120963265,0.999999934662,0.000203056078063,-0.000298952250363,8.45555707228e-06,1793254812642003456
+20,0.333333333,BASELINE,784,760,738,721,687,651,917.309904146,800,839,658,635.690095854,658,0.400955158903,-0.0153801404144,0.0698117322175,0.999999934475,0.000203197918953,-0.000299472009079,8.78312590254e-06,1793254812658670080
+21,0.350000000,BASELINE,784,760,738,721,687,651,917.273827416,800,839,657.726172584,636,657.726172584,0.400954528096,-0.0153801703353,0.0698110738505,0.999999934027,0.000204179766125,-0.000300294322041,8.91228169377e-06,1793254812675336704
+22,0.366666667,BASELINE,784,760,738,721,687,651,917.852282737,800,839,657.147717263,636,657.147717263,0.400953725854,-0.0153796072119,0.0698100881269,0.999999933286,0.000206096104644,-0.000301453220936,8.82070664901e-06,1793254812692003584
+23,0.383333333,BASELINE,784,760,738,721,687,651,918,800.424980752,839,657.424980752,636,657.424980752,0.400954913789,-0.0153792133834,0.0698114619277,0.999999933533,0.000207678654672,-0.000299541790172,8.89963385332e-06,1793254812708670208
+24,0.400000000,BASELINE,784,760,738,721,687,651,918,800.995704403,839,657.995704403,636,657.995704403,0.400956784236,-0.0153788776128,0.0698136449036,0.999999934109,0.000209146735428,-0.000296577420643,9.03703309161e-06,1793254812725336832
+25,0.416666667,BASELINE,783.424091532,760,738,721,687,651,917.424091532,800.424091532,839,657.424091532,636,658,0.400955480606,-0.0153795015418,0.0698118146877,0.999999933672,0.000207643534896,-0.000299097833133,8.96181396133e-06,1793254812742003456
+26,0.433333333,BASELINE,783.159108776,760,738,720.840891224,686.840891224,651,917,800,839,657.159108776,636,657.840891224,0.400954742266,-0.0153800603178,0.069810620579,0.999999933463,0.000206323504399,-0.00030070854995,8.89517233678e-06,1793254812758669824
+27,0.450000000,BASELINE,783.750249769,760,738,720.249750231,686.249750231,651,917,800,839,657.750249769,636,657.249750231,0.400955604231,-0.0153804224203,0.0698112363488,0.999999933912,0.000205562024895,-0.000299736203679,8.85619968116e-06,1793254812775336704
+28,0.466666667,BASELINE,784,760,738,720,686,651,917,800,839,658,636,657,0.40095512497,-0.015380413791,0.0698115391625,0.999999934074,0.000204894789129,-0.000299654684102,8.76625762864e-06,1793254812792003328
+29,0.483333333,BASELINE,784,760,738,720,686,651,917,800,839,658,636,657,0.40095366451,-0.0153801339464,0.069811613028,0.999999934027,0.000204296499011,-0.000300224863943,8.63902805268e-06,1793254812808669952
+30,0.500000000,BASELINE,783.512297072,760,738,720,686.487702928,651,917,800,839,657.512297072,635.512297072,657.487702928,0.400954794628,-0.015379375314,0.0698121922568,0.99999993418,0.000205251696069,-0.000299062515304,8.5964901326e-06,1793254812825336832
+31,0.516666667,BASELINE,783.062331096,760,738,720,687,651,917,800,839,657.062331096,635.062331096,657.937668904,0.400956081524,-0.0153786844672,0.0698126917735,0.999999934318,0.000206361515713,-0.000297836834726,8.55030471682e-06,1793254812842003456
+32,0.533333333,BASELINE,783.637157493,760,738,720,687,651,917,800,839,657.637157493,635.637157493,657.362842507,0.400954862124,-0.0153792524163,0.0698117954978,0.999999934061,0.000206466713848,-0.000298628686709,8.35005076419e-06,1793254812858669824
+33,0.550000000,BASELINE,784,760,738,720.218728998,687,651,917.218728998,800,839.218728998,657.781271002,636,657,0.4009546771,-0.015379841266,0.0698118196857,0.999999934072,0.000206470962939,-0.000298587772492,8.48546039546e-06,1793254812875336704
+34,0.566666667,BASELINE,784,760,738,720.811845717,687,651,917.811845717,800,839.811845717,657.188154283,636,657,0.400956262569,-0.0153804658904,0.0698134193861,0.999999934537,0.000206302422476,-0.000297121453047,9.195408976e-06,1793254812892003328
+35,0.583333333,BASELINE,784,760,737.606105364,721,687,651,917.606105364,800,839.606105364,657,636,657.393894636,0.400957336739,-0.0153809373478,0.0698143295331,0.9999999349,0.000206136630763,-0.000296012141036,9.21740834856e-06,1793254812908669696
+36,0.600000000,BASELINE,784,760,737.029198732,721,687,651,917.029198732,800,839.029198732,657,636,657.970801268,0.400958173348,-0.0153813376406,0.0698149192987,0.999999935215,0.000205972116164,-0.000295068702292,8.91977165474e-06,1793254812925336320
+37,0.616666667,BASELINE,784,760,737.545613658,720.454386342,687,651,917,800,839,657,636,658,0.400957185358,-0.0153794236752,0.0698137993844,0.999999934438,0.000207824075559,-0.000296410556346,8.63250889236e-06,1793254812942003200
+38,0.633333333,BASELINE,783.880239709,760,737.880239709,720,686.880239709,651,917,800,839,657.119760291,635.880239709,657.880239709,0.400956442785,-0.0153781461774,0.0698128435974,0.999999933899,0.000208914225369,-0.000297466462374,8.35117377266e-06,1793254812958670080
+39,0.650000000,BASELINE,783.308185607,760,737.308185607,720,686.308185607,651,917,800,839,657.691814393,635.308185607,657.308185607,0.400956994427,-0.0153797383451,0.0698128518844,0.999999934501,0.000206721290428,-0.000296982327405,8.09013660521e-06,1793254812975336960
+40,0.666666667,BASELINE,783.275422323,760,737.275422323,720,686.275422323,651,917,800,839,658,635.275422323,657.275422323,0.400957462161,-0.0153810680758,0.0698130185292,0.999999935084,0.000204596449691,-0.000296489726216,8.18766621821e-06,1793254812992003840
+41,0.683333333,BASELINE,783.872524526,760,737.872524526,720,686.872524526,651,917,800,839,658,635.872524526,657.872524526,0.400957831894,-0.0153820912928,0.0698133701283,0.999999935644,0.000202551139805,-0.00029598723692,8.70398441046e-06,1793254813008670208
+42,0.700000000,BASELINE,784,760.453651786,738,720,687,651,917.453651786,800,839,658,636,657.546348214,0.400956761799,-0.0153811876266,0.0698131526497,0.999999934982,0.000204347828242,-0.000296989052102,8.67214609441e-06,1793254813025336832
+43,0.716666667,BASELINE,784,760.969719632,738,720.030280368,687,651,918,800.030280368,839,658,636,657.030280368,0.400955426072,-0.0153798169822,0.0698128270216,0.999999934053,0.000207015806177,-0.000298271391129,8.49137738422e-06,1793254813042003456
+44,0.733333333,BASELINE,784,760.396006183,738,720.603993817,687,651,918,800.603993817,839,658,636,657.603993817,0.40095633716,-0.0153794523414,0.0698133327043,0.999999934441,0.000206604443141,-0.000297260058965,8.30811766555e-06,1793254813058670080
+45,0.750000000,BASELINE,784,760,738,721,687,651,918,800.816986432,839.183013568,658,636,658,0.400956916095,-0.0153797312769,0.0698135005633,0.99999993483,0.000205448231859,-0.000296752161248,8.3051508912e-06,1793254813075336704
+46,0.766666667,BASELINE,784,760,738,721,687,651,918,800.226142096,839.773857904,658,636,658,0.400956754857,-0.01538144437,0.06981291561,0.999999935219,0.000202632187243,-0.000297366126155,8.70395222018e-06,1793254813092003328
+47,0.783333333,BASELINE,784,760,738,720.643418779,687,651,917.643418779,800,839.643418779,658,636,657.643418779,0.400955911299,-0.0153812087357,0.0698126889026,0.999999934871,0.000203344891636,-0.000298043154609,8.84700143929e-06,1793254813108669952
+48,0.800000000,BASELINE,784,760,738,720.065731032,687,651,917.065731032,800,839.065731032,658,636,657.065731032,0.400954644653,-0.0153797647474,0.0698126843339,0.999999934064,0.000206245679112,-0.00029875928715,8.83146561957e-06,1793254813125336576
+49,0.816666667,BASELINE,784,760,738,720.492421522,687,651,917,800,839.492421522,658,636,657.492421522,0.400954836604,-0.0153784854906,0.0698123192112,0.999999933628,0.00020791695364,-0.000299071518087,8.41450562971e-06,1793254813142003456
+50,0.833333333,BASELINE,784,760,738,720.948457114,687,651,917,800.051542886,839.948457114,658,636,657.948457114,0.400955147592,-0.0153775742801,0.0698119307035,0.999999933355,0.000208875818159,-0.000299326145506,8.00396372863e-06,1793254813158670336
+51,0.850000000,BASELINE,784,760,738,720.35261838,687,651,917,800.64738162,839.35261838,658,636,657.35261838,0.400954738019,-0.0153803263123,0.0698117840963,0.999999934307,0.000203978596765,-0.000299520096344,8.20545764376e-06,1793254813175336704
+52,0.866666667,BASELINE,784,760,738,720.242697991,687,651,917,800.757302009,839.242697991,657.757302009,636,657.242697991,0.400954434543,-0.0153821512019,0.069811808167,0.999999934817,0.00020112223012,-0.00029974068728,8.40303764616e-06,1793254813192003328
+53,0.883333333,BASELINE,784,760,738,720.837257013,687,651,917,800.162742987,839.837257013,657.162742987,636,657.837257013,0.400954284889,-0.0153826319293,0.0698120796847,0.999999934717,0.000201224673817,-0.000299999900755,8.59494328664e-06,1793254813208669952
+54,0.900000000,BASELINE,784,760.416708402,737.583291598,720.583291598,687,651,917,800,839.583291598,657,636,657.583291598,0.400955115627,-0.0153817595953,0.0698123030077,0.999999934837,0.000202329582963,-0.000298856260549,8.6195892769e-06,1793254813225336576
+55,0.916666667,BASELINE,784,760.990466008,737.009533992,720.009533992,687,651,917,800,839.009533992,657,636,657.009533992,0.400956315856,-0.015380377319,0.0698125081671,0.999999935034,0.000203812301625,-0.000297183912365,8.58119838891e-06,1793254813242003456
+56,0.933333333,BASELINE,784,760.422945664,737,720.577054336,686.422945664,651,917,800,839,657.577054336,636,657,0.400954598915,-0.0153821792333,0.0698117198394,0.999999934635,0.000202750642588,-0.000299245971542,8.57079702332e-06,1793254813258670336
+57,0.950000000,BASELINE,784,760,737.160809736,721,686.160809736,651,917,800,839,658,636,657.160809736,0.400954053436,-0.0153834384696,0.0698115600217,0.999999934622,0.000201856300592,-0.000299893118014,8.60973843256e-06,1793254813275337216
+58,0.966666667,BASELINE,784,760,737.736693222,721,686.736693222,651,917,800,839,658,636,657.736693222,0.400956658907,-0.0153831580946,0.0698130658125,0.999999935636,0.000201504802027,-0.000296725288469,8.77482008995e-06,1793254813292003840
+59,0.983333333,BASELINE,783.68287725,760,737.68287725,720.68287725,687,651,917,800,839,657.68287725,636,657.68287725,0.400957789081,-0.0153830582608,0.069813643194,0.999999935918,0.000201670835194,-0.000295657546767,8.85937065916e-06,1793254813308670464
+60,1.000000000,BASELINE,783.098618184,760,737.098618184,720.098618184,687,651,917,800,839,657.098618184,636,657.098618184,0.400957676501,-0.0153831105104,0.0698134385067,0.999999935589,0.000202272824179,-0.000296358866467,8.87608386158e-06,1793254813325337344
+61,1.016666667,BASELINE,783.478886431,760,737.478886431,720,687,651,917,800,839,657,636,657.478886431,0.400955994016,-0.0153821820417,0.0698122846009,0.999999934864,0.000202869232286,-0.000298401337107,8.54478734509e-06,1793254813342003712
+62,1.033333333,BASELINE,784,760,738,720,686.945360883,651,917,800,839,657.054639117,636,658,0.40095428321,-0.015381295735,0.0698111681739,0.99999993416,0.000203471545425,-0.000300352808156,8.21905306825e-06,1793254813358670080
+63,1.050000000,BASELINE,784,760,738,720,686.373209984,651,917,800,839,657.626790016,636,658,0.400955323637,-0.0153826950267,0.069812232404,0.999999934467,0.000204140522134,-0.000298862879661,8.61534553899e-06,1793254813375336960
+64,1.066666667,BASELINE,784,760,738,720,686.207284691,651,917,800,839,657.792715309,636,657.792715309,0.400956214602,-0.0153834658857,0.0698131254425,0.999999934931,0.000203922809399,-0.000297447250497,8.83493415551e-06,1793254813392003328
+65,1.083333333,BASELINE,784,760,738,720,686.803432121,651,917,800,839,657.196567879,636,657.196567879,0.400956825178,-0.015383057815,0.0698136973283,0.999999935693,0.000202041681516,-0.000296171005771,8.72302916468e-06,1793254813408670208
+66,1.100000000,BASELINE,784,760,738,720,687,651,917,800,839.383793084,657,635.616206916,657,0.400955810263,-0.0153829749502,0.0698127487768,0.999999935421,0.000201341020234,-0.000297568559041,8.47680767297e-06,1793254813425336832
+67,1.116666667,BASELINE,784,760,738,720,687,651,917,800,839.956388085,657,635.043611915,657,0.400953995708,-0.0153830520661,0.0698110522663,0.999999934637,0.000201221073896,-0.000300281451813,8.16451096313e-06,1793254813442003456
+68,1.133333333,BASELINE,784,760,738,720.533801917,687,651,917,800,839.466198083,657,635.533801917,657.533801917,0.400955240545,-0.0153833764159,0.0698122755412,0.999999935179,0.00020105038739,-0.000298577791689,8.51314980233e-06,1793254813458670336
+69,1.150000000,BASELINE,784,760,738,720.888945319,687,651,917,800,839.111054681,657,636,658,0.400956782702,-0.0153833221134,0.0698137157898,0.999999935754,0.000201410390959,-0.000296393098868,8.81665730452e-06,1793254813475337216
+70,1.166666667,BASELINE,784,760,738,720.31402492,687,651,917,800,839.68597508,657,636,658,0.400958513189,-0.0153816010743,0.0698150568471,0.999999936017,0.000204004513878,-0.000293720080424,8.70405208471e-06,1793254813492003584
+71,1.183333333,BASELINE,784,760,738,720,687,651,917,800,839.731025174,657.268974826,636,657.731025174,0.400958212453,-0.0153811039067,0.0698150004867,0.999999935916,0.000204529858393,-0.000293702255777,8.6303477631e-06,1793254813508670208
+72,1.200000000,BASELINE,784,760,738,720,687,651,917,800,839.138300706,657.861699294,636,657.138300706,0.400955466852,-0.0153820798431,0.0698132621344,0.999999935378,0.000202565132791,-0.000296880335969,8.60346621704e-06,1793254813525337088
+73,1.216666667,BASELINE,784,760,737.557874862,720.442125138,687,651,917,800,839,657.557874862,636,657,0.400955280609,-0.0153823723317,0.0698132887257,0.999999935423,0.000201674750564,-0.000297330349503,8.69062209984e-06,1793254813542003712
+74,1.233333333,BASELINE,784,760,737.018731918,721,687,651,917,800,839,657,636,657,0.400955861025,-0.0153824491083,0.069813819129,0.999999935641,0.000201139035105,-0.000296957254391,8.80472209873e-06,1793254813558670336
+75,1.250000000,BASELINE,784,760,737.593083622,721,687,651,917,800,839,657,636,657,0.400956077681,-0.0153822972099,0.0698133607275,0.999999935632,0.000201424882767,-0.000296796519163,8.68857721677e-06,1793254813575336960
+76,1.266666667,BASELINE,784,760,738,721,687,651,917,800,839,657,636,657.173032551,0.400956280709,-0.0153820363036,0.0698132269932,0.999999935601,0.000201817683858,-0.000296638233179,8.59595699571e-06,1793254813592003584
+77,1.283333333,BASELINE,784,760,738,721,687,651,917,800,839,657,636,657.766584321,0.400956450617,-0.0153815104768,0.0698138822942,0.999999935514,0.000202470412739,-0.000296485899581,8.5605085215e-06,1793254813608670208
+78,1.300000000,BASELINE,784,760,738,720.651377347,687,651,917,800,839,657.348622653,636,658,0.400956501005,-0.0153811813567,0.0698138211953,0.999999935381,0.000202881734295,-0.000296653369246,8.58206832565e-06,1793254813625337088
+79,1.316666667,BASELINE,784,760,738,720.076801262,687,651,917,800,839,657.923198738,636,658,0.400956473927,-0.0153809797285,0.0698132957749,0.999999935218,0.000203136592056,-0.000297028113583,8.64057700978e-06,1793254813642003456
+80,1.333333333,BASELINE,784,760,738,720,686.501476212,651,917,800,839,657.501476212,636,658,0.400956404357,-0.0153808379161,0.0698136278248,0.999999935388,0.00020297584456,-0.000296563616643,8.60458912555e-06,1793254813658670080
+81,1.350000000,BASELINE,784,760,738,720,686.073813229,651,917,800,839,657.073813229,636,657.926186771,0.40095628575,-0.015380900212,0.0698139968269,0.999999935575,0.000202633813715,-0.000296168258431,8.59381780396e-06,1793254813675336704
+82,1.366666667,BASELINE,784,760,738,720,686.648077503,651,917,800,839,657.648077503,636,657.351922497,0.400955879129,-0.0153822837835,0.0698137193842,0.99999993552,0.000201497442637,-0.000297119567929,8.8528643942e-06,1793254813692003584
+83,1.383333333,BASELINE,784,760,737.770464608,720,687,651,917.229535392,800,839.229535392,657.770464608,636,657.229535392,0.400955998858,-0.0153828930701,0.0698135479234,0.999999935422,0.000201410022048,-0.000297507758214,8.92372766621e-06,1793254813708670720
+84,1.400000000,BASELINE,784,760,737.177620575,720,687,651,917.822379425,800,839.822379425,657.177620575,636,657.822379425,0.400956951695,-0.0153822768185,0.0698135442107,0.999999935255,0.000202982880223,-0.000297004643499,8.69673440318e-06,1793254813725337344
+85,1.416666667,BASELINE,784,760,737.404687097,720.404687097,687,651,918,800,840,657,636,657.595312903,0.400957782808,-0.0153828830956,0.0698138077256,0.999999935479,0.000203218747223,-0.000296087909508,8.72346048577e-06,1793254813742003712
+86,1.433333333,BASELINE,784,760,737.982487583,720.982487583,687,651,918,800,840,657,636,657.017512417,0.40095856185,-0.015384012335,0.0698141855527,0.999999935869,0.000202882688126,-0.00029499424123,8.85872035078e-06,1793254813758670592
+87,1.450000000,BASELINE,784,760,737.443183633,720.443183633,687,651,917.443183633,800,839.443183633,657.556816367,636,657.556816367,0.400957727652,-0.0153825242905,0.0698143691227,0.999999935645,0.000203312437635,-0.000295460861046,8.78724715268e-06,1793254813775336960
+88,1.466666667,BASELINE,784,760,737.135420971,720,686.864579029,651,917.135420971,800.135420971,839,657.864579029,636,657.864579029,0.400957011227,-0.0153818074341,0.0698145823316,0.999999935637,0.000203092840248,-0.000295639030912,8.79092687888e-06,1793254813792003584
+89,1.483333333,BASELINE,784,760,737.728853947,720,686.271146053,651,917.728853947,800.728853947,839,657.271146053,636,657.271146053,0.40095686367,-0.0153839755193,0.0698149163186,0.999999936422,0.000200596108569,-0.000294676682393,9.07063817757e-06,1793254813808670208
+90,1.500000000,BASELINE,784,760,738,720,686.312984731,651,917.687015269,800.687015269,839,657.312984731,636,657.312984731,0.400956292392,-0.0153839657141,0.0698144315204,0.999999936161,0.000200842548547,-0.000295394304734,9.02793543939e-06,1793254813825337088
+91,1.516666667,BASELINE,784,760,738,720,686.889289378,651,917.110710622,800.110710622,839,657.889289378,636,657.889289378,0.400955364631,-0.0153821236088,0.069813257863,0.999999935016,0.00020339687034,-0.000297525318066,8.71397971985e-06,1793254813842003712
+92,1.533333333,BASELINE,784,760,738,720,687,651,917.467506101,800,839,658,635.532493899,658,0.400954515999,-0.0153828217938,0.0698125641867,0.99999993483,0.000202488217788,-0.000298769976987,8.64903117611e-06,1793254813858670336
+93,1.550000000,BASELINE,784,760,738,720.045739518,687,651,918,800,839,658,635,657.954260482,0.400953898419,-0.0153839770285,0.0698121258106,0.999999934917,0.000200898171254,-0.000299551605856,8.64859790358e-06,1793254813875336960
+94,1.566666667,BASELINE,784,760,738,720.618922053,687,651,918,800,839,658,635,657.381077947,0.400955728225,-0.0153834372561,0.0698133153141,0.999999935542,0.00020094610553,-0.000297424200307,8.70934416762e-06,1793254813892003584
+95,1.583333333,BASELINE,784,760,738,720.801295118,687,651,917.801295118,800,839,658,635.198704882,657,0.400956284843,-0.0153828671269,0.0698137569845,0.999999935663,0.000201348922581,-0.000296745043516,8.6452809108e-06,1793254813908670464
+96,1.600000000,BASELINE,784,760,738,720.208419177,687,651,917.208419177,800,839,658,635.791580823,657,0.400954315838,-0.0153822367788,0.0698127151778,0.999999934789,0.000202455720936,-0.000298938778765,8.33363290135e-06,1793254813925337088
+97,1.616666667,BASELINE,784,760,737.626473341,720,687,651,917,800,839,658,636,657.373526659,0.400954765145,-0.0153818306503,0.0698128697118,0.999999934611,0.000203835056568,-0.000298592864109,8.41803078572e-06,1793254813942003712
+98,1.633333333,BASELINE,784,760,737.050452896,720,687,651,917,800,839,658,636,657.949547104,0.40095652545,-0.0153815460744,0.0698136727982,0.999999934809,0.000205362138227,-0.000296870171218,8.71713045252e-06,1793254813958670592
+99,1.650000000,BASELINE,784,760,737.526536979,720,687,651,917,800,839,658,636,658,0.400954259416,-0.0153818146428,0.069812758103,0.999999934468,0.000204321263262,-0.000298746718214,8.25198873242e-06,1793254813975337216
+100,1.666666667,BASELINE,784,760,738,720.105621168,687,651,917,800,839,657.894378832,636,658,0.40095248793,-0.0153821313992,0.0698120135894,0.999999934259,0.00020316817337,-0.000300237815298,7.86375135387e-06,1793254813992003584
+101,1.683333333,BASELINE,784,760,738,720.693849511,687,651,917,800,839,657.306150489,636,658,0.400954742228,-0.0153824257114,0.0698128001483,0.999999934919,0.000202628736048,-0.000298388961895,8.16212821484e-06,1793254814008670720
+102,1.700000000,BASELINE,784,760.277507715,738,721,687,651,917.277507715,800.277507715,839.277507715,657,635.722492285,657.722492285,0.400955948576,-0.0153822645772,0.069813274544,0.999999935323,0.000202098174219,-0.000297390709869,8.28957640222e-06,1793254814025337344
+103,1.716666667,BASELINE,784,760.856205724,738,721,687,651,917.856205724,800.856205724,839.856205724,657,635.143794276,657.143794276,0.40095601754,-0.0153816091287,0.0698134101366,0.999999935451,0.000201577245354,-0.00029731564988,8.23150880012e-06,1793254814042003968
+104,1.733333333,BASELINE,784,760.567461544,737.567461544,720.567461544,687,651,918,800.567461544,839.567461544,657,635.432538456,657,0.4009568414,-0.0153817872633,0.0698141171035,0.999999935759,0.00020210936182,-0.000295904792538,8.5855208727e-06,1793254814058670592
+105,1.750000000,BASELINE,784,760,737.008099028,720,687,651,918,800,839,657.008099028,636,657.008099028,0.400957859051,-0.015382229195,0.0698149722592,0.999999936099,0.000202999093218,-0.000294128606182,9.06447272396e-06,1793254814075337472
+106,1.766666667,BASELINE,784,760,737.584349577,720,687,651,918,800,839,657.584349577,636,657.584349577,0.40095496206,-0.0153818423445,0.0698129703524,0.999999934726,0.000204551151897,-0.000297707162584,8.75015406728e-06,1793254814092003840
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,759,737,720,687,651,917,800,840,658,635,658,0.400954928252,-0.0153794918476,0.069812434562,0.999999933975,0.000206524858284,-0.000298883111392,8.11833888746e-06,1793254814132264448
+108,1.800000000,POSE1_TO_POSE2_PRESS,784,759.578069164,737.578069164,720,687,651,917,800,839.421930836,657.421930836,635,658,0.400955719792,-0.015381757473,0.0698129945304,0.999999935107,0.000203500457763,-0.000297156029433,8.42456498755e-06,1793254814148931584
+109,1.816666667,POSE1_TO_POSE2_PRESS,784,760,738,720,686.844520744,651,917,800,839,657,635.155479256,657.844520744,0.400956135625,-0.0153832579866,0.0698134830527,0.99999993586,0.000201466727308,-0.000295999996897,8.66190268915e-06,1793254814165598720
+110,1.833333333,POSE1_TO_POSE2_PRESS,784,760,738,720,686.268891529,651,917,800,839,657,635.731108471,657.268891529,0.400955536186,-0.0153826909468,0.069813778507,0.999999935615,0.000202110073508,-0.000296387104844,8.71308406295e-06,1793254814182265088
+111,1.850000000,POSE1_TO_POSE2_PRESS,784,760,738,720.313192969,686.313192969,651,917,800.313192969,839,657,635.686807031,657.313192969,0.400954606448,-0.0153829461008,0.0698130430814,0.999999935144,0.000202089603402,-0.000297984182179,8.76210671601e-06,1793254814198931712
+112,1.866666667,POSE1_TO_POSE2_PRESS,784,760,738,720.900936243,686.900936243,651,917,800.900936243,839,657,635.099063757,657.900936243,0.400953387163,-0.0153839220037,0.069811403969,0.99999993447,0.000201487220547,-0.000300641939315,8.8092369945e-06,1793254814215598080
+113,1.883333333,POSE1_TO_POSE2_PRESS,784,760,738,721,687,651,917,800.51827292,839.48172708,657,635.48172708,657.51827292,0.400954650373,-0.0153839128754,0.069812542264,0.99999993493,0.000201876360876,-0.000298854044043,8.52741505051e-06,1793254814232264448
+114,1.900000000,POSE1_TO_POSE2_PRESS,784,760,738,720.939011505,686.939011505,651,917.060988495,800,839.939011505,657.060988495,635.939011505,657.060988495,0.400956329894,-0.0153836799483,0.069814113913,0.999999935565,0.000202420444493,-0.00029635915644,8.21984014903e-06,1793254814248931072
+115,1.916666667,POSE1_TO_POSE2_PRESS,784,760,738,720.36076817,686.36076817,651,917.63923183,800,839.36076817,657.63923183,635.36076817,657.63923183,0.400957272122,-0.0153832424897,0.0698145857688,0.999999935784,0.000202573922467,-0.000295511467913,8.25941145897e-06,1793254814265597952
+116,1.933333333,POSE1_TO_POSE2_PRESS,784,760,738,720,686.215507009,651,917.784492991,800.215507009,839.215507009,658,635.215507009,657.784492991,0.400959649207,-0.0153832352607,0.0698157150595,0.999999936378,0.000201958534788,-0.000293913051931,8.4524187097e-06,1793254814282264576
+117,1.950000000,POSE1_TO_POSE2_PRESS,784,760,738,720,686.788517172,651,917.211482828,800.788517172,839.788517172,658,635.788517172,657.211482828,0.400964406567,-0.0153839417366,0.0698179349646,0.999999937586,0.000200067680944,-0.000291069259222,8.89995982469e-06,1793254814298931200
+118,1.966666667,POSE1_TO_POSE2_PRESS,784,759.627291216,737.627291216,720,687,651,917,800.627291216,839.627291216,657.627291216,635.627291216,657.372708784,0.400983414509,-0.0153845389418,0.0698268322938,0.999999941317,0.000201350790853,-0.000276998244796,9.76679310915e-06,1793254814315597568
+119,1.983333333,POSE1_TO_POSE2_PRESS,784,759.036558731,737.036558731,720,687,651,917,800.036558731,839.036558731,657.036558731,635.036558731,657.963441269,0.401010758624,-0.0153850722269,0.0698396357203,0.999999946172,0.000204490576169,-0.000256359634753,1.0878900048e-05,1793254814332263936
+120,2.000000000,POSE1_TO_POSE2_PRESS,784,759.543262205,737.543262205,720,687,651,917,800,839,657.543262205,635.543262205,657.456737795,0.401059537755,-0.0153880027741,0.0698573313831,0.999999953983,0.000202216292148,-0.000225824363578,1.20596319053e-05,1793254814348930560
+121,2.016666667,POSE1_TO_POSE2_PRESS,783.878458947,760,738,720,687,651,917,800,839,657.878458947,636,657,0.401112392174,-0.0153909690472,0.069874451134,0.999999960129,0.000200083427986,-0.000198837222293,1.31484286423e-05,1793254814365597440
+122,2.033333333,POSE1_TO_POSE2_PRESS,783.303249112,760,738,720,687,651,917,800,839,657.303249112,636,657,0.401175179989,-0.0153934783676,0.0698882165479,0.999999962357,0.000199811600856,-0.000187530925726,1.38771669128e-05,1793254814382265088
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.271594662,760,738,720.271594662,687,651,917,800.271594662,839,657.271594662,636,657.271594662,0.401246462037,-0.0153964341276,0.0698982951797,0.999999964643,0.000199389678748,-0.000175411172997,1.37614626964e-05,1793254814398931968
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.846030227,760,738,720.846030227,687,651,917,800.846030227,839,657.846030227,636,657.846030227,0.401327215553,-0.0153998876886,0.0699042628741,0.999999966974,0.000198800393652,-0.000162384378828,1.27041650982e-05,1793254814415598592
+125,2.083333333,POSE1_TO_POSE2_PRESS,784,760,737.566853919,720.566853919,687,651,917.433146081,800.566853919,839,658,636,657.566853919,0.401419403379,-0.0154048768199,0.0699073909092,0.999999968464,0.000196027764219,-0.000156620849017,1.07335963067e-05,1793254814432265472
+126,2.100000000,POSE1_TO_POSE2_PRESS,783.975694269,760.024305731,737.024305731,720.024305731,687,651,918,800,839,657.975694269,635.975694269,657,0.401516902817,-0.0154103801941,0.0699095344894,0.999999969634,0.00019262391648,-0.000153479741307,8.43269615051e-06,1793254814448931840
+127,2.116666667,POSE1_TO_POSE2_PRESS,783.398181027,760.601818973,737.601818973,720.601818973,687,651,918,800,839,657.398181027,635.398181027,657,0.401639996341,-0.0154147895884,0.0699129389032,0.999999970173,0.00019305058023,-0.000149489615708,6.22506975115e-06,1793254814465598464
+128,2.133333333,POSE1_TO_POSE2_PRESS,783.178968778,760.821031222,738,721,687,651,918,800.178968778,839,657,635.178968778,657,0.401771054272,-0.0154200264682,0.0699149225375,0.999999970997,0.000190755517606,-0.00014698649746,3.59131542388e-06,1793254814482265088
+129,2.150000000,POSE1_TO_POSE2_PRESS,783.755311549,760.244688451,738,721,687,651,918,800.755311549,839,657,635.755311549,657,0.401919795992,-0.0154271006578,0.0699137515381,0.999999972442,0.000182417259615,-0.000147785062062,1.14066564289e-08,1793254814498931712
+130,2.166666667,POSE1_TO_POSE2_PRESS,784,760,738,720.670246752,687,651,917.670246752,800.670246752,839,657.329753248,636,657,0.402090443721,-0.0154338023018,0.0699145494042,0.999999974128,0.000175064364374,-0.000145192871348,-4.02460876077e-06,1793254814515597824
+131,2.183333333,POSE1_TO_POSE2_PRESS,784,760,738,720.097207569,687,651,917.097207569,800.097207569,839,657.902792431,636,657,0.402277253321,-0.0154402290891,0.0699167998634,0.999999975965,0.000168438450932,-0.000140099043257,-8.39713172222e-06,1793254814532264192
+132,2.200000000,POSE1_TO_POSE2_PRESS,784,760,738,720,686.505697311,651,917,800,839,657.505697311,636,657.494302689,0.402489132822,-0.0154476047742,0.0699192845284,0.999999977685,0.00016155638711,-0.000135496919249,-1.30443836074e-05,1793254814548930816
+133,2.216666667,POSE1_TO_POSE2_PRESS,784,760,738,720.086693136,686.086693136,651,917,800.086693136,839,657,636,657.913306864,0.402712447377,-0.0154555634233,0.0699226716873,0.999999979819,0.000152766946336,-0.000129271221395,-1.76889066595e-05,1793254814565597696
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,760,738,720.662751921,686.662751921,651,917,800.662751921,839,657,636,657.337248079,0.402971400637,-0.0154657185463,0.069930883167,0.999999984426,0.000133506122593,-0.000113313746343,-2.20012170882e-05,1793254814582264576
+135,2.250000000,POSE1_TO_POSE2_PRESS,784.238028719,760,738,721,686.761971281,651,917.238028719,800.761971281,839.238028719,657,636,657,0.403249409871,-0.0154755957291,0.0699402681655,0.999999990896,9.11916371505e-05,-9.593322115e-05,-2.62412481264e-05,1793254814598931456
+136,2.266666667,POSE1_TO_POSE2_PRESS,784.812201163,760,738,721,686.187798837,651,917.812201163,800.187798837,839.812201163,657,636,657,0.403554329902,-0.0154850804046,0.0699513104048,0.999999996476,1.63208134213e-05,-7.65430677437e-05,-3.03792059929e-05,1793254814615598080
+137,2.283333333,POSE1_TO_POSE2_PRESS,784.604243112,760,737.604243112,720.604243112,686.395756888,651,917.604243112,800,839.604243112,657,636,657,0.403871823471,-0.0154933170192,0.0699530732206,0.999999996489,-8.42816131655e-06,-7.55410826932e-05,-3.52697187091e-05,1793254814632264704
+138,2.300000000,POSE1_TO_POSE2_PRESS,784.016126613,760,737.016126613,720.016126613,686.983873387,651,917.016126613,800,839.016126613,657,636,657,0.404195428462,-0.0155009470073,0.069950325726,0.999999995656,-8.81515888989e-06,-8.34767593939e-05,-4.05260144069e-05,1793254814648931072
+139,2.316666667,POSE1_TO_POSE2_PRESS,784,760,737.566707201,720,687,651,917.566707201,800,839,657.566707201,636,657,0.404563842514,-0.0154968209738,0.0699574292723,0.999999996528,3.66264910848e-05,-6.94538400086e-05,-2.78958465673e-05,1793254814665597696
+140,2.333333333,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917.852866525,800,839,658,636,657,0.404945569553,-0.0154898600485,0.0699627705557,0.999999995457,7.15036114741e-05,-5.9772039764e-05,-2.00327434995e-05,1793254814682264320
+141,2.350000000,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917.278991134,800,839,658,636,657,0.405362244986,-0.015475638203,0.069962195072,0.999999994953,7.19921158219e-05,-6.44767208916e-05,-2.74585328642e-05,1793254814698930944
+142,2.366666667,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,839.294806415,657.705193585,636,657,0.405793442521,-0.0154732724883,0.0699585375577,0.999999994932,6.33761330459e-05,-7.13246786672e-05,-3.21194363585e-05,1793254814715597568
+143,2.383333333,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,839.868530386,657.131469614,636,657,0.406238379524,-0.0154821239058,0.0699519641215,0.999999995136,4.61463578203e-05,-8.02003997751e-05,-3.41644708859e-05,1793254814732264192
+144,2.400000000,POSE1_TO_POSE2_PRESS,784,760,738,719.544528395,686.544528395,651,917.455471605,800,839.544528395,657.455471605,636,657.455471605,0.406717163077,-0.0154903078068,0.0699374581704,0.999999993843,3.59544559919e-05,-9.81976615492e-05,-3.71160350022e-05,1793254814748930816
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,760,738,719.045488182,686,651,917.954511818,800,839.045488182,658,636,657.954511818,0.407212272458,-0.0154976304124,0.0699226447893,0.999999992105,2.78694313643e-05,-0.000115751387021,-4.01784676237e-05,1793254814765597696
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,760,738,719.625473403,686,651,917.374526597,800,839.625473403,658,636,657.374526597,0.40778098823,-0.0154971642418,0.0699319273824,0.999999994315,1.9957341299e-05,-9.6231826147e-05,-4.13771162529e-05,1793254814782264320
+147,2.450000000,POSE1_TO_POSE2_PRESS,783.79599144,760,738,719.79599144,686.20400856,651,917,800,839.79599144,657.79599144,636,657,0.408364237806,-0.015496493696,0.0699428376911,0.999999996349,1.88452547031e-05,-7.21670173427e-05,-4.16991110632e-05,1793254814798930688
+148,2.466666667,POSE1_TO_POSE2_PRESS,783.220099612,760,738,719.220099612,686.779900388,651,917,800,839.220099612,657.220099612,636,657,0.408973980738,-0.0154954505986,0.0699567151305,0.999999997936,3.01287637618e-05,-3.98167649126e-05,-4.04230704564e-05,1793254814815597312
+149,2.483333333,POSE1_TO_POSE2_PRESS,783.35388002,760,738,719,687,651,917,800.35388002,839.35388002,657.35388002,636,657,0.409577376152,-0.0154937347497,0.0699544350333,0.999999997855,3.01754987988e-05,-4.04248793325e-05,-4.17762004641e-05,1793254814832264192
+150,2.500000000,POSE1_TO_POSE2_PRESS,783.92667671,760,738,719,687,651,917,800.92667671,839.92667671,657.92667671,636,657,0.410176844854,-0.0154916027244,0.069942159587,0.999999996841,2.32709589482e-05,-6.14216450877e-05,-4.47557836792e-05,1793254814848930816
+151,2.516666667,POSE1_TO_POSE2_PRESS,784,760.518516647,738,719,686.481483353,651,917.518516647,801.518516647,839.481483353,658,636,657.518516647,0.41083836623,-0.0154947848576,0.0699423768491,0.999999996571,1.70190291344e-05,-6.70446242788e-05,-4.55316923812e-05,1793254814865597440
+152,2.533333333,POSE1_TO_POSE2_PRESS,784,761,738,719.108723944,686.108723944,651,918,801.891276056,839.217447887,658,636,657.891276056,0.411522687429,-0.0154985544089,0.069949452396,0.999999997097,1.20815428689e-05,-5.98446616698e-05,-4.56004712856e-05,1793254814882264064
+153,2.550000000,POSE1_TO_POSE2_PRESS,784,761,738,719.680088207,686.680088207,651,918,801.319911793,840.360176414,658,636,657.319911793,0.412265263667,-0.0155015039567,0.0699779074317,0.999999998925,1.23295934519e-05,-7.68421055131e-06,-4.40368435397e-05,1793254814898930688
+154,2.566666667,POSE1_TO_POSE2_PRESS,784.254719373,761,738,719.745280627,687,651,918,801,840.745280627,658,636,657,0.413015222591,-0.0155047736752,0.0700028871123,0.99999999848,1.18725803661e-05,3.26274008607e-05,-4.28423736108e-05,1793254814915597312
+155,2.583333333,POSE1_TO_POSE2_PRESS,784.833506952,761,738,719.166493048,687,651,918,801,840.166493048,658,636,657,0.413774574282,-0.0155084507333,0.0700234452558,0.999999997384,1.0518545982e-05,5.7864264041e-05,-4.21175667501e-05,1793254814932263936
+156,2.600000000,POSE1_TO_POSE2_PRESS,785,761,738,719,687,651,917.579032023,801,840,657.579032023,636.420967977,657,0.414513302277,-0.0155061834852,0.0700012531564,0.999999998866,5.85527755396e-06,1.39231223244e-05,-4.51668995623e-05,1793254814948930560
+157,2.616666667,POSE1_TO_POSE2_PRESS,784.98830659,761,738,719,687,651,917.01169341,801,840,657.01169341,637,657.01169341,0.415244905458,-0.0155015466687,0.0699618658501,0.999999997107,-1.34043329393e-08,-5.75368538426e-05,-4.97548714155e-05,1793254814965597184
+158,2.633333333,POSE1_TO_POSE2_PRESS,784.409134731,761,738,719,687,651,917.590865269,801,840,657.590865269,637,657.590865269,0.416034914426,-0.015498407722,0.0699257893258,0.999999992569,4.71588746585e-07,-0.000108776007768,-5.50496287044e-05,1793254814982264064
+159,2.650000000,POSE1_TO_POSE2_PRESS,784.168757923,761,738,719,686.831242077,651,918,801,840.168757923,657.831242077,636.831242077,658,0.416847513918,-0.0154983756708,0.0699086052418,0.999999989392,-2.4059419176e-06,-0.000133410306058,-5.84192096271e-05,1793254814998930944
+160,2.666666667,POSE1_TO_POSE2_PRESS,784.743572583,761,738,719,686.256427417,651,918,801,840.743572583,657.256427417,636.256427417,658,0.417714469534,-0.0155058192745,0.0699368791895,0.999999993856,-1.33742063457e-05,-9.40293502471e-05,-5.71565289422e-05,1793254815015597312
+161,2.683333333,POSE1_TO_POSE2_PRESS,785,760.674182828,738,718.674182828,686,651,918,801,840.674182828,657.325817172,636,658,0.41858252024,-0.0155086939492,0.0699626976021,0.999999996675,-1.92543669187e-05,-5.62795245971e-05,-5.5785931526e-05,1793254815032263936
+162,2.700000000,POSE1_TO_POSE2_PRESS,785,760.085954242,738,718.085954242,686,651,918,801,840.085954242,657.914045758,636,658,0.419451452884,-0.0155078888327,0.0699865383384,0.999999998106,-2.10365952287e-05,-1.98434044057e-05,-5.4328418608e-05,1793254815048930560
+163,2.716666667,POSE1_TO_POSE2_PRESS,785,760.494609704,738,718,686,651.494609704,917.505390296,801,840,657.505390296,636,658,0.42039497877,-0.0155108119475,0.0700124202039,0.999999998058,-2.50872164527e-05,2.270726933e-05,-5.23312801885e-05,1793254815065597184
+164,2.733333333,POSE1_TO_POSE2_PRESS,785,761,738,718,686.073690426,651.926309574,917.073690426,801,840,657,636.073690426,658,0.421341753731,-0.0155135608202,0.0700327184352,0.999999996711,-2.88936967976e-05,5.60883429239e-05,-5.09706450127e-05,1793254815082264064
+165,2.750000000,POSE1_TO_POSE2_PRESS,785,761,738,718,686.651596912,651.348403088,917.651596912,801,840,657,636.651596912,658,0.422223415889,-0.015510751957,0.0700124214216,0.999999997916,-2.83735413215e-05,1.95680057032e-05,-5.45970576423e-05,1793254815098930688
+166,2.766666667,POSE1_TO_POSE2_PRESS,785,761,738,718,687,651,918,801,840,657.227908078,636.772091922,658,0.423080933622,-0.015507148597,0.0699654353632,0.999999996249,-2.9039715851e-05,-5.52108638275e-05,-6.00949453152e-05,1793254815115597312
+167,2.783333333,POSE1_TO_POSE2_PRESS,785,761,738,718,687,651,918,801,840,657.801797518,636.198202482,658,0.42390179846,-0.0155023391313,0.0698779333528,0.999999979477,-3.15068269221e-05,-0.000188069027912,-6.84338708161e-05,1793254815132263936
+168,2.800000000,POSE1_TO_POSE2_PRESS,785,761,738,718.386747844,686.613252156,651,917.613252156,801,840,658,636,658,0.424817021145,-0.015501724848,0.0698618824985,0.999999976198,-3.11371204261e-05,-0.00020385193054,-7.12629939163e-05,1793254815148930560
+169,2.816666667,POSE1_TO_POSE2_PRESS,785,761,738,718.977533564,686.022466436,651,917.022466436,801,840,658,636,658,0.425782024471,-0.0155033238316,0.069883527379,0.999999984577,-2.92707844321e-05,-0.000157869032173,-7.11852916363e-05,1793254815165597184
+170,2.833333333,POSE1_TO_POSE2_PRESS,785.555319832,761,738,717.889360336,686.555319832,651,917.555319832,801,840.555319832,657.444680168,636,657.444680168,0.426805327803,-0.0155062066544,0.0699490944077,0.999999994699,-3.5794113495e-05,-7.23863354521e-05,-6.38800078347e-05,1793254815182264064
+171,2.850000000,POSE1_TO_POSE2_PRESS,785.867543701,761,738,717,686.867543701,651,917.867543701,801,840.867543701,657,636,657,0.427826207413,-0.0155095207011,0.0700095410646,0.99999999742,-4.16909636875e-05,8.51231776271e-06,-5.78713273132e-05,1793254815198930688
+172,2.866666667,POSE1_TO_POSE2_PRESS,785.290863088,761,738,717,686.290863088,651,917.290863088,801,840.290863088,657,636,657,0.428831229126,-0.0155141107527,0.0700469921989,0.999999995015,-4.43744803481e-05,6.88004589254e-05,-5.71693403153e-05,1793254815215597568
+173,2.883333333,POSE1_TO_POSE2_PRESS,785,761,738,717,686,651,917.284805855,800.715194145,840.284805855,657,636,657,0.429797933753,-0.0155172216716,0.0700544013162,0.999999993979,-4.55663581323e-05,8.15137554073e-05,-5.76281935212e-05,1793254815232264192
+174,2.900000000,POSE1_TO_POSE2_PRESS,785,761,738,717,686,651,917.859445234,800.140554766,840.859445234,657,636,657,0.430725644821,-0.0155188273465,0.0700312380833,0.999999996171,-4.52402651019e-05,4.58123663623e-05,-5.92683793555e-05,1793254815248930560
+175,2.916666667,POSE1_TO_POSE2_PRESS,785,760.55219421,738,717.44780579,686.44780579,651.44780579,918,800.44780579,841,657.44780579,636,657.44780579,0.431569971282,-0.0155129339824,0.0699585443919,0.999999993866,-4.21134427423e-05,-7.91588350162e-05,-6.501884207e-05,1793254815265597184
+176,2.933333333,POSE1_TO_POSE2_PRESS,785,760.039447085,738,717.960552915,687,651.960552915,918,801,841,657.960552915,636.039447085,658,0.432401948573,-0.0155056184706,0.0698785577445,0.999999973153,-3.92112261739e-05,-0.00021690960452,-7.1455172554e-05,1793254815282263808
+177,2.950000000,POSE1_TO_POSE2_PRESS,785,760.615285504,738,717.384714496,687,651.384714496,918,801,841,657.384714496,636.615285504,658,0.43343313755,-0.0155119824245,0.0699174807058,0.99999998711,-5.16944657456e-05,-0.000135388177429,-6.91206615167e-05,1793254815298930432
+178,2.966666667,POSE1_TO_POSE2_PRESS,785.191034824,761,738,717,686.808965176,651,918,801,841,657.191034824,636.808965176,657.808965176,0.434447773151,-0.0155169593347,0.0699611455172,0.999999994517,-6.09176430727e-05,-5.34035416792e-05,-6.63526705549e-05,1793254815315597312
+179,2.983333333,POSE1_TO_POSE2_PRESS,785.7666049,761,738,717,686.2333951,651,918,801,841,657.7666049,636.2333951,657.2333951,0.435429088539,-0.0155191442565,0.0700143552371,0.999999995577,-6.3578622277e-05,2.9513503477e-05,-6.27121250605e-05,1793254815332263936
+180,3.000000000,POSE1_TO_POSE2_PRESS,786,761,738,717,686.349544443,651.349544443,918,801,841,657.650455557,636,657,0.436374042676,-0.0155222327531,0.0700394889964,0.999999993222,-6.72026679338e-05,7.30825368579e-05,-6.08212041846e-05,1793254815348930560
+181,3.016666667,POSE1_TO_POSE2_PRESS,786,761,738,717,686.937510612,651.937510612,918,801,841,657.062489388,636,657,0.43729419501,-0.0155259375713,0.0700454723435,0.999999991604,-7.14836142596e-05,8.98125724248e-05,-6.01236899591e-05,1793254815365597184
+182,3.033333333,POSE1_TO_POSE2_PRESS,785.482453308,761,738,717,687,651.482453308,918,801,841,657,636,657.517546692,0.438164762795,-0.0155239633842,0.0700037622431,0.99999999441,-7.44230249675e-05,3.81494938354e-05,-6.46991757045e-05,1793254815382264064
+183,3.050000000,POSE1_TO_POSE2_PRESS,785,761,738,716.903644782,687,651,918,801,841,657.096355218,636,658,0.439017735766,-0.0155205436375,0.0699518504454,0.999999994154,-7.55896769718e-05,-3.3318909652e-05,-6.97665173602e-05,1793254815398930688
+184,3.066666667,POSE1_TO_POSE2_PRESS,785,761,738,716.326256645,687,651,918,801,841,657.673743355,636,658,0.439812307698,-0.0155132787532,0.0698773234847,0.999999981596,-6.87026513328e-05,-0.000163057568437,-7.41588714087e-05,1793254815415597312
+185,3.083333333,POSE1_TO_POSE2_PRESS,785.250320832,761,738,716.250320832,686.749679168,651.250320832,917.749679168,801,841,658,636,658,0.440653414141,-0.0155114987075,0.0698507038934,0.999999972919,-6.72400268022e-05,-0.000209410987915,-7.60754948647e-05,1793254815432263936
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+305,5.083333333,POSE2_TO_POSE3_RETREAT,785.892943279,760.892943279,738,716,684,649,917.107056721,794.892943279,841.892943279,657,634,657.892943279,0.452140274436,-0.0155424409261,0.0695357688419,0.999999749305,-3.43078680694e-05,-0.0007071376289,1.30020280766e-05,1793254817461100288
+306,5.100000000,POSE2_TO_POSE3_RETREAT,786,761,738,716,684.468652822,649,917,795,841.531347178,657.468652822,634.468652822,658,0.451616433298,-0.0155355301914,0.0695269422821,0.999999738493,-3.27096437798e-05,-0.000722406820863,8.50970931727e-06,1793254817477766912
+307,5.116666667,POSE2_TO_POSE3_RETREAT,786,760.956339821,737.956339821,716,685,649,917,795.043660179,841.043660179,657.956339821,635,658,0.45107853323,-0.0155289354061,0.0695155515275,0.999999723398,-3.72487559245e-05,-0.000742841405015,1.96849422371e-06,1793254817494433536
+308,5.133333333,POSE2_TO_POSE3_RETREAT,786,760.380118419,737.380118419,716,685,649,917,795.619881581,841.619881581,657.380118419,635,658,0.450515208358,-0.0155273057238,0.0695182212845,0.99999971881,-6.2803150846e-05,-0.000747283582588,-1.43670594325e-06,1793254817511100928
+309,5.150000000,POSE2_TO_POSE3_RETREAT,786,760.201214817,737,716,685,649,917,796,841.798785183,657.201214817,635,658,0.449942673081,-0.0155252700621,0.0695278274907,0.999999723336,-6.60219834137e-05,-0.000740923895368,-9.34562114847e-07,1793254817527767808
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,786,760.278741307,737,717,685,649.557482614,917,798.278741307,841,658,635,658,0.445339883336,-0.0154969711646,0.0696214286775,0.999999824461,2.05756233671e-06,-0.000592254362211,1.75720966202e-05,1793254817644433664
+317,5.283333333,POSE2_TO_POSE3_RETREAT,786,760.857458405,737,717,685,650.71491681,917,798.857458405,841,658,635,658,0.44459605796,-0.0154938401427,0.0696352294571,0.999999843812,-1.95064189284e-06,-0.000558738912078,1.35196610209e-05,1793254817661100544
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,785.991870633,760,737,716,685.008129367,650,917,799,841,657.991870633,635.991870633,657.008129367,0.44310156459,-0.0154872382738,0.0697191613633,0.999999913714,2.12106868309e-05,-0.000414137165863,2.47674970744e-05,1793254817694434304
+320,5.333333333,POSE2_TO_POSE3_RETREAT,785.417015018,760,737,716,685.582984982,650,917,799,841,657.417015018,635.417015018,657.582984982,0.442302179751,-0.0154654657947,0.0697517434511,0.999999927229,4.42294710491e-05,-0.000378258402964,2.24899067553e-05,1793254817711100672
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,785.755325203,760,737,716,686,650.755325203,917.755325203,799.755325203,841,657.755325203,635.755325203,658,0.440707745691,-0.0154043904581,0.0698055799632,0.999999951831,0.000110367415227,-0.000289484571707,1.88697849177e-05,1793254817744433920
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,785.204791124,760,737,717,686.795208876,651,917.204791124,800,840.204791124,657.204791124,635.204791124,658,0.435253879409,-0.0154079825503,0.069734521638,0.999999912019,0.000130720149504,-0.000398268025556,1.60221889089e-05,1793254817844433920
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,785.393165571,760,737,717,686,651,917,799.696582786,840,657,635.696582786,657,0.428548978151,-0.0153938934635,0.0697100593393,0.999999880913,0.000161759183568,-0.000460193155064,1.51607173783e-05,1793254817961100800
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,784,760,736.542294521,717,686,651,917,799.457705479,840,657.457705479,635,657,0.42672768887,-0.0153984803518,0.0698029243184,0.999999938197,0.000162615431333,-0.000310797780838,2.38125864495e-05,1793254817994434048
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,784.732512894,760,737,718,686,650.732512894,917,800,839.267487106,657,635.732512894,657.732512894,0.41772677191,-0.0153959128586,0.0698625541524,0.9999999566,0.000174473463,-0.000235785408878,2.76411797999e-05,1793254818161100544
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,783.389515668,760,737.610484332,719,687,650.389515668,917,799.389515668,839.610484332,658,635.389515668,657,0.407714942896,-0.0153792961606,0.0697608995984,0.999999905612,0.000204885075089,-0.000382790497964,1.64476699773e-05,1793254818394434304
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783.965197056,760,737.034802944,719,687,650.965197056,917,799.965197056,839.034802944,658,635.965197056,657,0.407196670334,-0.015378826042,0.0697768377952,0.999999917196,0.000204236808592,-0.00035157833431,1.69863852918e-05,1793254818411101184
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+374,6.233333333,POSE2_TO_POSE3_RETREAT,783.068000321,760,738,720,687,651,917,799.068000321,840,658,636,657,0.402714138949,-0.0153630992143,0.0698081706137,0.999999922351,0.000237692131452,-0.000313937481549,1.5589318445e-05,1793254818611100160
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,784,760,737.830170967,720,687,650.830170967,917,799.169829033,839.169829033,658,635.169829033,657,0.401756448356,-0.0153724472175,0.0697912335345,0.999999916986,0.000218852405043,-0.000343224127703,1.81604270289e-05,1793254818694433536
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,784,759.894168356,738,720,687,651,917,799.894168356,839,657.105831644,635.894168356,657.894168356,0.401126555531,-0.0153647643085,0.0697952475419,0.999999920143,0.000225690200765,-0.000329766794234,5.71809155118e-06,1793254818811100160
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,784,760,737.04865164,720.04865164,687,650.95134836,917,800,839,657.04865164,636,657,0.401048723037,-0.0153680687725,0.069794175042,0.999999921656,0.000219347387907,-0.000329437999256,6.70054652149e-06,1793254818844433408
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,784,760,738,720.787054589,687,650.212945411,917,800,839,657.787054589,635.787054589,657.212945411,0.401002039023,-0.0153653073072,0.0697960432948,0.999999922079,0.000221745569756,-0.000326541851586,6.39944679933e-06,1793254818877766912
+391,6.516666667,POSE2_TO_POSE3_RETREAT,784,760,738,720.203771937,687,650.796228063,917,800,839,657.203771937,635.203771937,657.796228063,0.400984194918,-0.0153649105255,0.069796929118,0.999999921715,0.000224541129575,-0.000325733012099,7.00237308169e-06,1793254818894433536
+392,6.533333333,POSE2_TO_POSE3_RETREAT,784,760,737.623221281,720,687,651,917,800,839,657.376778719,635.376778719,658,0.400973393445,-0.0153644699805,0.0697980825849,0.999999922436,0.000224643873817,-0.000323443704342,6.92907245503e-06,1793254818911100160
+393,6.550000000,POSE2_TO_POSE3_RETREAT,784,760,737.044137542,720,687,651,917,800,839,657.955862458,635.955862458,658,0.400966373396,-0.0153640059376,0.0697993797586,0.999999923732,0.000223300755766,-0.000320359483981,6.49268310177e-06,1793254818927766784
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783.470444882,760,737.529555118,720,687,651,917,799.470444882,839,657.470444882,636,657.470444882,0.400963576516,-0.0153647778348,0.0698008557785,0.999999924311,0.000225950114416,-0.000316663313882,7.05598939362e-06,1793254818944433408
+395,6.583333333,POSE2_TO_POSE3_RETREAT,783.105648624,760,738,720.105648624,687,650.894351376,917,799.105648624,839.105648624,657.105648624,636,657,0.400961115695,-0.0153656965487,0.0698022657932,0.999999924956,0.000227703111736,-0.000313339644999,7.60976950424e-06,1793254818961100032
+396,6.600000000,POSE2_TO_POSE3_RETREAT,783.694764179,760,738,720.694764179,687,650.305235821,917,799.694764179,839.694764179,657.694764179,636,657,0.400958598185,-0.0153668204647,0.0698033062284,0.999999926259,0.000223846747453,-0.000311951664929,7.74249780516e-06,1793254818977766912
+397,6.616666667,POSE2_TO_POSE3_RETREAT,783.720766284,760,738,720.720766284,687,650.279233716,917,800,839.720766284,658,636,657,0.400956995695,-0.015366733415,0.0698038893856,0.999999926726,0.000222952600218,-0.000311100567967,7.52310995603e-06,1793254818994433280
+398,6.633333333,POSE2_TO_POSE3_RETREAT,783.14129221,760,738,720.14129221,687,650.85870779,917,800,839.14129221,658,636,657,0.400956377061,-0.0153653442995,0.069803980864,0.999999926302,0.00022524351597,-0.000310826743446,6.92511641513e-06,1793254819011100160
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,784,760,738,720,687,650.986732635,917,800,839.986732635,657.986732635,635.986732635,657,0.40095453364,-0.0153664573819,0.0698035865239,0.999999926853,0.000222057146166,-0.000311348510022,6.87141759132e-06,1793254819044433408
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,784,760,738,720.757322687,687,650.757322687,917,799.242677313,839,657.757322687,635,657,0.400956881219,-0.0153648192859,0.0698068830036,0.999999927542,0.00022458581792,-0.000307299948342,6.65957770459e-06,1793254819094433280
+404,6.733333333,POSE2_TO_POSE3_RETREAT,784,760,738,720.659568967,687,651,917,799.340431033,839.340431033,658,635,657,0.400956619886,-0.015365963045,0.0698071395725,0.999999927834,0.000223900029658,-0.00030684481087,6.87187300056e-06,1793254819111099904
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+408,6.800000000,POSE2_TO_POSE3_RETREAT,784,760,738,720,687,651,917,800,839,657.352847142,636,657,0.400956278128,-0.0153693141296,0.0698082065408,0.999999928909,0.000220745355854,-0.000305613880095,7.33521120207e-06,1793254819177766912
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..00ad1cc688556e9e304c548d3caf84fb5692cf53
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_02/simulation_data.csv
@@ -0,0 +1,419 @@
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+355,5.916666667,pose2_to_pose3_retreat,0.583713414313,-0.00981813423069,1.06002039483,0.554284561359,-0.00114389838354,1.05969211009
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+358,5.966666667,pose2_to_pose3_retreat,0.582213208948,-0.00981828468748,1.06002067672,0.552784356703,-0.00114404731501,1.05969236875
+359,5.983333333,pose2_to_pose3_retreat,0.581728111685,-0.00981825275668,1.06002055997,0.552299259981,-0.0011440131198,1.05969226331
+360,6.000000000,pose2_to_pose3_retreat,0.581262362511,-0.00981806374802,1.06002064334,0.551833507769,-0.00114383427236,1.05969235058
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+362,6.033333333,pose2_to_pose3_retreat,0.580425698486,-0.00981824159708,1.06002063878,0.550996845789,-0.001144005475,1.05969233838
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+365,6.083333333,pose2_to_pose3_retreat,0.579320311266,-0.00981831048814,1.06002056192,0.549891458734,-0.001144073642,1.05969226586
+366,6.100000000,pose2_to_pose3_retreat,0.578990649174,-0.00981835156414,1.06002074974,0.54956179777,-0.00114411079388,1.05969245622
+367,6.116666667,pose2_to_pose3_retreat,0.578683835522,-0.00981835700515,1.06002057554,0.549254985175,-0.00114411257429,1.05969228423
+368,6.133333333,pose2_to_pose3_retreat,0.578401177103,-0.0098182404059,1.0600204615,0.548972324123,-0.00114400500184,1.05969216784
+369,6.150000000,pose2_to_pose3_retreat,0.578137414691,-0.00981813377051,1.06002049911,0.548708559768,-0.00114390506329,1.05969220277
+370,6.166666667,pose2_to_pose3_retreat,0.577888625262,-0.00981812360615,1.06002064919,0.548459771434,-0.00114389117892,1.05969235293
+371,6.183333333,pose2_to_pose3_retreat,0.577650516832,-0.00981822253078,1.06002063768,0.548221665465,-0.00114398159559,1.05969234565
+372,6.200000000,pose2_to_pose3_retreat,0.577422670615,-0.00981831273727,1.06002047379,0.547993819045,-0.00114407272122,1.0596921757
+373,6.216666667,pose2_to_pose3_retreat,0.577210166786,-0.0098183067579,1.06002033678,0.547781315659,-0.00114406516627,1.05969204047
+374,6.233333333,pose2_to_pose3_retreat,0.57701348528,-0.00981829185609,1.06002047306,0.547584634245,-0.00114404991838,1.0596921777
+375,6.250000000,pose2_to_pose3_retreat,0.576834011628,-0.00981830408632,1.06002061378,0.54740516068,-0.00114406193746,1.05969231625
+376,6.266666667,pose2_to_pose3_retreat,0.576671021203,-0.00981832038959,1.06002058492,0.547242170513,-0.00114407753613,1.05969228289
+377,6.283333333,pose2_to_pose3_retreat,0.576525670848,-0.00981830092347,1.06002069386,0.547096819456,-0.00114406071109,1.05969238491
+378,6.300000000,pose2_to_pose3_retreat,0.576394850055,-0.00981827346735,1.06002033497,0.546965999268,-0.00114403080456,1.05969203666
+379,6.316666667,pose2_to_pose3_retreat,0.576278595442,-0.00981822379384,1.06002055832,0.546849743306,-0.00114398549126,1.05969226562
+380,6.333333333,pose2_to_pose3_retreat,0.57617704147,-0.00981821932457,1.06002057172,0.546748188853,-0.00114398268794,1.05969227822
+381,6.350000000,pose2_to_pose3_retreat,0.576088752698,-0.00981823572983,1.06002053966,0.54665990013,-0.00114399905934,1.05969224327
+382,6.366666667,pose2_to_pose3_retreat,0.576012459479,-0.00981823719988,1.06002054543,0.546583606693,-0.00114400133108,1.05969224789
+383,6.383333333,pose2_to_pose3_retreat,0.575945887776,-0.0098182033668,1.06002053429,0.546517034088,-0.00114397045824,1.05969223892
+384,6.400000000,pose2_to_pose3_retreat,0.575888723823,-0.00981821267292,1.06002053316,0.546459870999,-0.00114397686747,1.05969223677
+385,6.416666667,pose2_to_pose3_retreat,0.575839582389,-0.00981828741481,1.06002032931,0.546410730298,-0.00114404897428,1.05969203678
+386,6.433333333,pose2_to_pose3_retreat,0.575798362139,-0.00981827397729,1.0600204347,0.546369510366,-0.00114403461452,1.05969213804
+387,6.450000000,pose2_to_pose3_retreat,0.575765139953,-0.00981815957624,1.06002043879,0.546336285514,-0.00114392927651,1.0596921416
+388,6.466666667,pose2_to_pose3_retreat,0.575738643785,-0.00981805400295,1.06002039154,0.546309786583,-0.00114383303628,1.05969209554
+389,6.483333333,pose2_to_pose3_retreat,0.57571807047,-0.00981809322992,1.06002068746,0.546289215779,-0.0011438640597,1.05969238313
+390,6.500000000,pose2_to_pose3_retreat,0.575701927536,-0.0098182785829,1.06002066422,0.546273075457,-0.00114404034517,1.05969236542
+391,6.516666667,pose2_to_pose3_retreat,0.575690314507,-0.00981828339599,1.06002059486,0.546261462753,-0.0011440441314,1.0596922942
+392,6.533333333,pose2_to_pose3_retreat,0.575681984766,-0.00981823335178,1.06002057124,0.546253132267,-0.00114399673484,1.05969226725
+393,6.550000000,pose2_to_pose3_retreat,0.5756765015,-0.00981819688449,1.06002058841,0.546247648469,-0.00114396210384,1.0596922835
+394,6.566666667,pose2_to_pose3_retreat,0.575673204001,-0.00981825390352,1.0600206313,0.546244352672,-0.00114401304641,1.05969233441
+395,6.583333333,pose2_to_pose3_retreat,0.575671139349,-0.00981831188419,1.06002065971,0.546242288879,-0.0011440680796,1.05969236373
+396,6.600000000,pose2_to_pose3_retreat,0.575669950615,-0.00981837861555,1.06002067839,0.54624110033,-0.00114413439697,1.05969237679
+397,6.616666667,pose2_to_pose3_retreat,0.575668986319,-0.0098184327478,1.06002069355,0.546240136183,-0.00114418819339,1.05969238738
+398,6.633333333,pose2_to_pose3_retreat,0.575668243056,-0.0098183508966,1.06002068045,0.546239391886,-0.00114410972475,1.05969237762
+399,6.650000000,pose2_to_pose3_retreat,0.575668017725,-0.0098183067068,1.0600206726,0.546239166061,-0.00114406713135,1.05969237185
+400,6.666666667,pose2_to_pose3_retreat,0.575667936282,-0.00981829073491,1.06002066976,0.546239084439,-0.00114405173647,1.05969236977
+401,6.683333333,pose2_to_pose3_retreat,0.575667880797,-0.00981827985387,1.06002066782,0.546239028833,-0.00114404124852,1.05969236835
+402,6.700000000,pose2_to_pose3_retreat,0.575667753976,-0.00981825498287,1.0600206634,0.546238901734,-0.00114401727601,1.0596923651
+403,6.716666667,pose2_to_pose3_retreat,0.575667507152,-0.00981820657828,1.06002065479,0.546238654369,-0.0011439706201,1.05969235878
+404,6.733333333,pose2_to_pose3_retreat,0.575667487707,-0.00981820276491,1.06002065412,0.546238634882,-0.00114396694449,1.05969235828
+405,6.750000000,pose2_to_pose3_retreat,0.575667294567,-0.00981816488817,1.06002064738,0.546238441318,-0.00114393043609,1.05969235334
+406,6.766666667,pose2_to_pose3_retreat,0.575667237015,-0.0098181581446,1.06002064285,0.5462383837,-0.00114392390083,1.05969234924
+407,6.783333333,pose2_to_pose3_retreat,0.57566721482,-0.00981816476137,1.06002063599,0.546238361601,-0.00114393019328,1.05969234233
+408,6.800000000,pose2_to_pose3_retreat,0.575667149657,-0.0098181841875,1.06002061583,0.54623829672,-0.00114394866727,1.05969232204
+409,6.816666667,pose2_to_pose3_retreat,0.575667113493,-0.00981819496846,1.06002060464,0.546238260713,-0.00114395891981,1.05969231079
+410,6.833333333,pose2_to_pose3_retreat,0.575667103136,-0.00981819805608,1.06002060143,0.546238250401,-0.00114396185609,1.05969230756
+411,6.850000000,pose2_to_pose3_retreat,0.575667096979,-0.00981819989167,1.06002059953,0.54623824427,-0.00114396360171,1.05969230564
+412,6.866666667,pose2_to_pose3_retreat,0.575667092659,-0.00981820117943,1.06002059819,0.546238239969,-0.00114396482635,1.0596923043
+413,6.883333333,pose2_to_pose3_retreat,0.575667067548,-0.00981820866543,1.06002059042,0.546238214967,-0.00114397194543,1.05969229648
+414,6.900000000,pose2_to_pose3_retreat,0.575667003409,-0.00981822778611,1.06002057058,0.546238151106,-0.00114399012894,1.05969227651
+415,6.916666667,pose2_to_pose3_retreat,0.575666910265,-0.00981825555387,1.06002054177,0.546238058364,-0.00114401653569,1.05969224752
+416,6.933333333,pose2_to_pose3_retreat,0.57566681558,-0.00981832948048,1.06002054537,0.546237965414,-0.00114408469912,1.05969224791
+417,6.950000000,pose2_to_pose3_retreat,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.0011441293177,1.05969225353
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d7b8c20411bdd3046e9862439562ad8aff7513d1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a318a7e45a4c3a2ef378a3f633af453a5ba16b05bfff526eb5b9b4f32fa168c9
+size 26422203
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5515c2fe82119f2d6d60d1384c2ec19934a00f26
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_03/franka_data.csv
@@ -0,0 +1,418 @@
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+22,0.366666667,BASELINE,783.76342457,760,738,720,687,650.76342457,917,800,839.23657543,657.23657543,636,657,0.400955224736,-0.0153713712512,0.0698105980731,0.99999993082,0.00021778964659,-0.000301464305071,6.81378519019e-06,1793254819812702464
+23,0.383333333,BASELINE,784,760,738,720,687,651,917,800,839,657.347238713,636,657.347238713,0.400955525988,-0.015370474272,0.0698110798833,0.999999930924,0.000218515053612,-0.000300597776504,6.62866892751e-06,1793254819829369088
+24,0.400000000,BASELINE,784,760,738,720,687,651,917,800,839,657.930694268,636,657.930694268,0.400955999353,-0.0153686918321,0.0698116645624,0.999999930747,0.000220410015547,-0.000299809989289,6.27264154463e-06,1793254819846035712
+25,0.416666667,BASELINE,784,760,738,720,687,650.493152902,917,800,839,658,636,657.493152902,0.400957144217,-0.0153693017392,0.0698119356781,0.999999931232,0.000218914580314,-0.000299283832255,6.3848703968e-06,1793254819862702336
+26,0.433333333,BASELINE,784,760,738,720.081909989,687,650.081909989,917,800,839,658,636,657,0.400958179782,-0.0153701345244,0.0698121246687,0.999999931687,0.000217495714292,-0.000298797195638,6.53747583929e-06,1793254819879368960
+27,0.450000000,BASELINE,784,760,738,720.656338421,687,650.656338421,917,800,839,658,636,657,0.400958013875,-0.0153703684065,0.0698120739965,0.999999931433,0.000219285245521,-0.000298336134884,6.55333044784e-06,1793254819896035840
+28,0.466666667,BASELINE,784,760,737.76326669,720.76326669,686.76326669,651,917,800,839,658,636,657,0.400957247313,-0.0153706214836,0.0698118589147,0.999999931012,0.000220400526836,-0.000298925514556,6.53793260127e-06,1793254819912702464
+29,0.483333333,BASELINE,784,760,737.173986493,720.173986493,686.173986493,651,917,800,839,658,636,657,0.400955586244,-0.0153709031463,0.0698113989917,0.999999930342,0.000220511704702,-0.000301079226292,6.4759931171e-06,1793254819929369088
+30,0.500000000,BASELINE,783.591003811,760,737,720,686.408996189,650.591003811,917,800,839,657.591003811,636,657.408996189,0.400954910016,-0.0153715668322,0.0698106277687,0.99999993033,0.000219622731193,-0.000301768112723,6.52416235199e-06,1793254819946035968
+31,0.516666667,BASELINE,783.010659474,760,737,720,686.989340526,650.010659474,917,800,839,657.010659474,636,657.989340526,0.400954646385,-0.0153723905658,0.0698097261272,0.999999930593,0.000218314746233,-0.000301843313427,6.61846141938e-06,1793254819962702336
+32,0.533333333,BASELINE,783.564797534,760,737.564797534,720,687,650.564797534,917,800,839.564797534,657,636,657.435202466,0.400956740623,-0.0153716913364,0.0698117231652,0.99999993107,0.0002195591544,-0.000299343541691,6.89971433059e-06,1793254819979369216
+33,0.550000000,BASELINE,784,760,738,720,687,651,917,800,839.860975031,657.139024969,635.860975031,657,0.400958424658,-0.0153711254907,0.0698132654386,0.999999931527,0.000220321775894,-0.000297242586213,7.10489261756e-06,1793254819996035840
+34,0.566666667,BASELINE,784,760,738,720,687,651,917,800,839.290281554,657.709718446,635.290281554,657,0.400958698039,-0.0153710622786,0.0698132272745,0.999999931933,0.000219440175377,-0.000296529544055,7.06299976029e-06,1793254820012702464
+35,0.583333333,BASELINE,783.707712417,760,737.707712417,720,687,650.707712417,917,800,839,658,635,657,0.400957595005,-0.0153707194966,0.0698125892755,0.999999931636,0.000219318674511,-0.000297623921357,6.88821028115e-06,1793254820029369088
+36,0.600000000,BASELINE,783.112849562,760,737.112849562,720,687,650.112849562,917,800,839,658,635,657,0.400955067111,-0.0153700873046,0.0698113303292,0.999999930605,0.000219984026526,-0.000300589334038,6.5758465931e-06,1793254820046035712
+37,0.616666667,BASELINE,783.469467479,760,737.469467479,720,687,650.469467479,917,800,839,658,635,657,0.400955932361,-0.0153703502141,0.0698113737243,0.999999930897,0.000219224721873,-0.00030017491946,6.39972865926e-06,1793254820062702336
+38,0.633333333,BASELINE,784,760,738,720,687,651,917,799.951603759,839,657.951603759,635.048396241,657,0.400957492896,-0.0153708419804,0.0698117580545,0.999999931495,0.000218121283173,-0.000298989371366,6.27072407332e-06,1793254820079368960
+39,0.650000000,BASELINE,784,760,738,720,687,651,917,799.37757333,839,657.37757333,635.62242667,657,0.400957976873,-0.0153715433056,0.0698125337009,0.999999932048,0.000216902807473,-0.000298022736957,6.30697379433e-06,1793254820096035584
+40,0.666666667,BASELINE,784,760,738,720,687,650.798582933,917,799.201417067,839.201417067,657.201417067,636,657,0.400957985675,-0.0153717389025,0.0698127855963,0.999999932132,0.000216854877766,-0.000297774326945,6.35043111232e-06,1793254820112702208
+41,0.683333333,BASELINE,784,760,738,720,687,650.210059951,917,799.789940049,839.789940049,657.789940049,636,657,0.400957081235,-0.0153709625339,0.0698120308881,0.999999931314,0.000219056634741,-0.000298906281214,6.40774079661e-06,1793254820129369088
+42,0.700000000,BASELINE,784,760,737.627288172,720,687,650.372711828,917,800,839.627288172,657.627288172,635.627288172,657,0.400956415974,-0.0153713041101,0.0698120759939,0.999999931123,0.000219169035148,-0.000299461385131,6.50770647978e-06,1793254820146035712
+43,0.716666667,BASELINE,784,760,737.047708526,720,687,650.952291474,917,800,839.047708526,657.047708526,635.047708526,657,0.400955883465,-0.0153722661839,0.0698125650237,0.999999931281,0.000218121771101,-0.000299696317328,6.6313476999e-06,1793254820162702336
+44,0.733333333,BASELINE,783.470314285,760,737.529685715,720,687,651,917,800,839,657,635,657,0.400956340181,-0.015371685265,0.0698124570557,0.999999931577,0.000217617697365,-0.000299074916482,6.49661522543e-06,1793254820179369216
+45,0.750000000,BASELINE,783.108420588,760,738,720,687,651,917,800,839,657.108420588,635,657,0.400956703066,-0.0153710506058,0.0698121750785,0.999999931745,0.000217388349172,-0.000298684081898,6.32629340982e-06,1793254820196036352
+46,0.766666667,BASELINE,783.693916955,760,738,720,687,651,917,800,839,657.693916955,635,657,0.400956262632,-0.015370788493,0.069811363054,0.999999931292,0.000218153461074,-0.000299645785814,6.1013499149e-06,1793254820212704256
+47,0.783333333,BASELINE,783.723641494,760,738,720.276358506,687,651,917,800,839,657.723641494,635.276358506,657,0.400955904925,-0.0153705837271,0.0698109279369,0.999999930965,0.000218860476191,-0.000300220640217,6.07108389148e-06,1793254820229370880
+48,0.800000000,BASELINE,783.144546266,760,738,720.855453734,687,651,917,800,839,657.144546266,635.855453734,657,0.400955637842,-0.0153704417816,0.0698109057025,0.999999930778,0.000219503849325,-0.000300371720728,6.25407713241e-06,1793254820246035968
+49,0.816666667,BASELINE,783.434036904,759.565963096,737.565963096,720.565963096,687,651,917,800,839.434036904,657,635.565963096,657,0.400956293994,-0.0153717807265,0.0698116271342,0.999999931166,0.000219074618304,-0.000299382455212,6.67333832251e-06,1793254820262702080
+50,0.833333333,BASELINE,784,759.012391546,737.012391546,720,687,651,917,800,839.987608454,657.012391546,635.012391546,657,0.400957227592,-0.015373529766,0.0698125708579,0.99999993171,0.000218370804826,-0.000298065148398,7.15341057072e-06,1793254820279368704
+51,0.850000000,BASELINE,784,759.588102006,737.588102006,720,687,651,917,800,839.411897994,657.588102006,635.588102006,657,0.400956813093,-0.0153715282926,0.0698123745601,0.999999930743,0.000221403951,-0.000299078927636,6.82520783264e-06,1793254820296035584
+52,0.866666667,BASELINE,784,760,737.832761528,720,687,651,917,799.832761528,839,658,635.832761528,657,0.400956994187,-0.0153701137701,0.0698125335589,0.999999930406,0.00022298233794,-0.0002990390459,6.55832654374e-06,1793254820312702464
+53,0.883333333,BASELINE,784,760,737.245010585,720,687,651,917,799.245010585,839,658,635.245010585,657,0.400958672869,-0.015370175105,0.0698135859326,0.999999931669,0.000220902807994,-0.000296349788196,6.44563488084e-06,1793254820329369088
+54,0.900000000,BASELINE,784,760,737.338021897,720,686.661978103,651,917,799.338021897,839,657.661978103,635,657,0.40095920806,-0.0153710379148,0.0698140355862,0.999999932302,0.000219906679867,-0.00029494590804,6.60274226557e-06,1793254820346035712
+55,0.916666667,BASELINE,784,760,737.917681326,720,686.082318674,651,917,799.917681326,839,657.082318674,635,657,0.400958925819,-0.0153724736651,0.0698140543805,0.999999932491,0.000219685029886,-0.000294460889948,6.95271756269e-06,1793254820362702336
+56,0.933333333,BASELINE,784,760,738,720,686.493965384,650.506034616,917,800,839,657.493965384,635,657,0.400956958865,-0.0153716099409,0.0698124927584,0.999999931607,0.000219960853098,-0.000297252677882,6.62063422086e-06,1793254820379369216
+57,0.950000000,BASELINE,784,760,738,720,687,650.071032288,917,800,839,658,635.071032288,657,0.400955250592,-0.0153705894281,0.06981109071,0.999999930772,0.00022020876468,-0.000299876714218,6.23562074602e-06,1793254820396035840
+58,0.966666667,BASELINE,784,760,738,720,687,650.657839918,917,800,839,658,635.657839918,657,0.40095744541,-0.0153711940686,0.0698127467679,0.999999931649,0.000219656119325,-0.000297344462481,6.28600438192e-06,1793254820412702464
+59,0.983333333,BASELINE,783.758531237,760,738,720,687,651,917,800,839,658,635.758531237,657,0.400958010556,-0.0153712060036,0.0698134499245,0.999999931974,0.000219335145241,-0.000296486019899,6.29895177056e-06,1793254820429369088
+60,1.000000000,BASELINE,783.179348107,760,738,720,687,651,917,800,839,658,635.179348107,657,0.400956296469,-0.0153703889905,0.0698128203689,0.999999931533,0.000219338182828,-0.000297968539787,6.25954142715e-06,1793254820446035712
+61,1.016666667,BASELINE,783.399058212,760,738,720,687,651,917,800,839.399058212,657.600941788,635.399058212,657,0.400956534268,-0.0153705071298,0.0698128650669,0.999999931507,0.000219490799544,-0.0002979413432,6.30920992841e-06,1793254820462702336
+62,1.033333333,BASELINE,783.977116053,760,738,720,687,651,917,800,839.977116053,657.022883947,635.977116053,657,0.400957647594,-0.0153710447366,0.0698132122049,0.999999931668,0.000219710510755,-0.000297236955374,6.39883520959e-06,1793254820479368960
+63,1.050000000,BASELINE,783.4476246,760,737.4476246,720,687,651,917,800,839.4476246,657,636,657,0.400958201834,-0.0153718380409,0.0698132322822,0.999999932339,0.000218550440328,-0.000295832444322,6.41508621913e-06,1793254820496035840
+64,1.066666667,BASELINE,783.130406225,760,737.130406225,720,687,651,917,800,839.130406225,657.130406225,636,657,0.400958459409,-0.0153721226391,0.0698131593434,0.999999932668,0.000217982275017,-0.000295137361434,6.39741462078e-06,1793254820512702464
+65,1.083333333,BASELINE,783.718570508,760,737.718570508,720,687,651,917,800,839.718570508,657.718570508,636,657,0.400957756516,-0.0153705845563,0.0698128072173,0.999999931734,0.000219691483992,-0.000297033847755,6.27128283927e-06,1793254820529369088
+66,1.100000000,BASELINE,783.697885759,760,738,720.302114241,687,650.697885759,917,800,839.697885759,658,635.697885759,657.302114241,0.400957489485,-0.0153700424703,0.0698126589947,0.999999931496,0.000219822006157,-0.000297736438018,6.24890307072e-06,1793254820546035968
+67,1.116666667,BASELINE,783.118581418,760,738,720.881418582,687,650.118581418,917,800,839.118581418,658,635.118581418,657.881418582,0.400957622359,-0.0153704142125,0.0698126978535,0.999999931901,0.000218504081592,-0.000297343627418,6.32171587881e-06,1793254820562702592
+68,1.133333333,BASELINE,783.458583131,760,738,720.541416869,687,650,917,800,839,658,635.458583131,658,0.400957302001,-0.0153714972189,0.069812436156,0.999999931951,0.000217766456213,-0.000297711781468,6.5671024016e-06,1793254820579369216
+69,1.150000000,BASELINE,784,760,738,720,687,650.035053233,917,800,839.035053233,657.964946767,636,658,0.400956871274,-0.0153726522206,0.0698121422854,0.999999931922,0.00021719951925,-0.000298216368932,6.81653225182e-06,1793254820596035840
+70,1.166666667,BASELINE,784,760,738,720,687,650.609312125,917,800,839.609312125,657.390687875,636,658,0.400956537238,-0.0153720986762,0.0698125434648,0.999999932099,0.000216960696122,-0.000297806858347,6.44491101974e-06,1793254820612702464
+71,1.183333333,BASELINE,784,760,738,720.188884909,687,651,917,800,839.811115091,657.188884909,636,658,0.400956469497,-0.0153719134255,0.0698129676067,0.999999932182,0.00021707406957,-0.000297445607261,6.34264229834e-06,1793254820629369088
+72,1.200000000,BASELINE,784,760,738,720.77976718,687,651,917,800,839.22023282,657.77976718,636,658,0.400956968506,-0.0153725120017,0.0698134406189,0.999999932068,0.000217937011028,-0.000297187065154,6.81362734292e-06,1793254820646035712
+73,1.216666667,BASELINE,783.636610125,760,738,720.636610125,687,651,917,800,839,658,635.636610125,657.636610125,0.40095779398,-0.0153718462444,0.0698136730275,0.999999932142,0.000218973264769,-0.000296177989408,6.73044110767e-06,1793254820662702336
+74,1.233333333,BASELINE,783.057300966,760,738,720.057300966,687,651,917,800,839,658,635.057300966,657.057300966,0.400958813435,-0.0153704292444,0.0698137624739,0.999999932324,0.000220112497287,-0.000294722961002,6.31797691333e-06,1793254820679368960
+75,1.250000000,BASELINE,783.519157149,760,738,720.519157149,687,651,917,800,839,658,635.519157149,657,0.400957949769,-0.0153708294503,0.0698137964521,0.999999931998,0.000219952797966,-0.000295941163028,6.54456678564e-06,1793254820696035840
+76,1.266666667,BASELINE,784,760,738,721,687,651,917,800,839.09697195,657.90302805,636,657.09697195,0.400957296669,-0.0153712829391,0.0698137868545,0.999999931728,0.000219643047679,-0.000297080442979,6.69057732981e-06,1793254820712702720
+77,1.283333333,BASELINE,784,760,738,721,687,651,917,800,839.683210857,657.316789143,636,657.683210857,0.400958748914,-0.0153709988233,0.0698135881181,0.999999932027,0.000219295623515,-0.000296340983505,6.07609528556e-06,1793254820729369088
+78,1.300000000,BASELINE,784,760,737.733782559,720.733782559,687,651,917,800,839.733782559,657,636,657.733782559,0.400959021462,-0.0153709545183,0.0698139110841,0.999999932339,0.000218665756163,-0.00029575503861,6.0031351644e-06,1793254820746035968
+79,1.316666667,BASELINE,784,760,737.154576221,720.154576221,687,651,917,800,839.154576221,657,636,657.154576221,0.400957907052,-0.0153711921564,0.0698148474099,0.999999932665,0.000217703823504,-0.000295349579155,6.56683641263e-06,1793254820762702592
+80,1.333333333,BASELINE,784,760,737.423423234,720.423423234,687,651,917,800,839,657,636,657,0.400958333704,-0.0153712224086,0.0698147789636,0.999999932494,0.00021857184619,-0.000295285347224,6.64679474176e-06,1793254820779369216
+81,1.350000000,BASELINE,784,760,738,721,687,651,917,800,839,657.000977362,636,657,0.400959318714,-0.0153711772151,0.0698143451015,0.999999932142,0.000220101446729,-0.000295345850189,6.55057760747e-06,1793254820796036096
+82,1.366666667,BASELINE,784,760,738,721,687,651,917,800,839,657.574991522,636,657,0.400958762915,-0.0153711601949,0.0698141146678,0.999999932287,0.000218949962709,-0.000295710851287,6.40706721258e-06,1793254820812702464
+83,1.383333333,BASELINE,784,760,737.846861501,720.846861501,687,651,917,800,839,658,636,657.153138499,0.400958109154,-0.0153716172397,0.0698139802449,0.999999932513,0.000217399180018,-0.000296091694072,6.39201548284e-06,1793254820829369088
+84,1.400000000,BASELINE,784,760,737.256926363,720.256926363,687,651,917,800,839,658,636,657.743073637,0.400957175977,-0.0153734264592,0.0698141196736,0.999999932966,0.00021470947824,-0.000296517722154,6.74336611905e-06,1793254820846035712
+85,1.416666667,BASELINE,784,760,737,720,687,651,917,800.326899954,839,657.673100046,635.673100046,657.673100046,0.400957308541,-0.0153733645417,0.069814274885,0.9999999329,0.000215100378747,-0.000296454162531,6.82991060647e-06,1793254820862702336
+86,1.433333333,BASELINE,784,760,737,720,687,651,917,800.906013095,839,657.093986905,635.093986905,657.093986905,0.400958263356,-0.0153718589853,0.0698144422732,0.999999932432,0.000217868057124,-0.000296012871182,6.71214913065e-06,1793254820879368960
+87,1.450000000,BASELINE,784,759.517126267,737.482873733,720,687,651,917,800.517126267,839.482873733,657,635,657,0.400957838434,-0.0153714184906,0.069813671973,0.999999932219,0.000218459568845,-0.000296306644735,6.36391330812e-06,1793254820896035584
+88,1.466666667,BASELINE,783.941178682,759.058821318,738,720,687,651,917,800,839.941178682,657.058821318,635,657,0.400957249126,-0.0153712407573,0.0698128953486,0.999999932108,0.000218512048638,-0.00029664786497,6.03571604899e-06,1793254820912702208
+89,1.483333333,BASELINE,783.369387932,759.630612068,738,720,687,651,917,800,839.369387932,657.630612068,635,657,0.400957557371,-0.0153715550469,0.0698136478372,0.999999932463,0.000217540462109,-0.000296160934667,6.27166762735e-06,1793254820929369088
+90,1.500000000,BASELINE,783.210063631,760,738,720.210063631,687,651,917,800,839,657.789936369,635.210063631,657.210063631,0.400958237062,-0.0153725652925,0.0698146054678,0.999999933092,0.00021608059426,-0.000295100863625,6.42807182187e-06,1793254820946035712
+91,1.516666667,BASELINE,783.80349622,760,738,720.80349622,687,651,917,800,839,657.19650378,635.80349622,657.80349622,0.400959594647,-0.0153748456669,0.069815937485,0.999999934216,0.00021372960653,-0.000292994803063,6.43930094339e-06,1793254820962702336
+92,1.533333333,BASELINE,784,760,738,720.614689911,687,650.614689911,917,800,839,657.385310089,636,657.614689911,0.400959813916,-0.0153742927312,0.0698160037345,0.999999934117,0.000214420778901,-0.000292827868678,6.47499941499e-06,1793254820979369728
+93,1.550000000,BASELINE,784,760,738,720.03862796,687,650.03862796,917,800,839,657.96137204,636,657.03862796,0.400959469648,-0.0153723371353,0.0698154433522,0.99999993341,0.000216618004815,-0.000293620919166,6.52281169991e-06,1793254820996037376
+94,1.566666667,BASELINE,784,760,737.462082643,720,686.462082643,650.537917357,917,800,839,657.462082643,636,657,0.400959004819,-0.0153718676085,0.0698152011842,0.999999933097,0.00021694084465,-0.000294448290723,6.47634564182e-06,1793254821012703744
+95,1.583333333,BASELINE,784,760,737.116960753,720,686.116960753,651,917,800,839.116960753,657.116960753,636,657.116960753,0.400958539745,-0.0153717051982,0.0698149409606,0.99999993286,0.000216935856838,-0.000295258120061,6.45263290985e-06,1793254821029370368
+96,1.600000000,BASELINE,784,760,737.705945733,720,686.705945733,651,917,800,839.705945733,657.705945733,636,657.705945733,0.40095810865,-0.0153723511716,0.0698145155654,0.999999932814,0.000216151539645,-0.000295987198195,6.54809406293e-06,1793254821046036992
+97,1.616666667,BASELINE,784,760,738,720,687,651,917,800,840,657.70980736,636,658,0.400957630254,-0.0153729521659,0.0698141616473,0.999999932793,0.000215506303163,-0.000296526088194,6.59034631749e-06,1793254821062703360
+98,1.633333333,BASELINE,784,760,738,720,687,651,917,800,840,657.13028448,636,658,0.400957104698,-0.0153735083148,0.069813878994,0.999999932798,0.000214999734115,-0.000296875355219,6.57954779496e-06,1793254821079369728
+99,1.650000000,BASELINE,784,760,737.552959299,720,687,651,917,800,840,657,636,657.552959299,0.400957379358,-0.0153725993015,0.069814226549,0.999999932158,0.000217939992844,-0.000296887887367,6.57143871057e-06,1793254821096036096
+100,1.666666667,BASELINE,784,760,737.023515015,720,687,651,917,800,839.976484985,657.023515015,635.976484985,657,0.400957900335,-0.0153714074272,0.0698147279858,0.999999931423,0.000221486760371,-0.000296738769302,6.56800520506e-06,1793254821112702720
+101,1.683333333,BASELINE,784,760,737.595014057,720,687,651,917,800,839.404985943,657.595014057,635.404985943,657,0.400958753285,-0.0153735259045,0.0698145562726,0.999999933136,0.000215872606493,-0.000295098383133,6.65535335344e-06,1793254821129369344
+102,1.700000000,BASELINE,783.827173219,760,738,720,687,651,917,800,839.172826781,658,635.172826781,657.172826781,0.400959138388,-0.0153746594388,0.069814332738,0.99999993407,0.000212572027522,-0.00029432822264,6.65729334453e-06,1793254821146035968
+103,1.716666667,BASELINE,783.234004719,760,738,720,687,651,917,800,839.765995281,658,635.765995281,657.765995281,0.400958385611,-0.0153733974375,0.0698139831655,0.999999933177,0.000214898424841,-0.000295674587137,6.45150734759e-06,1793254821162703104
+104,1.733333333,BASELINE,783,760,738,720,687,651,917,800,839.64916528,658,636,658,0.400957017791,-0.0153722755291,0.0698134895055,0.999999932487,0.000216425833501,-0.000296898903154,6.09045504795e-06,1793254821179369984
+105,1.750000000,BASELINE,783,760,738,720,687,651,917,800,839.069752388,658,636,658,0.400955249253,-0.0153712448946,0.0698129019687,0.999999931931,0.000217432679978,-0.000298043701465,5.62824259236e-06,1793254821196037120
+106,1.766666667,BASELINE,783,760,738,720,687,651,917,800,839.507554677,658,635.492445323,658,0.400954852508,-0.0153725020236,0.0698120058633,0.999999931891,0.000216164723152,-0.000299089093725,6.03492498386e-06,1793254821212703488
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,839,658,636,657,0.400955564663,-0.0153719820361,0.0698126285752,0.999999931264,0.000219846097118,-0.000298492727845,6.48068783886e-06,1793254821256116736
+108,1.800000000,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,839.593752411,657.406247589,636,657,0.400956127337,-0.0153709243138,0.0698128910876,0.999999931399,0.000219708769317,-0.00029814535236,6.2069386261e-06,1793254821272783616
+109,1.816666667,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,840,657.182028768,635.817971232,657.182028768,0.400956817304,-0.0153705313231,0.0698135145263,0.999999931727,0.00021932731515,-0.000297328291554,6.07450193172e-06,1793254821289450496
+110,1.833333333,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,840,657.758440825,635.241559175,657.758440825,0.400957783066,-0.0153715785385,0.0698149199476,0.999999932469,0.000218416937092,-0.000295493611089,6.24823270114e-06,1793254821306117376
+111,1.850000000,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,839.666865884,658,635.333134116,658,0.400958034866,-0.0153722993743,0.0698150470899,0.999999932811,0.000217285130245,-0.00029516866658,6.40722137132e-06,1793254821322783744
+112,1.866666667,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,839.093412528,658,635.906587472,658,0.400957771623,-0.0153727847634,0.0698142520959,0.999999932864,0.000215993587188,-0.000295932828886,6.55557524488e-06,1793254821339450112
+113,1.883333333,POSE1_TO_POSE2_PRESS,784,760,738,720.495388707,687,651,917,800,839,658,635.504611293,657.504611293,0.400957555405,-0.0153726533529,0.069813960331,0.999999932458,0.000217337941512,-0.000296321757356,6.49770051223e-06,1793254821356116480
+114,1.900000000,POSE1_TO_POSE2_PRESS,784,760,738,720.914674338,687,651,917,800,839.085325662,658,635,657.085325662,0.40095723123,-0.0153722596561,0.0698137157328,0.999999931933,0.00021915382365,-0.000296758199325,6.39443394675e-06,1793254821372782848
+115,1.916666667,POSE1_TO_POSE2_PRESS,784,760,738,720.335450905,687,651,917,800,839.664549095,658,635,657.664549095,0.40095622919,-0.0153710424945,0.0698131773274,0.99999993125,0.00022073007217,-0.000297892323037,6.26071344751e-06,1793254821389449472
+116,1.933333333,POSE1_TO_POSE2_PRESS,784,759.758896951,738,720,687,651,917,800,839.758896951,658,635.241103049,658,0.400960684138,-0.0153710339655,0.0698153685817,0.999999932336,0.00022009190491,-0.000294700565453,6.31987513991e-06,1793254821406116096
+117,1.950000000,POSE1_TO_POSE2_PRESS,784,759.186016467,738,720,687,651,917,800,839.186016467,658,635.813983533,658,0.400972648347,-0.0153726886134,0.0698213160699,0.999999935791,0.000216406521,-0.000285556042702,6.6444584511e-06,1793254821422782976
+118,1.966666667,POSE1_TO_POSE2_PRESS,783.611830655,759.388169345,738,720.388169345,687,651,917,800,839,658,636,658,0.400995982405,-0.0153736262254,0.0698318623098,0.999999940187,0.000217426830209,-0.000268873326809,7.66304864764e-06,1793254821439449600
+119,1.983333333,POSE1_TO_POSE2_PRESS,783.03701715,759.96298285,738,720.96298285,687,651,917,800,839,658,636,658,0.401024783449,-0.0153742190637,0.0698446197761,0.99999994471,0.000220709785858,-0.00024856600713,9.01533944209e-06,1793254821456116224
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.555846735,760,738,721,687,651,917,800,839.555846735,657.444153265,636,658,0.401080623709,-0.0153768115837,0.0698644936829,0.99999995244,0.00021874742955,-0.000217181314525,1.01021311216e-05,1793254821472783104
+121,2.016666667,POSE1_TO_POSE2_PRESS,784,760,738,720.853742884,687,651,917,800,840,657.146257116,636,657.853742884,0.401140495998,-0.0153800784436,0.0698826768459,0.999999958425,0.000216544168421,-0.000190093941041,1.10871556474e-05,1793254821489449984
+122,2.033333333,POSE1_TO_POSE2_PRESS,784,760,738,720.274279529,687,651,917,800,840,657.725720471,636,657.274279529,0.401206798366,-0.0153849349812,0.0698944012543,0.999999961042,0.000214696744407,-0.000177993397485,1.18248797364e-05,1793254821506116608
+123,2.050000000,POSE1_TO_POSE2_PRESS,784,760,737.697294596,720,687,651,917,800,839.697294596,658,636,657.302705404,0.401282820407,-0.0153887506623,0.0699031312699,0.999999963206,0.000214215521804,-0.000166036373583,1.14349593577e-05,1793254821522782976
+124,2.066666667,POSE1_TO_POSE2_PRESS,784,760,737.122537144,720,687,651,917,800,839.122537144,658,636,657.877462856,0.401367577858,-0.0153916308884,0.0699091701179,0.999999964955,0.000214962152815,-0.000154208336589,1.00315849881e-05,1793254821539449344
+125,2.083333333,POSE1_TO_POSE2_PRESS,784,760,737.462176496,720,686.537823504,650.537823504,917,800,839,657.537823504,635.537823504,658,0.401463757843,-0.0153952654542,0.0699113224311,0.999999965531,0.000214630285895,-0.000151023847405,7.9374860967e-06,1793254821556115968
+126,2.100000000,POSE1_TO_POSE2_PRESS,784,760,738,720,686.048880521,650.048880521,917,800,839,657,635,657.951119479,0.401565751338,-0.0153992094535,0.0699123951426,0.999999965909,0.00021357932321,-0.000150115802855,5.58030831539e-06,1793254821572782848
+127,2.116666667,POSE1_TO_POSE2_PRESS,784,760,738,720,686.627912018,650.627912018,917,800,839,657,635,657.372087982,0.40169722789,-0.0154042926124,0.0699131807012,0.999999967361,0.000207898725883,-0.000148495418333,2.39976964322e-06,1793254821589449472
+128,2.133333333,POSE1_TO_POSE2_PRESS,783.793830554,760,738,720.206169446,687,651,917,800,839,657.206169446,635,657,0.401837740962,-0.0154101055287,0.0699140032233,0.999999968871,0.000201647445341,-0.000146954860835,-8.48547975582e-07,1793254821606116352
+129,2.150000000,POSE1_TO_POSE2_PRESS,783.216964977,760,738,720.783035023,687,651,917,800,839,657.783035023,635,657,0.401994501834,-0.0154172305604,0.0699148922066,0.999999970508,0.000194370067394,-0.000145557833846,-4.21873293732e-06,1793254821622783232
+130,2.166666667,POSE1_TO_POSE2_PRESS,783.355960707,760,738,720.644039293,687,650.644039293,917,800,839,658,635.355960707,657,0.402170138066,-0.0154249855407,0.0699164615007,0.99999997246,0.000186184351073,-0.000142654999047,-8.0547077746e-06,1793254821639449856
+131,2.183333333,POSE1_TO_POSE2_PRESS,783.926511294,760,738,720.073488706,687,650.073488706,917,800,839,658,635.926511294,657,0.402357153269,-0.0154331202845,0.0699184409181,0.999999974543,0.000177451044885,-0.000138844392233,-1.21714830106e-05,1793254821656116480
+132,2.200000000,POSE1_TO_POSE2_PRESS,784,760,738,720,687,650.518810522,917,800.518810522,839,658,635.481189478,657,0.402579417681,-0.0154425517186,0.0699221556816,0.999999976891,0.000170393977737,-0.000130104223502,-1.60445901544e-05,1793254821672783104
+133,2.216666667,POSE1_TO_POSE2_PRESS,784,760,737.889163246,720,687,651,917,801,839,658,635.110836754,657,0.402816746336,-0.0154524109477,0.0699271809598,0.999999980041,0.000159224517604,-0.000119000830045,-2.00961868433e-05,1793254821689449728
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,760,737.311819556,720,687,651,917,801,839,658,635.688180444,657,0.403095544975,-0.0154632638481,0.0699366422695,0.999999986172,0.000129703090555,-0.000101018284395,-2.50506685298e-05,1793254821706116352
+135,2.250000000,POSE1_TO_POSE2_PRESS,784,760,737.265349525,720,687,651,917,800.734650475,839.265349525,658,636.265349525,657.265349525,0.40338637938,-0.0154719569819,0.0699451139013,0.999999992528,8.13615867133e-05,-8.61229850323e-05,-3.01142072414e-05,1793254821722782720
+136,2.266666667,POSE1_TO_POSE2_PRESS,784,760,737.842313519,720,687,651,917,800.157686481,839.842313519,658,636.842313519,657.842313519,0.403691348029,-0.0154781137829,0.0699524232996,0.999999996516,1.09186382286e-05,-7.48532087976e-05,-3.53058172105e-05,1793254821739449344
+137,2.283333333,POSE1_TO_POSE2_PRESS,784,760,738,720,687,650.583612805,917,800,840,658,636.583612805,657.583612805,0.404017461913,-0.0154855255259,0.0699532434529,0.999999996312,-9.96019123027e-06,-7.48902500585e-05,-4.08435935893e-05,1793254821756116736
+138,2.300000000,POSE1_TO_POSE2_PRESS,784,760,738,720,687,650.010626163,917,800,840,658,636.010626163,657.010626163,0.404351528321,-0.0154934092411,0.06995162306,0.999999995709,-1.21984036539e-05,-7.91796831289e-05,-4.65115599411e-05,1793254821772784128
+139,2.316666667,POSE1_TO_POSE2_PRESS,784,760,738,720,687,650.582822644,917,800,839.417177356,658,636,657,0.40473793633,-0.0154874299805,0.0699602377737,0.999999996683,3.57035919609e-05,-6.55425372309e-05,-3.26028404205e-05,1793254821789450496
+140,2.333333333,POSE1_TO_POSE2_PRESS,784,760,737.8287021,720,687,651,917,800,839.1712979,658,636,657,0.405137171891,-0.0154784895804,0.0699660604067,0.999999995266,7.60548800083e-05,-5.5857990278e-05,-2.37508630098e-05,1793254821806117120
+141,2.350000000,POSE1_TO_POSE2_PRESS,784,760,737.252885008,720,687,651,917,800,839.747114992,658,636,657,0.405564364016,-0.0154631750575,0.0699648328422,0.99999999339,9.63378454245e-05,-5.63074090031e-05,-2.7713911108e-05,1793254821822783744
+142,2.366666667,POSE1_TO_POSE2_PRESS,784.324295116,760,737.324295116,720,687,650.675704884,917,800,839.675704884,657.675704884,636,657.324295116,0.405998117039,-0.0154622593261,0.0699567608259,0.999999993217,8.6609035218e-05,-7.10376812955e-05,-3.19056893518e-05,1793254821839450112
+143,2.383333333,POSE1_TO_POSE2_PRESS,784.902542678,760,737.902542678,720,687,650.097457322,917,800,839.097457322,657.097457322,636,657.902542678,0.406437007887,-0.015472619151,0.0699433289838,0.999999993218,5.33782886777e-05,-9.69511552783e-05,-3.62765844021e-05,1793254821856116480
+144,2.400000000,POSE1_TO_POSE2_PRESS,784.512398051,760,738,719.512398051,687,650.487601949,917,800.487601949,839.487601949,657.487601949,636,657.512398051,0.406919138495,-0.0154815722323,0.0699316934362,0.999999992314,4.45270813595e-05,-0.000108685220684,-3.97186471793e-05,1793254821872783872
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,760,738,719.073247886,686.926752114,651,917,800.926752114,840,657.926752114,636,657,0.407422007628,-0.0154891480442,0.0699236034386,0.99999999194,3.91638637666e-05,-0.000112965859369,-4.27291578342e-05,1793254821889451008
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,760,738,719.653398756,686.346601244,651,917,800.346601244,840,657.346601244,636,657,0.408007739668,-0.0154891659841,0.0699375301772,0.999999995088,2.3739795565e-05,-8.55565253447e-05,-4.40561110054e-05,1793254821906116864
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,760,738,719.767426534,686,651,917,800.232573466,840,657.232573466,636,657.232573466,0.408610189614,-0.0154883839526,0.0699492003172,0.999999997019,2.08088351824e-05,-5.99297432478e-05,-4.40089867739e-05,1793254821922783232
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,760,738,719.189700534,686,651,917,800.810299466,840,657.810299466,636,657.810299466,0.409237449868,-0.0154864147169,0.069957521533,0.999999997776,3.64183734032e-05,-3.69483734531e-05,-4.19226518121e-05,1793254821939449856
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,760.392871169,738,719,686.392871169,651,917,801,840,658,636,658,0.409842411391,-0.0154847527464,0.0699532982767,0.99999999746,3.69760462462e-05,-4.24813602183e-05,-4.369157103e-05,1793254821956116480
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,760.977811855,738,719,686.977811855,651,917,801,840,658,636,658,0.410436471341,-0.0154832409937,0.0699429421935,0.999999996505,3.01750607705e-05,-6.19546393463e-05,-4.73452730696e-05,1793254821972783104
+151,2.516666667,POSE1_TO_POSE2_PRESS,784,761,738,719,687,651,917,801,840,658,636,658,0.411108572193,-0.0154873166697,0.0699461503653,0.999999996813,2.35874607239e-05,-5.99923106924e-05,-4.71010127218e-05,1793254821989449472
+152,2.533333333,POSE1_TO_POSE2_PRESS,784,760.863664289,738,719,687,651,917,801,840,658,636,657.863664289,0.41180416089,-0.0154911262841,0.0699569414467,0.999999997735,1.84351332582e-05,-4.50090695828e-05,-4.65153811539e-05,1793254822006116096
+153,2.550000000,POSE1_TO_POSE2_PRESS,784,760.286408764,738,719,687,651,917,801,840,658,636,657.286408764,0.41256575968,-0.0154933629666,0.0699905266051,0.999999998769,1.78973758565e-05,9.35145630787e-06,-4.53227695071e-05,1793254822022782720
+154,2.566666667,POSE1_TO_POSE2_PRESS,784.290911535,760.290911535,738,719,686.709088465,651,917,801,840,658,636,657,0.413338322729,-0.015496723781,0.0700147598615,0.99999999775,1.77177022517e-05,4.69619724275e-05,-4.45121674399e-05,1793254822039449344
+155,2.583333333,POSE1_TO_POSE2_PRESS,784.868295687,760.868295687,738,719,686.131704313,651,917,801,840,658,636,657,0.41412168283,-0.0155011915747,0.0700297839171,0.999999996551,1.78906485366e-05,6.80780678454e-05,-4.40777459424e-05,1793254822056115968
+156,2.600000000,POSE1_TO_POSE2_PRESS,784.546319518,760.546319518,737.546319518,719,686.453680482,651,917,801,840.453680482,658,636,657.453680482,0.414834108241,-0.0154992091718,0.0699906771485,0.99999999879,9.28983877165e-06,-3.27277858197e-06,-4.81930482234e-05,1793254822072782848
+157,2.616666667,POSE1_TO_POSE2_PRESS,784,760,737.040823919,719,687,651,917,800.959176081,840.959176081,658,636,657.959176081,0.415533940987,-0.0154955781528,0.0699378951073,0.999999993831,-1.33499448382e-06,-9.7288864373e-05,-5.35870753044e-05,1793254822089449472
+158,2.633333333,POSE1_TO_POSE2_PRESS,784,760,737.619981247,719,687,651,917,800.380018753,840.380018753,658,636,657.380018753,0.416344140245,-0.0154953427433,0.0699157207738,0.99999998987,-4.4600502091e-06,-0.000129855330197,-5.8113703064e-05,1793254822106116096
+159,2.650000000,POSE1_TO_POSE2_PRESS,784.197874575,760,738,719,686.802125425,651,917,800.197874575,840,657.802125425,636,657,0.417178140609,-0.0154975513951,0.0699124302542,0.999999989319,-1.04213109339e-05,-0.000132785040572,-6.01745395803e-05,1793254822122782720
+160,2.666666667,POSE1_TO_POSE2_PRESS,784.773355761,760,738,719,686.226644239,651,917,800.773355761,840,657.226644239,636,657,0.418057560882,-0.0155044240805,0.0699451759626,0.999999994975,-2.179493814e-05,-7.91585452768e-05,-5.75298744892e-05,1793254822139449344
+161,2.683333333,POSE1_TO_POSE2_PRESS,785.349426395,760.349426395,738.349426395,718.650573605,686,651,917,800.650573605,840,657,636,657,0.418966962422,-0.0155081203209,0.0699756465646,0.999999997656,-2.53548084719e-05,-3.20053068068e-05,-5.49527283091e-05,1793254822156115968
+162,2.700000000,POSE1_TO_POSE2_PRESS,785.92587998,760.92587998,738.92587998,718.07412002,686,651,917,800.07412002,840,657,636,657,0.419895843175,-0.0155097527805,0.0700046389971,0.999999998282,-2.38379718274e-05,1.09421645439e-05,-5.24194502025e-05,1793254822172782336
+163,2.716666667,POSE1_TO_POSE2_PRESS,785.48867422,760.48867422,738.48867422,718.51132578,686,651,917,800.51132578,840,657.51132578,636,657,0.42079963059,-0.0155115057564,0.0700248595954,0.999999997377,-2.89251651316e-05,4.16805969662e-05,-5.16874224182e-05,1793254822189449216
+164,2.733333333,POSE1_TO_POSE2_PRESS,785,760,738,718.902730114,686,651,917,801,840,657.902730114,636,657.097269886,0.421693489262,-0.0155124320146,0.0700338421805,0.999999996585,-3.39580618183e-05,5.4429964487e-05,-5.21055347596e-05,1793254822206115840
+165,2.750000000,POSE1_TO_POSE2_PRESS,785,760,738,718.320913397,686,651,917,801,840,657.320913397,636,657.679086603,0.42255633207,-0.0155091514226,0.0699932904514,0.999999997716,-3.38663683967e-05,-1.34587115845e-05,-5.69290739555e-05,1793254822222782720
+166,2.766666667,POSE1_TO_POSE2_PRESS,784.741659878,760,738,718.258340122,686.258340122,651,917.258340122,801,840.258340122,657.258340122,636,657.741659878,0.42341507585,-0.0155056780686,0.069935369838,0.999999992181,-3.32260190253e-05,-0.000102718075407,-6.31132011838e-05,1793254822239449344
+167,2.783333333,POSE1_TO_POSE2_PRESS,784.165559038,760,738,718.834440962,686.834440962,651,917.834440962,801,840.834440962,657.834440962,636,657.165559038,0.424268777903,-0.0155019676154,0.0698560853326,0.999999973153,-3.19108176201e-05,-0.000218263589465,-7.09708644659e-05,1793254822256115968
+168,2.800000000,POSE1_TO_POSE2_PRESS,784.408370951,760,738,718.591629049,687,651,917.591629049,801,841,657.591629049,636,657.408370951,0.425241168967,-0.0155032954433,0.0698679655936,0.999999977939,-3.36664334267e-05,-0.000194693650474,-7.12943116052e-05,1793254822272783616
+169,2.816666667,POSE1_TO_POSE2_PRESS,784.981425469,760,738,718.018574531,687,651,917.018574531,801,841,657.018574531,636,657.981425469,0.426261423641,-0.0155066550567,0.0699166098326,0.999999990361,-3.66604162812e-05,-0.000115022679716,-6.85794382682e-05,1793254822289451776
+170,2.833333333,POSE1_TO_POSE2_PRESS,785.571481429,760.571481429,738,717.428518571,686.428518571,651,917,801,841,657.571481429,636,657.428518571,0.427246393513,-0.0155097964404,0.0699738630482,0.999999996236,-4.02759264066e-05,-4.53828236037e-05,-6.20162979899e-05,1793254822306117120
+171,2.850000000,POSE1_TO_POSE2_PRESS,785.842064099,760.842064099,738,717,686,651,917,801,841,657.842064099,636,657,0.428235896101,-0.0155142956077,0.0700247761342,0.999999997128,-4.50726311383e-05,2.17424426837e-05,-5.6916441295e-05,1793254822322782976
+172,2.866666667,POSE1_TO_POSE2_PRESS,785.266635467,760.266635467,738,717,686,651,917,801,841,657.266635467,636,657,0.429240505113,-0.0155224033076,0.0700581671737,0.999999993576,-5.29367053115e-05,8.31088375024e-05,-5.60254484234e-05,1793254822339449600
+173,2.883333333,POSE1_TO_POSE2_PRESS,785,760,738,717.30734385,686,651,917,801,841,657,636,657,0.430185625157,-0.0155244093833,0.0700481655813,0.999999994495,-5.43040654606e-05,6.90543941653e-05,-5.73881420627e-05,1793254822356116224
+174,2.900000000,POSE1_TO_POSE2_PRESS,785,760,738,717.880071687,686,651,917,801,841,657,636,657,0.431079377863,-0.0155211468535,0.070000695498,0.999999996854,-5.00616694883e-05,-1.01241238817e-05,-6.06968394552e-05,1793254822372782848
+175,2.916666667,POSE1_TO_POSE2_PRESS,785.469898863,760,738,717.530101137,686.469898863,651,917,801,840.530101137,657.469898863,636,657.469898863,0.431960285912,-0.0155157609084,0.0699334416143,0.999999989033,-4.88935308764e-05,-0.00012295029988,-6.65360212365e-05,1793254822389449728
+176,2.933333333,POSE1_TO_POSE2_PRESS,786,760.062629896,738,717,687,651,917,801,840.062629896,658,636,657.937370104,0.432854639834,-0.0155111405167,0.069875141011,0.999999972118,-5.02515093459e-05,-0.000219271698798,-7.18304842721e-05,1793254822406116352
+177,2.950000000,POSE1_TO_POSE2_PRESS,786,760.64195381,738,717,687,651,917,801,840.64195381,658,636,657.35804619,0.433887987716,-0.015517475746,0.0699339338442,0.99999998998,-6.57323516379e-05,-0.000105906459988,-6.71017292793e-05,1793254822422782976
+178,2.966666667,POSE1_TO_POSE2_PRESS,786,761,738,717,687,651,917,801,841,658,636,657.220040744,0.434898607252,-0.0155224894347,0.0699862455139,0.999999995223,-7.37658496127e-05,-1.21402808165e-05,-6.29715121489e-05,1793254822439449600
+179,2.983333333,POSE1_TO_POSE2_PRESS,786,761,738,717,687,651,917,801,841,658,636,657.796126231,0.435872450541,-0.0155253647586,0.0700280701161,0.999999994533,-6.97489109359e-05,4.99129599423e-05,-5.98097806985e-05,1793254822456116224
+180,3.000000000,POSE1_TO_POSE2_PRESS,786,761,738,717,687,651,917,801,841,657.63166723,636,658,0.436823290858,-0.0155296852798,0.0700424562188,0.9999999924,-7.24779425479e-05,8.04545439075e-05,-5.894612318e-05,1793254822472782848
+181,3.016666667,POSE1_TO_POSE2_PRESS,786,761,738,717,687,651,917,801,841,657.061585365,636,658,0.43776153156,-0.0155347973873,0.0700418132667,0.999999990733,-7.89019848582e-05,9.37360573094e-05,-5.93412036085e-05,1793254822489449728
+182,3.033333333,POSE1_TO_POSE2_PRESS,785.467945262,761,738,717,687,651,917.532054738,801,841,657,636,658,0.438605418318,-0.0155269967755,0.069979379702,0.999999995052,-7.47518192858e-05,-1.77111839809e-07,-6.5639424638e-05,1793254822506116352
+183,3.050000000,POSE1_TO_POSE2_PRESS,785,761,738,717,686.875910867,651,917.875910867,801,841,657,636,658,0.43943166534,-0.0155189406743,0.0699126800006,0.999999989523,-7.02063095545e-05,-0.000104328617556,-7.16980390898e-05,1793254822522783232
+184,3.066666667,POSE1_TO_POSE2_PRESS,785,761,738,717,686.300107973,651,917.300107973,801,841,657,636,658,0.440235298174,-0.0155156474744,0.069857692721,0.999999975169,-6.88835991651e-05,-0.000198490230662,-7.4281861704e-05,1793254822539449600
+185,3.083333333,POSE1_TO_POSE2_PRESS,785,761,738,716.724947675,686,651,917,801,841,657,636,658,0.441093987733,-0.0155183621224,0.0698561462969,0.999999973619,-7.60067980327e-05,-0.000203693651149,-7.4122881153e-05,1793254822556116224
+186,3.100000000,POSE1_TO_POSE2_PRESS,785,761,738,716.150486911,686,651,917,801,841,657,636,658,0.442012609283,-0.0155276166184,0.0699127729643,0.99999998694,-9.23237986133e-05,-0.000112061550686,-7.09782198237e-05,1793254822572783104
+187,3.116666667,POSE1_TO_POSE2_PRESS,785,761,738,716.436637111,686,651,917,801,841,657,636,657.563362889,0.442879730065,-0.0155364095926,0.0699477854586,0.999999990282,-0.000102750181009,-6.6025012969e-05,-6.72183181896e-05,1793254822589449728
+188,3.133333333,POSE1_TO_POSE2_PRESS,785.027569826,761,738,717,686,651,917,800.972430174,841,657,636,657,0.443724147037,-0.0155449100063,0.0699719529677,0.999999990968,-0.000111132945505,-4.08228714737e-05,-6.36110181896e-05,1793254822606116352
+189,3.150000000,POSE1_TO_POSE2_PRESS,785.604823152,761,738,717,686,651,917,800.395176848,841,657,636,657,0.444480358915,-0.0155508434831,0.069932854244,0.999999984605,-0.000120457175681,-0.000108342456181,-6.7400220504e-05,1793254822622782976
+190,3.166666667,POSE1_TO_POSE2_PRESS,785.819193992,761,738,717,686,651,917,800,841,657,636,657.180806008,0.445222756657,-0.0155564831626,0.0698912647364,0.999999974204,-0.000129055710805,-0.000172786908572,-7.12859872952e-05,1793254822639449600
+191,3.183333333,POSE1_TO_POSE2_PRESS,785.245968442,761,738,717,686,651,917,800,841,657,636,657.754031558,0.445935172479,-0.015561485189,0.0698442692496,0.999999961322,-0.000136079207214,-0.000230557138185,-7.53813377958e-05,1793254822656116224
+192,3.200000000,POSE1_TO_POSE2_PRESS,785,761,738,717,686,650.669909758,917,799.669909758,841.330090242,657,636,658,0.446613149833,-0.0155740137155,0.0698030366017,0.99999994228,-0.000144034329846,-0.000298727097836,-7.38599062503e-05,1793254822672782848
+193,3.216666667,POSE1_TO_POSE2_PRESS,785,761,738,717,686,650.091721709,917,799.091721709,841.908278291,657,636,658,0.447265242986,-0.0155921992045,0.069766135341,0.999999915818,-0.000152689667516,-0.000374713552688,-6.81168671456e-05,1793254822689449472
+194,3.233333333,POSE1_TO_POSE2_PRESS,785,761,738,717,686,650,917,799,841.500984989,657.499015011,635.500984989,657.500984989,0.447939860104,-0.0156110977662,0.0697437135479,0.999999897818,-0.000174195953502,-0.000411623385432,-6.77136875224e-05,1793254822706116096
+195,3.250000000,POSE1_TO_POSE2_PRESS,785,761,738,716.910206911,686,650,917,799,841.089793089,657.910206911,635.089793089,657,0.448620421832,-0.0156275903265,0.0697317942451,0.999999886651,-0.000194740118714,-0.000429112992785,-6.80909909725e-05,1793254822722782976
+196,3.266666667,POSE1_TO_POSE2_PRESS,785,761,738,716.33207153,686,650,917,799,841.66792847,657.33207153,635.66792847,657,0.449310217025,-0.0156302665813,0.0697621455373,0.999999905758,-0.00019687417422,-0.000381055003439,-6.7237388251e-05,1793254822739449856
+197,3.283333333,POSE1_TO_POSE2_PRESS,785.244549887,761,738,716,685.755450113,650,917,798.755450113,841.755450113,657,635.755450113,657.244549887,0.449956913259,-0.0156322798571,0.0697776371604,0.999999915257,-0.000194219616542,-0.000356918463595,-6.61395244826e-05,1793254822756116736
+198,3.300000000,POSE1_TO_POSE2_PRESS,785.819128111,761,738,716,685.180871889,650,917,798.180871889,841.180871889,657,635.180871889,657.819128111,0.450545445934,-0.0156333984202,0.0697730751554,0.999999914139,-0.000185102663851,-0.000365064732962,-6.47120224044e-05,1793254822772783360
+199,3.316666667,POSE1_TO_POSE2_PRESS,785.606525958,761,738,716,685,650,917,797.606525958,841.393474042,657,635,658,0.451077705954,-0.0156351530137,0.0697385637096,0.999999892264,-0.000195476546869,-0.000415868534318,-6.56791066669e-05,1793254822789449984
+200,3.333333333,POSE1_TO_POSE2_PRESS,785.032286694,761,738,716,685,650,917,797.032286694,841.967713306,657,635,658,0.451584113903,-0.015637199805,0.0696902932431,0.999999856406,-0.000214804679008,-0.000486269556807,-6.77462832406e-05,1793254822806116096
+201,3.350000000,POSE1_TO_POSE2_PRESS,785,761,738,716,685,649.438532823,917,797,842,657,635,658,0.452082650206,-0.0156371921884,0.0696497137218,0.999999831211,-0.000207700880035,-0.000537623752655,-7.34803732974e-05,1793254822822782720
+202,3.366666667,POSE1_TO_POSE2_PRESS,785.151394554,761,738,716,685,649,917,796.848605446,842,657,635,658,0.452574102185,-0.0156390306631,0.0696191751205,0.999999809309,-0.000207071917903,-0.000576628971961,-7.74768930736e-05,1793254822839449600
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+208,3.466666667,POSE1_TO_POSE2_PRESS,785,761,737.630782883,716.369217117,685,649,917,795.369217117,842,657,635,658,0.45502132953,-0.0156632970221,0.0695895064912,0.999999754224,-0.000254980412497,-0.000648423981421,-7.79914957618e-05,1793254822939449344
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+218,3.633333333,POSE1_TO_POSE2_PRESS,786,761,738,716,684.426741057,648.426741057,917,793,842,657.426741057,634.426741057,658,0.45737860825,-0.015680885523,0.0695456281759,0.999999714345,-0.000253583375514,-0.00070875404475,-6.83641204267e-05,1793254823106116608
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+221,3.683333333,POSE1_TO_POSE2_PRESS,786,761,738,716,684,648,917,793,842,657.172197875,635,657.172197875,0.457704614735,-0.015691122913,0.0695206601577,0.99999968178,-0.000268653336872,-0.00074775499053,-7.16128958218e-05,1793254823156116224
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+226,3.766666667,POSE1_TO_POSE2_PRESS,785,761,737.92400767,716,684,648,917,793,842,657.92400767,634,658,0.457999406788,-0.0156878673418,0.069485698079,0.999999644559,-0.000264332874075,-0.000797087389944,-7.52396499868e-05,1793254823239450368
+227,3.783333333,POSE1_TO_POSE2_PRESS,785,761,737.344659349,716,684,648,917,793,842,657.344659349,634,658,0.458032642569,-0.0156887735571,0.0694836152222,0.99999964185,-0.000266363159572,-0.000799819812158,-7.50958392911e-05,1793254823256116736
+228,3.800000000,POSE1_TO_POSE2_PRESS,785.233584655,761,737.233584655,716,684.233584655,648,917,792.766415345,842,657,634,658,0.45806064978,-0.0156889010834,0.0694811222417,0.999999638704,-0.000266843346639,-0.000803595160909,-7.49805389946e-05,1793254823272783104
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+250,4.166666667,HOLD_POSE2,786,761,738,716,684,648,917,792,842,657,634,658,0.458138073121,-0.0156826849483,0.0694686466072,0.999999625081,-0.000260120291869,-0.000822820156982,-7.17082827994e-05,1793254823668137984
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,786,760.927245946,736.072754054,717,686,650.072754054,917.072754054,800,840,657.072754054,635.927245946,658,0.437816425818,-0.0153761957152,0.0697393835301,0.999999905529,0.000164724284489,-0.000401985734599,1.46869459174e-05,1793254824934078976
+326,5.433333333,POSE2_TO_POSE3_RETREAT,786,760.353396143,736.646603857,717,686,650.646603857,917.646603857,800,840,657.646603857,635.353396143,658,0.436880553629,-0.0153895949739,0.069701528432,0.999999887819,0.000147990514605,-0.000449783033089,1.2476410541e-05,1793254824950745344
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,786,760,737,716.185858772,686,651,917.185858772,800,840,658,635.814141228,658,0.435067004615,-0.0154081558389,0.0697516759223,0.999999922771,0.000132703329097,-0.000369487290505,1.81040782425e-05,1793254824984078592
+329,5.483333333,POSE2_TO_POSE3_RETREAT,785.603351879,760,737,716,686,651,917.396648121,800,840,658,636,658,0.434155997621,-0.0154073119727,0.0697947956869,0.999999940468,0.000137925334244,-0.000315506613757,2.22844591845e-05,1793254825000745472
+330,5.500000000,POSE2_TO_POSE3_RETREAT,785.023466601,760,737,716,686,651,917.976533399,800,840,658,636,658,0.43323705488,-0.0154026376028,0.0698333180473,0.999999951501,0.00014722244322,-0.000273211400213,2.60634570297e-05,1793254825017412352
+331,5.516666667,POSE2_TO_POSE3_RETREAT,785,760,737,716.552671581,686,651,917.447328419,800,840,658,636,657.447328419,0.432325695993,-0.0154006890637,0.0698490613753,0.999999960877,0.000153956822725,-0.000231921584778,2.74759570321e-05,1793254825034078720
+332,5.533333333,POSE2_TO_POSE3_RETREAT,785,760,737,717,686,651,917,800,840,658,636,657,0.431386091054,-0.0153975323849,0.0698462701146,0.999999960563,0.000163328396391,-0.000226820055278,2.73944360174e-05,1793254825050745344
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,785,760,737,717,686,650.718602104,917,800,840,658,636,657,0.429325271617,-0.0153880864976,0.069733814877,0.999999891341,0.000183419432674,-0.000428183903639,1.82951114101e-05,1793254825084078592
+335,5.583333333,POSE2_TO_POSE3_RETREAT,785,760,737,717,686,650.124551165,917,800,840,658,636,657,0.428322315269,-0.0153931402376,0.0697022977017,0.999999878298,0.000164879677626,-0.000464753053436,1.49686219807e-05,1793254825100744704
+336,5.600000000,POSE2_TO_POSE3_RETREAT,785,760,737,717,686,650,917,800,840,658,636,657.45729811,0.427412916071,-0.0153971582192,0.0697549145524,0.99999991476,0.000161383453587,-0.000379541914,1.95840440564e-05,1793254825117411840
+337,5.616666667,POSE2_TO_POSE3_RETREAT,785,760,737,717,686,650.035684999,917,800,840,658,636,657.964315001,0.426526605515,-0.0154002151968,0.0698264425084,0.999999950536,0.000162702330775,-0.000267914607978,2.60214960727e-05,1793254825134078976
+338,5.633333333,POSE2_TO_POSE3_RETREAT,785,760,737,717,686,650.61066377,917,800,840,658,636,657.38933623,0.425614141311,-0.0153929013914,0.0698464609093,0.999999953944,0.000176478276454,-0.000245305299524,2.81542859462e-05,1793254825150745344
+339,5.650000000,POSE2_TO_POSE3_RETREAT,785,760,737,717.189916077,686,650.810083923,917,800,840,658,635.810083923,657.189916077,0.424686079499,-0.0153885324249,0.0698517260287,0.999999953521,0.000184304455191,-0.000241197279842,2.85153624602e-05,1793254825167411712
+340,5.666666667,POSE2_TO_POSE3_RETREAT,785,760,737,717.778131107,686,650.221868893,917,800,840,658,635.221868893,657.778131107,0.423725305638,-0.0153903394812,0.0698260500296,0.999999945488,0.000179652567405,-0.000275890836533,2.51607372313e-05,1793254825184077824
+341,5.683333333,POSE2_TO_POSE3_RETREAT,785.360591285,760.360591285,737,718,686,650,917,800,840,658,635,657.639408715,0.422715858041,-0.0153860288479,0.0697681581235,0.999999911908,0.000179277586289,-0.000378980234631,2.04384131001e-05,1793254825200744448
+342,5.700000000,POSE2_TO_POSE3_RETREAT,785.939566139,760.939566139,737,718,686,650,917,800,840,658,635,657.060433861,0.421676932405,-0.0153780131808,0.0696907554182,0.999999846397,0.000181492809698,-0.000523491945499,1.488777439e-05,1793254825217411072
+343,5.716666667,POSE2_TO_POSE3_RETREAT,785.483720868,760.483720868,737,718,686.516279132,650.516279132,917.516279132,800,840,658,635.516279132,657.516279132,0.420779042631,-0.0153831309243,0.069684184887,0.999999849305,0.000172371366221,-0.000521081718964,1.23280183005e-05,1793254825234077696
+344,5.733333333,POSE2_TO_POSE3_RETREAT,785,760,737,718,687,651,918,800,840,658,636,657.907281191,0.419915499237,-0.0153894076,0.0696994133573,0.999999869903,0.000164934171634,-0.000482543919919,1.19363432155e-05,1793254825250744576
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,785,760,737.25101146,718,687,651,917.74898854,800,840,657.74898854,635.74898854,657,0.418346121347,-0.015395841651,0.069845839816,0.99999995187,0.00017747665255,-0.000253066983525,2.68135425882e-05,1793254825284078592
+347,5.783333333,POSE2_TO_POSE3_RETREAT,785,760,737.840347827,718,687,651,917.159652173,800,840,657.159652173,635.159652173,657,0.417507588039,-0.0153949173026,0.069872240311,0.999999959149,0.000176468145975,-0.000223094377398,2.81127574306e-05,1793254825300744960
+348,5.800000000,POSE2_TO_POSE3_RETREAT,785,760,737.577518806,718,686.577518806,650.577518806,917,800,839.577518806,657.422481194,635.422481194,657,0.416653658873,-0.0153946725283,0.0698477235311,0.999999950928,0.000179987079375,-0.000255116289268,2.57852157988e-05,1793254825317411584
+349,5.816666667,POSE2_TO_POSE3_RETREAT,784.998077132,760,737,718.001922868,686,650.001922868,917,799.998077132,839.001922868,657.998077132,636,657.001922868,0.415794098571,-0.0153946616256,0.0698043382423,0.999999934517,0.000185180687057,-0.000310137469105,2.21127798557e-05,1793254825334077952
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,784.72577466,760,737,719,686,650.27422534,917,799,840,657.72577466,636,657.27422534,0.413347746586,-0.0153811013895,0.0697321042031,0.999999882917,0.000196664908785,-0.000441869921017,1.55154555445e-05,1793254825384078080
+353,5.883333333,POSE2_TO_POSE3_RETREAT,784.690534025,760,737.309465975,719,686.309465975,650.309465975,917,799,840,657.690534025,636,657,0.41263006415,-0.0153814429756,0.0697504878622,0.999999896335,0.000200107738241,-0.000408655833695,1.69670082174e-05,1793254825400744704
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,784.482269477,760,737.517730523,719,687,651,917,799.482269477,840,657,636,657,0.41134256265,-0.015384952277,0.0698452010849,0.999999951664,0.000202483333852,-0.000234622471258,2.49869988362e-05,1793254825434078464
+356,5.933333333,POSE2_TO_POSE3_RETREAT,784.93992513,760,737,719,687,650.93992513,917,800,839.93992513,657,636,657.06007487,0.410703475802,-0.0153843010169,0.0698792321949,0.999999962454,0.000202915550599,-0.000181963424857,2.8406985918e-05,1793254825450744832
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,784,760,737.803329694,719,686.196670306,650,917,800,839.803329694,657.803329694,636,658,0.408729229226,-0.0153769133955,0.0697774216254,0.999999912956,0.000205853139378,-0.000362464707202,1.82270187581e-05,1793254825500744704
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,784,759.541581681,737.541581681,719.541581681,686.458418319,650.458418319,917,799.458418319,840,657.541581681,636,657.541581681,0.407060480831,-0.0153737138394,0.0697790793865,0.99999991692,0.000211947377554,-0.000347795616223,1.66038302495e-05,1793254825550744832
+363,6.050000000,POSE2_TO_POSE3_RETREAT,784,760,738,719.882657059,686.117342941,650.117342941,917,799.117342941,840,658,636,658,0.406568310027,-0.015373833823,0.0697970362905,0.999999924534,0.000214128327878,-0.00032366151584,1.79845735042e-05,1793254825567411456
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,783.728208602,760,737.728208602,719.271791398,687,650.728208602,917,800,840,658,635.728208602,658,0.40562546795,-0.0153721985026,0.0697964530413,0.999999915196,0.000223237917943,-0.000345529524971,1.95400408232e-05,1793254825600744704
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,784,760,737.024902557,720,687,650.024902557,917,799.975097443,839,657,636,658,0.404453345969,-0.0153693111208,0.0698206130671,0.999999934711,0.000209375222519,-0.000294043098684,1.66979844891e-05,1793254825650744320
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,784,760,738,720,687,651,917,799.765463788,839.765463788,657.765463788,636,657.234536212,0.403502726749,-0.0153670236648,0.0698394456929,0.999999941424,0.000221483235752,-0.000260203429597,1.97786996329e-05,1793254825700744448
+372,6.200000000,POSE2_TO_POSE3_RETREAT,784,760,738,720,687,650.650760183,917,800,839.650760183,658,635.650760183,657,0.403209544816,-0.0153646969052,0.0698315277122,0.99999993718,0.000224970081642,-0.000273291652492,1.84390526309e-05,1793254825717411328
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..78f59858563fce918c27999bd53e50c5713d059a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_03/simulation_data.csv
@@ -0,0 +1,418 @@
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+400,6.666666667,pose2_to_pose3_retreat,0.575668763488,-0.00981827621491,1.06002075947,0.546239911782,-0.00114403679626,1.05969245832
+401,6.683333333,pose2_to_pose3_retreat,0.575668704842,-0.00981827848193,1.06002075406,0.546239853196,-0.00114403884647,1.05969245325
+402,6.700000000,pose2_to_pose3_retreat,0.575668569663,-0.00981828370742,1.0600207416,0.546239718156,-0.0011440435722,1.05969244157
+403,6.716666667,pose2_to_pose3_retreat,0.575668222635,-0.00981829712211,1.06002070962,0.546239371484,-0.00114405570392,1.05969241157
+404,6.733333333,pose2_to_pose3_retreat,0.575667780081,-0.0098183142295,1.06002066883,0.546238929384,-0.00114407117518,1.05969237332
+405,6.750000000,pose2_to_pose3_retreat,0.575667535564,-0.00981832275146,1.06002064586,0.546238685102,-0.00114407884876,1.0596923517
+406,6.766666667,pose2_to_pose3_retreat,0.575667478035,-0.00981831355871,1.06002063518,0.546238627438,-0.00114407012564,1.05969234074
+407,6.783333333,pose2_to_pose3_retreat,0.575667464887,-0.00981831145771,1.06002063273,0.546238614258,-0.00114406813198,1.05969233824
+408,6.800000000,pose2_to_pose3_retreat,0.575667420608,-0.00981830438235,1.06002062451,0.546238569876,-0.00114406141808,1.0596923298
+409,6.816666667,pose2_to_pose3_retreat,0.575667296634,-0.00981828457224,1.06002060149,0.54623844561,-0.00114404262003,1.05969230618
+410,6.833333333,pose2_to_pose3_retreat,0.575667251044,-0.0098182772873,1.06002059302,0.546238399913,-0.00114403570726,1.0596922975
+411,6.850000000,pose2_to_pose3_retreat,0.575667121934,-0.0098182566565,1.06002056905,0.546238270499,-0.00114401613044,1.0596922729
+412,6.866666667,pose2_to_pose3_retreat,0.575667092577,-0.00981825196557,1.0600205636,0.546238241073,-0.00114401167916,1.0596922673
+413,6.883333333,pose2_to_pose3_retreat,0.575667071007,-0.00981824851875,1.06002055959,0.546238219452,-0.00114400840843,1.05969226319
+414,6.900000000,pose2_to_pose3_retreat,0.575666849268,-0.00981831989039,1.06002054874,0.546237999163,-0.00114407494528,1.05969225015
+415,6.916666667,pose2_to_pose3_retreat,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931759,1.05969225353
+416,6.933333333,pose2_to_pose3_retreat,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.0011441293177,1.05969225353
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5553082fc8aa3fb221860c9e06661584c03fa4bc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:191ffa1db614ad12700fbb12297a78db68a97616247615c507a3e6124e0df435
+size 26420457
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e97690d94d0dbac2484ff7bd7c673c688293c057
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_04/franka_data.csv
@@ -0,0 +1,418 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,784,760,738,720,687,651,917,800,839,658,636,658,0.400957866165,-0.0153661574235,0.0698093541448,0.999999928286,0.000225872428866,-0.000303943022271,5.36295387408e-06,1793254826598064128
+1,0.016666667,BASELINE,784,760,738,720.576346139,687,651,917,800,839.576346139,658,636,658,0.400956364839,-0.0153668270859,0.0698087943135,0.999999928249,0.000224915006689,-0.000304777890762,4.98338443722e-06,1793254826614730752
+2,0.033333333,BASELINE,783.844115251,760,738,720.844115251,687,651,917,800,839.844115251,658,636,658,0.4009552222,-0.01536694867,0.0698084358601,0.999999928134,0.000224457852875,-0.000305494866696,4.79307434747e-06,1793254826631397632
+3,0.050000000,BASELINE,783.255718807,760,738,720.255718807,687,651,917,800,839.255718807,658,636,658,0.400955074758,-0.0153655495775,0.0698086361421,0.999999927804,0.000225388723777,-0.000305884742769,5.12787571256e-06,1793254826648064256
+4,0.066666667,BASELINE,783.328453617,760,738,720,687,651,917,800,839,658,636,657.671546383,0.400955652873,-0.015365634788,0.0698090381238,0.99999992817,0.000224936116973,-0.000305016809176,5.34614791845e-06,1793254826664731136
+5,0.083333333,BASELINE,783.909379136,760,738,720,687,651,917,800,839,658,636,657.090620864,0.400956788699,-0.0153668609353,0.0698095951456,0.999999929067,0.000223420074574,-0.000303182037072,5.47484782687e-06,1793254826681397760
+6,0.100000000,BASELINE,784,760,738,720.483324846,687,651,917,800,839.483324846,658,636,657,0.400956769529,-0.0153676260153,0.069809601087,0.999999929325,0.000222476762068,-0.000303027136503,5.36134789385e-06,1793254826698064384
+7,0.116666667,BASELINE,784,760,738,721,687,651,917,800,839.943573947,658,636,657.056426053,0.400956463073,-0.0153681179026,0.0698094983246,0.999999929369,0.000221992347993,-0.000303241187169,5.20204449337e-06,1793254826714731008
+8,0.133333333,BASELINE,784,760,738,721,687,651,917,800,839.366360539,658,636,657.633639461,0.400955475363,-0.0153668748591,0.0698093323397,0.999999928521,0.000224766366127,-0.000303994870799,5.03315406647e-06,1793254826731397632
+9,0.150000000,BASELINE,784,760,737.78312447,720.78312447,687,651,917,800,839.21687553,658,636,657.78312447,0.400955302965,-0.015365763276,0.0698094885471,0.999999928137,0.000226328346325,-0.000304098874015,5.0833413918e-06,1793254826748064256
+10,0.166666667,BASELINE,784,760,737.189423984,720.189423984,687,651,917,800,839.810576016,658,636,657.189423984,0.400956547185,-0.0153648801078,0.0698102045693,0.999999928569,0.000225784389512,-0.000303074046282,5.51418009048e-06,1793254826764730880
+11,0.183333333,BASELINE,784,760,737.392774563,720,687,651,917,800,840,658,636,657.392774563,0.400955886174,-0.0153649491578,0.0698094382582,0.999999928468,0.000225335481725,-0.000303741815085,5.41729786951e-06,1793254826781397504
+12,0.200000000,BASELINE,784,760,737.96958392,720,687,651,917,800,840,658,636,657.96958392,0.400954332465,-0.0153654643702,0.0698079773991,0.999999928116,0.000224931109176,-0.00030520265108,5.07315168345e-06,1793254826798064384
+13,0.216666667,BASELINE,783.45579465,760,738,720,687,650.45579465,917,800,839.45579465,657.45579465,636,658,0.400954328677,-0.0153660481057,0.0698082563077,0.999999928441,0.00022355022464,-0.000305156828211,4.74725715021e-06,1793254826814731008
+14,0.233333333,BASELINE,783.121276297,760,738,720,687,650.121276297,917,800,839,657.121276297,635.878723703,658,0.400954764684,-0.0153665299602,0.0698088371979,0.999999928775,0.000223042793828,-0.000304434670075,4.62282097815e-06,1793254826831397632
+15,0.250000000,BASELINE,783.708220546,760,738,720,687,650.708220546,917,800,839,657.708220546,635.291779454,658,0.400956558098,-0.0153666059734,0.0698102057464,0.999999928994,0.000226097912729,-0.000301437611199,5.26802873655e-06,1793254826848064256
+16,0.266666667,BASELINE,784,760,738,720.29253702,687,651,917,800,839,658,635,658,0.400956774544,-0.0153665122838,0.0698104397981,0.999999928942,0.000226827553793,-0.000301056757466,5.54796904373e-06,1793254826864730880
+17,0.283333333,BASELINE,784,760,738,720.874255822,687,651,917,800,839,658,635,658,0.400955432111,-0.0153662508378,0.0698095523649,0.99999992863,0.000225258388786,-0.000303262102631,5.46683127667e-06,1793254826881397760
+18,0.300000000,BASELINE,783.548494627,760,738,720.548494627,687,651,917,800,839.451505373,658,635.451505373,658,0.40095670511,-0.0153656734429,0.069810121498,0.999999928838,0.000225741077417,-0.000302220814082,5.33738799151e-06,1793254826898065152
+19,0.316666667,BASELINE,783,760,738,720.027274482,687,651,917,800,839.972725518,658,636,658,0.40095858736,-0.0153650900237,0.0698110614111,0.999999929164,0.000226752198441,-0.000300381572672,5.21545599615e-06,1793254826914732800
+20,0.333333333,BASELINE,783,760,738,720.598102226,687,651,917,800,839.401897774,658,636,658,0.400958237401,-0.0153661229467,0.0698113855685,0.999999929071,0.000227017824762,-0.000300482852215,5.50869511264e-06,1793254826931398912
+21,0.350000000,BASELINE,783,759.824513268,738,721,687,651,917,800,839.175486732,658,636,657.824513268,0.400957243269,-0.0153664487578,0.0698111597351,0.9999999288,0.000227098681371,-0.00030132173688,5.56323703064e-06,1793254826948065280
+22,0.366666667,BASELINE,783,759.23152979,738,721,687,651,917,800,839.76847021,658,636,657.23152979,0.400954716597,-0.0153650922939,0.0698096254303,0.999999928099,0.000226739956259,-0.000303915442157,5.04989948813e-06,1793254826964731648
+23,0.383333333,BASELINE,783.353589947,759.353589947,738,720.646410053,687,651,917,800,839.646410053,658,636,657.353589947,0.40095375037,-0.0153651097285,0.0698087793801,0.999999927858,0.000226039593703,-0.00030523475489,4.76266023693e-06,1793254826981398016
+24,0.400000000,BASELINE,783.933672607,759.933672607,738,720.066327393,687,651,917,800,839.066327393,658,636,657.933672607,0.400953783691,-0.0153660072163,0.0698083741924,0.999999927912,0.000225120394601,-0.000305737753311,4.62024862591e-06,1793254826998064640
+25,0.416666667,BASELINE,784,760,738,720,687,651,917,800,839.506506009,658,636,657.493493991,0.400954539474,-0.0153657034981,0.0698090942795,0.999999927875,0.000226622389164,-0.000304743775452,4.91618522537e-06,1793254827014731520
+26,0.433333333,BASELINE,784,760,738,720.081021155,687,651,917,800,840,657.918978845,636,657.081021155,0.40095543142,-0.0153656092852,0.0698098739969,0.999999927974,0.000227768600881,-0.000303554821563,5.25836635208e-06,1793254827031398400
+27,0.450000000,BASELINE,784,760,738,720.672012777,687,651,917,800,840,657.327987223,636,657.672012777,0.400956593328,-0.0153678098741,0.0698101146332,0.999999929029,0.000224707922765,-0.000302355092816,5.53541697962e-06,1793254827048065280
+28,0.466666667,BASELINE,784,760,738,720.742233785,687,651,917,800,840,657,636,657.742233785,0.40095733498,-0.0153691970656,0.0698104449197,0.999999929693,0.000222879710225,-0.000301506454791,5.62132861205e-06,1793254827064731904
+29,0.483333333,BASELINE,784,760,738,720.163012807,687,651,917,800,840,657,636,657.163012807,0.400957552539,-0.0153695698863,0.0698108870072,0.999999929883,0.00022258847946,-0.000301095654609,5.46887485478e-06,1793254827081398528
+30,0.500000000,BASELINE,784,760,738,720,687,651,917,800,839.589536671,657.410463329,636,657,0.400956997746,-0.0153683965266,0.0698104705798,0.999999929579,0.000223074586137,-0.000301747873775,5.19419059354e-06,1793254827098064896
+31,0.516666667,BASELINE,784,760,738,720,687,651,917,800,839.018310583,657.981689417,636,657,0.400956140452,-0.0153666175873,0.0698097179049,0.999999929081,0.000223865146112,-0.000302816436902,4.87163333052e-06,1793254827114731264
+32,0.533333333,BASELINE,784,760,738,720,687,651,917,800,839,658,636,657,0.400957502133,-0.0153665437657,0.0698111822734,0.999999929454,0.000224784641556,-0.000300891737234,5.26216926185e-06,1793254827131397632
+33,0.550000000,BASELINE,784,760,737.866320855,720,687,651,917,800,839.133679145,657.866320855,635.866320855,657,0.400958436688,-0.0153666129037,0.0698120897962,0.999999929662,0.000225522839404,-0.000299640011489,5.52386297295e-06,1793254827148064512
+34,0.566666667,BASELINE,784,760,737.268832628,720,687,651,917,800,839.731167372,657.268832628,635.268832628,657,0.400957634342,-0.0153669821321,0.069810810566,0.999999929214,0.000225617197805,-0.000301067141043,5.25659534694e-06,1793254827164731648
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+36,0.600000000,BASELINE,784,760,737.898771685,720.898771685,687,651,917,800,840,657.898771685,635,657,0.40095638722,-0.015365920881,0.0698102969712,0.999999928569,0.000227050438341,-0.000302128253392,5.41423153462e-06,1793254827198064896
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+38,0.633333333,BASELINE,784,760,737.953272554,720,687,651,917,800,839.046727446,658,636,657.953272554,0.400956337309,-0.015366755537,0.0698103404501,0.999999929458,0.000222899550093,-0.000302270970647,5.60985330306e-06,1793254827231398400
+39,0.650000000,BASELINE,784,760,737.363682426,720,687,651,917,800,839.636317574,658,636,657.363682426,0.400956166368,-0.015368902822,0.0698103021627,0.999999929686,0.000221562343211,-0.000302501306076,5.57151258235e-06,1793254827248064768
+40,0.666666667,BASELINE,784,760,737.222048552,720,687,651,917,800,839.777951448,657.777951448,636,657.222048552,0.400956201367,-0.0153693237163,0.0698104195334,0.999999929766,0.000221894576673,-0.000301995292853,5.52160658194e-06,1793254827264731136
+41,0.683333333,BASELINE,784,760,737.801566758,720,687,651,917,800,839.198433242,657.198433242,636,657.801566758,0.400956567903,-0.0153669653432,0.0698107874937,0.999999929601,0.000224914394778,-0.000300303852848,5.45308196871e-06,1793254827281397760
+42,0.700000000,BASELINE,784,760,738,720.376593224,687,651,917,800,839,657.376593224,636,658,0.400956353795,-0.0153667257292,0.0698108065852,0.999999929712,0.000224200352341,-0.00030047311741,5.18474118047e-06,1793254827298064384
+43,0.716666667,BASELINE,784,760,738,720.949280797,687,651,917,800,839,657.949280797,636,658,0.400955837342,-0.0153675893658,0.0698106440187,0.999999929963,0.000221542066249,-0.000301611262043,4.8123549145e-06,1793254827314731264
+44,0.733333333,BASELINE,783.473290354,760,738,721,687,651,917,800,839,658,636,657.473290354,0.40095542348,-0.0153672289713,0.0698102531783,0.999999929916,0.000221320860403,-0.000301930330189,4.71546808703e-06,1793254827331398144
+45,0.750000000,BASELINE,783.106412702,760,738,720.893587298,687,651,917,800,839,658,636,657.106412702,0.400955158682,-0.0153668538963,0.0698100525634,0.999999929825,0.000221583494961,-0.000302041218413,4.65746101026e-06,1793254827348064768
+46,0.766666667,BASELINE,783.694321311,760,738,720.305678689,687,651,917,800,839,658,636,657.694321311,0.400955523259,-0.0153669505657,0.0698108130457,0.99999992966,0.000222963896871,-0.000301570258425,4.65424795832e-06,1793254827364731392
+47,0.783333333,BASELINE,783.720202058,760,737.720202058,720,687,651,917,800,839,657.720202058,636,657.720202058,0.400956045948,-0.0153666812028,0.0698110358724,0.999999929509,0.000223985432689,-0.000301313528695,4.69578830648e-06,1793254827381397760
+48,0.800000000,BASELINE,783.137359391,760,737.137359391,720,687,651,917,800,839,657.137359391,636,657.137359391,0.400956739884,-0.0153660153961,0.0698106763727,0.999999929374,0.000224618286491,-0.000301288828317,4.78580035418e-06,1793254827398064384
+49,0.816666667,BASELINE,783.43912662,760,737,720,687,651,917,800,839,657.43912662,636,657,0.400957874582,-0.0153664648585,0.0698112519316,0.999999929988,0.000224019114579,-0.000299695614693,4.78620749431e-06,1793254827414731008
+50,0.833333333,BASELINE,783.986346161,760,737,720,687,651,917,800,839,657.986346161,635.986346161,657.013653839,0.400959094903,-0.0153672622559,0.0698120887791,0.999999930812,0.000223018458594,-0.000297686088285,4.76131419465e-06,1793254827431397632
+51,0.850000000,BASELINE,783.411767957,760,737,720,687,651,917,800,839,657.411767957,635.411767957,657.588232043,0.400958249614,-0.0153682262465,0.0698118153757,0.999999931005,0.000221130276473,-0.000298442156809,4.83206550978e-06,1793254827448064512
+52,0.866666667,BASELINE,783,760,737.167038866,720,687,651,917,799.832961134,839,657.167038866,635,657.832961134,0.400957497924,-0.0153685295822,0.0698115139319,0.999999930944,0.000220443649759,-0.000299153570682,4.80781221394e-06,1793254827464731392
+53,0.883333333,BASELINE,783,760,737.756540372,720,687,651,917,799.243459628,839,657.756540372,635,657.243459628,0.400956982956,-0.0153671620375,0.0698111415707,0.999999930245,0.000222795910345,-0.000299752047188,4.54328011134e-06,1793254827481398272
+54,0.900000000,BASELINE,783.340724082,760,737.659275918,720,687,651,917,799.340724082,839,657.659275918,635.340724082,657.340724082,0.400956330808,-0.0153671580179,0.0698104498368,0.999999929891,0.000222801677759,-0.000300925853642,4.56927372765e-06,1793254827498064896
+55,0.916666667,BASELINE,783.921166403,760,737.078833597,720,687,651,917,799.921166403,839,657.078833597,635.921166403,657.921166403,0.400955582146,-0.0153681133139,0.0698095334066,0.999999929779,0.000221156557327,-0.000302504436515,4.79966826924e-06,1793254827514731520
+56,0.933333333,BASELINE,783.50421109,760,737.49578891,720,687,651,917,800,839,657.49578891,636,657.50421109,0.400956285445,-0.0153676124456,0.0698106719524,0.999999930377,0.000220677330867,-0.00030087567779,4.53908135949e-06,1793254827531397888
+57,0.950000000,BASELINE,783.069390934,760,738,720,687,651,917,800,839,658,636,657,0.40095691393,-0.0153670613063,0.0698117872941,0.999999930873,0.000220581550107,-0.000299297374088,4.26027982791e-06,1793254827548064256
+58,0.966666667,BASELINE,783.642224852,760,738,720,687,651,917,800,839,658,636,657,0.400955344063,-0.01536780581,0.0698103911319,0.999999929838,0.000221938341603,-0.00030174224973,4.40916182481e-06,1793254827564731136
+59,0.983333333,BASELINE,783.776505208,760,738,720,687,651,916.776505208,800,839,658,636,657.223494792,0.400954464528,-0.0153684038653,0.0698096790416,0.99999992927,0.000222497678405,-0.000303206198821,4.53828923986e-06,1793254827581397504
+60,1.000000000,BASELINE,783.181200873,760,738,720,687,651,916.181200873,800,839,658,636,657.818799127,0.400954733441,-0.0153687582869,0.0698101049841,0.999999929491,0.000221730356931,-0.000303038263072,4.63455263769e-06,1793254827598064128
+61,1.016666667,BASELINE,783.402269238,760,738,720,687,651,916.402269238,800,839.402269238,658,636,657.597730762,0.400955313333,-0.0153686888577,0.0698103711711,0.999999929729,0.000221059279642,-0.000302741884284,4.7280919301e-06,1793254827614731264
+62,1.033333333,BASELINE,783.980560966,760,738,720,687,651,916.980560966,800,839.980560966,658,636,657.019439034,0.400956029302,-0.0153684339625,0.0698105674534,0.999999929974,0.000220430316336,-0.000302389302195,4.8204392195e-06,1793254827631398656
+63,1.050000000,BASELINE,784,760,737.444045283,720,687,651,917,800,839.444045283,658,635.444045283,657,0.400956183303,-0.0153675729124,0.0698107584976,0.999999929851,0.000221907177753,-0.000301713633261,4.84743564329e-06,1793254827648065024
+64,1.066666667,BASELINE,783.865783025,760,737,720,687,651,917,800,839.134216975,657.865783025,635.134216975,657,0.400956498942,-0.015367072124,0.0698108312047,0.999999929877,0.000222705276395,-0.000301039956141,4.84179213805e-06,1793254827664731904
+65,1.083333333,BASELINE,783.277474846,760,737,720,687,651,917,800,839.722525154,657.277474846,635.722525154,657,0.400957427582,-0.0153678615291,0.0698105041629,0.999999930454,0.00022095912324,-0.00030041103965,4.73340986895e-06,1793254827681398272
+66,1.100000000,BASELINE,783,760,737.306003048,720,687,651,917,800,839.693996952,657,636,657,0.400957817899,-0.0153682833302,0.0698109951458,0.999999930699,0.000220614925985,-0.000299845968632,4.75594896821e-06,1793254827698064896
+67,1.116666667,BASELINE,783,760,737.88516901,720,687,651,917,800,839.11483099,657,636,657,0.400957727666,-0.0153683769785,0.0698122163634,0.99999993065,0.000221522227337,-0.00029933789125,4.89535900874e-06,1793254827714731264
+68,1.133333333,BASELINE,783,760,738,720,687,651,917,800,839,657.461387635,635.538612365,657.461387635,0.400957205915,-0.0153679711868,0.0698121687684,0.999999930304,0.000222642985705,-0.000299662168066,4.89303188695e-06,1793254827731397888
+69,1.150000000,BASELINE,783.037618973,760,737.962381027,720,687,650.962381027,917,800,839,658,635,657.962381027,0.400956618016,-0.0153674638572,0.0698118114317,0.999999929907,0.000223758433261,-0.00030015633429,4.86002646597e-06,1793254827748064768
+70,1.166666667,BASELINE,783.624681067,760,737.375318933,720,687,650.375318933,917,800,839,658,635,657.375318933,0.400956622625,-0.0153672774786,0.0698115130781,0.999999929857,0.000224025313366,-0.000300125381979,4.89089948245e-06,1793254827764731392
+71,1.183333333,BASELINE,784,760,737.208980188,720,687,650.208980188,917,800,839,657.791019812,635.208980188,657.208980188,0.400956204696,-0.0153675719545,0.0698110119236,0.999999929776,0.000223687784323,-0.000300645787948,4.87840365985e-06,1793254827781398016
+72,1.200000000,BASELINE,784,760,737.788381981,720,687,650.788381981,917,800,839,657.211618019,635.788381981,657.788381981,0.400955037812,-0.0153687187545,0.0698101513008,0.999999929639,0.0002222789279,-0.000302143487605,4.78903569859e-06,1793254827798064640
+73,1.216666667,BASELINE,784,760,738,720,687,651,917,800,839.366573134,657.366573134,636,658,0.400955290248,-0.015368722819,0.0698103692658,0.999999929816,0.000221710743273,-0.000301976357495,4.71140730308e-06,1793254827814731520
+74,1.233333333,BASELINE,784,760,738,720,687,651,917,800,839.944067666,657.944067666,636,658,0.400956359342,-0.0153680693682,0.0698112078363,0.999999930174,0.000221626270308,-0.000300851305978,4.6405337058e-06,1793254827831398144
+75,1.250000000,BASELINE,784,760,738,720.520722391,687,651,917,800,839.479277609,657.479277609,635.479277609,658,0.400956975532,-0.0153674900158,0.0698116115837,0.999999930186,0.000223188383916,-0.000299653046322,4.74615106073e-06,1793254827848064512
+76,1.266666667,BASELINE,784,760,738,720.900919171,687,651,917,800,839.099080829,657,635.099080829,657.900919171,0.400957413838,-0.0153669258974,0.0698118704417,0.999999930221,0.000224303277158,-0.000298701831962,4.79490830564e-06,1793254827864731136
+77,1.283333333,BASELINE,784,760,738,720.313723851,687,651,917,800,839.686276149,657,635.686276149,657.313723851,0.400957215086,-0.0153663976806,0.0698116452342,0.999999930569,0.00022234506348,-0.000299006344913,4.47030640357e-06,1793254827881398016
+78,1.300000000,BASELINE,784,760,738,720.269977535,687,651,917,800,839.730022465,657.269977535,635.730022465,657.269977535,0.400957626171,-0.0153669104297,0.0698117680733,0.999999930847,0.000221392943515,-0.000298781282822,4.49745550416e-06,1793254827898064896
+79,1.316666667,BASELINE,784,760,738,720.849670674,687,651,917,800,839.150329326,657.849670674,635.150329326,657.849670674,0.400958736858,-0.0153686173647,0.0698122901881,0.999999931049,0.000221595004611,-0.000297948697375,4.92812995731e-06,1793254827914732032
+80,1.333333333,BASELINE,784,760,737.574689438,720.574689438,687,651,917,800,839,658,635.425310562,657.574689438,0.400958312376,-0.0153676978133,0.0698123406257,0.999999930726,0.000223013327203,-0.000297979154762,4.72877720157e-06,1793254827931398656
+81,1.350000000,BASELINE,784,760,737.000468633,720.000468633,687,651,917,800,839,658,635.999531367,657.000468633,0.4009573504,-0.0153658586734,0.0698122259192,0.999999930215,0.000224857488746,-0.000298311781674,4.3088385989e-06,1793254827948065024
+82,1.366666667,BASELINE,783.422757905,760,737.577242095,720,687,651,917,800,839,658,636,657.577242095,0.400957551083,-0.0153674075117,0.0698120456037,0.999999930369,0.00022379849453,-0.000298590289962,4.545399393e-06,1793254827964731136
+83,1.383333333,BASELINE,783,760,737.841727601,720,687,650.841727601,917,800,839.158272399,658,636,657.841727601,0.400957821796,-0.0153685648042,0.0698118790149,0.999999930515,0.000222952407716,-0.000298731395994,4.75079372108e-06,1793254827981397504
+84,1.400000000,BASELINE,783,760,737.251648304,720,687,650.251648304,917,800,839.748351696,658,636,657.251648304,0.40095828098,-0.0153686463114,0.0698117500221,0.999999930641,0.000222693654975,-0.000298497754792,4.8696952045e-06,1793254827998064384
+85,1.416666667,BASELINE,783.33129499,760,737.33129499,720,687,650.33129499,917,800,839.66870501,658,636,657.33129499,0.400958053347,-0.0153688779889,0.069811822011,0.999999930913,0.000221638620726,-0.000298372100956,4.96296819363e-06,1793254828014731264
+86,1.433333333,BASELINE,783.908932108,760,737.908932108,720,687,650.908932108,917,800,839.091067892,658,636,657.908932108,0.400957315014,-0.0153692213291,0.0698120434446,0.99999993129,0.00021999149278,-0.000298326743662,5.03718451014e-06,1793254828031397888
+87,1.450000000,BASELINE,784,760,738,720,687,651,917,800,839,658,636,657.516055076,0.400956944044,-0.0153687984924,0.0698114849569,0.99999993048,0.000221804381342,-0.000299698455215,4.91184269673e-06,1793254828048064512
+88,1.466666667,BASELINE,783.939944131,760,737.939944131,720,687,651,917,800,839,658,636,657.060055869,0.400956616742,-0.0153683192077,0.0698108216286,0.99999992957,0.000224013860046,-0.000301091497737,4.75328007613e-06,1793254828064730880
+89,1.483333333,BASELINE,783.349805197,760,737.349805197,720,687,651,917,800,839,658,636,657.650194803,0.400956067991,-0.0153686074077,0.0698105213515,0.9999999298,0.000224007906234,-0.000300331825351,4.63116335908e-06,1793254828081397760
+90,1.500000000,BASELINE,783,760,737.236013089,720.236013089,687,651,917,800,839,658,636,658,0.400955719194,-0.0153685876263,0.0698104656216,0.999999929906,0.000223963325764,-0.000300009878225,4.6547251068e-06,1793254828098064384
+91,1.516666667,BASELINE,783,760,737.815542634,720.815542634,687,651,917,800,839,658,636,658,0.40095566143,-0.0153681195788,0.0698107658293,0.999999929833,0.000223862524297,-0.000300325039174,4.89032150259e-06,1793254828114731008
+92,1.533333333,BASELINE,783,760,738,721,687,651,917,800.391574344,839,658,636,658,0.400956547688,-0.0153682096025,0.0698115333222,0.999999930375,0.000222376083063,-0.000299621658455,5.06058065725e-06,1793254828131397888
+93,1.550000000,BASELINE,783,760,738,721,687,651,917,800.965972982,839,658,636,658,0.400957874706,-0.0153685601871,0.0698125189886,0.999999931199,0.000220242692869,-0.000298442725257,5.20033416976e-06,1793254828148065024
+94,1.566666667,BASELINE,783.537856309,760,738,721,687,651,917,800.462143691,839,658,636,658,0.400958738985,-0.0153685965268,0.0698129262986,0.99999993151,0.000220843869327,-0.000296953365298,5.07294406934e-06,1793254828164731392
+95,1.583333333,BASELINE,784,760.11417948,738,721,687,651,917,800,839,657.88582052,636,658,0.400959154393,-0.0153685132435,0.0698129745326,0.999999931513,0.000221837425415,-0.000296205349727,4.94103734084e-06,1793254828181398016
+96,1.600000000,BASELINE,784,760.709895245,738,721,687,651,917,800,839,657.290104755,636,658,0.400957799642,-0.0153680089193,0.0698116620041,0.999999930353,0.000223759581305,-0.00029866629065,4.86102654439e-06,1793254828198064640
+97,1.616666667,BASELINE,784,760.703229547,738,720.703229547,687.296770453,651,917,800,839.296770453,657,636,658,0.400957082525,-0.0153678453526,0.0698111614598,0.999999929896,0.000224618353304,-0.000299552806456,4.81751991792e-06,1793254828214731264
+98,1.633333333,BASELINE,784,760.124746373,738,720.124746373,687.875253627,651,917,800,839.875253627,657,636,658,0.400956970691,-0.0153680052538,0.0698114317006,0.999999930112,0.000224467695961,-0.000298944781205,4.80866529391e-06,1793254828231397888
+99,1.650000000,BASELINE,783.549370292,760,738,720,687.549370292,651,917,800,839.549370292,657.450629708,636,658,0.400957832417,-0.0153692879079,0.0698121445686,0.999999930675,0.00022301167954,-0.00029814409572,5.06722442175e-06,1793254828248064256
+100,1.666666667,BASELINE,783.025780067,760,738,720,687,651,917,800,839.025780067,658,636,658,0.400958863179,-0.015370821302,0.0698129395841,0.999999931289,0.000221321087287,-0.000297336935182,5.39392868067e-06,1793254828264730880
+101,1.683333333,BASELINE,783.614658878,760,738,720,687,651,917,800,839.614658878,658,636,658,0.400957739701,-0.0153710891546,0.0698128708569,0.999999930999,0.000222345681,-0.000297545298769,5.60322497297e-06,1793254828281397760
+102,1.700000000,BASELINE,784,760.200288824,738,720,687,651,917,800,840,657.799711176,635.799711176,657.799711176,0.400957037247,-0.0153707226639,0.0698125855697,0.999999930766,0.000222592728749,-0.000298141033359,5.62185383687e-06,1793254828298064640
+103,1.716666667,BASELINE,784,760.779767894,738,720,687,651,917,800,840,657.220232106,635.220232106,657.220232106,0.400957131881,-0.0153691552236,0.0698118902876,0.999999930643,0.000221367712985,-0.000299470145367,5.27950782215e-06,1793254828314731264
+104,1.733333333,BASELINE,784,760.643856671,738,720,687,651,917,800,839.643856671,657,635.356143329,657.356143329,0.400957488385,-0.015368728344,0.0698119860085,0.999999930726,0.000221206710181,-0.000299315251072,5.08401914198e-06,1793254828331398144
+105,1.750000000,BASELINE,784,760.069383829,738,720,687,651,917,800,839.069383829,657,635.930616171,657.930616171,0.400958005426,-0.0153690006718,0.0698125666445,0.999999930936,0.000221697987991,-0.000298250604147,4.97855960481e-06,1793254828348065024
+106,1.766666667,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,839,658,636,657,0.400955723458,-0.0153705218053,0.069811131264,0.999999930625,0.000220596748519,-0.000300100235803,5.23004935785e-06,1793254828379226368
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,839.592421292,658,636,657,0.400955861365,-0.0153681014379,0.0698114065843,0.999999930206,0.000222503369681,-0.000300094701674,4.81757191367e-06,1793254828395893504
+108,1.800000000,POSE1_TO_POSE2_PRESS,783.81858207,760,738,720,687,651,917,800,839.81858207,658,636,657,0.40095623275,-0.015366812534,0.0698117135326,0.999999930046,0.000223612128037,-0.000299808797571,4.61014601983e-06,1793254828412560128
+109,1.816666667,POSE1_TO_POSE2_PRESS,783.237136699,760,738,720,687,651,917,800,839.237136699,658,636,657,0.400957118951,-0.0153680185124,0.0698120902212,0.99999993046,0.000222961595281,-0.000298904676271,4.85485974045e-06,1793254828429225984
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,760,738,720,687,651,917,800,839,658,636,657.339540895,0.400957766245,-0.0153694065836,0.0698126099852,0.999999931127,0.000221216015043,-0.000297965955295,5.06871357511e-06,1793254828445892608
+111,1.850000000,POSE1_TO_POSE2_PRESS,783,760,738,720,687,651,917,800,839,658,636,657.91293473,0.400958248995,-0.015370920068,0.0698132282898,0.999999931962,0.000218716239762,-0.000297003404441,5.26131318048e-06,1793254828462559232
+112,1.866666667,POSE1_TO_POSE2_PRESS,783,760.488537385,738,720.488537385,687,651,917,800,839,657.511462615,636,657.511462615,0.400958518248,-0.0153711173155,0.0698132789072,0.999999932002,0.000218983557962,-0.00029667137077,5.33025986449e-06,1793254828479225856
+113,1.883333333,POSE1_TO_POSE2_PRESS,783,760.933797526,738,720.933797526,687,651,917,800,839.066202474,657.066202474,636,657,0.400958500857,-0.0153709974032,0.0698131046804,0.999999931799,0.000219721448654,-0.000296808114977,5.33530883458e-06,1793254828495892736
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,760.342920968,738,720.342920968,687,651,917,800,839.657079032,657.657079032,636,657,0.400956514641,-0.0153702314222,0.0698119539505,0.9999999308,0.00022026272773,-0.000299765464672,5.00939218042e-06,1793254828512559360
+115,1.916666667,POSE1_TO_POSE2_PRESS,783.242315765,760,738,720.242315765,687,651,917,800,839.757684235,658,636,657,0.400957465822,-0.0153701731737,0.0698123687005,0.999999930747,0.000220283323357,-0.000299927697617,5.0178978376e-06,1793254828529226240
+116,1.933333333,POSE1_TO_POSE2_PRESS,783.819752608,760,738,720.819752608,687,651,917,800,839.180247392,658,636,657,0.400962479403,-0.0153710937147,0.0698149484989,0.999999932002,0.000219583817223,-0.000296224302601,5.48890733513e-06,1793254828545892864
+117,1.950000000,POSE1_TO_POSE2_PRESS,784,760,738,720.617980701,687,651,917,800,839,658,636,657,0.400981188281,-0.0153711409451,0.0698238466601,0.999999936023,0.000220585157575,-0.000281528194661,6.11035404627e-06,1793254828562559232
+118,1.966666667,POSE1_TO_POSE2_PRESS,784,760,738,720.062598284,687,651,917,800,839,658,636,657,0.401006112183,-0.0153707918611,0.0698356121402,0.999999940974,0.000222358354218,-0.000261843513761,6.80007029088e-06,1793254828579225600
+119,1.983333333,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,839.541924648,658,636,657.541924648,0.401052837447,-0.0153740856078,0.0698529887066,0.999999948202,0.000222036726889,-0.000232863871336,8.3998622305e-06,1793254828595892480
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.855180546,760,737.855180546,720,687,651,917,800,840,657.855180546,635.855180546,657.855180546,0.401106029598,-0.0153776196147,0.0698704332244,0.999999954167,0.000221436212753,-0.000206237969225,9.85188919427e-06,1793254828612559104
+121,2.016666667,POSE1_TO_POSE2_PRESS,783.275897206,760,737.275897206,720,687,651,917,800,840,657.275897206,635.275897206,657.275897206,0.401170314294,-0.0153804861502,0.0698859432502,0.999999957478,0.000220797353398,-0.000190215628265,1.051379133e-05,1793254828629225984
+122,2.033333333,POSE1_TO_POSE2_PRESS,783.302698878,760,737.302698878,720,687,651,917,800,839.697301122,657,635.302698878,657,0.401242198764,-0.0153832668643,0.0698977741557,0.999999960119,0.000221361379234,-0.000175083821857,1.0367948989e-05,1793254828645892864
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.88066994,760,737.88066994,720,687,651,917,800,839.11933006,657,635.88066994,657,0.401320994409,-0.0153859695329,0.0699062592947,0.999999962164,0.000223019300263,-0.000160761862135,9.48754958484e-06,1793254828662559232
+124,2.066666667,POSE1_TO_POSE2_PRESS,784,760,737.544756402,720,687,651,917,800,839,657,635.544756402,657.455243598,0.401415949663,-0.015390655624,0.0699097204579,0.99999996393,0.000219811261645,-0.00015415466032,7.69385184905e-06,1793254828679225856
+125,2.083333333,POSE1_TO_POSE2_PRESS,783.970210457,760,737.029789543,720,687,651,917,800,839.029789543,657,635.029789543,658,0.401515862126,-0.0153957821246,0.069911718336,0.999999965533,0.00021544195769,-0.000149956111705,5.62104916557e-06,1793254828695892224
+126,2.100000000,POSE1_TO_POSE2_PRESS,783.379543306,760,737.620456694,720,687,651,917,800,839.620456694,657,635.620456694,658,0.401629947814,-0.015399484461,0.0699107764515,0.999999965549,0.000213045243809,-0.00015331537256,2.76723584278e-06,1793254828712558848
+127,2.116666667,POSE1_TO_POSE2_PRESS,783.207173451,760,738,720,687,651,917,800,840,657.207173451,636,658,0.401756431005,-0.0154046523257,0.0699109251518,0.999999966328,0.000208977708931,-0.000153859303137,-1.05701276288e-07,1793254828729225472
+128,2.133333333,POSE1_TO_POSE2_PRESS,783.78678841,760,738,720,687,651,917,800,840,657.78678841,636,658,0.401905201519,-0.0154124548115,0.0699130344272,0.999999968461,0.000201906492678,-0.000149342035375,-3.01301747085e-06,1793254828745892352
+129,2.150000000,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,839.636425005,658,636,657.636425005,0.402075993148,-0.0154198333379,0.0699168104761,0.99999997104,0.000194352560796,-0.000141794460865,-6.47297201761e-06,1793254828762559232
+130,2.166666667,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,839.061284207,658,636,657.061284207,0.402259598968,-0.0154269651614,0.0699215564276,0.999999973777,0.000186517733991,-0.000132483537804,-1.02545093969e-05,1793254828779226368
+131,2.183333333,POSE1_TO_POSE2_PRESS,783.475447768,760,738,720,687,651,917,800,839.524552232,658,636,657.524552232,0.402470106266,-0.015434598876,0.0699228960735,0.999999975337,0.000179728140232,-0.000129611257032,-1.49764613307e-05,1793254828795893248
+132,2.200000000,POSE1_TO_POSE2_PRESS,783.110247103,760,738,720.110247103,687,651,917,800,840,658,636,657.889752897,0.402691518783,-0.015442669075,0.0699244098395,0.999999977086,0.000172014747376,-0.000125874515843,-1.98584663591e-05,1793254828812560384
+133,2.216666667,POSE1_TO_POSE2_PRESS,783.689908104,760,738,720.689908104,687,651,917,800,840,658,636,657.310091896,0.402945703331,-0.0154523428926,0.0699283947132,0.999999980281,0.000159837196301,-0.000115187481894,-2.49444069903e-05,1793254828829226496
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,760,738,720.730603518,687,651,917,800,840,658,636,657,0.403220165344,-0.0154614461187,0.0699356932229,0.999999988648,0.000106739264283,-0.000102078238277,-2.98340677767e-05,1793254828845892608
+135,2.250000000,POSE1_TO_POSE2_PRESS,784,760,738,720.151313749,687,651,917,800,840,658,636,657,0.403517953001,-0.015469892979,0.0699468034879,0.99999999567,6.5696283516e-06,-8.61826681757e-05,-3.44979425967e-05,1793254828862559232
+136,2.266666667,POSE1_TO_POSE2_PRESS,783.575959621,760,738,720,687,651,917,800.424040379,840,658,636,657.424040379,0.403839457171,-0.0154786287788,0.0699522370957,0.999999995991,-1.74904231566e-05,-7.82337351002e-05,-3.98876441659e-05,1793254828879225600
+137,2.283333333,POSE1_TO_POSE2_PRESS,783.001996977,760,738,720,687,651,917,800.998003023,840,658,636,657.998003023,0.404169346463,-0.0154874667349,0.0699556636837,0.999999996185,-1.46414283997e-05,-7.3094388333e-05,-4.55339665398e-05,1793254828895892224
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,760,738,720,687,651,917,800.41397643,839.41397643,657.41397643,636,657.41397643,0.404545072626,-0.015484837835,0.0699622678792,0.999999996585,-2.08269512159e-05,-6.19136735783e-05,-5.06228822391e-05,1793254828912559104
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,760,738,720,687,651,917,800,839.171618273,657,635.828381727,657,0.404931930577,-0.0154802566327,0.0699683648109,0.999999997533,-4.4340923608e-07,-5.15223124227e-05,-4.77366432658e-05,1793254828929226240
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,760,738,720,687,651,917,800,839.751327764,657,635.248672236,657,0.405344878208,-0.0154711282506,0.0699732291371,0.999999995277,8.31937398142e-05,-4.3058114195e-05,-2.58909047922e-05,1793254828945893888
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,760,738,720,687,651,917,800,840,657.328296524,635.328296524,657,0.405763630884,-0.0154658390951,0.0699669081302,0.999999992397,0.000108289117987,-5.46006308419e-05,-2.23321216347e-05,1793254828962560256
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,760,738,720,687,651,917,800,840,657.903206532,635.903206532,657,0.406186744303,-0.0154634339324,0.0699521847991,0.99999999218,8.94084378306e-05,-8.11720163549e-05,-3.25103375051e-05,1793254828979226368
+143,2.383333333,POSE1_TO_POSE2_PRESS,783.478990088,760,738,720,687,651,917,800,840,658,636,657,0.406657318071,-0.0154709392535,0.06993705025,0.999999991922,6.53018764961e-05,-0.000102065657921,-3.8400003936e-05,1793254828995892736
+144,2.400000000,POSE1_TO_POSE2_PRESS,784,760,738,719.943589413,687,651,917,800,840,658,636,657,0.4071457978,-0.0154799082976,0.0699240551893,0.99999999125,4.19307135129e-05,-0.000117846930027,-4.3053296209e-05,1793254829012559104
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,760,738,719.352324731,687,651,917,800,840,658,636,657,0.407712952368,-0.0154837324387,0.0699321348991,0.999999993777,3.55632297835e-05,-9.60539472557e-05,-4.42158229015e-05,1793254829029225728
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,760,738,719.233726629,687,651,917,800,840,658,636,657,0.408297463661,-0.0154857551647,0.0699430193963,0.999999995925,3.37943473895e-05,-7.11493922335e-05,-4.41120178708e-05,1793254829045892608
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,760,738,719.812090742,687,651,917,800,840,658,636,657,0.408907567972,-0.0154851216457,0.0699580396427,0.999999997491,3.88062519681e-05,-4.16567244765e-05,-4.21409656348e-05,1793254829062559744
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,760,738,719.611938691,686.611938691,651,917,800,840,658,636,657,0.409507622137,-0.0154842475218,0.0699564594148,0.999999997557,3.61182434173e-05,-4.15708556644e-05,-4.30401001355e-05,1793254829079226368
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,760,738,719.037120051,686.037120051,651,917,800,840,658,636,657,0.410102839579,-0.015483257605,0.0699468900873,0.999999996983,2.97245954645e-05,-5.56372238274e-05,-4.53205329632e-05,1793254829095893248
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,760,738,719,686.55027731,651,917,800,840,658,636,657,0.410758906115,-0.0154853482958,0.0699422743357,0.999999996347,2.60715599229e-05,-6.61225379721e-05,-4.74837257054e-05,1793254829112559616
+151,2.516666667,POSE1_TO_POSE2_PRESS,784.136459074,760,738,719.136459074,687,651,917,800,840,657.863540926,636,657,0.411439272589,-0.0154881678278,0.0699459560787,0.999999996675,2.23535270949e-05,-6.15182193347e-05,-4.86447065278e-05,1793254829129226240
+152,2.533333333,POSE1_TO_POSE2_PRESS,784.715875975,760,738,719.715875975,687,651,917,800,840,657.284124025,636,657,0.412184882706,-0.0154926628958,0.0699754621343,0.999999998718,1.78103542547e-05,-8.73415135717e-06,-4.65786939781e-05,1793254829145892864
+153,2.550000000,POSE1_TO_POSE2_PRESS,785,760,738,719.70531827,686.70531827,651,917,800.29468173,840,657.29468173,636,657.29468173,0.412941562261,-0.0154961389617,0.0700023796713,0.999999998271,1.54392450682e-05,3.44677625325e-05,-4.50824948393e-05,1793254829162559488
+154,2.566666667,POSE1_TO_POSE2_PRESS,785,760,738,719.127100479,686.127100479,651,917,800.872899521,840,657.872899521,636,657.872899521,0.413708892666,-0.0154986345672,0.0700268065979,0.999999996568,1.51580456394e-05,6.84499517792e-05,-4.41345570217e-05,1793254829179226112
+155,2.583333333,POSE1_TO_POSE2_PRESS,785,760,738,719,686.444347383,651,917,801,840,657.555652617,636,658,0.414430185696,-0.0154976604899,0.0700078950763,0.999999998466,9.70249255398e-06,2.85175895456e-05,-4.64896624986e-05,1793254829195892736
+156,2.600000000,POSE1_TO_POSE2_PRESS,785,760,738,719,687,651,917.0145006,801,840,657.0145006,636,657.9854994,0.415140569111,-0.0154956998113,0.0699764517349,0.99999999823,3.01089163929e-06,-3.23802463219e-05,-4.98290021693e-05,1793254829212559616
+157,2.616666667,POSE1_TO_POSE2_PRESS,785,760,738,719,687,651,917.609171604,801,840,657.609171604,636,657.390828396,0.415933424253,-0.0154933777485,0.0699321495873,0.999999993567,5.1937297968e-06,-9.88935510749e-05,-5.53135009614e-05,1793254829229226240
+158,2.633333333,POSE1_TO_POSE2_PRESS,785,760.198219072,738,718.801780928,686.801780928,651,917.801780928,801,840,657.801780928,636,657,0.416753232563,-0.0154938158224,0.0699117114517,0.99999998986,2.43399473898e-06,-0.000129777585761,-5.85743861391e-05,1793254829245892608
+159,2.650000000,POSE1_TO_POSE2_PRESS,785,760.776484476,738,718.223515524,686.223515524,651,917.223515524,801,840,657.223515524,636,657,0.417624718256,-0.0154995459193,0.0699370278979,0.99999999403,-9.80215860621e-06,-9.23494548913e-05,-5.75719267866e-05,1793254829262559232
+160,2.666666667,POSE1_TO_POSE2_PRESS,785,760.64663163,738,718,686.35336837,651,917,800.64663163,840,657,636,657.35336837,0.418505649373,-0.0155035017397,0.0699632779659,0.999999996832,-1.54926184138e-05,-5.45407043435e-05,-5.58725148486e-05,1793254829279225856
+161,2.683333333,POSE1_TO_POSE2_PRESS,785,760.070618197,738,718,686.929381803,651,917,800.070618197,840,657,636,657.929381803,0.419392531688,-0.0155063396505,0.0699901162753,0.999999998275,-1.70588649834e-05,-1.64921400364e-05,-5.37339774515e-05,1793254829295892480
+162,2.700000000,POSE1_TO_POSE2_PRESS,785,760,737.498857541,718,686.498857541,651,917,800.501142459,840,657,636,657.498857541,0.420302131343,-0.0155104529466,0.0700138474751,0.999999998,-2.51713194217e-05,2.37305505733e-05,-5.2939767776e-05,1793254829312558848
+163,2.716666667,POSE1_TO_POSE2_PRESS,785.075533161,760,737.075533161,718,686,651,917,800.924466839,840,657,636,657,0.421215002295,-0.0155136170701,0.0700323250232,0.999999996542,-3.27638979251e-05,5.53549960326e-05,-5.27120546655e-05,1793254829329225472
+164,2.733333333,POSE1_TO_POSE2_PRESS,785.672167841,760,737.672167841,718,686,651,917,800.327832159,840,657,636,657,0.422128542255,-0.0155090034195,0.0700175529467,0.999999997692,-3.04594159676e-05,2.55645052905e-05,-5.50966775035e-05,1793254829345892096
+165,2.750000000,POSE1_TO_POSE2_PRESS,785.740851344,760.259148656,738,718,686.259148656,651,917,800.259148656,840.259148656,657,636,657,0.423001199223,-0.0155044741271,0.0699702755568,0.99999999654,-2.83582774065e-05,-5.0198349319e-05,-5.99710341875e-05,1793254829362558976
+166,2.766666667,POSE1_TO_POSE2_PRESS,785.165644328,760.834355672,738,718,686.834355672,651,917,800.834355672,840.834355672,657,636,657,0.42382399531,-0.0155000477173,0.0698833546019,0.999999980777,-2.6505136322e-05,-0.000182029219638,-6.78818762381e-05,1793254829379225856
+167,2.783333333,POSE1_TO_POSE2_PRESS,784.590321599,760.590321599,738,717.590321599,686.590321599,651,917,801,841,657,636,657.409678401,0.424754350283,-0.015500056393,0.0698667887556,0.999999977035,-2.91599801508e-05,-0.000199982261164,-7.13178643069e-05,1793254829395892480
+168,2.800000000,POSE1_TO_POSE2_PRESS,784.014952105,760.014952105,738,717.014952105,686.014952105,651,917,801,841,657,636,657.985047895,0.425728206521,-0.0155018588032,0.0698786774653,0.999999982003,-3.36380419747e-05,-0.000171878335243,-7.29440339242e-05,1793254829412559104
+169,2.816666667,POSE1_TO_POSE2_PRESS,785.145153651,760.572576825,738,717,686.572576825,651,917.572576825,801,841,657,636,657.427423175,0.42671327154,-0.0155048308097,0.0699420808565,0.999999993603,-3.91818355739e-05,-8.29198293438e-05,-6.62047408578e-05,1793254829429225728
+170,2.833333333,POSE1_TO_POSE2_PRESS,786,760.841133161,738,717,686.841133161,651,918,801,840.841133161,657.158866839,636,657.158866839,0.427717004996,-0.0155087735849,0.07000146534,0.99999999723,-4.37552814985e-05,1.59011446669e-06,-6.01913919461e-05,1793254829445892352
+171,2.850000000,POSE1_TO_POSE2_PRESS,786,760.259008264,738,717,686.259008264,651,918,801,840.259008264,657.740991736,636,657.740991736,0.428769678693,-0.0155152195744,0.0700464807265,0.999999994905,-4.56677418641e-05,6.99223561009e-05,-5.67067658823e-05,1793254829462558976
+172,2.866666667,POSE1_TO_POSE2_PRESS,785.36294917,760,737.681474585,717,686,651,917.681474585,800.681474585,840,657.681474585,636,657.681474585,0.429759922955,-0.0155190114635,0.0700559329088,0.99999999373,-4.70024080391e-05,8.45030261447e-05,-5.6482931254e-05,1793254829479225600
+173,2.883333333,POSE1_TO_POSE2_PRESS,784.215242452,760,737.107621226,717,686,651,917.107621226,800.107621226,840,657.107621226,636,657.107621226,0.430700124129,-0.0155206758423,0.070036877851,0.999999995553,-4.78739180738e-05,5.59967755857e-05,-5.8872926559e-05,1793254829495892480
+174,2.900000000,POSE1_TO_POSE2_PRESS,784.466864204,760.466864204,737.466864204,717,686.466864204,651,917,800.466864204,840.466864204,657,636,657,0.431554131456,-0.0155162568828,0.0699586344688,0.999999993912,-4.47652168507e-05,-7.75215473658e-05,-6.45238313887e-05,1793254829512559360
+175,2.916666667,POSE1_TO_POSE2_PRESS,785,761,738,717,686.957320384,651,917.042679616,801,841,657.042679616,636,657.042679616,0.432399822177,-0.0155110784671,0.0698757110872,0.999999972665,-4.16665525548e-05,-0.000219040958587,-7.03892691315e-05,1793254829529226496
+176,2.933333333,POSE1_TO_POSE2_PRESS,785,761,738,717,686.366292443,651,917.633707557,801,841,657.633707557,636,657.633707557,0.433394287991,-0.0155141840985,0.0699081957368,0.999999984781,-5.05010946677e-05,-0.000151920786592,-6.93400602246e-05,1793254829545892864
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+178,2.966666667,POSE1_TO_POSE2_PRESS,785.799600333,761,738,717,686.799600333,651,917.200399667,801,841,657.200399667,636,658,0.435431120884,-0.0155192625707,0.0700038496172,0.999999996079,-6.14635845898e-05,1.24269941002e-05,-6.25246901361e-05,1793254829579225600
+179,2.983333333,POSE1_TO_POSE2_PRESS,786,761,738,717,687,651,917,801,841.37555041,657.37555041,636.37555041,658,0.436416394316,-0.0155231013784,0.070031778711,0.999999994088,-6.50612536717e-05,6.27952236259e-05,-6.04016021985e-05,1793254829595892224
+180,3.000000000,POSE1_TO_POSE2_PRESS,786,761,738,717,687,651,917,801,841.949719431,657.949719431,636.949719431,658,0.43737845156,-0.0155277619988,0.0700455409694,0.999999991583,-6.84590691336e-05,9.27674174389e-05,-5.95179798849e-05,1793254829612558848
+181,3.016666667,POSE1_TO_POSE2_PRESS,786,761,738,717,687,651,917.536392612,801,841.463607388,657.463607388,636.463607388,658,0.438235732837,-0.0155284462534,0.0700033026933,0.999999994224,-7.67713794537e-05,4.03175127314e-05,-6.35069906987e-05,1793254829629225728
+182,3.033333333,POSE1_TO_POSE2_PRESS,785.877617932,761,738,717,687,651,917.877617932,801,841,657,636,658,0.439071082026,-0.015526742835,0.0699499462736,0.99999999372,-8.17691418197e-05,-3.53327046259e-05,-6.80125582277e-05,1793254829645892608
+183,3.050000000,POSE1_TO_POSE2_PRESS,785.298656593,761,738,717,687,651,917.298656593,801,841,657,636,658,0.439862124042,-0.0155175553505,0.0698751623609,0.999999980603,-7.26413898677e-05,-0.000168025609928,-7.27005687011e-05,1793254829662559232
+184,3.066666667,POSE1_TO_POSE2_PRESS,785,760.719778506,738,717,687,651,917,801,841.280221494,657,636,657.719778506,0.440729972288,-0.0155147660369,0.0698531298926,0.999999973283,-7.10127867129e-05,-0.000206776284315,-7.50675595767e-05,1793254829679225856
+185,3.083333333,POSE1_TO_POSE2_PRESS,785,760.140989158,738,717,687,651,917,801,841.859010842,657,636,657.140989158,0.441679655285,-0.0155187937889,0.0698873025594,0.999999983621,-7.73743099569e-05,-0.000145434236796,-7.49615720983e-05,1793254829695892480
+186,3.100000000,POSE1_TO_POSE2_PRESS,785.433155068,760.433155068,738,716.566844932,686.566844932,651,917,801,841.566844932,657,636.433155068,657,0.442565845514,-0.0155276446521,0.0699289771006,0.999999989804,-8.89879110966e-05,-8.66671019769e-05,-7.04363387972e-05,1793254829712559360
+187,3.116666667,POSE1_TO_POSE2_PRESS,786,761,738,716,686,650.994010691,917,800.994010691,841,657,636.988021382,657,0.443430572371,-0.0155380033651,0.0699723498998,0.999999992244,-0.000102218723931,-2.98746381062e-05,-6.45813387056e-05,1793254829729225728
+188,3.133333333,POSE1_TO_POSE2_PRESS,786,761,738,716,686,650.403020348,917,800.403020348,841,657,635.806040697,657,0.444196039651,-0.0155439290768,0.0699456269205,0.999999988235,-0.00010820522264,-8.49631947823e-05,-6.78498542354e-05,1793254829745892352
+189,3.150000000,POSE1_TO_POSE2_PRESS,786,761,738,716,686,650.184247854,917,800,841.184247854,657.184247854,635.184247854,657.184247854,0.444955442647,-0.0155493068399,0.069911889426,0.999999980618,-0.000116254202673,-0.000141872257949,-7.15654306973e-05,1793254829762558976
+190,3.166666667,POSE1_TO_POSE2_PRESS,786,761,738,716,686,650.763535644,917,800,841.763535644,657.763535644,635.763535644,657.763535644,0.44570184355,-0.0155535097648,0.0698631123284,0.999999968268,-0.000128725284463,-0.000202684621485,-7.62395370357e-05,1793254829779225856
+191,3.183333333,POSE1_TO_POSE2_PRESS,786,761,738,716,686,650.660253676,917,799.660253676,842,658,635.660253676,658,0.446416405228,-0.0155580673767,0.0698201422687,0.999999951645,-0.000133775303925,-0.000269548968896,-7.84689465486e-05,1793254829795892480
+192,3.200000000,POSE1_TO_POSE2_PRESS,786,761,738,716,686,650.086165486,917,799.086165486,842,658,635.086165486,658,0.447109005582,-0.0155628696355,0.0697811776479,0.99999992994,-0.000133706604402,-0.000340587700705,-7.90121127316e-05,1793254829812559360
+193,3.216666667,POSE1_TO_POSE2_PRESS,786,761,738,716,686.500170088,650.500170088,917,799,841.499829912,658,635.500170088,657.499829912,0.447766990871,-0.0155663771657,0.06974921616,0.999999909479,-0.000132748122281,-0.000396376747924,-7.94125634128e-05,1793254829829225984
+194,3.233333333,POSE1_TO_POSE2_PRESS,785.912682614,761,737.912682614,716.087317386,686.825365229,650.912682614,917,799,841.087317386,657.912682614,635.912682614,657.087317386,0.44842754355,-0.015573333642,0.069727149328,0.999999893077,-0.000136672785359,-0.000434690169973,-7.88125461051e-05,1793254829845892352
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+196,3.266666667,POSE1_TO_POSE2_PRESS,785.245137067,761,737.245137067,716.754862933,685.245137067,650,917,798.754862933,841.754862933,657,635,658,0.449814204283,-0.0156245386197,0.0697732390577,0.999999915314,-0.000190294106307,-0.000358431144459,-6.84567110852e-05,1793254829879225600
+197,3.283333333,POSE1_TO_POSE2_PRESS,785.82174607,761,737.82174607,716.17825393,685.82174607,650,917,798.17825393,841.17825393,657,635,658,0.450447695298,-0.0156424182283,0.0697826015127,0.99999991865,-0.000196633009141,-0.000345815203038,-6.66858179273e-05,1793254829895892224
+198,3.300000000,POSE1_TO_POSE2_PRESS,786,761,738,716,685.602185476,650,917.397814524,798,841,657,635,657.602185476,0.451024564929,-0.0156461508517,0.0697521141215,0.999999900156,-0.000208326207065,-0.000389735967438,-6.62863354665e-05,1793254829912559616
+199,3.316666667,POSE1_TO_POSE2_PRESS,786,761,738,716,685.026358855,650,917.973641145,798,841,657,635,657.026358855,0.451576097954,-0.0156435530531,0.0697037949168,0.999999867734,-0.000222415318459,-0.000458955497779,-6.65005247285e-05,1793254829929226752
+200,3.333333333,POSE1_TO_POSE2_PRESS,785.438363794,761,738,716,685,649.438363794,917.438363794,797.438363794,841,657,635,657.561636206,0.452073373023,-0.015642705858,0.0696594164895,0.99999984164,-0.000212211080406,-0.000516261893957,-7.18343840537e-05,1793254829945893376
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+205,3.416666667,POSE1_TO_POSE2_PRESS,786,761,737.545590514,716,685,649,917.545590514,796,842,657.454409486,635,657.545590514,0.454428298542,-0.0156582668162,0.0696235851734,0.999999801863,-0.000229940962705,-0.00058139180554,-7.33748269068e-05,1793254830029225472
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+348,5.800000000,POSE2_TO_POSE3_RETREAT,785,760,737,718,686,650,917,799.000572504,839.999427496,657.999427496,635.000572504,657.999427496,0.417073231216,-0.0153906020925,0.0698689322766,0.999999954008,0.000185031595552,-0.000238618126533,2.84302343696e-05,1793254832457127680
+349,5.816666667,POSE2_TO_POSE3_RETREAT,784.424005926,760,737,718.575994074,686.575994074,650.575994074,917,799.575994074,840,658,635.575994074,657.424005926,0.416226481211,-0.0153906993087,0.0698321061082,0.999999945004,0.000186752914718,-0.000272929677172,2.50146032298e-05,1793254832473794304
+350,5.833333333,POSE2_TO_POSE3_RETREAT,784.151004205,760,737,719,686.848995795,650.848995795,917,800,840,658,636,657,0.415376926519,-0.0153891940784,0.0697960856512,0.999999932237,0.000189072709844,-0.00031513404163,2.16482332737e-05,1793254832490460672
+351,5.850000000,POSE2_TO_POSE3_RETREAT,784.72169567,760,737,719,686.27830433,650.27830433,917,800,840,658,636,657,0.414519603331,-0.0153832331475,0.0697624411238,0.999999909316,0.000193052394768,-0.000379156502906,1.84297754552e-05,1793254832507127296
+352,5.866666667,POSE2_TO_POSE3_RETREAT,785,760,737,719,686.304344426,650,917,800,840,657.695655574,635.695655574,657.304344426,0.413708567714,-0.0153793495547,0.0697414055173,0.999999891008,0.000197859939629,-0.000422567338361,1.64788818507e-05,1793254832523793920
+353,5.883333333,POSE2_TO_POSE3_RETREAT,785,760,737,719,686.898374516,650,917,800,840,657.101625484,635.101625484,657.898374516,0.412941590276,-0.0153774432452,0.0697323715245,0.999999879561,0.000203455470756,-0.00044635930496,1.57345004124e-05,1793254832540460288
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,784.055322658,760,737,719,687,651,917,799.944677342,840,657.944677342,636,657.944677342,0.411665636474,-0.0153821840271,0.0698269060909,0.99999994266,0.000213850030582,-0.00026157252954,2.29750974325e-05,1793254832573794048
+356,5.933333333,POSE2_TO_POSE3_RETREAT,784.63286912,760,737,719,687,651,917,799.36713088,840,657.36713088,636,657.36713088,0.41102297966,-0.0153831965639,0.0698630344077,0.99999995627,0.000208813326715,-0.000207647176299,2.71888266761e-05,1793254832590461184
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,784.218698242,760,737,719,687,650.218698242,917,799.781301758,840,657.781301758,635.218698242,657.781301758,0.409667425739,-0.0153805474434,0.0698366823075,0.999999943996,0.000208544272329,-0.00026059421807,2.46629868942e-05,1793254832623794688
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783.631043351,760,737,719,687,650.368956649,917,799.631043351,840,657.631043351,635.368956649,658,0.409011140637,-0.0153777896444,0.0697986742005,0.999999924307,0.000210406209763,-0.000326625039711,2.0782752239e-05,1793254832640461312
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,783.539675741,760,737,719,687,650.460324259,917,799,840,657.539675741,635.460324259,658,0.407837980155,-0.0153747104377,0.0697609292092,0.999999904684,0.000211009286554,-0.000381884897379,1.64710555245e-05,1793254832673794048
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783.886839631,760,737.113160369,719.113160369,687,650.113160369,917,799.113160369,840,657.886839631,635,657.886839631,0.407310298166,-0.0153743942603,0.0697680514299,0.999999911857,0.000209883919622,-0.000363261803401,1.65839727429e-05,1793254832690460416
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783.308903488,760,737.691096512,719.691096512,687,650.691096512,917,799.691096512,840,657.308903488,635,657.308903488,0.406811223228,-0.0153725130099,0.0697885215782,0.999999920996,0.000209265811135,-0.000337484404502,1.78871554045e-05,1793254832707127040
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783.275132243,760,738,719.724867757,687,650.724867757,917,799.724867757,839.724867757,657,635,657.275132243,0.406319048141,-0.0153709880615,0.0697994440644,0.999999922713,0.000215715981009,-0.000328135483328,1.91875689042e-05,1793254832723793664
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783.866171487,760,738,719.133828513,687,650.133828513,917,799.133828513,839.133828513,657,635,657.866171487,0.405834795496,-0.0153698722195,0.0697994039183,0.999999916272,0.000230281952331,-0.000337649751532,2.04848027788e-05,1793254832740460288
+366,6.100000000,POSE2_TO_POSE3_RETREAT,784,760,738,719,687,650.448120608,917,799,839.448120608,657,635,657.551879392,0.405397057065,-0.0153718196252,0.0697975372187,0.999999916253,0.000221417891813,-0.00034371532415,1.80819138728e-05,1793254832757126912
+367,6.116666667,POSE2_TO_POSE3_RETREAT,784,760,737.972776306,719,687,650.972776306,917,799,840,657.027223694,635.027223694,657.027223694,0.404976444582,-0.0153743806182,0.0697959923032,0.999999918289,0.000206797816242,-0.000347040286489,1.4831660282e-05,1793254832773793536
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,784,760,738,720,687,650.072732033,917,799.927267967,839.927267967,657.927267967,635,657.072732033,0.403330236695,-0.0153632556,0.0698317563703,0.999999936914,0.000223621952933,-0.000275368900823,1.83501297006e-05,1793254832857127168
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+374,6.233333333,POSE2_TO_POSE3_RETREAT,784,760,737,719.913372389,687,650.086627611,917,800,840,658,635.913372389,657,0.40277261769,-0.0153577120962,0.0698096923069,0.999999920085,0.000248978945929,-0.000312358321345,1.64784373646e-05,1793254832890460416
+375,6.250000000,POSE2_TO_POSE3_RETREAT,784,760,737,719.337711362,687,650.662288638,917,800,840,658,635.337711362,657,0.402542316961,-0.0153560014395,0.069806111883,0.999999917969,0.000248610692668,-0.00031934084264,1.66468740268e-05,1793254832907127296
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+377,6.283333333,POSE2_TO_POSE3_RETREAT,784,760,737.829714976,719.829714976,687,650.170285024,917,800,840,658,635,657,0.402130267806,-0.0153553578573,0.0698004031302,0.999999915521,0.000248446729934,-0.00032694360838,1.84158551971e-05,1793254832940460288
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,784,760,738,719.009689126,687,650.990310874,917,799.009689126,839.009689126,658,635,657,0.401786420455,-0.0153632782899,0.0697936481556,0.999999913189,0.000236118687317,-0.000342683298524,2.09115306228e-05,1793254832973793280
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,784,760,738,720,687,651,917,799.856358748,839,657.143641252,636,657,0.401539092849,-0.0153619188346,0.069794868827,0.999999911399,0.000252664153757,-0.000335897711403,2.31459585697e-05,1793254833007126784
+382,6.366666667,POSE2_TO_POSE3_RETREAT,784,760,738,720,687,651,917,799.282996322,839,657.717003678,636,657,0.401439800349,-0.0153610173001,0.0697945249292,0.999999904444,0.000282343420385,-0.000332924582323,2.35811131415e-05,1793254833023793920
+383,6.383333333,POSE2_TO_POSE3_RETREAT,784,760.299686613,738,720,687,651,917,799.299686613,839,658,636,657,0.401348554699,-0.0153596830298,0.069794429512,0.999999900591,0.000297051041537,-0.000331832260901,2.1589490462e-05,1793254833040460544
+384,6.400000000,POSE2_TO_POSE3_RETREAT,784,760.891453563,738,720,687,651,917,799.891453563,839,658,636,657,0.401265151654,-0.0153579270066,0.0697945762689,0.999999900395,0.000297167012772,-0.000332573010652,1.72326840679e-05,1793254833057127168
+385,6.416666667,POSE2_TO_POSE3_RETREAT,784,760.527669181,738,720,687,651,917,800,839,658,635.527669181,657,0.401199637052,-0.0153612722873,0.0697949026536,0.99999991231,0.000255618978966,-0.000331635432383,7.55269695951e-06,1793254833073794048
+386,6.433333333,POSE2_TO_POSE3_RETREAT,783.949526459,760,738,720,687,651,916.949526459,800,839,658,635,657,0.401139786396,-0.0153654552542,0.0697951674681,0.999999923475,0.000209278156987,-0.000330525555217,-2.26067180419e-06,1793254833090460672
+387,6.450000000,POSE2_TO_POSE3_RETREAT,783.374380918,760,738,720,687,651,916.374380918,800,839,658,635,657,0.401097042143,-0.015366434216,0.0697943728224,0.999999922904,0.000210403434887,-0.000331543602793,-1.03070905177e-06,1793254833107127296
+388,6.466666667,POSE2_TO_POSE3_RETREAT,783.198467773,760,738,720,687,651,916.198467773,800,839.198467773,657.801532227,635.198467773,657,0.401060062803,-0.0153663263316,0.0697943015879,0.999999922593,0.00021221205424,-0.000331331979166,-8.41707010444e-08,1793254833123793664
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,784,760,738,720,687,650.646474696,917,800,839.646474696,657.353525304,636,657,0.401010378724,-0.0153634704135,0.0697961601702,0.999999922897,0.000217226792281,-0.000327135891758,1.1369790184e-06,1793254833157127424
+391,6.516666667,POSE2_TO_POSE3_RETREAT,784,760,738,720,687,650.047538522,917,800,839.047538522,657.952461478,636,657,0.400988849417,-0.0153637301907,0.0697962571797,0.999999923016,0.000218359589886,-0.00032600905314,2.20745568409e-06,1793254833173794560
+392,6.533333333,POSE2_TO_POSE3_RETREAT,783.470598982,760,738.529401018,720,687,650.529401018,917,800,839.529401018,657.470598982,636,657,0.400977156899,-0.0153633014753,0.0697971738705,0.999999923284,0.000218581924398,-0.000325035093466,2.31815276623e-06,1793254833190460672
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783,760,738.895932157,720,687,650.895932157,917,800,839.895932157,657.104067843,635.895932157,657,0.400967578789,-0.0153631457879,0.0697982949418,0.999999923706,0.000218554057878,-0.000323752935845,2.47008642281e-06,1793254833207126784
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783,760,738.322960939,720,687,650.322960939,917,800,839.322960939,657.677039061,635.322960939,657,0.400963706457,-0.0153644877483,0.0698000184848,0.999999924759,0.000217752528278,-0.000321022728993,3.18065869738e-06,1793254833223793408
+395,6.583333333,POSE2_TO_POSE3_RETREAT,783,760,737.740849404,720,687,650.259150596,917,800,839,658,635,657,0.400961502331,-0.0153649882039,0.069801881867,0.999999925785,0.000218415203175,-0.000317351684487,3.66937148901e-06,1793254833240460288
+396,6.600000000,POSE2_TO_POSE3_RETREAT,783,760,737.146930412,720,687,650.853069588,917,800,839,658,635,657,0.400961453179,-0.0153644016114,0.0698039258924,0.999999926762,0.000220969324088,-0.000312465274027,3.8714883047e-06,1793254833257126912
+397,6.616666667,POSE2_TO_POSE3_RETREAT,783,760,737.434269499,719.565730501,687,651,917,800,839.434269499,658,635,657.434269499,0.40095877851,-0.015364266306,0.0698040426716,0.999999926293,0.000222079564277,-0.000313179130652,3.76646470263e-06,1793254833273793536
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c18d28bef546e403f994e9f8e39ce17e6a5c0898
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_04/simulation_data.csv
@@ -0,0 +1,418 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2aaa7ff7db58a05abf983c30ca924b93bd13bd06
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e4467a3dbab16ad8f1ed09596bd320b67c502cab4ba4c69b00d1276280888c2
+size 26551881
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2265db53c2f80effbb5c1eafde68f2bb9a296f44
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_05/franka_data.csv
@@ -0,0 +1,420 @@
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+7,0.116666667,BASELINE,783.055164869,759.055164869,737.944835131,720,687,650.944835131,917,799.944835131,839.055164869,658,635.055164869,657.944835131,0.400956628583,-0.0153669536317,0.0698110245646,0.999999929157,0.000223160320791,-0.000303095944669,4.31638772302e-06,1793254833866673152
+8,0.133333333,BASELINE,783.647706622,759.647706622,737.352293378,720,687,650.352293378,917,799.352293378,839.647706622,658,635.647706622,657.352293378,0.400957839572,-0.0153674199317,0.0698113106535,0.999999930219,0.000220208187842,-0.000301746707322,4.42337980142e-06,1793254833883339520
+9,0.150000000,BASELINE,784,760,737.234402711,720,687,650.234402711,917,799.234402711,839.765597289,658,636,657,0.400958390749,-0.0153667775212,0.0698117052458,0.999999930421,0.000220166839319,-0.000301104946195,4.45848907278e-06,1793254833900006144
+10,0.166666667,BASELINE,784,760,737.812526837,720,687,650.812526837,917,799.812526837,839.187473163,658,636,657,0.400957974395,-0.0153645093293,0.0698122589442,0.999999929363,0.000224393781867,-0.000301500608025,4.38819144782e-06,1793254833916672768
+11,0.183333333,BASELINE,784,760,738,720,687,651,917,800,839.389062216,658,636,657.389062216,0.400958593294,-0.0153647272234,0.0698126054449,0.999999929525,0.000224938227865,-0.000300555682484,4.34348677528e-06,1793254833933339648
+12,0.200000000,BASELINE,784,760,738,720,687,651,917,800,839.964835207,658,636,657.964835207,0.40095970901,-0.0153661381887,0.0698128525117,0.999999930276,0.000223715445867,-0.000298967409728,4.31106414237e-06,1793254833950006528
+13,0.216666667,BASELINE,784,760,738,720,687,651,917,800,840,657.44779051,635.44779051,658,0.400957268773,-0.0153655045207,0.0698112152831,0.999999929793,0.000222233653613,-0.000301679954886,3.84317668875e-06,1793254833966672896
+14,0.233333333,BASELINE,783.861844902,760,738,720,687,651,917,800,839.861844902,657,635.138155098,657.861844902,0.400955407864,-0.0153650691934,0.0698100799316,0.999999929347,0.000221274293293,-0.00030386002038,3.56823243393e-06,1793254833983339520
+15,0.250000000,BASELINE,783.282865608,760,738,720,687,651,917,800,839.282865608,657,635.717134392,657.282865608,0.400956133511,-0.0153656910952,0.0698109370521,0.999999929302,0.000222035662019,-0.000303448417479,3.9993106636e-06,1793254834000006400
+16,0.266666667,BASELINE,783.295508108,760,737.704491892,720,687,651,917,800,839.295508108,657.295508108,635.704491892,657,0.400956483658,-0.0153663042624,0.069811168068,0.999999929304,0.000222651137317,-0.000302986832157,4.22227093382e-06,1793254834016672768
+17,0.283333333,BASELINE,783.873303306,760,737.126696694,720,687,651,917,800,839.873303306,657.873303306,635.126696694,657,0.400956475104,-0.0153669090859,0.0698108009913,0.999999929352,0.000223127246405,-0.000302477500649,4.24642440568e-06,1793254834033339136
+18,0.300000000,BASELINE,784,760,737.447207691,720,687,651,917,800,839.552792309,658,635.447207691,657.447207691,0.400956308328,-0.0153666832945,0.0698109957377,0.999999929844,0.000221676249232,-0.000301919693214,4.06120741534e-06,1793254834050006272
+19,0.316666667,BASELINE,783.979329935,759.979329935,738,720,687,651,917,800,839.020670065,658,636,657.979329935,0.400956140543,-0.0153662240802,0.0698113583406,0.999999930422,0.000219861903545,-0.000301332336768,3.84031212205e-06,1793254834066673152
+20,0.333333333,BASELINE,783.387897561,759.387897561,738,720,687,651,917,800,839.612102439,658,636,657.387897561,0.400957171958,-0.0153657611591,0.0698119987706,0.999999930044,0.000222960005778,-0.000300304996489,4.25799548985e-06,1793254834083339776
+21,0.350000000,BASELINE,783.199380055,759.199380055,738,720,687,651,917,800,840,657.800619945,636,657,0.400957693665,-0.0153657292131,0.0698122568027,0.999999929887,0.000224140487897,-0.000299945037662,4.41828297164e-06,1793254834100006144
+22,0.366666667,BASELINE,783.778739453,759.778739453,738,720,687,651,917,800,840,657.221260547,636,657,0.400957243967,-0.0153665186211,0.0698117860591,0.999999930166,0.000221666361251,-0.000300856977313,4.0880242515e-06,1793254834116672512
+23,0.383333333,BASELINE,783.643788373,760,738,720,687,651,917,800,839.643788373,657,635.643788373,657,0.400957129256,-0.0153667683827,0.0698112702166,0.999999930236,0.000220468374022,-0.000301504626324,3.99186624188e-06,1793254834133339136
+24,0.400000000,BASELINE,783.067482211,760,738,720,687,651,917,800,839.067482211,657,635.067482211,657,0.400957221524,-0.0153666847099,0.0698107265085,0.99999993018,0.000220058882183,-0.000301988976643,4.04035335772e-06,1793254834150005760
+25,0.416666667,BASELINE,783,760,738,720,687,651,917,800,839,657.505578941,635,657.505578941,0.400957564819,-0.0153669160187,0.0698110481694,0.999999930656,0.000218872898543,-0.00030127711061,3.81167871896e-06,1793254834166672640
+26,0.433333333,BASELINE,783.080950698,760,738,720,687,651,917,800,839,658,635.080950698,658,0.400957884138,-0.0153671990215,0.0698115215505,0.999999931088,0.000218029781004,-0.000300455564542,3.66318707694e-06,1793254834183339264
+27,0.450000000,BASELINE,783.6736504,760,738,720,687,651,917,800,839,658,635.6736504,658,0.400957841419,-0.0153675447362,0.0698122285298,0.999999930807,0.000220005193199,-0.000299943573502,4.25396721873e-06,1793254834200005888
+28,0.466666667,BASELINE,783.73995928,760,737.73995928,720,687,651,917,800,839,657.73995928,636,657.73995928,0.400956847227,-0.0153672667179,0.0698120374034,0.999999930195,0.000221899367626,-0.00030058381578,4.4847877014e-06,1793254834216672768
+29,0.483333333,BASELINE,783.161299662,760,737.161299662,720,687,651,917,800,839,657.161299662,636,657.161299662,0.400954687228,-0.0153662244613,0.0698107458589,0.999999929177,0.000223694004108,-0.000302635849714,4.27456203066e-06,1793254834233339136
+30,0.500000000,BASELINE,783.415721739,760,737.415721739,720.415721739,687,651,917,800,839,657,636,657,0.400956072658,-0.0153663143915,0.0698111582452,0.999999929688,0.00022321942962,-0.000301294668984,4.40643743826e-06,1793254834250005760
+31,0.516666667,BASELINE,783.992109994,760,737.992109994,720.992109994,687,651,917,800,839,657,636,657,0.400958828313,-0.015366841885,0.0698122291599,0.999999930783,0.000221867859278,-0.000298642091829,4.67052674181e-06,1793254834266672384
+32,0.533333333,BASELINE,783.422131182,760,737.422131182,721,687,651,917,800,839,657,635.422131182,657,0.400956862529,-0.0153666252097,0.0698118533156,0.999999930164,0.00022293752792,-0.000299922481433,4.15399656127e-06,1793254834283339008
+33,0.550000000,BASELINE,783.162045633,760,737.162045633,720.837954367,687,651,917,800,839,657,635,657,0.400955356538,-0.015366512069,0.0698113431412,0.999999929503,0.000223907277484,-0.000301402327255,3.90572792742e-06,1793254834300005888
+34,0.566666667,BASELINE,783.741809048,760,737.741809048,720.258190952,687,651,917,800,839,657,635,657,0.400955204707,-0.0153666924413,0.0698105384534,0.999999928801,0.000224532834954,-0.000303255620379,4.37690584796e-06,1793254834316672768
+35,0.583333333,BASELINE,783.680121317,760,738,720,687,650.680121317,917,800,839.319878683,657.319878683,635,657.319878683,0.400956146762,-0.0153669295525,0.0698113891749,0.999999929376,0.000223398980969,-0.000302191869941,4.51612547705e-06,1793254834333339136
+36,0.600000000,BASELINE,783.103411555,760,738,720,687,650.103411555,917,800,839.896588445,657.896588445,635,657.896588445,0.400957967099,-0.0153672122196,0.0698135690269,0.999999930966,0.000220852492936,-0.000298786021019,4.38881534348e-06,1793254834350005760
+37,0.616666667,BASELINE,783.471306929,759.528693071,737.528693071,720,687,650.471306929,917,800,839.528693071,658,635.471306929,657.528693071,0.400956930051,-0.0153670419743,0.0698124727874,0.999999930701,0.000220452794544,-0.000299969596993,4.20472702132e-06,1793254834366672384
+38,0.633333333,BASELINE,783.953105484,759,737.046894516,720.046894516,687,650.953105484,917,800,839,658,635.953105484,657.046894516,0.40095555932,-0.015366731468,0.0698108937877,0.999999930084,0.000220685412768,-0.000301849172035,4.03072036876e-06,1793254834383339008
+39,0.650000000,BASELINE,783.362393413,759,737.637606587,720.637606587,687,650.362393413,917,800,839,658,635.362393413,657.637606587,0.400957558913,-0.0153659419824,0.0698120172305,0.999999930118,0.000222811313699,-0.000300171481969,4.11748906125e-06,1793254834400005632
+40,0.666666667,BASELINE,783.223841112,759.223841112,738,720.776158888,687,650.223841112,917,800,839,657.776158888,635.223841112,658,0.400958484508,-0.0153657239448,0.0698126553375,0.99999993006,0.000223968109217,-0.000299499481088,4.16555452967e-06,1793254834416672256
+41,0.683333333,BASELINE,783.802968722,759.802968722,738,720.197031278,687,650.802968722,917,800,839,657.197031278,635.802968722,658,0.400957705423,-0.0153664129247,0.0698125231066,0.999999929869,0.00022358671502,-0.000300423736629,4.152189218e-06,1793254834433339136
+42,0.700000000,BASELINE,783.621552189,760,737.621552189,720,687,651,917,800,839,657.378447811,635.621552189,657.621552189,0.400959049274,-0.0153666345505,0.0698136491377,0.999999930611,0.000223103066135,-0.000298304106198,4.29827300997e-06,1793254834450005760
+43,0.716666667,BASELINE,783.047954509,760,737.047954509,720,687,651,917,800,839,657.952045491,635.047954509,657.047954509,0.400961487835,-0.0153666151811,0.0698154240026,0.999999931823,0.000222566688751,-0.000294614869748,4.5265781042e-06,1793254834466672384
+44,0.733333333,BASELINE,783,760,737.539639658,720,687,650.460360342,917,800,839,657.460360342,635.539639658,657,0.400959517243,-0.0153668601369,0.0698139261786,0.999999931047,0.000222321711379,-0.00029742040944,4.49205134738e-06,1793254834483339008
+45,0.750000000,BASELINE,783.12638002,760,738,720,687,650.12638002,917,800,839,657.12638002,635.87361998,657,0.400957689045,-0.0153673014031,0.069812594792,0.999999930402,0.000222075729541,-0.000299762406197,4.46132864064e-06,1793254834500005888
+46,0.766666667,BASELINE,783.705487482,760,738,720,687,650.705487482,917,800,839,657.705487482,635.294512518,657,0.400957811897,-0.0153683595217,0.0698129291806,0.99999993091,0.000221730916726,-0.000298321300864,4.53012945524e-06,1793254834516672256
+47,0.783333333,BASELINE,784,760,737.716476376,720,687,651,917,800,839,657.716476376,635,657.283523624,0.400958032222,-0.0153683871889,0.0698129458691,0.999999930992,0.00022214593162,-0.000297738857893,4.3895199757e-06,1793254834533339136
+48,0.800000000,BASELINE,784,760,737.139548816,720,687,651,917,800,839,657.139548816,635,657.860451184,0.400958353416,-0.0153673484952,0.0698126337863,0.999999930634,0.000223347252872,-0.000298045000016,4.03220262147e-06,1793254834550005760
+49,0.816666667,BASELINE,783.564012331,760,737.435987669,720,687,651,917,800,839.435987669,657.435987669,635,658,0.400958294015,-0.0153679365732,0.069812934993,0.999999931042,0.00022167748347,-0.000297920868229,4.28410037601e-06,1793254834566672128
+50,0.833333333,BASELINE,783.011346812,760,737.988653188,720,687,650.988653188,917,800,839.988653188,657.988653188,635,658,0.400958111044,-0.0153690042647,0.0698134171732,0.999999931671,0.00021914072621,-0.000297678306026,4.71750477992e-06,1793254834583338752
+51,0.850000000,BASELINE,783.600272748,760,737.399727252,720,687,650.399727252,917,800,839.399727252,657.399727252,635,658,0.400957819162,-0.0153680654041,0.0698131510497,0.999999931467,0.000219100931153,-0.000298395330916,4.49591024859e-06,1793254834600006144
+52,0.866666667,BASELINE,783.81375831,760,737.18624169,720,687,650,917,800,839,657,635.18624169,658,0.400957577777,-0.0153676449772,0.0698129065412,0.999999931253,0.000219337003416,-0.000298943401093,4.35164527034e-06,1793254834616672768
+53,0.883333333,BASELINE,783.234036755,760,737.765963245,720,687,650,917,800,839,657,635.765963245,658,0.400957443081,-0.0153683198651,0.0698127076997,0.999999931015,0.000220155911002,-0.00029913451422,4.37075737744e-06,1793254834633339392
+54,0.900000000,BASELINE,783,760,738,720,687,650.342890715,917,800,839,657,636,657.657109285,0.400957652897,-0.0153683699408,0.0698129173166,0.999999930962,0.000220594811403,-0.000298991124245,4.34485516952e-06,1793254834650006016
+55,0.916666667,BASELINE,783,760,738,720,687,650.917926501,917,800,839,657,636,657.082073499,0.400958095957,-0.0153679970039,0.0698134034696,0.999999931032,0.000220776437979,-0.000298621267806,4.28847721198e-06,1793254834666672640
+56,0.933333333,BASELINE,783.489743857,760,737.510256143,720.489743857,687,650.510256143,917,800,839,657.489743857,636,657.489743857,0.400958339719,-0.0153673878836,0.0698140722285,0.99999993108,0.000221422005615,-0.000297984207953,4.32135524918e-06,1793254834683339264
+57,0.950000000,BASELINE,783.936736742,760,737.063263258,720.936736742,687,650.063263258,917,800,839,657.936736742,635.936736742,657.936736742,0.400958519405,-0.0153669170459,0.0698145957016,0.99999993113,0.000221932415961,-0.000297434885683,4.32794911266e-06,1793254834700005888
+58,0.966666667,BASELINE,783.344505898,760,737.655494102,720.344505898,687,650.655494102,917,800,839,657.344505898,635.344505898,657.344505898,0.400958440771,-0.0153679312281,0.0698136501819,0.999999931246,0.000220666878721,-0.000297991141029,3.9905189963e-06,1793254834716672256
+59,0.983333333,BASELINE,783.243135499,760,738,720.243135499,687,651,917,800,839.243135499,657.243135499,635,657,0.400958509411,-0.0153688943249,0.0698132120773,0.999999931484,0.000219524894738,-0.000298035682287,3.96093675124e-06,1793254834733339136
+60,1.000000000,BASELINE,783.824394534,760,738,720.824394534,687,651,917,800,839.824394534,657.824394534,635,657,0.40095878286,-0.0153697863786,0.0698134796244,0.999999931893,0.000218554733546,-0.000297368593372,4.35947215688e-06,1793254834750005760
+61,1.016666667,BASELINE,783.598886853,760,738,720.598886853,687,651,917,800,839.598886853,658,635.401113147,657,0.400959529277,-0.015368614971,0.069813850754,0.99999993137,0.000221573043494,-0.00029689212183,4.50597029994e-06,1793254834766672640
+62,1.033333333,BASELINE,783.024133801,760,738,720.024133801,687,651,917,800,839.024133801,658,635.975866199,657,0.40096048044,-0.0153665503013,0.0698142667241,0.999999930424,0.000226317942992,-0.000296498167643,4.54336273034e-06,1793254834783339264
+63,1.050000000,BASELINE,783,760,737.449919339,720,687,651,917,800,839.550080661,658,635.449919339,657.550080661,0.400957376911,-0.0153679099716,0.069811882771,0.999999930219,0.000222582952985,-0.000300000448581,4.39242119887e-06,1793254834800005888
+64,1.066666667,BASELINE,783,759.875740154,737.124259846,720,687,651,917,800,839.875740154,658,635,657.875740154,0.400955154238,-0.0153689854919,0.0698104309355,0.99999993017,0.000219778511981,-0.000302223859872,4.34057015199e-06,1793254834816672512
+65,1.083333333,BASELINE,783,759.301603254,737.698396746,720,687,651,917,800,839.301603254,658,635,657.301603254,0.40095676409,-0.0153684888671,0.0698127980968,0.999999930656,0.000221688716959,-0.00029919890608,4.67735753174e-06,1793254834833339136
+66,1.100000000,BASELINE,783,759.28293374,737.71706626,720,687,650.71706626,917,800,839,658,635.28293374,657,0.400957289492,-0.01536814053,0.0698132275899,0.999999930729,0.000222213579034,-0.000298565260658,4.58702159275e-06,1793254834850005760
+67,1.116666667,BASELINE,783,759.878980107,737.121019893,720,687,650.121019893,917,800,839,658,635.878980107,657,0.400956614773,-0.0153679562975,0.0698115127349,0.999999930352,0.000221205331653,-0.000300577990693,4.02400356534e-06,1793254834866672384
+68,1.133333333,BASELINE,783,760,737.458052217,720,686.541947783,650,917,799.541947783,839.458052217,657.541947783,636,657.458052217,0.400958892336,-0.0153678229057,0.069813499064,0.9999999312,0.00022098448458,-0.000297909772146,4.02505777721e-06,1793254834883339264
+69,1.150000000,BASELINE,783,760,737.966319733,720,686.033680267,650.033680267,917,799.033680267,839.966319733,657,636,657.966319733,0.400961659349,-0.0153677334162,0.0698161662656,0.99999993226,0.000220915599869,-0.000294380656675,4.15597304494e-06,1793254834900005632
+70,1.166666667,BASELINE,783,760,737.376146054,720,686.623853946,650.623853946,917,799.623853946,839.376146054,657,636,657.376146054,0.400960086028,-0.0153681553063,0.069814503526,0.999999931876,0.000220043056201,-0.000296331223004,4.05813713335e-06,1793254834916672256
+71,1.183333333,BASELINE,783.210672411,760,737.210672411,720,687,650.789327589,917,799.789327589,839.210672411,657,635.789327589,657.210672411,0.400959075947,-0.0153682430857,0.0698136440395,0.99999993159,0.000219747075967,-0.00029751543635,3.9751767323e-06,1793254834933338880
+72,1.200000000,BASELINE,783.7915943,760,737.7915943,720,687,650.2084057,917,799.2084057,839.7915943,657,635.2084057,657.7915943,0.400959055738,-0.0153677436771,0.0698141962421,0.999999931481,0.000220464385893,-0.000297352811146,3.91835951054e-06,1793254834950005504
+73,1.216666667,BASELINE,783.631354228,760,738,720,687,650.368645772,917,799.368645772,840,657,635,658,0.400959160356,-0.0153681650136,0.0698145104058,0.999999931545,0.000220656626428,-0.000296992810265,4.10053254153e-06,1793254834966672128
+74,1.233333333,BASELINE,783.056468111,760,738,720,687,650.943531889,917,799.943531889,840,657,635,658,0.40095933481,-0.0153691014647,0.0698146913975,0.999999931705,0.000220555114757,-0.000296522386783,4.41640962467e-06,1793254834983339008
+75,1.250000000,BASELINE,783,760,738,720,687,650.483076106,916.483076106,800,839.483076106,657.516923894,635.516923894,658,0.400958536403,-0.015368681306,0.0698133227373,0.999999931225,0.000220766417097,-0.000297980684534,4.39264518206e-06,1793254835000005376
+76,1.266666667,BASELINE,783,760,738,720,687,650.093509364,916.093509364,800,839,658,636,657.906490636,0.400957860108,-0.0153682154096,0.0698121443818,0.999999930806,0.000220868731906,-0.000299311049068,4.33561459193e-06,1793254835016672256
+77,1.283333333,BASELINE,783,760,738,720,687,650.688078715,916.688078715,800,839,658,636,657.311921285,0.400958405955,-0.0153682962274,0.069812890219,0.999999931096,0.000220204472479,-0.000298830185121,4.29856508777e-06,1793254835033338880
+78,1.300000000,BASELINE,783,759.725429617,737.725429617,720,687,651,917,800,839,657.725429617,636,657,0.400959347938,-0.0153673895171,0.0698139235772,0.999999931168,0.000221767089084,-0.000297428200292,4.38261918914e-06,1793254835050005760
+79,1.316666667,BASELINE,783,759.147852258,737.147852258,720,687,651,917,800,839,657.147852258,636,657,0.400960727085,-0.0153653930028,0.0698152742345,0.999999930984,0.000225787213948,-0.000295009696334,4.60031930717e-06,1793254835066672384
+80,1.333333333,BASELINE,783,759.427189097,737.427189097,720,687,651,917,800,839,657,636,657,0.400961305974,-0.0153658422156,0.0698159298137,0.999999931348,0.000225566240429,-0.000293944730116,4.59936241859e-06,1793254835083339008
+81,1.350000000,BASELINE,783,760,738,720,687,651,917,800,839,657.001390311,635.998609689,657.001390311,0.400961602826,-0.015367127002,0.0698163402802,0.999999931898,0.000223892330703,-0.000293353130324,4.5224226829e-06,1793254835100005888
+82,1.366666667,BASELINE,783,760,738,720,687,651,917,800,839,657.589239676,635.410760324,657.589239676,0.400959074544,-0.015365919139,0.0698142356629,0.999999930904,0.000224861745591,-0.000295994773203,4.12862018059e-06,1793254835116672512
+83,1.383333333,BASELINE,783,759.825136079,738,720,687,651,917,800,839.174863921,657.825136079,635.174863921,658,0.400957818612,-0.0153656868965,0.0698132077792,0.999999930579,0.000224412877734,-0.000297431234179,3.88071238497e-06,1793254835133339136
+84,1.400000000,BASELINE,783,759.244672916,738,720,687,651,917,800,839.755327084,657.244672916,635.755327084,658,0.400959513915,-0.0153677176189,0.0698146773933,0.999999931814,0.000220674283954,-0.000296072259866,3.97120926745e-06,1793254835150006784
+85,1.416666667,BASELINE,783.332523337,759.332523337,738,720,687,651,917,800,839.667476663,657.332523337,636,657.667476663,0.400959325784,-0.0153683947292,0.0698145390163,0.999999931853,0.000219649824937,-0.000296700411572,4.05031123963e-06,1793254835166673408
+86,1.433333333,BASELINE,783.907339128,759.907339128,738,720,687,651,917,800,839.092660872,657.907339128,636,657.092660872,0.400957765293,-0.0153680855326,0.0698132289798,0.999999931025,0.000220603014915,-0.00029877647869,4.1211103282e-06,1793254835183339776
+87,1.450000000,BASELINE,783.519424585,760,737.519424585,720,686.519424585,651,917,800,839,658,636,657,0.400957594689,-0.0153685585086,0.0698130239518,0.999999930972,0.000221209672355,-0.000298500688824,4.3424037687e-06,1793254835200006400
+88,1.466666667,BASELINE,783,760,737.055671295,720,686.055671295,651,917,800,839,657.944328705,635.944328705,657.055671295,0.400957645717,-0.015369033088,0.0698130689194,0.999999931041,0.00022173671697,-0.000297875241009,4.55001439781e-06,1793254835216673024
+89,1.483333333,BASELINE,783,760,737.651765678,720,686.651765678,651,917,800,839,657.348234322,635.348234322,657.651765678,0.400957255279,-0.0153680640333,0.0698134792165,0.999999930844,0.000222137410627,-0.000298243088324,4.34404235871e-06,1793254835233339392
+90,1.500000000,BASELINE,783,760,738,720,687,650.760501832,916.760501832,800,839,657,635,657.760501832,0.400957657389,-0.015367784055,0.0698139818963,0.999999930829,0.000222480280507,-0.000298035240948,4.30474318479e-06,1793254835250006016
+91,1.516666667,BASELINE,783,760,738,720,687,650.184517543,916.184517543,800,839,657,635,657.184517543,0.400959173001,-0.0153684722038,0.0698146143704,0.999999931073,0.000222741910072,-0.000297018563667,4.49961327657e-06,1793254835266672384
+92,1.533333333,BASELINE,783,760,737.610995395,720,687,650.389004605,916.389004605,800,839,657,635.389004605,657,0.400960589477,-0.0153690426008,0.0698155456944,0.999999931596,0.000222458906915,-0.00029546023311,4.78956438033e-06,1793254835283339008
+93,1.550000000,BASELINE,783,760,737.038633725,720,687,650.961366275,916.961366275,800,839,657,635.961366275,657,0.400961959227,-0.0153695574957,0.0698166178812,0.999999932249,0.000221919191507,-0.000293646594547,5.12433187369e-06,1793254835300005888
+94,1.566666667,BASELINE,783.549936336,760,737.549936336,720,687,651,916.450063664,800,839.549936336,657.549936336,635.450063664,657,0.400960356988,-0.0153691083608,0.0698155930636,0.999999931779,0.000222525973317,-0.000294790259874,4.81486226566e-06,1793254835316672512
+95,1.583333333,BASELINE,783.861951036,760,737.861951036,720,687,650.861951036,916.138048964,800,839.861951036,657.861951036,635.138048964,657,0.400958781419,-0.0153685779604,0.0698145295999,0.999999931336,0.000222691100702,-0.000296169083278,4.54121717443e-06,1793254835333339392
+96,1.600000000,BASELINE,783.27909247,760,737.27909247,720,687,650.27909247,916.72090753,800,839.27909247,657.27909247,635.72090753,657,0.400957984943,-0.0153680105558,0.0698138307017,0.999999931245,0.000221165767496,-0.00029761587622,4.53325923321e-06,1793254835350006016
+97,1.616666667,BASELINE,783,760,737.29956538,719.70043462,687,650.29956538,917,800,839,657,635.70043462,657,0.400957792696,-0.0153679040019,0.0698136076151,0.999999931182,0.000220825602462,-0.000298080550369,4.53444867475e-06,1793254835366672640
+98,1.633333333,BASELINE,783,760,737.874363685,719.125636315,687,650.874363685,917,800,839,657,635.125636315,657,0.400958155598,-0.0153682208658,0.0698138216921,0.999999931146,0.000221574339394,-0.000297642879082,4.54404249555e-06,1793254835383339264
+99,1.650000000,BASELINE,783,760,737.55259412,719.44740588,686.55259412,651,917,800,839,657.44740588,635,657,0.400958405682,-0.0153666196917,0.0698136713693,0.999999930579,0.000224808839169,-0.000297125220662,4.45252177599e-06,1793254835400005888
+100,1.666666667,BASELINE,783,760,737.020616215,720,686.020616215,651,917,800,839,657.979383785,635,657,0.400958616505,-0.0153646047083,0.0698134287231,0.999999929894,0.000228479105609,-0.000296630685535,4.32828373053e-06,1793254835416672512
+101,1.683333333,BASELINE,783,760,737.612083703,720,686.612083703,651,917,800,839,657.387916297,635,657,0.400958613975,-0.0153659869468,0.069813452002,0.999999930465,0.000224963058631,-0.000297395928345,4.08126227019e-06,1793254835433339136
+102,1.700000000,BASELINE,783.200033891,760,738,720,686.799966109,650.799966109,917,799.799966109,839,657,635.200033891,657,0.400959026358,-0.0153664937423,0.0698138747982,0.999999930906,0.000223034952331,-0.000297367622185,3.94424599717e-06,1793254835450005760
+103,1.716666667,BASELINE,783.781280946,760,738,720,686.218719054,650.218719054,917,799.218719054,839,657,635.781280946,657,0.400960229457,-0.0153653321681,0.0698150589718,0.999999931117,0.000224133053077,-0.00029582701565,4.01687135444e-06,1793254835466672640
+104,1.733333333,BASELINE,784,760,738,720,686.358328803,650,917,799.358328803,839,657,635.641671197,657,0.400960425033,-0.015366313845,0.0698153904487,0.999999931574,0.000222900020925,-0.000295211185462,4.23449671378e-06,1793254835483339264
+105,1.750000000,BASELINE,784,760,738,720,686.93284327,650,917,799.93284327,839,657,635.06715673,657,0.400960012754,-0.0153685885805,0.06981520748,0.999999932175,0.000220260578031,-0.000295153287917,4.53960296803e-06,1793254835500005888
+106,1.766666667,POSE1_TO_POSE2_PRESS,783,760,737,720,687,650,917,800,839,658,635,657,0.400959127453,-0.0153684147672,0.0698156196886,0.99999993154,0.000222143043094,-0.000295894026311,4.29999614012e-06,1793254835530387712
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,760,737.578810273,720,686.421189727,650.578810273,917,800,839,658,635.578810273,657.578810273,0.400957440754,-0.0153687578544,0.0698140860581,0.999999930929,0.000221799726539,-0.000298205721872,4.44812292631e-06,1793254835547054336
+108,1.800000000,POSE1_TO_POSE2_PRESS,783.156850727,760,737.843149273,720,686.156850727,650.843149273,916.843149273,800,839,658,635.843149273,657.843149273,0.400956602777,-0.015368841949,0.0698131137747,0.999999930689,0.000221337641152,-0.000299352602767,4.42850659365e-06,1793254835563720960
+109,1.816666667,POSE1_TO_POSE2_PRESS,783.732834221,760,737.267165779,720,686.732834221,650.267165779,916.267165779,800,839,658,635.267165779,657.267165779,0.400958032732,-0.01536823397,0.0698136415092,0.99999993145,0.000220558184453,-0.000297386894255,3.96065113956e-06,1793254835580387328
+110,1.833333333,POSE1_TO_POSE2_PRESS,784,760,737.308339126,720,687,650.308339126,916.308339126,800,839,658,635.308339126,657,0.40095858278,-0.0153683207246,0.0698136476306,0.999999931761,0.000219562282281,-0.000297078785864,3.88331960464e-06,1793254835597054208
+111,1.850000000,POSE1_TO_POSE2_PRESS,784,760,737.883429958,720,687,650.883429958,916.883429958,800,839,658,635.883429958,657,0.400958371598,-0.0153690085103,0.0698132024916,0.999999931684,0.00021837912789,-0.000298204707932,4.14383987594e-06,1793254835613720832
+112,1.866666667,POSE1_TO_POSE2_PRESS,784,760,738,720,687,650.528635222,917,800,839,657.528635222,635.528635222,657,0.400958182906,-0.0153695514352,0.0698135858678,0.999999931682,0.000218675114263,-0.000297989957296,4.32706279337e-06,1793254835630387456
+113,1.883333333,POSE1_TO_POSE2_PRESS,784,760,738,720,687,650.061384688,917,800,839,657,635.061384688,657.061384688,0.400958076102,-0.015369922426,0.069814122188,0.999999931687,0.0002193688467,-0.000297460759573,4.47831337548e-06,1793254835647054336
+114,1.900000000,POSE1_TO_POSE2_PRESS,784,760,738,720,687,650.641432287,917,800,839,657,635.641432287,657.641432287,0.400958612896,-0.0153691518532,0.0698141710642,0.999999931585,0.000220245957355,-0.000297154566584,4.52545927115e-06,1793254835663720704
+115,1.916666667,POSE1_TO_POSE2_PRESS,783.780803892,760,737.780803892,720,686.780803892,651,917,800,839,657,635.780803892,657.780803892,0.400960587391,-0.0153684348344,0.0698148534153,0.999999931643,0.000221680091535,-0.00029588983466,4.5211560857e-06,1793254835680387584
+116,1.933333333,POSE1_TO_POSE2_PRESS,783.206737478,760,737.206737478,720,686.206737478,651,917,800,839,657,635.206737478,657.206737478,0.400964889468,-0.0153678045177,0.0698165613386,0.999999931953,0.0002240160259,-0.000293073264053,4.43355875596e-06,1793254835697054208
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,760,737.36619788,720,686.36619788,651,917,800,839,657,635.36619788,657,0.400979823669,-0.0153693455594,0.069823403199,0.999999935385,0.000222482491151,-0.000282318512398,5.19241417685e-06,1793254835713720576
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,760,737.938496716,720,686.938496716,651,917,800,839,657,635.938496716,657,0.401000741769,-0.01537210867,0.0698331345065,0.999999940379,0.00021877116874,-0.00026709604828,6.42766427008e-06,1793254835730387200
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,760,738,720,687,651,917,800,839,657.528999086,636,657.528999086,0.401049222698,-0.015373483402,0.069851875974,0.999999948346,0.000219433557109,-0.000234730785977,7.58933771281e-06,1793254835747053824
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.118974006,760,738,720,687,650.881025994,917,800,839,657.881025994,635.881025994,657.881025994,0.401103001774,-0.01537547857,0.0698707674192,0.999999954925,0.000219865363258,-0.000204289764379,8.70646612537e-06,1793254835763720448
+121,2.016666667,POSE1_TO_POSE2_PRESS,783.698424407,760,738,720,687,650.301575593,917,800,839,657.301575593,635.301575593,657.301575593,0.401164441898,-0.015380522086,0.0698860404095,0.999999958415,0.000217366480538,-0.000189285227473,9.68547638398e-06,1793254835780387328
+122,2.033333333,POSE1_TO_POSE2_PRESS,784,760,738,720,687,650.27272212,917,800,839,657,635.27272212,657,0.40123230387,-0.0153839591161,0.0698969036008,0.999999961083,0.000216452602576,-0.000175757723172,9.5482640936e-06,1793254835797054208
+123,2.050000000,POSE1_TO_POSE2_PRESS,784,760,738,720,687,650.841427622,917,800,839,657,635.841427622,657,0.401307135425,-0.0153856526381,0.0699029808675,0.999999962945,0.000217258919197,-0.000163833232792,8.19962333361e-06,1793254835813720832
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.569647562,760,737.569647562,720,686.569647562,651,916.569647562,799.569647562,839,657.430352438,635.569647562,657,0.401396135718,-0.0153893595331,0.069905607547,0.99999996423,0.00021559013889,-0.000158177848361,6.3249151564e-06,1793254835830387456
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,760,737,720,686.026232785,651,916.026232785,799.026232785,839,658,635,657,0.401491757098,-0.0153937846386,0.0699068815242,0.999999965263,0.000213087331265,-0.000155082154364,4.22867759354e-06,1793254835847053824
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,760,737,720,686.603990648,651,916.603990648,799.603990648,839,658,635,657,0.40161140793,-0.0153969433974,0.0699077648732,0.99999996529,0.00021316914375,-0.000154842103983,1.75121460919e-06,1793254835863720448
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,760,737,720,687,651,917,800,839,658,635.18137273,657,0.40173982359,-0.0154009714614,0.0699091495266,0.999999965972,0.000210917542766,-0.000153521059879,-1.01183083499e-06,1793254835880387328
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,760,737,720,687,651,917,800,839,658,635.757935954,657,0.401887336797,-0.0154068936419,0.0699116264649,0.999999968041,0.000203581699936,-0.000149844653756,-4.39712756583e-06,1793254835897053952
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,760,737,720,687,651,917,800,839,657.670209074,636,657,0.402051979478,-0.0154147345217,0.0699154720167,0.999999970548,0.000195651370367,-0.000143410076239,-7.56909328897e-06,1793254835913720576
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,760,737,720,687,651,917,800,839,657.101761224,636,657,0.402229018113,-0.0154239638907,0.0699203079814,0.999999973295,0.000187290832986,-0.000134979516475,-1.05866799707e-05,1793254835930387456
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,760,737,720,687,651,916.508322242,800,839,657.491677758,636,657,0.402433328344,-0.0154321513913,0.0699221072439,0.999999975302,0.000179269822904,-0.000130473267919,-1.53304705224e-05,1793254835947054080
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,760,737,720,687,650.912722383,916.087277617,800,839.087277617,658,635.912722383,657.087277617,0.402650847233,-0.0154404724298,0.0699238163184,0.999999977294,0.000170734372524,-0.000125880972287,-2.03850513159e-05,1793254835963720960
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,760,737,720,687,650.335579458,916.664420542,800,839.664420542,658,635.335579458,657.664420542,0.402909126231,-0.0154508180816,0.0699287356835,0.999999980333,0.00015889597391,-0.000116002919855,-2.5071387312e-05,1793254835980387328
+134,2.233333333,POSE1_TO_POSE2_PRESS,783.241095716,760,737.241095716,720.241095716,686.758904284,650.241095716,917,800,840,657.758904284,635.241095716,657.758904284,0.403184926673,-0.0154605215651,0.0699364193205,0.99999998857,0.000108395248825,-0.000101106206103,-2.97832834153e-05,1793254835997053696
+135,2.250000000,POSE1_TO_POSE2_PRESS,783.817121059,760,737.817121059,720.817121059,686.182878941,650.817121059,917,800,840,657.182878941,635.817121059,657.182878941,0.403485067849,-0.0154693329492,0.0699479430774,0.999999996256,4.1849064757e-06,-7.92375790963e-05,-3.45306870604e-05,1793254836013720576
+136,2.266666667,POSE1_TO_POSE2_PRESS,784,760,738,720.59902806,686.40097194,651,917,800,839.59902806,657,635.59902806,657,0.403786618563,-0.0154778626693,0.0699476148302,0.99999999561,-2.61554268562e-05,-8.05636592138e-05,-4.0075210625e-05,1793254836030387200
+137,2.283333333,POSE1_TO_POSE2_PRESS,784,760,738,720.011537008,686.988462992,651,917,800,839.011537008,657,635.011537008,657,0.40408882494,-0.0154862613684,0.0699417734157,0.999999994403,-2.21338307505e-05,-9.267916386e-05,-4.59905284495e-05,1793254836047053824
+138,2.300000000,POSE1_TO_POSE2_PRESS,784,760,738,720,687,650.431533522,917,800,839,657,635.568466478,657,0.404465678865,-0.0154852936792,0.0699515028318,0.999999995338,-2.46173557451e-05,-7.79183204108e-05,-5.14413178599e-05,1793254836063720960
+139,2.316666667,POSE1_TO_POSE2_PRESS,783.852173724,759.852173724,738,720,687,650.147826276,917,800,839,657,636,657.147826276,0.404854292294,-0.0154811722504,0.0699602047807,0.999999996712,-2.65907563459e-06,-6.43802707027e-05,-4.92436206361e-05,1793254836080387584
+140,2.333333333,POSE1_TO_POSE2_PRESS,783.274250446,759.274250446,738,720,687,650.725749554,917,800,839,657,636,657.725749554,0.405272769186,-0.0154684209658,0.0699650098675,0.999999994004,9.07911696975e-05,-5.59662681521e-05,-2.48199065228e-05,1793254836097054208
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,759.2999369,738,720,687,651,917,800,839.2999369,657,636,657.7000631,0.405698429919,-0.0154604095156,0.0699638545136,0.999999989982,0.000128840998915,-5.56863235999e-05,-1.83132085163e-05,1793254836113720832
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,759.870750348,738,720,687,651,917,800,839.870750348,657,636,657.129249652,0.406130578513,-0.0154566786645,0.069957316216,0.999999990812,0.000116858070983,-6.27523420245e-05,-2.7987576175e-05,1793254836130387200
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,760,738,720,686.541332608,651,917,800,839.541332608,657,636,657,0.40657976485,-0.0154660812914,0.0699384255316,0.999999991833,8.0911689065e-05,-9.23403566927e-05,-3.55161808185e-05,1793254836147053824
+144,2.400000000,POSE1_TO_POSE2_PRESS,783.0504032,760,737.9495968,719.9495968,686,651,917,800,839,657,636,657,0.407043109012,-0.0154787024998,0.0699184074954,0.999999990606,4.11382210788e-05,-0.000123807396798,-4.20384784757e-05,1793254836163720704
+145,2.416666667,POSE1_TO_POSE2_PRESS,783.629678024,760,737.370321976,719.370321976,686,651,917,800,839,657,636,657,0.407602680236,-0.015484758316,0.0699244987404,0.999999992801,3.48077527637e-05,-0.000105817999454,-4.45921559482e-05,1793254836180387328
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,760,737,719,686,651,917,800,839,657,636,657.20690895,0.408185978746,-0.0154886588287,0.0699350934252,0.999999995223,3.04086250861e-05,-8.11018342945e-05,-4.53002717927e-05,1793254836197054208
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,760,737,719,686,651,917,800,839,657,636,657.780517493,0.408811328498,-0.0154887395503,0.0699536694443,0.999999997665,2.94323648205e-05,-4.44639866565e-05,-4.27375444309e-05,1793254836213721088
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,760,737.35616051,719,686.35616051,651,917,800,839.35616051,657,635.64383949,657.64383949,0.409419347454,-0.0154886086461,0.0699553854491,0.999999998018,2.80163220614e-05,-3.71281954883e-05,-4.24224447746e-05,1793254836230387712
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,760,737.933064445,719,686.933064445,651,917,800,839.933064445,657,635.066935555,657.066935555,0.410016624994,-0.0154883465791,0.0699466518465,0.999999997558,2.63277081633e-05,-4.79534205384e-05,-4.35003942217e-05,1793254836247054336
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,760,738,719,687,651,917,800,840,657,635,657,0.41064188401,-0.0154913524815,0.0699375384877,0.999999996544,1.75808987109e-05,-6.65272950556e-05,-4.6660684812e-05,1793254836263720704
+151,2.516666667,POSE1_TO_POSE2_PRESS,784,760,738,719,686.887558987,651,917,800,839.887558987,657,635.112441013,657,0.411292606236,-0.0154950399492,0.0699354313712,0.999999996071,1.00888382127e-05,-7.33145150987e-05,-4.87893597569e-05,1793254836280387072
+152,2.533333333,POSE1_TO_POSE2_PRESS,784,760,738,719,686.309812946,651,917,800,839.309812946,657,635.690187054,657,0.41203350213,-0.0154997728533,0.0699625238579,0.999999998529,1.16229199225e-05,-2.71172803656e-05,-4.55179455818e-05,1793254836297053696
+153,2.550000000,POSE1_TO_POSE2_PRESS,784.2665982,760.2665982,738,719,686,651,917,800,839.2665982,657,636,657,0.412794711964,-0.0155038379944,0.0699901614219,0.999999998869,9.13963479952e-06,1.65661203536e-05,-4.36301478688e-05,1793254836313720320
+154,2.566666667,POSE1_TO_POSE2_PRESS,784.841465871,760.841465871,738,719,686,651,917,800,839.841465871,657,636,657,0.413579411053,-0.0155071309968,0.070018429266,0.999999997415,2.01103888829e-06,5.73427621369e-05,-4.33422357165e-05,1793254836330387200
+155,2.583333333,POSE1_TO_POSE2_PRESS,785,761,738,719,686,651,917,800,840,657,636,657,0.414287636648,-0.0155072404036,0.0700095839234,0.999999998329,-2.06690895077e-06,3.6601794214e-05,-4.47015791067e-05,1793254836347053568
+156,2.600000000,POSE1_TO_POSE2_PRESS,785,760.984745399,737.984745399,718.984745399,686,651,917,800,840,657,636,657.015254601,0.414969716875,-0.0155060899715,0.0699857840932,0.999999998855,-4.90413891923e-06,-8.65096113711e-06,-4.68131254885e-05,1793254836363720704
+157,2.616666667,POSE1_TO_POSE2_PRESS,785,760.405694374,737.405694374,718.405694374,686,651,917,800,840,657,636,657.594305626,0.415761740681,-0.0155031814219,0.0699315930055,0.999999994131,-4.81891799917e-06,-9.40680732269e-05,-5.35427397878e-05,1793254836380387328
+158,2.633333333,POSE1_TO_POSE2_PRESS,785,760.171845143,737.171845143,718.171845143,686,651,917,800,840,657.171845143,636,657.828154857,0.416576571396,-0.0155035602311,0.0699003011874,0.999999987943,-8.21900455087e-06,-0.000143951852179,-5.76590404101e-05,1793254836397053696
+159,2.650000000,POSE1_TO_POSE2_PRESS,785,760.745847346,737.745847346,718.745847346,686,651,917,800,840,657.745847346,636,657.254152654,0.417444775461,-0.0155116322146,0.0699225989176,0.99999999213,-1.97755103204e-05,-0.000110679475055,-5.56595877689e-05,1793254836413720576
+160,2.666666667,POSE1_TO_POSE2_PRESS,785,761,738,718.680449662,686,651,917,800,840,657.680449662,636,657,0.41833344181,-0.0155196726353,0.0699491404913,0.999999995594,-2.92092580093e-05,-7.18129394987e-05,-5.29364937042e-05,1793254836430387456
+161,2.683333333,POSE1_TO_POSE2_PRESS,785,761,738,718.106984452,686,651,917,800,840,657.106984452,636,657,0.41923836746,-0.0155276879759,0.0699790542242,0.999999997679,-3.69562603994e-05,-2.85012841556e-05,-4.96383938257e-05,1793254836447053824
+162,2.700000000,POSE1_TO_POSE2_PRESS,785,760.516400143,738,718,686,651,917,800,840,657.483599857,636,657,0.420153845794,-0.0155420589627,0.0700047830829,0.99999999733,-5.52028417245e-05,1.38660864183e-05,-4.58343657989e-05,1793254836463720448
+163,2.716666667,POSE1_TO_POSE2_PRESS,785,760,738,718,686,651,917,800,840,658,636,657,0.421068495475,-0.0155563876311,0.0700248357275,0.99999999518,-7.43997266167e-05,4.77058659116e-05,-4.27707242697e-05,1793254836480387072
+164,2.733333333,POSE1_TO_POSE2_PRESS,785,760,738,718,686,651,917,800,840,658,636,657,0.421961666073,-0.0155607999088,0.0700137072259,0.999999995092,-8.39594522239e-05,2.66001072531e-05,-4.53690012954e-05,1793254836497054208
+165,2.750000000,POSE1_TO_POSE2_PRESS,785,760,738,718,686.228008284,651,917,800.228008284,840,658,636,657,0.422828691614,-0.0155586293231,0.0699739681024,0.99999999437,-8.54777802575e-05,-3.83703960895e-05,-4.98036320877e-05,1793254836513721088
+166,2.766666667,POSE1_TO_POSE2_PRESS,785,760,738,718,686.802282194,651,917,800.802282194,840,658,636,657,0.423656012003,-0.015546461648,0.0698907793502,0.999999981135,-7.47840105006e-05,-0.000169956259639,-5.70270481733e-05,1793254836530387712
+167,2.783333333,POSE1_TO_POSE2_PRESS,784.624311165,760,738,718,687,651,917,801,840,657.624311165,636,657.375688835,0.424588927797,-0.0155433913833,0.0698649837075,0.9999999748,-7.4166829782e-05,-0.00020296976998,-6.08466407598e-05,1793254836547054080
+168,2.800000000,POSE1_TO_POSE2_PRESS,784.051359935,760,738,718,687,651,917,801,840,657.051359935,636,657.948640065,0.425577288369,-0.0155450978834,0.0698693233871,0.999999977946,-7.88405502078e-05,-0.00018422603023,-6.28789925623e-05,1793254836563720704
+169,2.816666667,POSE1_TO_POSE2_PRESS,785.083446979,760.541723489,738,717.458276511,686.458276511,651,916.458276511,800.458276511,840.541723489,657,636,657.458276511,0.426578047521,-0.0155485241372,0.0699324960454,0.999999990608,-8.21028892028e-05,-9.41749991279e-05,-5.6347876011e-05,1793254836580387328
+170,2.833333333,POSE1_TO_POSE2_PRESS,785.867316146,760.867316146,738,717,686,651,916.132683854,800.132683854,840.867316146,657,636,657.132683854,0.42758142717,-0.0155526469862,0.0699939190605,0.999999995094,-8.51736745e-05,-6.86656770213e-06,-5.01079486979e-05,1793254836597053952
+171,2.850000000,POSE1_TO_POSE2_PRESS,785.290109975,760.290109975,738,717,686,651,916.709890025,800.709890025,840.290109975,657,636,657.709890025,0.428589495894,-0.0155585362637,0.0700300719219,0.999999993847,-8.80683125995e-05,4.7729911533e-05,-4.76685815868e-05,1793254836613720832
+172,2.866666667,POSE1_TO_POSE2_PRESS,785.285584985,760.285584985,738,717,686,651,917,801,840,657,636,658,0.429575743779,-0.0155640255017,0.0700440163613,0.999999992348,-9.14935056607e-05,6.86985808637e-05,-4.70470097588e-05,1793254836630387456
+173,2.883333333,POSE1_TO_POSE2_PRESS,785.859752834,760.859752834,738,717,686,651,917,801,840,657,636,658,0.430539941703,-0.0155691105007,0.0700355192474,0.999999992729,-9.54548231074e-05,5.56864349201e-05,-4.82623154577e-05,1793254836647054336
+174,2.900000000,POSE1_TO_POSE2_PRESS,785.551492622,761,738,717,686,651,917,801,840.448507378,657,636,657.551492622,0.431417657402,-0.0155652549159,0.0699632838087,0.999999991843,-9.37972534531e-05,-6.82911372414e-05,-5.340575709e-05,1793254836663720960
+175,2.916666667,POSE1_TO_POSE2_PRESS,785,761,738,717.040814407,686,651,917,801,841,657,636,657,0.432278742443,-0.0155590498403,0.0698787328648,0.999999971439,-9.08182826444e-05,-0.000212961432763,-5.93501395921e-05,1793254836680387584
+176,2.933333333,POSE1_TO_POSE2_PRESS,785,761,738,717.617853425,686,651,917,801,841,657,636,657,0.433288565814,-0.0155599418311,0.0699030354096,0.999999981273,-9.43384413225e-05,-0.000158295734995,-5.91371020187e-05,1793254836697053952
+177,2.950000000,POSE1_TO_POSE2_PRESS,785.193238648,761,738,717.806761352,686.193238648,651,917,801,841,657,636,657,0.434293033405,-0.0155613665932,0.0699372622783,0.999999989202,-9.91756713414e-05,-9.20359058393e-05,-5.7356079843e-05,1793254836713720576
+178,2.966666667,POSE1_TO_POSE2_PRESS,785.7653812,761,738,717.2346188,686.7653812,651,917,801,841,657,636,657,0.435286999516,-0.0155638360175,0.069990948846,0.999999992936,-0.000106595426061,-3.04220053067e-06,-5.25005407239e-05,1793254836730386944
+179,2.983333333,POSE1_TO_POSE2_PRESS,786,760.660608951,738,717,686.660608951,651,917,801,841,657,636,657,0.436270613315,-0.0155693753385,0.0700225477162,0.999999990954,-0.000113815731738,5.14598012941e-05,-4.9888570004e-05,1793254836747053824
+180,3.000000000,POSE1_TO_POSE2_PRESS,786,760.085301145,738,717,686.085301145,651,917,801,841,657,636,657,0.437247030979,-0.0155770485992,0.0700387930318,0.999999988139,-0.000120897396728,8.19860009387e-05,-4.88361440568e-05,1793254836763720960
+181,3.016666667,POSE1_TO_POSE2_PRESS,785.491731807,760.508268193,738,717,686.508268193,651,917,801,841,657.508268193,636,657.508268193,0.438156744225,-0.015575482389,0.0700008339621,0.999999990245,-0.000124082698942,3.58014056895e-05,-5.32058171865e-05,1793254836780387584
+182,3.033333333,POSE1_TO_POSE2_PRESS,785,760.899118155,738.100881845,717,687,651,917,801,841,657.899118155,636,658,0.43903470003,-0.0155715715245,0.0699479024037,0.999999989799,-0.000124897866255,-3.7470716993e-05,-5.82991501725e-05,1793254836797053952
+183,3.050000000,POSE1_TO_POSE2_PRESS,785,760.32586484,738.67413516,717,687,651,917,801,841,657.32586484,636,658,0.439818326405,-0.0155642133075,0.0698690465988,0.999999975797,-0.000117791077253,-0.000175049313498,-6.23612832873e-05,1793254836813720576
+184,3.066666667,POSE1_TO_POSE2_PRESS,785.247454174,760.247454174,738.505091652,717,686.752545826,651,917,800.752545826,841,657,636,658,0.440663854026,-0.015562151365,0.0698400314552,0.999999965827,-0.000116468954851,-0.000225021055376,-6.43890949395e-05,1793254836830387456
+185,3.083333333,POSE1_TO_POSE2_PRESS,785.820859682,760.820859682,737.358280635,717,686.179140318,651,917,800.179140318,841,657,636,658,0.441590919083,-0.0155670657762,0.0698766673826,0.999999977698,-0.000122766507556,-0.000159595378206,-6.3737260475e-05,1793254836847054080
+186,3.100000000,POSE1_TO_POSE2_PRESS,786,760.604328859,737.395671141,717,686,651,917,800,841.395671141,657,636,658,0.442491784685,-0.0155739532027,0.0699200169828,0.999999984623,-0.000133217731919,-9.69635434734e-05,-6.00505061621e-05,1793254836863720704
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,783.798613745,760,738,720,687,650.201386255,917,799.201386255,839,658,635,657.201386255,0.401063105059,-0.0153689404015,0.0697923512341,0.999999924445,0.000198005637032,-0.000334514739863,-2.0972433972e-06,1793254840304671232
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,783,760,738,720,687,651,917,800,839.376510378,658,635.376510378,657.623489622,0.401012450996,-0.0153640272402,0.069793902205,0.999999924524,0.000206223929984,-0.000329276688361,-1.18209120428e-06,1793254840338004480
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783,760,738,720,687,651,917,800,839.954297759,658,635.954297759,657.045702241,0.40099119333,-0.0153633605354,0.0697951892519,0.99999992421,0.00020962187244,-0.000328081413739,-6.56548610718e-07,1793254840354670848
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783,760,738,720,687,651,917,800,839.47178194,658,635.47178194,657,0.400979295722,-0.0153638777334,0.0697958285814,0.999999924962,0.0002092414641,-0.000326026741267,-1.41870481699e-07,1793254840371337472
+395,6.583333333,POSE2_TO_POSE3_RETREAT,783.104674319,760,737.895325681,720,686.895325681,650.895325681,917,799.895325681,839,658,635,657,0.400969291945,-0.0153645473348,0.06979659982,0.999999925731,0.000208772220729,-0.000323963291959,4.35503799462e-07,1793254840388004096
+396,6.600000000,POSE2_TO_POSE3_RETREAT,783.694421563,760,737.305578437,720,686.305578437,650.305578437,917,799.305578437,839,658,635,657,0.40096433876,-0.0153654519539,0.0697982401563,0.999999926169,0.000209395228528,-0.00032220124242,1.30774361813e-06,1793254840404670720
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,783,760,738,720,687,651,916.933259785,799,840,657.066740215,635,657,0.400954354032,-0.0153651117927,0.0698054219982,0.999999928497,0.000214549452473,-0.000311398013122,2.42817824397e-06,1793254840588004608
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b1322f0af50cb3051222e9b52f4c94bb139eec5d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_07/depth_05/simulation_data.csv
@@ -0,0 +1,420 @@
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+359,5.983333333,pose2_to_pose3_retreat,0.583205577189,-0.00981812546678,1.06002049688,0.553776723548,-0.00114389205208,1.0596922102
+360,6.000000000,pose2_to_pose3_retreat,0.582686929776,-0.00981822477097,1.06002049631,0.553258077178,-0.00114398784954,1.05969220865
+361,6.016666667,pose2_to_pose3_retreat,0.582177092523,-0.00981826827484,1.06002058049,0.552748241399,-0.00114402648339,1.05969228955
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+365,6.083333333,pose2_to_pose3_retreat,0.580378832024,-0.00981804680766,1.06002050345,0.550949979025,-0.00114381137264,1.05969221245
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+367,6.116666667,pose2_to_pose3_retreat,0.579610504677,-0.00981819162558,1.06002056442,0.550181652975,-0.00114395172056,1.05969227531
+368,6.133333333,pose2_to_pose3_retreat,0.579259142761,-0.0098182346284,1.06002056332,0.549830291778,-0.001143992372,1.05969227177
+369,6.150000000,pose2_to_pose3_retreat,0.578932204421,-0.00981827606411,1.06002053084,0.549503353388,-0.00114403412215,1.0596922356
+370,6.166666667,pose2_to_pose3_retreat,0.57863190108,-0.00981825563509,1.06002054004,0.549203049038,-0.00114401718717,1.05969224285
+371,6.183333333,pose2_to_pose3_retreat,0.5783514453,-0.00981813295295,1.06002051052,0.548922592424,-0.00114389702962,1.05969222125
+372,6.200000000,pose2_to_pose3_retreat,0.578088968395,-0.00981807703519,1.06002054284,0.54866011294,-0.0011438501532,1.05969224591
+373,6.216666667,pose2_to_pose3_retreat,0.577835694795,-0.00981820666974,1.06002052306,0.548406841065,-0.00114397381548,1.0596922293
+374,6.233333333,pose2_to_pose3_retreat,0.577592624426,-0.00981819840363,1.0600205428,0.548163771219,-0.00114396398808,1.0596922434
+375,6.250000000,pose2_to_pose3_retreat,0.577365336573,-0.00981813184581,1.0600206116,0.547936482466,-0.0011439006619,1.0596923075
+376,6.266666667,pose2_to_pose3_retreat,0.577154761778,-0.00981817803316,1.0600206987,0.547725908383,-0.00114394423306,1.0596923998
+377,6.283333333,pose2_to_pose3_retreat,0.576962746972,-0.00981830672142,1.0600207261,0.547533897184,-0.00114406052609,1.05969243153
+378,6.300000000,pose2_to_pose3_retreat,0.576787450481,-0.00981836814167,1.06002040827,0.547358599685,-0.00114412529909,1.05969211539
+379,6.316666667,pose2_to_pose3_retreat,0.576628095414,-0.0098182938776,1.06002065429,0.547199244491,-0.0011440518829,1.05969235045
+380,6.333333333,pose2_to_pose3_retreat,0.576484613972,-0.00981827145486,1.06002074281,0.547055762738,-0.0011440301801,1.05969244787
+381,6.350000000,pose2_to_pose3_retreat,0.576355938955,-0.00981815187089,1.06002062893,0.546927086576,-0.00114391454247,1.05969233237
+382,6.366666667,pose2_to_pose3_retreat,0.576243061408,-0.0098181801962,1.06002054462,0.546814208965,-0.00114394311831,1.05969224715
+383,6.383333333,pose2_to_pose3_retreat,0.576145003875,-0.00981829483356,1.06002053821,0.546716152438,-0.00114405428274,1.05969224239
+384,6.400000000,pose2_to_pose3_retreat,0.576062024523,-0.0098183157326,1.06002056387,0.546633173538,-0.00114407375721,1.0596922653
+385,6.416666667,pose2_to_pose3_retreat,0.575988840703,-0.00981828096919,1.0600206953,0.546559987906,-0.0011440454655,1.05969238883
+386,6.433333333,pose2_to_pose3_retreat,0.575924945417,-0.00981831746724,1.06002047588,0.54649609423,-0.00114407629643,1.05969217461
+387,6.450000000,pose2_to_pose3_retreat,0.575870206201,-0.00981836784619,1.06002045603,0.546441355732,-0.0011441237259,1.05969216826
+388,6.466666667,pose2_to_pose3_retreat,0.575823832364,-0.00981832729073,1.06002054128,0.546394981923,-0.00114408346327,1.05969224328
+389,6.483333333,pose2_to_pose3_retreat,0.575785952687,-0.00981821564027,1.06002062652,0.546357100385,-0.00114397838651,1.05969232164
+390,6.500000000,pose2_to_pose3_retreat,0.575755411939,-0.00981813181012,1.0600206604,0.546326557442,-0.00114390167194,1.05969236421
+391,6.516666667,pose2_to_pose3_retreat,0.575731978037,-0.00981816903268,1.06002064865,0.546303124754,-0.00114393470242,1.05969235441
+392,6.533333333,pose2_to_pose3_retreat,0.575713548283,-0.00981821681667,1.06002074774,0.54628469588,-0.00114397956201,1.05969245199
+393,6.550000000,pose2_to_pose3_retreat,0.57569956394,-0.00981830241962,1.06002065658,0.546270712282,-0.00114406289286,1.05969235419
+394,6.566666667,pose2_to_pose3_retreat,0.575689056575,-0.00981826979408,1.06002052104,0.546260204263,-0.00114403250088,1.05969221839
+395,6.583333333,pose2_to_pose3_retreat,0.575681530211,-0.00981811867034,1.06002041127,0.546252676099,-0.00114388721812,1.05969211574
+396,6.600000000,pose2_to_pose3_retreat,0.575676912889,-0.00981812849028,1.06002041972,0.546248060211,-0.00114389223623,1.05969212223
+397,6.616666667,pose2_to_pose3_retreat,0.57567375603,-0.00981813962219,1.06002046575,0.546244903853,-0.00114390165444,1.05969216837
+398,6.633333333,pose2_to_pose3_retreat,0.575671858072,-0.00981815388507,1.0600205624,0.546243005379,-0.001143917576,1.05969226757
+399,6.650000000,pose2_to_pose3_retreat,0.575670647315,-0.00981816298374,1.06002062406,0.546241794293,-0.00114392773278,1.05969233085
+400,6.666666667,pose2_to_pose3_retreat,0.575670015128,-0.00981819377066,1.06002063157,0.546241162357,-0.00114395769485,1.05969233762
+401,6.683333333,pose2_to_pose3_retreat,0.575669722778,-0.00981822410393,1.0600206198,0.546240870386,-0.00114398679516,1.0596923245
+402,6.700000000,pose2_to_pose3_retreat,0.575669574098,-0.00981823953055,1.0600206138,0.546240721897,-0.00114400159473,1.05969231783
+403,6.716666667,pose2_to_pose3_retreat,0.57566951146,-0.00981824602964,1.06002061128,0.546240659341,-0.00114400782965,1.05969231502
+404,6.733333333,pose2_to_pose3_retreat,0.575669408582,-0.00981825670391,1.06002060714,0.546240556596,-0.00114401807004,1.0596923104
+405,6.750000000,pose2_to_pose3_retreat,0.575669301712,-0.00981826779241,1.06002060283,0.546240449864,-0.00114402870783,1.05969230561
+406,6.766666667,pose2_to_pose3_retreat,0.575669251195,-0.00981827303389,1.06002060079,0.546240399412,-0.00114403373625,1.05969230334
+407,6.783333333,pose2_to_pose3_retreat,0.575669020543,-0.00981829696562,1.0600205915,0.546240169059,-0.00114405669523,1.05969229299
+408,6.800000000,pose2_to_pose3_retreat,0.57566859837,-0.0098183407689,1.06002057449,0.546239747432,-0.00114409871803,1.05969227405
+409,6.816666667,pose2_to_pose3_retreat,0.575668268803,-0.00981837496367,1.06002056121,0.546239418292,-0.00114413152289,1.05969225926
+410,6.833333333,pose2_to_pose3_retreat,0.575668161006,-0.00981838015732,1.06002056606,0.546239310571,-0.00114413646951,1.05969226384
+411,6.850000000,pose2_to_pose3_retreat,0.575668083219,-0.00981837510422,1.06002058307,0.546239232745,-0.00114413154312,1.05969228099
+412,6.866666667,pose2_to_pose3_retreat,0.575668080325,-0.00981837491625,1.0600205837,0.546239229849,-0.00114413135985,1.05969228162
+413,6.883333333,pose2_to_pose3_retreat,0.575667800239,-0.0098183567217,1.06002064492,0.546238949623,-0.00114411362152,1.05969234336
+414,6.900000000,pose2_to_pose3_retreat,0.575667718817,-0.00981835143248,1.06002066272,0.54623886816,-0.00114410846493,1.05969236131
+415,6.916666667,pose2_to_pose3_retreat,0.57566727896,-0.00981832285916,1.06002075887,0.546238428084,-0.00114408060806,1.05969245826
+416,6.933333333,pose2_to_pose3_retreat,0.575667063636,-0.00981829330305,1.06002073223,0.546238212399,-0.00114405225744,1.059692432
+417,6.950000000,pose2_to_pose3_retreat,0.575666958718,-0.00981825957267,1.06002062773,0.546238106994,-0.00114402017565,1.05969232768
+418,6.966666667,pose2_to_pose3_retreat,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931769,1.05969225353
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..003418d37e96d7bedeb596ebb4db890d0bf401ce
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2068d1362671723b331cc9f8f6e9ad1554289590b315d9df04c34f9e26b6ce19
+size 26355914
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..65db7e244fcc87551178069502e9d4ca06a197bf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_01/franka_data.csv
@@ -0,0 +1,417 @@
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+24,0.400000000,BASELINE,784,760,738,719,686,651,917,800.992817311,840,658,636,658,0.401039104432,-0.0154980720252,0.079860459207,0.999999981545,0.00011521905611,-0.000147978956704,4.16633819274e-05,1793254842424129792
+25,0.416666667,BASELINE,784,760,738,719,686,651,917,800.416311245,840,658,636,658,0.401038513026,-0.0154979342716,0.0798598570159,0.999999981182,0.00011681723107,-0.000149132755126,4.18337624462e-05,1793254842440796416
+26,0.433333333,BASELINE,784,760,738,719,686,650.841100678,917,800,839.841100678,658,636,658,0.401038349084,-0.0154979024681,0.0798598266748,0.999999981038,0.000117709053736,-0.00014934637878,4.20133781332e-05,1793254842457463040
+27,0.450000000,BASELINE,784,760,738,719,686,650.269256708,917,800,839.269256708,658,636,658,0.401039296025,-0.015498146006,0.0798612824466,0.99999998147,0.000116765221336,-0.000147116693704,4.22169940426e-05,1793254842474129664
+28,0.466666667,BASELINE,783.685910326,760,737.685910326,718.685910326,686,650.314089674,916.685910326,800,839,657.685910326,635.685910326,658,0.401039428388,-0.0154979988765,0.0798614279856,0.999999981451,0.000117444198733,-0.000146696785795,4.22454361483e-05,1793254842490796288
+29,0.483333333,BASELINE,783.092328581,760,737.092328581,718.092328581,686,650.907671419,916.092328581,800,839,657.092328581,635.092328581,658,0.401038835899,-0.0154975041125,0.0798604076166,0.99999998103,0.000119567230256,-0.000147887304636,4.21180001807e-05,1793254842507462912
+30,0.500000000,BASELINE,783,760,737,718.488687643,686,651,916,800.488687643,839.488687643,657.488687643,635.488687643,657.511312357,0.401039167277,-0.0154976072062,0.0798612302633,0.999999981294,0.000117995541553,-0.000147329572779,4.22203448569e-05,1793254842524129536
+31,0.516666667,BASELINE,783.066755145,760,737,719,686,651,916.066755145,800.933244855,840,658,636,657.066755145,0.401039336549,-0.0154976526256,0.0798620473246,0.999999981576,0.000116153571199,-0.000146855944251,4.23058629988e-05,1793254842540796160
+32,0.533333333,BASELINE,783.64001063,760,737,719,686,651,916.64001063,800.35998937,840,658,636,657.64001063,0.401036984685,-0.0154964248959,0.0798602462605,0.999999981056,0.000117424491912,-0.000149463749598,4.19425760329e-05,1793254842557462784
+33,0.550000000,BASELINE,783.780619416,760.219380584,737.219380584,719,686,651,917,800,840,657.780619416,635.780619416,657.780619416,0.401036380459,-0.0154960711175,0.0798597985662,0.999999980929,0.000117670220343,-0.000150173880967,4.17462065753e-05,1793254842574129664
+34,0.566666667,BASELINE,783.190928406,760.809071594,737.809071594,719,686,651,917,800,840,657.190928406,635.190928406,657.190928406,0.401038726213,-0.0154971925534,0.0798616353357,0.999999981471,0.000116185442766,-0.000147680772994,4.1831590866e-05,1793254842590796288
+35,0.583333333,BASELINE,783,760.608312474,737.608312474,719,686,651,916.608312474,800,840,657.391687526,635.391687526,657,0.401038374386,-0.0154977911884,0.0798615576018,0.999999981264,0.000117273632037,-0.000148201500762,4.18856391186e-05,1793254842607463168
+36,0.600000000,BASELINE,783,760.029084055,737.029084055,719,686,651,916.029084055,800,840,657.970915945,635.970915945,657,0.401036730952,-0.0154981395053,0.0798605631993,0.999999980695,0.000119593763661,-0.000150165259839,4.19246836111e-05,1793254842624129792
+37,0.616666667,BASELINE,783,760,737.544873183,719,686,651,916.544873183,800,840,657.455126817,636,657,0.401036454466,-0.0154981995617,0.0798597877672,0.999999980958,0.000117307015876,-0.000150270057702,4.17456495523e-05,1793254842640796160
+38,0.633333333,BASELINE,783.121566482,760,737.878433518,719,686,651,916.878433518,800,840,657,635.878433518,657,0.401036370728,-0.0154978822318,0.0798592571021,0.999999981159,0.000115750323198,-0.000150187121596,4.15540915469e-05,1793254842657462784
+39,0.650000000,BASELINE,783.709833665,760,737.290166335,719,686,651,916.290166335,800,840,657,635.290166335,657,0.401036749531,-0.0154961745989,0.0798596216696,0.999999980977,0.000117931349207,-0.000149760752199,4.13587137886e-05,1793254842674129408
+40,0.666666667,BASELINE,783.706483265,760,737,719,686,651,916,800,840,657.293516735,635.293516735,657.293516735,0.401037153172,-0.0154957413897,0.0798599265412,0.999999980947,0.000118625132229,-0.000149439100954,4.12469238504e-05,1793254842690796288
+41,0.683333333,BASELINE,783.127262328,760,737,719,686,651,916,800,840,657.872737672,635.872737672,657.872737672,0.401037580991,-0.0154965486829,0.0798601733058,0.999999981071,0.000117871258068,-0.000149219380606,4.12164968878e-05,1793254842707462912
+42,0.700000000,BASELINE,783.451540422,760,737.451540422,718.548459578,686,651,916.451540422,800,840,658,636,658,0.401038354076,-0.0154971112406,0.0798608710341,0.999999981225,0.000117508377113,-0.000148404377145,4.14570699864e-05,1793254842724129536
+43,0.716666667,BASELINE,784,760,737.969959522,718.030040478,686,651,917,800,840,657.969959522,636,657.969959522,0.401039133453,-0.0154975399529,0.0798616091006,0.999999981357,0.00011737999956,-0.000147530692135,4.17527943328e-05,1793254842740796160
+44,0.733333333,BASELINE,784,760,737.394815226,718.605184774,686,651,917,800,840,657.394815226,636,657.394815226,0.401038262883,-0.0154967904169,0.0798607749549,0.999999980945,0.000119509079568,-0.000148633757728,4.16646142098e-05,1793254842757463040
+45,0.750000000,BASELINE,784,760,737,719,686,651,917,800,840,657,636,657,0.401038143013,-0.015496400692,0.079860637706,0.999999980825,0.000120411491014,-0.000148718888428,4.16504959917e-05,1793254842774129920
+46,0.766666667,BASELINE,784,760,737,719,686,651,917,800,840,657,636,657,0.401039666736,-0.0154967987431,0.0798620262534,0.999999981348,0.000118628215786,-0.000146575337178,4.17985300224e-05,1793254842790796544
+47,0.783333333,BASELINE,783.645833501,760,737.354166499,719,686,651,917,800,840,657.354166499,636,657.354166499,0.401039539271,-0.0154969529451,0.0798620017283,0.999999981358,0.000118589633761,-0.000146536095956,4.17979551043e-05,1793254842807463168
+48,0.800000000,BASELINE,783.066542933,760,737.933457067,719,686,651,917,800,840,657.933457067,636,657.933457067,0.401038362238,-0.0154969521458,0.0798610789912,0.999999981044,0.000119660056614,-0.000147834448113,4.17029177049e-05,1793254842824129792
+49,0.816666667,BASELINE,783,760,737.490528489,719,686,651,917,800,840,657.490528489,636,658,0.401038541978,-0.0154965449248,0.0798608769884,0.999999981032,0.000119600158563,-0.000148046051058,4.13946401338e-05,1793254842840796928
+50,0.833333333,BASELINE,783.084698357,760,737,719,686,651,917,800,839.915301643,657,636,657.915301643,0.401038873569,-0.0154962683433,0.0798608342388,0.999999981108,0.000119053823235,-0.000148041836364,4.11542248543e-05,1793254842857464064
+51,0.850000000,BASELINE,783.657835359,760,737,719,686,651,917,800,839.342164641,657,636,657.342164641,0.40103906545,-0.0154970492986,0.0798611704742,0.999999981455,0.000116548231644,-0.000147606366332,4.14647466027e-05,1793254842874130944
+52,0.866666667,BASELINE,783.76152027,760,737.23847973,719,686,651,917,800,839,657.23847973,636,657,0.401039041317,-0.0154969752814,0.0798615100736,0.999999981558,0.000116050347019,-0.000147208512606,4.17876453999e-05,1793254842890798080
+53,0.883333333,BASELINE,783.169754448,760,737.830245552,719,686,651,917,800,839,657.830245552,636,657,0.401038697181,-0.0154956347002,0.0798618546565,0.999999981303,0.000118526698327,-0.000146866384053,4.21288796537e-05,1793254842907464704
+54,0.900000000,BASELINE,783.413218102,760,737.586781898,718.586781898,686,650.586781898,917,800,839.413218102,658,636,657,0.401039880983,-0.0154954245029,0.0798625773585,0.999999981442,0.000118913773311,-0.000145668436974,4.19086079299e-05,1793254842924131328
+55,0.916666667,BASELINE,783.992653535,760,737.007346465,718.007346465,686,650.007346465,917,800,839.992653535,658,636,657,0.4010416794,-0.0154956690036,0.0798634521593,0.999999981738,0.000118460435063,-0.000144126236177,4.14624699419e-05,1793254842940797952
+56,0.933333333,BASELINE,784,760,737,718.567590244,686,650.567590244,917,800,840,657.432409756,636,657.567590244,0.401039802445,-0.0154956621202,0.0798622870663,0.999999981284,0.000119660256499,-0.000146278917958,4.1411534597e-05,1793254842957464576
+57,0.950000000,BASELINE,784,760,737,719,686,650.85446565,917,800,840,657.14553435,636,657.85446565,0.401038166205,-0.0154962212872,0.0798613100779,0.999999980993,0.00011981356682,-0.000148121305315,4.14698661574e-05,1793254842974131456
+58,0.966666667,BASELINE,784,760,737,719,686,650.267218529,917,800,840,657.732781471,636,657.267218529,0.401037403808,-0.0154985082776,0.0798609835133,0.99999998123,0.00011672616814,-0.000148877905447,4.18444316756e-05,1793254842990798080
+59,0.983333333,BASELINE,784,760,737.315847928,719,686,650.315847928,917,800,840,657.684152072,636,657,0.401037534199,-0.0154982399624,0.0798611175323,0.999999981223,0.000117045435816,-0.000148682501765,4.18121307554e-05,1793254843007464448
+60,1.000000000,BASELINE,784,760,737.895423663,719,686,650.895423663,917,800,840,657.104576337,636,657,0.401038410055,-0.0154958380097,0.0798616361309,0.99999998101,0.00012020921334,-0.000147692190691,4.14401031152e-05,1793254843024130560
+61,1.016666667,BASELINE,783.525000602,760,737.525000602,719,686,650.525000602,917,800,840,657.474999398,636,657.474999398,0.40103898214,-0.0154951983942,0.0798617824854,0.999999981101,0.000120843357363,-0.000146524855985,4.15492272135e-05,1793254843040796672
+62,1.033333333,BASELINE,783.053990453,760,737,719,686,650.053990453,917,800,840,657.946009547,636,657.946009547,0.401039348192,-0.0154950284023,0.0798617763357,0.999999981224,0.000120850771826,-0.000145620205289,4.17305142023e-05,1793254843057463040
+63,1.050000000,BASELINE,783.627357377,760,737,719,686,650.627357377,917,800,840,657.372642623,636,657.372642623,0.401038375599,-0.0154956436305,0.0798610915043,0.999999981017,0.000120186697093,-0.000147617435681,4.15869609419e-05,1793254843074129664
+64,1.066666667,BASELINE,784,760,737,719,686,650.793876245,917,800,839.793876245,657,636,657.206123755,0.401037773758,-0.015496097396,0.0798609712555,0.999999980874,0.00012016238934,-0.00014863307971,4.14873950389e-05,1793254843090796288
+65,1.083333333,BASELINE,784,760,737,719,686,650.20508587,917,800,839.20508587,657,636,657.79491413,0.401037860216,-0.0154962514079,0.0798618991485,0.999999980854,0.000121325802417,-0.000147826418682,4.14694912194e-05,1793254843107462912
+66,1.100000000,BASELINE,784,760,737.376470496,718.623529504,686,650,917,800,839.376470496,657.376470496,635.623529504,657.623529504,0.401038573172,-0.0154961807142,0.0798621983208,0.999999980899,0.000121127680746,-0.000147670487611,4.1510418301e-05,1793254843124129536
+67,1.116666667,BASELINE,784,760,737.954160346,718.045839654,686,650,917,800,839.954160346,657.954160346,635.045839654,657.045839654,0.401039620984,-0.0154959899178,0.0798621614488,0.99999998098,0.000120201833641,-0.000147862364596,4.15827898549e-05,1793254843140796416
+68,1.133333333,BASELINE,784,760,737.469901776,718.530098224,686,650,917,800,840,657.469901776,635.530098224,657.530098224,0.401038083684,-0.0154953246667,0.0798608884886,0.999999980686,0.000121096945447,-0.000149137876639,4.14839592437e-05,1793254843157463040
+69,1.150000000,BASELINE,784,760,737,719,686,650.105257631,916.894742369,800,839.894742369,657,636,658,0.401036730323,-0.0154948985413,0.0798600046762,0.999999980509,0.000121612882129,-0.00014992596806,4.14082078865e-05,1793254843174129664
+70,1.166666667,BASELINE,784,760,737,719,686,650.677632254,916.322367746,800,839.322367746,657,636,658,0.401037182041,-0.0154957150946,0.0798613206373,0.999999980997,0.000119749593298,-0.000148136478788,4.15003624205e-05,1793254843190796544
+71,1.183333333,BASELINE,784,760,737.260041985,719,686,651,916.260041985,800,839.260041985,657,635.739958015,657.739958015,0.401037098026,-0.0154959991345,0.0798614857175,0.99999998104,0.00011949749502,-0.000148039620486,4.15384601484e-05,1793254843207463168
+72,1.200000000,BASELINE,784,760,737.855391422,719,686,651,916.855391422,800,839.855391422,657,635.144608578,657.144608578,0.40103632322,-0.0154955965327,0.0798601668108,0.99999998051,0.00012132292331,-0.000150125300958,4.1506855106e-05,1793254843224129792
+73,1.216666667,BASELINE,784,760,737.562248317,719,686,651,917,800.437751683,840,657,635.437751683,657,0.401036677297,-0.0154967125932,0.0798603660486,0.999999980652,0.000119842931289,-0.000150334628597,4.16418979074e-05,1793254843240796928
+74,1.233333333,BASELINE,784,760,737,719,686,651,917,800.984147831,840,657,636,657,0.401037413151,-0.0154982168784,0.0798610506271,0.999999980996,0.000117436329196,-0.00014989221219,4.18244381689e-05,1793254843257464064
+75,1.250000000,BASELINE,784,760,737,719,686,651,917,800.409308988,840,657,636,657,0.401038840286,-0.0154962302197,0.0798616746684,0.99999998105,0.000119749560003,-0.000147694970713,4.1796560565e-05,1793254843274130176
+76,1.266666667,BASELINE,784,760,737.16524925,719,686,651,917,800,840,657,636,657,0.401039319578,-0.0154948659644,0.0798618666716,0.999999980943,0.000121686020783,-0.000146865761482,4.16780598872e-05,1793254843290796288
+77,1.283333333,BASELINE,784,760,737.739113601,719,686,651,917,800,840,657,636,657,0.401037455118,-0.0154950407381,0.0798609903657,0.999999980456,0.000122690834707,-0.000149419312868,4.13354737394e-05,1793254843307462912
+78,1.300000000,BASELINE,784,760,738,718.674600965,686,651,917,800,840,657,636,657,0.401037549099,-0.0154963047351,0.0798610571792,0.999999980681,0.000120969988222,-0.000149294228787,4.14202179997e-05,1793254843324129792
+79,1.316666667,BASELINE,784,760,738,718.077961821,686,651,917,800,840,657,636,657,0.401039275563,-0.0154984766666,0.0798619101408,0.999999981487,0.000116977136101,-0.000146936337175,4.18611684533e-05,1793254843340796416
+80,1.333333333,BASELINE,784,760,737.500056037,718.499943963,686,651,917,800,839.500056037,657.499943963,636,657,0.401038736641,-0.0154979496978,0.0798619192188,0.999999981255,0.000118841204986,-0.000147020397247,4.18650326319e-05,1793254843357463296
+81,1.350000000,BASELINE,784,760,737.074973864,719,686,651,917,800,839.074973864,658,636,657.074973864,0.40103799403,-0.0154968932457,0.0798618221375,0.999999980882,0.000121450703306,-0.000147438614179,4.1798305414e-05,1793254843374130176
+82,1.366666667,BASELINE,784,760,737.64960302,719,686,651,917,800,839.64960302,658,636,657.64960302,0.401038163231,-0.0154950116449,0.0798618629016,0.999999980648,0.000123161054104,-0.000147637637511,4.16989664411e-05,1793254843390797312
+83,1.383333333,BASELINE,783.768874482,760,737.768874482,718.768874482,686,651,917,800,840,658,636,657.768874482,0.401038035263,-0.015494405062,0.0798614182318,0.999999980684,0.000122215559388,-0.000148248414979,4.1455468493e-05,1793254843407464192
+84,1.400000000,BASELINE,783.176579994,760,737.176579994,718.176579994,686,651,917,800,840,658,636,657.176579994,0.401037442922,-0.0154957908893,0.0798602149974,0.999999981126,0.000117119900122,-0.000149502621291,4.09867000823e-05,1793254843424130048
+85,1.416666667,BASELINE,783.406383482,760,737,718.406383482,686,651,917,800,840,658,636,657,0.401037300401,-0.0154955254636,0.079860276435,0.999999981096,0.000117546999354,-0.000149360642102,4.10052031764e-05,1793254843440796672
+86,1.433333333,BASELINE,783.985383458,760,737,718.985383458,686,651,917,800,840,658,636,657,0.401037348946,-0.0154945586474,0.0798608750582,0.999999980867,0.000120319960007,-0.000148625615493,4.12306809972e-05,1793254843457463296
+87,1.450000000,BASELINE,784,760,737,719,686,651,917,800,840,657.440435084,636,657,0.401037279392,-0.0154956138057,0.0798612835462,0.999999980931,0.000120003684714,-0.000148376759812,4.14923450501e-05,1793254843474129664
+88,1.466666667,BASELINE,784,760,737,719,686,651,916.863127985,800,839.863127985,657.136872015,636,657,0.401036961946,-0.0154961777028,0.0798612921824,0.999999980876,0.000120189499045,-0.000148566850264,4.15890151654e-05,1793254843490796544
+89,1.483333333,BASELINE,784,760,737,719,686,651,916.275107051,800,839.275107051,657.724892949,636,657,0.401035837496,-0.0154949497316,0.0798599990826,0.999999980402,0.000122293979672,-0.000150162265755,4.11387536301e-05,1793254843507463680
+90,1.500000000,BASELINE,784,760,737,719,686,650.692079476,916.307920524,800,839.307920524,658,636,657,0.401036590874,-0.0154949641898,0.0798603685108,0.999999980496,0.000122379737875,-0.000149456053847,4.115964803e-05,1793254843524130560
+91,1.516666667,BASELINE,784,760,737,719,686,650.113441982,916.886558018,800,839.886558018,658,636,657,0.401038995199,-0.0154960709647,0.0798621995969,0.999999981088,0.0001206906795,-0.000146726301542,4.15947724153e-05,1793254843540797440
+92,1.533333333,BASELINE,783.535896926,760,737,719,686,650.464103074,917,800,840,657.535896926,635.535896926,657,0.401039056406,-0.0154955663202,0.0798623294205,0.999999981176,0.000120315195394,-0.000146417228375,4.16360500945e-05,1793254843557463552
+93,1.550000000,BASELINE,783.040928061,760,737,718.959071939,686,650.959071939,917,800,840,657.040928061,635,657,0.401038530898,-0.0154948235754,0.0798620418843,0.999999981137,0.000120255240121,-0.000146742257225,4.1601427592e-05,1793254843574130176
+94,1.566666667,BASELINE,783.611877451,760,737,718.388122549,686,650.388122549,917,800,840,657.611877451,635,657,0.40103780692,-0.0154960862598,0.0798617220766,0.999999981011,0.000120133154213,-0.000147634476903,4.18276554913e-05,1793254843590796544
+95,1.583333333,BASELINE,784,760,737,718,686,650,917,800,840,658,635.190302066,657.190302066,0.401037465201,-0.0154967200787,0.0798615773473,0.999999980931,0.000120137755344,-0.000148163635747,4.18615981227e-05,1793254843607463168
+96,1.600000000,BASELINE,784,760,737,718,686,650,917,800,840,658,635.784595925,657.784595925,0.40103793498,-0.0154960188807,0.0798618042914,0.999999980949,0.00012041130006,-0.000147922053801,4.14873388682e-05,1793254843624129792
+97,1.616666667,BASELINE,784,760,737.369313814,718,686,650.369313814,916.630686186,800,840,658,636,657.630686186,0.401037236497,-0.0154956344298,0.0798614820387,0.999999980824,0.000120254471353,-0.000148925228111,4.13888453779e-05,1793254843640796672
+98,1.633333333,BASELINE,784,760,737.948587596,718,686,650.948587596,916.051412404,800,840,658,636,657.051412404,0.40103587384,-0.0154954300538,0.0798608475601,0.999999980613,0.000119852969435,-0.000150636063444,4.14471285298e-05,1793254843657463552
+99,1.650000000,BASELINE,784,760,737.476828061,718.523171939,686,651,916.523171939,800,840,657.476828061,635.476828061,657.523171939,0.401035314876,-0.0154962710632,0.0798605351078,0.999999980796,0.000118448840766,-0.00015053486218,4.14417516231e-05,1793254843674130176
+100,1.666666667,BASELINE,784,760,737,719,686,651,917,800.099675487,840,657,635.099675487,657.900324513,0.401035014831,-0.0154969550498,0.0798603383699,0.999999980935,0.000117658683338,-0.000150242973177,4.14062365561e-05,1793254843690796800
+101,1.683333333,BASELINE,784,760,737,719,686,651,917,800.687822626,840,657,635.687822626,657.312177374,0.401035600035,-0.0154963705565,0.0798605549988,0.999999980674,0.000120355927579,-0.000149881496282,4.12534113058e-05,1793254843707463424
+102,1.700000000,BASELINE,784,760,737,719,686,651,917,800.728209844,840,657,636,657.271790156,0.401035329123,-0.0154957020619,0.0798603940514,0.999999980447,0.000121494913638,-0.000150499279941,4.115941679e-05,1793254843724130048
+103,1.716666667,BASELINE,784,760,737,719,686,651,917,800.148970332,840,657,636,657.851029668,0.401034089772,-0.015494938545,0.0798598059893,0.999999980263,0.000120871195956,-0.00015222480436,4.11319716838e-05,1793254843740796416
+104,1.733333333,BASELINE,784,760,737.428433202,719,686,651,917,800,840,657,636,657.571566798,0.401035136383,-0.0154955075268,0.0798606008232,0.999999980548,0.000119823724676,-0.000151096397784,4.14291497214e-05,1793254843757463040
+105,1.750000000,BASELINE,784,760,737.994797194,719,686,651,916.994797194,800,839.994797194,657,636,657,0.401036956033,-0.0154965360589,0.0798618632668,0.999999980988,0.00011863439304,-0.000148994837564,4.1834864319e-05,1793254843774129920
+106,1.766666667,BASELINE,784,760,737.417842253,719,686,651,916.417842253,800,839.417842253,657,636,657,0.401036751391,-0.0154973672944,0.0798618965835,0.999999981135,0.000117978505225,-0.000148536325965,4.18167861651e-05,1793254843790796544
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,760,738,719,686,650,917,800,840,657,636,657,0.401038295301,-0.0154941793341,0.0798618418193,0.999999980903,0.000121334935107,-0.000147414758741,4.17232662785e-05,1793254843831257088
+108,1.800000000,POSE1_TO_POSE2_PRESS,784,760,737.420750604,719,686,650.579249396,917,800.579249396,840,657.579249396,636,657,0.401036575453,-0.015495852576,0.0798613186584,0.99999998082,0.000120539082737,-0.000148619153801,4.17405254489e-05,1793254843847923968
+109,1.816666667,POSE1_TO_POSE2_PRESS,784,760,737,719,686,651,917,801,840,657.842390957,636,657,0.401035719522,-0.0154969095656,0.0798609712013,0.999999980766,0.000120196355329,-0.000149280314063,4.16766749781e-05,1793254843864590592
+110,1.833333333,POSE1_TO_POSE2_PRESS,784,760,737,719,686,651,917,801,840,657.266393111,636,657,0.401037156943,-0.0154963306531,0.0798610901675,0.99999998079,0.000121056492798,-0.000148499404057,4.13975109418e-05,1793254843881256704
+111,1.850000000,POSE1_TO_POSE2_PRESS,784,760,737.309892293,719,686,651,917,800.690107707,840,657,636,657,0.401037909163,-0.0154958837585,0.0798615091808,0.999999980901,0.000120926673742,-0.000147900512289,4.12441163342e-05,1793254843897923072
+112,1.866666667,POSE1_TO_POSE2_PRESS,784,760,737.886425087,719,686,651,917,800.113574913,840,657,636,657,0.401038071816,-0.0154955504561,0.0798621863633,0.999999981086,0.000119945066741,-0.000147458234447,4.11989374821e-05,1793254843914589696
+113,1.883333333,POSE1_TO_POSE2_PRESS,784,760,737.527041842,719,686,651,917,800.472958158,840,657.472958158,636.472958158,657.472958158,0.401038009282,-0.0154943589141,0.0798619731755,0.999999980932,0.000120605935788,-0.000148015541448,4.10153305099e-05,1793254843931256576
+114,1.900000000,POSE1_TO_POSE2_PRESS,784,760,737,719,686,650.939059062,917,800.939059062,839.939059062,657.939059062,636.939059062,658,0.401037841462,-0.0154932237427,0.0798615685056,0.999999980683,0.000121644293309,-0.000148886703848,4.08539220367e-05,1793254843947923968
+115,1.916666667,POSE1_TO_POSE2_PRESS,784,760,737,719,686,650.359615182,917,800.359615182,839.359615182,657.359615182,636.359615182,658,0.401037247868,-0.0154943595835,0.0798613931136,0.999999980352,0.000122466105252,-0.000150341813323,4.11703245118e-05,1793254843964590080
+116,1.933333333,POSE1_TO_POSE2_PRESS,784,760,737,719,686,650.217871989,917,800,839.217871989,657,636,657.782128011,0.401037388282,-0.0154953814113,0.0798617755975,0.999999980033,0.000122348104016,-0.000152473659589,4.14308185193e-05,1793254843981256448
+117,1.950000000,POSE1_TO_POSE2_PRESS,784,760,737,719,686,650.792158148,917,800,839.792158148,657,636,657.207841852,0.401038729449,-0.0154962167266,0.0798630707039,0.999999979728,0.000120692673612,-0.000155712571293,4.15998525053e-05,1793254843997922816
+118,1.966666667,POSE1_TO_POSE2_PRESS,784,760,737,719,686,651,916.624925636,800,839.624925636,657,636,657,0.401050139897,-0.0154966609683,0.0798680302277,0.999999979949,0.000120052769754,-0.000154734926598,4.1779557627e-05,1793254844014589440
+119,1.983333333,POSE1_TO_POSE2_PRESS,784,760,737,719,686,651,916.037114522,800,839.037114522,657,636,657,0.401067261496,-0.0154968833988,0.0798750681562,0.999999980465,0.000119988857696,-0.000151365712455,4.19653152783e-05,1793254844031255808
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.457760133,760,737,719,686,651,916.542239867,800,839.542239867,657,636,657,0.401107957192,-0.0154971958592,0.0798882979691,0.999999982008,0.000122744278047,-0.000138291175777,4.23448647238e-05,1793254844047922688
+121,2.016666667,POSE1_TO_POSE2_PRESS,783,760,737.1209049,719,686,651,917,800.1209049,840.1209049,657.1209049,636,657,0.401156065645,-0.0154983123219,0.079902481225,0.999999983818,0.000124262924915,-0.000122894640986,4.26661572857e-05,1793254844064589312
+122,2.033333333,POSE1_TO_POSE2_PRESS,783,760,737.699118438,719,686,651,917,800.699118438,840.699118438,657.699118438,636,657,0.401226202585,-0.0155024468792,0.0799186923621,0.999999986722,0.000120384928881,-0.00010118945748,4.27176995108e-05,1793254844081256192
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.273694243,760,738,719,686,651,917,800.726305757,840.726305757,657.726305757,636,657.273694243,0.4013050581,-0.0155059612162,0.0799324238246,0.999999988828,0.000118579225961,-8.07153846206e-05,4.20555918079e-05,1793254844097923072
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.844323383,760,738,719,686,651,917,800.155676617,840.155676617,657.155676617,636,657.844323383,0.40139337252,-0.0155088026669,0.0799434650509,0.999999990196,0.000119021784464,-6.15769630645e-05,4.061923484e-05,1793254844114589696
+125,2.083333333,POSE1_TO_POSE2_PRESS,784,760,737.568479709,719,686,650.568479709,917,800,840,657,636,658,0.401491119257,-0.0155113337319,0.0799505864009,0.999999990944,0.00011814589431,-5.17395655067e-05,3.8417291671e-05,1793254844131256320
+126,2.100000000,POSE1_TO_POSE2_PRESS,784,760,737,719,686,650,917,800,840,657.024341341,636,658,0.401593342741,-0.0155137147508,0.0799560398029,0.999999991485,0.000116904550826,-4.55939980468e-05,3.58522347555e-05,1793254844147922688
+127,2.116666667,POSE1_TO_POSE2_PRESS,784,760,737,719,686,650,917,800,840,657.603675248,636,658,0.401716954192,-0.0155153296854,0.0799569938085,0.999999991497,0.000118608688858,-4.40630037439e-05,3.15568343738e-05,1793254844164589312
+128,2.133333333,POSE1_TO_POSE2_PRESS,784,760,737,719,686,650.181954885,917,800,840,657.818045115,636,658,0.401851446498,-0.0155181929751,0.079959154647,0.999999991947,0.00011691886748,-4.1265439795e-05,2.7064305444e-05,1793254844181255936
+129,2.150000000,POSE1_TO_POSE2_PRESS,784,760,737,719,686,650.757951317,917,800,840,657.242048683,636,658,0.402009502367,-0.0155237597028,0.079963929003,0.999999993298,0.000107879086457,-3.57249924742e-05,2.21448754341e-05,1793254844197922816
+130,2.166666667,POSE1_TO_POSE2_PRESS,784,760,737.332452873,719,686,651,917,800,840,657.332452873,636,657.667547127,0.402176672546,-0.0155256960539,0.0799638432603,0.999999994079,0.000100915334059,-3.73178414578e-05,1.62892963448e-05,1793254844214589440
+131,2.183333333,POSE1_TO_POSE2_PRESS,784,760,737.905870987,719,686,651,917,800,840,657.905870987,636,657.094129013,0.402350448886,-0.0155250010715,0.0799602348689,0.999999994425,9.54563074992e-05,-4.40809759678e-05,9.75518632127e-06,1793254844231256064
+132,2.200000000,POSE1_TO_POSE2_PRESS,784,760,737.504741652,719,686,651,917,800,839.504741652,657.504741652,636,657,0.402543387456,-0.0155253703579,0.0799544810116,0.999999996529,6.11690695609e-05,-5.65323112596e-05,2.05241221821e-06,1793254844247922688
+133,2.216666667,POSE1_TO_POSE2_PRESS,784,760,737.085864748,719,686,651,917,800.085864748,839.085864748,657,636,657.085864748,0.402747448834,-0.0155254248565,0.0799489304974,0.999999997269,2.5686728494e-05,-6.90425837712e-05,-5.97146220076e-06,1793254844264589312
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,760,737.665447537,719,686,651,917,800.665447537,839.665447537,657,636,657.665447537,0.402993826943,-0.0155224675155,0.0799469719601,0.999999996921,1.58868419547e-05,-7.54683483858e-05,-1.4521936944e-05,1793254844281255936
+135,2.250000000,POSE1_TO_POSE2_PRESS,784,760,738,718.758483011,686,651,917,800.758483011,840,657,636,657.758483011,0.403263747688,-0.0155173884557,0.0799471639692,0.99999999678,1.02184143313e-05,-7.666561732e-05,-2.14145023048e-05,1793254844297922560
+136,2.266666667,POSE1_TO_POSE2_PRESS,784,760,738,718.187210534,686,651,917,800.187210534,840,657,636,657.187210534,0.403565812382,-0.0155094125049,0.0799502922293,0.999999997108,1.01908792976e-05,-7.07241535246e-05,-2.60434387471e-05,1793254844314589440
+137,2.283333333,POSE1_TO_POSE2_PRESS,784,760,737.603082103,718.396917897,686,650.603082103,917,800,840,657.396917897,636,657,0.403885743535,-0.0155076510558,0.0799542773005,0.99999999736,1.47920785685e-05,-6.62027505798e-05,-2.60333440422e-05,1793254844331256064
+138,2.300000000,POSE1_TO_POSE2_PRESS,784,760,737.012687069,718.987312931,686,650.012687069,917,800,840,657.987312931,636,657,0.404214383661,-0.015508918858,0.0799586800233,0.999999997538,2.16495486315e-05,-6.23735547055e-05,-2.37619592258e-05,1793254844347922688
+139,2.316666667,POSE1_TO_POSE2_PRESS,784,760,737,718.433353661,686,650.566646339,917,800,839.433353661,658,636,657,0.404597429491,-0.0155148746959,0.0799599154241,0.99999999818,6.75545828687e-06,-5.33773665601e-05,-2.73106496481e-05,1793254844364589568
+140,2.333333333,POSE1_TO_POSE2_PRESS,784,760,737.145344082,718,686,651,917,800,839.145344082,657.854655918,636,657.145344082,0.40498913832,-0.0155199947055,0.0799594154093,0.999999998352,-4.96399587223e-06,-4.84333847866e-05,-3.04273564015e-05,1793254844381256448
+141,2.350000000,POSE1_TO_POSE2_PRESS,784,760,737.722873888,718,686,651,917,800,839.722873888,657.277126112,636,657.722873888,0.405403054012,-0.0155223232113,0.0799539619074,0.999999997914,-5.82313629739e-06,-5.58761970304e-05,-3.18794817656e-05,1793254844397923072
+142,2.366666667,POSE1_TO_POSE2_PRESS,784,760,737.702284796,718,686,651,917,800,840,657,636,658,0.405840058847,-0.0155219120923,0.0799467220659,0.999999996926,-8.27790901488e-06,-6.9651556849e-05,-3.50474580288e-05,1793254844414589440
+143,2.383333333,POSE1_TO_POSE2_PRESS,784,760,737.129923578,718,686,651,917,800,840,657,636,658,0.406298363755,-0.0155189736353,0.0799378343032,0.999999995149,-1.22046726541e-05,-8.92687721578e-05,-3.97983284488e-05,1793254844431255808
+144,2.400000000,POSE1_TO_POSE2_PRESS,784,760,737.458292917,718,686,651,917,800.458292917,840,657,636,657.541707083,0.406781418546,-0.0155178471373,0.0799358442802,0.999999995055,6.95716401068e-06,-9.275678589e-05,-3.51887417235e-05,1793254844447922688
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,760,738,718,686.049936664,651,917,800.950063336,840,657,636,657,0.407273839046,-0.0155170706747,0.079934815151,0.999999994739,2.92761411337e-05,-9.3907444151e-05,-2.9100339055e-05,1793254844464589568
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,760,738,718,686.628571947,651,917,800.371428053,840,657,636,657,0.407788470178,-0.0155143667407,0.0799225141107,0.999999991993,1.32379010162e-05,-0.000120457753682,-3.64570580927e-05,1793254844481255936
+147,2.450000000,POSE1_TO_POSE2_PRESS,783.794020874,760,738,717.794020874,686.794020874,651,917,800,840,657,636,657.205979126,0.408333166723,-0.0155147067527,0.0799165743468,0.999999990134,1.37197413561e-07,-0.000134127157225,-4.17375993311e-05,1793254844497922816
+148,2.466666667,POSE1_TO_POSE2_PRESS,783.218815164,760,738,717.218815164,686.218815164,651,917,800,840,657,636,657.781184836,0.408931756803,-0.0155205031711,0.0799220374496,0.999999991257,-7.69784261602e-06,-0.000124706972376,-4.32965007308e-05,1793254844514589440
+149,2.483333333,POSE1_TO_POSE2_PRESS,783.363892252,760,737.636107748,717.363892252,686,651,917,800,840,657,636,658,0.409584867992,-0.0155233439252,0.0799487470284,0.999999995734,-1.46011005424e-05,-8.03599636354e-05,-4.31305991294e-05,1793254844531256064
+150,2.500000000,POSE1_TO_POSE2_PRESS,783.95120551,760,737.04879449,717.95120551,686,651,917,800,840,657,636,658,0.410271453797,-0.0155243699731,0.0799885014274,0.999999998797,-2.09322665443e-05,-1.45687331401e-05,-4.19057101579e-05,1793254844547922688
+151,2.516666667,POSE1_TO_POSE2_PRESS,784,760,737,717.468397594,686,651,917,800,840,657,636,657.468397594,0.410945102447,-0.0155252190081,0.0799989894911,0.999999998992,-1.84854939912e-05,-2.81181293422e-06,-4.08176178262e-05,1793254844564589568
+152,2.533333333,POSE1_TO_POSE2_PRESS,784,760,737,717,686,651,917,800,840,657,636,657,0.411615444462,-0.0155255558179,0.0799982454898,0.999999999003,-1.60337613177e-05,-7.9752015738e-06,-4.09156003325e-05,1793254844581256448
+153,2.550000000,POSE1_TO_POSE2_PRESS,784,760,737,717,686,651,917,800,840,657,636,657,0.412276809625,-0.0155238058269,0.0799614155856,0.999999996772,-1.69061874914e-05,-6.37090580994e-05,-4.59497032844e-05,1793254844597922816
+154,2.566666667,POSE1_TO_POSE2_PRESS,783.738110758,760,737,717.261889242,686.261889242,651,917,800.261889242,840,657,636,657.261889242,0.412975478424,-0.0155219456547,0.079932915042,0.999999993502,-1.72185606595e-05,-0.000100762220871,-5.04673851527e-05,1793254844614589440
+155,2.583333333,POSE1_TO_POSE2_PRESS,783.161666823,760,737,717.838333177,686.838333177,651,917,800.838333177,840,657,636,657.838333177,0.413718952641,-0.0155199531438,0.0799144188734,0.999999991724,-1.68582553439e-05,-0.000115378043922,-5.43647953901e-05,1793254844631256064
+156,2.600000000,POSE1_TO_POSE2_PRESS,783.423997105,760,737.423997105,718,686.576002895,651,917,800.576002895,840,657,636,657.576002895,0.414506630789,-0.0155209687368,0.0799276996458,0.999999994271,-2.2386516208e-05,-8.97885748486e-05,-5.38020256698e-05,1793254844647922688
+157,2.616666667,POSE1_TO_POSE2_PRESS,784,760,738,717.986974709,686,651,917,800.013025291,840.013025291,657.013025291,636,657,0.415311209203,-0.0155230596231,0.0799528080606,0.999999996978,-2.99771098672e-05,-4.98502449205e-05,-5.15740282477e-05,1793254844664589056
+158,2.633333333,POSE1_TO_POSE2_PRESS,784,760,738,717.407913846,686,651,917,800.592086154,840.592086154,657.592086154,636,657,0.416101492104,-0.0155209278694,0.0799536681305,0.999999995975,-2.74492109477e-05,-6.73560008382e-05,-5.25273800802e-05,1793254844681256448
+159,2.650000000,POSE1_TO_POSE2_PRESS,784,760,738,717,686,651,917,801,841,658,636,657,0.416911445321,-0.0155198562932,0.0799560316143,0.999999995786,-2.5253813188e-05,-7.03245476181e-05,-5.33393250192e-05,1793254844697923840
+160,2.666666667,POSE1_TO_POSE2_PRESS,784,760,738,717,686,651,917,801,841,658,636,657,0.417768280957,-0.0155213115571,0.0799619783521,0.999999997521,-2.38509027532e-05,-3.86449382053e-05,-5.38142390482e-05,1793254844714590464
+161,2.683333333,POSE1_TO_POSE2_PRESS,784,760,738,717,686,651,917,800.682956366,841,657.682956366,636,657.317043634,0.418646956292,-0.0155224575748,0.0799759953633,0.999999998284,-2.35884762039e-05,-2.76818440723e-06,-5.3557625741e-05,1793254844731256576
+162,2.700000000,POSE1_TO_POSE2_PRESS,784,760,738,717,686,651,917,800.112900907,841,657.112900907,636,657.887099093,0.419543060425,-0.0155233568031,0.0799964527324,0.999999997652,-2.42361954366e-05,3.64580347811e-05,-5.2717228171e-05,1793254844747922688
+163,2.716666667,POSE1_TO_POSE2_PRESS,784,760,738,717,686,651,917,800.479098697,841,657,636,658,0.420423678684,-0.0155211325449,0.0799818473458,0.999999998287,-2.07974609853e-05,1.26996236268e-05,-5.32205935012e-05,1793254844764589312
+164,2.733333333,POSE1_TO_POSE2_PRESS,784,760,738,717,686,651,917,801,841,657,636,657.925829276,0.421308201462,-0.0155188023005,0.0799641686108,0.999999998233,-1.72303242092e-05,-1.76842108235e-05,-5.40856332292e-05,1793254844781256192
+165,2.750000000,POSE1_TO_POSE2_PRESS,784,760,738,717,686,651,917,801,841,657,636,657.346734954,0.42224533948,-0.0155210018519,0.0799845164151,0.999999998205,-1.96593548227e-05,1.2720582308e-05,-5.51536259644e-05,1793254844797922816
+166,2.766666667,POSE1_TO_POSE2_PRESS,784.23029175,760,738,717.23029175,686,651,917,800.76970825,841,657,636,657,0.42317172151,-0.0155220972675,0.080000343183,0.999999997779,-1.92404768224e-05,3.32765618562e-05,-5.44463865445e-05,1793254844814589696
+167,2.783333333,POSE1_TO_POSE2_PRESS,784.804233167,760,738,717.804233167,686,651,917,800.195766833,841,657,636,657,0.424082053206,-0.015521545052,0.0800094235001,0.999999997823,-1.45718471308e-05,3.91357906838e-05,-5.10900818145e-05,1793254844831257344
+168,2.800000000,POSE1_TO_POSE2_PRESS,785,760,738,718,686.387647932,651,917,800.387647932,841,657,636,657.387647932,0.424974563368,-0.0155181883073,0.0799760979202,0.999999998203,-9.91844328308e-06,-2.49905356404e-05,-5.35841081755e-05,1793254844847924224
+169,2.816666667,POSE1_TO_POSE2_PRESS,785,760,738,718,686.975966661,651,917,800.975966661,841,657,636,657.975966661,0.425857847936,-0.0155133797631,0.0799208203973,0.999999990384,-5.27292147938e-06,-0.000125345759312,-5.91066312868e-05,1793254844864590592
+170,2.833333333,POSE1_TO_POSE2_PRESS,785,760.555569712,738,717.444430288,687,651,917,801,841,657.555569712,636,658,0.426823776293,-0.0155182522439,0.0799129816142,0.99999999157,-1.84458233039e-05,-0.000113281786359,-6.07284599094e-05,1793254844881256704
+171,2.850000000,POSE1_TO_POSE2_PRESS,785,760.865415928,738,717,687,651,917,801,841,657.865415928,636,658,0.427786362867,-0.0155246166496,0.0799103713055,0.999999992523,-3.11661900734e-05,-0.000101210599762,-6.11444141407e-05,1793254844897922816
+172,2.866666667,POSE1_TO_POSE2_PRESS,785,760.287118621,738,717,687,651,917,801,841,657.287118621,636,658,0.428726327079,-0.0155345404217,0.0799183375994,0.999999992012,-3.9892548696e-05,-0.000104901354859,-5.81324233987e-05,1793254844914589440
+173,2.883333333,POSE1_TO_POSE2_PRESS,784.711355026,760,737.711355026,717,686.711355026,651,917,801,841.288644974,657,636,657.711355026,0.429695623671,-0.0155482046676,0.0799480386781,0.999999994687,-5.18339517198e-05,-7.08096715058e-05,-5.40766879154e-05,1793254844931256320
+174,2.900000000,POSE1_TO_POSE2_PRESS,784.138089845,760,737.138089845,717,686.138089845,651,917,801,841.861910155,657,636,657.138089845,0.430693843585,-0.0155655572308,0.0799991714787,0.999999996559,-6.69455689382e-05,5.37625221823e-07,-4.89917612771e-05,1793254844947923200
+175,2.916666667,POSE1_TO_POSE2_PRESS,784.447666332,760.447666332,737,717,686.447666332,651,917,801,841.552333668,657.447666332,636,657.447666332,0.431669087697,-0.0155709119897,0.0800241932387,0.999999995909,-6.68011317933e-05,3.88525126064e-05,-4.70172906813e-05,1793254844964589568
+176,2.933333333,POSE1_TO_POSE2_PRESS,785,761,737.036775562,717,687,651,917,801,841.036775562,658,636,658,0.432630517533,-0.0155717009051,0.0800349089616,0.99999999527,-6.2905961993e-05,5.77218937916e-05,-4.65848131336e-05,1793254844981256192
+177,2.950000000,POSE1_TO_POSE2_PRESS,785,761,737.616863411,717,687,651,917,801,841.616863411,658,636,658,0.433495568412,-0.015561280988,0.0799566796901,0.999999994143,-7.51188745045e-05,-5.58354893655e-05,-5.43515073962e-05,1793254844997923328
+178,2.966666667,POSE1_TO_POSE2_PRESS,785,761,738,717.195015103,687,651,917,801,841.804984897,658,636,657.804984897,0.434386746068,-0.0155552346766,0.0799072312981,0.999999987154,-8.13055811041e-05,-0.000124578584883,-5.96818415919e-05,1793254845014589952
+179,2.983333333,POSE1_TO_POSE2_PRESS,785,761,738,717.769400418,687,651,917,801,841.230599582,658,636,657.230599582,0.435328749279,-0.0155576965031,0.0799137714194,0.99999998968,-7.57692865114e-05,-0.000106142783078,-6.02726354651e-05,1793254845031256064
+180,3.000000000,POSE1_TO_POSE2_PRESS,785,761,738,717.656305886,686.656305886,651,917,801,841,657.656305886,636,657.343694114,0.436261130061,-0.0155607331874,0.0799390119452,0.999999992487,-7.71051454275e-05,-7.50327918126e-05,-5.87392323524e-05,1793254845047922688
+181,3.016666667,POSE1_TO_POSE2_PRESS,785,761,738,717.08207368,686.08207368,651,917,801,841,657.08207368,636,657.91792632,0.437187056394,-0.0155641554662,0.0799767960535,0.999999994368,-8.30506068481e-05,-3.54213947983e-05,-5.57809914646e-05,1793254845064589312
+182,3.033333333,POSE1_TO_POSE2_PRESS,785,761,738,717,686,651,917,801,841.510155275,657,636,658,0.438149807284,-0.0155714131811,0.0800130461871,0.99999999433,-8.80104963055e-05,2.87716622253e-05,-5.2588080947e-05,1793254845081255936
+183,3.050000000,POSE1_TO_POSE2_PRESS,785,761,738,717,686.101612141,651,917,801,842,657,636,657.898387859,0.439090699365,-0.0155784913241,0.0800354082924,0.999999991646,-9.42871088293e-05,7.25889803779e-05,-5.04897990105e-05,1793254845097922560
+184,3.066666667,POSE1_TO_POSE2_PRESS,785,761,738,717,686.67553034,651,917,801,842,657,636,657.32446966,0.439901444959,-0.0155817618165,0.0799944061247,0.999999992784,-0.000107447967995,2.64320985428e-06,-5.36613901471e-05,1793254845114589696
+185,3.083333333,POSE1_TO_POSE2_PRESS,785,761,738,717,686.749902925,651,917,801,842,657,635.749902925,657.250097075,0.440664680915,-0.0155811272117,0.0799187515967,0.999999984513,-0.000116423887722,-0.000117287401748,-6.05287456741e-05,1793254845131256576
+186,3.100000000,POSE1_TO_POSE2_PRESS,785,761,738,717,686.174492655,651,917,801,842,657,635.174492655,657.825507345,0.441366118757,-0.0155754130604,0.0797980230938,0.999999944525,-0.000119956253769,-0.000302235673811,-7.22033568828e-05,1793254845147923712
+187,3.116666667,POSE1_TO_POSE2_PRESS,784.587218824,761,737.587218824,717,686,650.587218824,917,800.587218824,842,657,635.412781176,657.587218824,0.442144550033,-0.0155780221336,0.0797624732107,0.999999929157,-0.000122945930447,-0.000347664382337,-7.54912302968e-05,1793254845164589824
+188,3.133333333,POSE1_TO_POSE2_PRESS,784.005091066,761,737,716.994908934,686,650,917,800,842,657,636,657.005091066,0.442956849338,-0.0155843084079,0.0797645199686,0.999999934245,-0.000125770064504,-0.000331743040127,-7.50920247593e-05,1793254845181255936
+189,3.150000000,POSE1_TO_POSE2_PRESS,784.583064307,761,737,716.416935693,686,650,917,800,842,657,636,657.583064307,0.44380941781,-0.015596745055,0.079825539636,0.999999958098,-0.00013654449957,-0.000245322680794,-7.05413642649e-05,1793254845197922816
+190,3.166666667,POSE1_TO_POSE2_PRESS,785,761,737,716,686,650,917,800,842,657,636,658,0.444632014433,-0.0156081596105,0.0798718548488,0.999999970573,-0.000146386587614,-0.000181815389175,-6.60935772723e-05,1793254845214589696
+191,3.183333333,POSE1_TO_POSE2_PRESS,785,761,737,716,686,650,917,800,842,657,636,658,0.445377012338,-0.0156169279125,0.0798800993648,0.999999970477,-0.000153814778237,-0.00017763138198,-6.19121361226e-05,1793254845231256320
+192,3.200000000,POSE1_TO_POSE2_PRESS,784.692586683,760.692586683,737,716,686,650,917,799.692586683,842,657,636,658,0.44609219979,-0.0156217592105,0.079870040426,0.999999966597,-0.00016375630717,-0.00018988450744,-6.27215368666e-05,1793254845247923200
+193,3.216666667,POSE1_TO_POSE2_PRESS,784.121271634,760.121271634,737,716,686,650,917,799.121271634,842,657,636,658,0.446781796147,-0.0156232107514,0.0798442687211,0.999999958856,-0.000175855433483,-0.000216248237707,-6.78153710281e-05,1793254845264590336
+194,3.233333333,POSE1_TO_POSE2_PRESS,784.470426469,760,737,716,685.529573531,650,917,799,842,657,635.529573531,657.529573531,0.447413743576,-0.0156266294794,0.0798003675667,0.999999942489,-0.000184965370383,-0.000274953079969,-7.21847085336e-05,1793254845281256960
+195,3.250000000,POSE1_TO_POSE2_PRESS,785,760.0650642,737,716,685,650,917,798.9349358,842,657,635.0650642,657.0650642,0.448024273758,-0.0156299475473,0.0797508282327,0.999999918868,-0.000192394996941,-0.000345562098969,-7.63814803971e-05,1793254845297923584
+196,3.266666667,POSE1_TO_POSE2_PRESS,785,760.639707626,737,716,685,650,917,798.360292374,842,657,635.639707626,657.639707626,0.448588730292,-0.0156283256074,0.0796953922247,0.999999880813,-0.000192973056173,-0.000441149784298,-8.07557414286e-05,1793254845314589952
+197,3.283333333,POSE1_TO_POSE2_PRESS,785,760.785448222,737.214551778,716,685,649.785448222,917,798,842.214551778,657.214551778,635.785448222,658,0.449165480367,-0.0156283813163,0.079660401681,0.999999853765,-0.00019532595555,-0.000497448509889,-8.28439700072e-05,1793254845331256064
+198,3.300000000,POSE1_TO_POSE2_PRESS,785,760.210266734,737.789733266,716,685,649.210266734,917,798,842.789733266,657.789733266,635.210266734,658,0.449762894003,-0.0156312569041,0.0796597769349,0.99999985765,-0.000200662100241,-0.000487708318957,-8.10897177524e-05,1793254845347922432
+199,3.316666667,POSE1_TO_POSE2_PRESS,785,760.373682781,738,716,685,649,917,798,842.626317219,657.626317219,635,658,0.450354385582,-0.0156371947971,0.0796864785812,0.999999875803,-0.000208171548068,-0.000445746726744,-7.9806343126e-05,1793254845364589056
+200,3.333333333,POSE1_TO_POSE2_PRESS,785,760.962684559,738,716,685,649,917,798,842.037315441,657.037315441,635,658,0.450942464881,-0.0156448972149,0.0797289259124,0.999999899169,-0.000216933270357,-0.000385218904126,-7.87942915345e-05,1793254845381255680
+201,3.350000000,POSE1_TO_POSE2_PRESS,785,760.454543765,737.454543765,716,685,649,917,797.454543765,842,657,635,658,0.451445778241,-0.0156502269933,0.0797257355757,0.999999892316,-0.000224533882399,-0.00039852209602,-7.83127503138e-05,1793254845397923072
+202,3.366666667,POSE1_TO_POSE2_PRESS,785,760.125909834,737,716,685,649,917,797,842,657,635,658,0.451925765072,-0.015654927364,0.0797098298201,0.999999877427,-0.000232019465788,-0.000430233347921,-7.88197810684e-05,1793254845414590208
+203,3.383333333,POSE1_TO_POSE2_PRESS,785,760.699618045,737,716,685,649,917,797,842,657,635,658,0.452343182324,-0.0156579600041,0.0796596801618,0.999999838056,-0.000239375265034,-0.00050965225963,-8.27150497647e-05,1793254845431257344
+204,3.400000000,POSE1_TO_POSE2_PRESS,785,760.724968881,737,716,684.724968881,648.724968881,917,796.724968881,842,657,635,657.724968881,0.452745732964,-0.0156602276516,0.0796165654881,0.999999799793,-0.000244996526898,-0.000577071171805,-8.5900330281e-05,1793254845447923968
+205,3.416666667,POSE1_TO_POSE2_PRESS,785,760.147682219,737,716,684.147682219,648.147682219,917,796.147682219,842,657,635,657.147682219,0.453131945369,-0.0156616545822,0.0795811821718,0.999999765901,-0.000248711555549,-0.000631302240842,-8.83053432522e-05,1793254845464589824
+206,3.433333333,POSE1_TO_POSE2_PRESS,785.43714706,760.43714706,737.43714706,715.56285294,684,648.43714706,917,796,842,657,635,657.43714706,0.453498784092,-0.0156631707585,0.0795613072497,0.999999748107,-0.000249476501425,-0.000658382436449,-8.98927442177e-05,1793254845481256192
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+251,4.183333333,HOLD_POSE2,786,760,737,716,684,648,917,792,842,657,634,658,0.457156193525,-0.0156896910642,0.0794730478445,0.999999617027,-0.000308983967327,-0.000813279376019,-9.51407088946e-05,1793254846244516096
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,785,760,736.771749558,716,686,650,917,800,841,657.228250442,635,658,0.434870005918,-0.0154174789569,0.0798650385793,0.999999961476,0.000175746001192,-0.000211159248278,3.96565194446e-05,1793254847543321856
+329,5.483333333,POSE2_TO_POSE3_RETREAT,785,760,736.182993341,716,686,650,917,800,841,657.817006659,635,658,0.433912630778,-0.015412875766,0.079839389177,0.999999951981,0.000182428682615,-0.000247417591835,3.92610450378e-05,1793254847559988224
+330,5.500000000,POSE2_TO_POSE3_RETREAT,784.600927088,760,736,716,686,650,917,800,840.600927088,657.600927088,635,658,0.432909765104,-0.015406151344,0.0797940175472,0.999999927035,0.000192542086713,-0.000327920463035,3.63984890735e-05,1793254847576655104
+331,5.516666667,POSE2_TO_POSE3_RETREAT,784.021877948,760,736,716,686,650,917,800,840.021877948,657.021877948,635,658,0.431886383902,-0.0153984702773,0.0797397514738,0.999999886872,0.000204202696127,-0.000428376984268,3.2423314015e-05,1793254847593321728
+332,5.533333333,POSE2_TO_POSE3_RETREAT,784.552892606,760,736,716,686,650,917,800,840,657,635.552892606,658,0.430890139175,-0.0153948046833,0.0797045455807,0.999999857779,0.000194592573382,-0.000495591762463,3.10568006528e-05,1793254847609988864
+333,5.550000000,POSE2_TO_POSE3_RETREAT,785,760,736.130490753,716,686,650.130490753,917,800,840.130490753,657.130490753,636,657.869509247,0.429932073798,-0.0153933084896,0.0796942769818,0.999999847977,0.000190722120823,-0.000516415395578,3.1418285177e-05,1793254847626655744
+334,5.566666667,POSE2_TO_POSE3_RETREAT,785,760,736.718593998,716,686,650.718593998,917,800,840.718593998,657.718593998,636,657.281406002,0.429104161306,-0.0153988671407,0.0797688353249,0.999999905397,0.000209908869562,-0.000379129293973,3.74803979349e-05,1793254847643322368
+335,5.583333333,POSE2_TO_POSE3_RETREAT,785,760,736.698155484,716,686,651,917,799.698155484,840.698155484,658,636,657.301844516,0.428214264168,-0.0154035336688,0.0798194767692,0.999999933194,0.000217379936042,-0.000290824057667,4.21888103437e-05,1793254847659988736
+336,5.600000000,POSE2_TO_POSE3_RETREAT,785,760,736.119357554,716,686,651,917,799.119357554,840.119357554,658,636,657.880642446,0.427267493891,-0.015407381641,0.0798481735773,0.99999994542,0.000214101435719,-0.000247460573659,4.56551531396e-05,1793254847676655104
+337,5.616666667,POSE2_TO_POSE3_RETREAT,784.540204807,759.540204807,736.459795193,716.459795193,686,650.540204807,917,799.459795193,840,658,635.540204807,657.540204807,0.426286665699,-0.0154046201383,0.0798132878832,0.999999931282,0.000211687680349,-0.000301370849522,4.24184372325e-05,1793254847693321984
+338,5.633333333,POSE2_TO_POSE3_RETREAT,784,759.038756411,737,716.961243589,686,650.038756411,917,800,840,658,635,657,0.425297791902,-0.0154001347693,0.0797638518902,0.999999905935,0.000210544259216,-0.000377328100116,3.77359856584e-05,1793254847709988352
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,784.19269593,760,737,716.19269593,686,650.80730407,917,800,840,657.80730407,635,657.19269593,0.423365907641,-0.0153916050264,0.0797252742667,0.999999877494,0.000235293915413,-0.000433922091,3.68967948711e-05,1793254847743321856
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,784.636974567,760,737,716.636974567,686,650,917,799.636974567,840,657,635,657.636974567,0.421597506278,-0.0153934468175,0.0797614784804,0.999999899402,0.000242495838368,-0.000375121073641,4.09465040513e-05,1793254847776655360
+343,5.716666667,POSE2_TO_POSE3_RETREAT,784.055456135,760,737,716.055456135,686,650,917,799.055456135,840,657,635,657.055456135,0.420760733997,-0.015402267029,0.0798292307989,0.999999938775,0.000237430739238,-0.000252827758487,4.64291750701e-05,1793254847793321984
+344,5.733333333,POSE2_TO_POSE3_RETREAT,784,759.480638059,737,716,686,650,917,799.519361941,840,657,635,657.519361941,0.419901800337,-0.0153972284046,0.0798457882441,0.999999945612,0.000236933082359,-0.000224499197109,4.73107821516e-05,1793254847809988608
+345,5.750000000,POSE2_TO_POSE3_RETREAT,784,759,737,716,686,650,917,800,840,657,635.093622664,658,0.419031481685,-0.0153915921444,0.0798474702733,0.999999945889,0.000237196161714,-0.000223038991033,4.7048129064e-05,1793254847826655232
+346,5.766666667,POSE2_TO_POSE3_RETREAT,784,759,737,716,686,650,917,800,840,657,635.668649428,658,0.418114634499,-0.0153903950796,0.0798004137922,0.999999922844,0.000238895122818,-0.000308801009194,4.33957517148e-05,1793254847843321856
+347,5.783333333,POSE2_TO_POSE3_RETREAT,784,759.251283091,737,716,686,650.251283091,917,800,840,657,636,658,0.417240703663,-0.0153909507098,0.0797778951404,0.999999908836,0.000235668371146,-0.000353708964964,4.09637232519e-05,1793254847859988224
+348,5.800000000,POSE2_TO_POSE3_RETREAT,784,759.844260556,737,716,686,650.844260556,917,800,840,657,636,658,0.41642513049,-0.0153938896525,0.0797887429966,0.999999914866,0.000225743644245,-0.000343063622644,4.01911240287e-05,1793254847876655104
+349,5.816666667,POSE2_TO_POSE3_RETREAT,784.425227746,760,737,716,685.574772254,650.574772254,917,800,840,657,635.574772254,658,0.415584652316,-0.0153909029643,0.0797819319075,0.999999907543,0.000231022641183,-0.000360426533229,4.04258014149e-05,1793254847893321984
+350,5.833333333,POSE2_TO_POSE3_RETREAT,784.998083456,759.998083456,737,716.001916544,685.001916544,650,917,800,840,657,635.001916544,657.998083456,0.414735662074,-0.0153858186499,0.0797688690477,0.999999894821,0.00024167391441,-0.000387646969436,4.10118688406e-05,1793254847909988864
+351,5.850000000,POSE2_TO_POSE3_RETREAT,784.421547436,759.421547436,737,716.578452564,685.578452564,650,917,800,840,657,635.578452564,657.421547436,0.413994275577,-0.0153846379165,0.0797672459503,0.999999898645,0.000239395102466,-0.000379274955664,3.93819644838e-05,1793254847926655488
+352,5.866666667,POSE2_TO_POSE3_RETREAT,784,759.157219127,737,717,686,650,917,800,840,657.157219127,635.842780873,657.157219127,0.413268297911,-0.0153844628708,0.0797707231089,0.999999904298,0.000237579555914,-0.000365333948389,3.86045854074e-05,1793254847943322112
+353,5.883333333,POSE2_TO_POSE3_RETREAT,784,759.742052587,737,717,686,650,917,800,840,657.742052587,635.257947413,657.742052587,0.412584229977,-0.0153870231566,0.0797880722599,0.999999914573,0.000237024026715,-0.000336246045126,4.01459570955e-05,1793254847959988480
+354,5.900000000,POSE2_TO_POSE3_RETREAT,784,759.674508745,737,717,686,650,917,800,839.674508745,658,635,657.674508745,0.411871032961,-0.0153896273785,0.0797881006608,0.999999913465,0.000236366504041,-0.000339861821201,4.11584334953e-05,1793254847976655104
+355,5.916666667,POSE2_TO_POSE3_RETREAT,784,759.09217075,737,717,686,650,917,800,839.09217075,658,635,657.09217075,0.411134850084,-0.0153922662706,0.0797744611721,0.999999903182,0.000235628497802,-0.000369284232159,4.17535559374e-05,1793254847993321984
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783.518729351,759,736.518729351,717,685.518729351,650,916.518729351,800,839,657.518729351,635,657,0.410453441417,-0.0153868103117,0.0797697527061,0.999999897408,0.000243965674796,-0.000379387002262,4.15852211215e-05,1793254848009988608
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783.053123486,759,736.053123486,717,685.053123486,650,916.053123486,799.946876514,839.053123486,657,635,657,0.409791799691,-0.0153804827352,0.0797696552385,0.999999894754,0.000252941298012,-0.000380520620849,4.14329320641e-05,1793254848026655232
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783.625801304,759,736.625801304,717,685.625801304,650,916.625801304,799.374198696,839.625801304,657,635,657,0.409222748654,-0.0153805174543,0.0797982293254,0.99999991319,0.000251471301201,-0.000329464577852,4.2841607555e-05,1793254848043322112
+359,5.983333333,POSE2_TO_POSE3_RETREAT,784,759.207261503,737,717,686,650,917,799.207261503,840,657.207261503,635,657,0.40865611354,-0.0153808872136,0.0798204947735,0.999999924927,0.000250912927241,-0.000291926280884,4.43524245962e-05,1793254848059988736
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,783.611599756,760,736.611599756,717.388400244,686,650,917,799.611599756,840,657.611599756,635.388400244,657,0.40751666856,-0.0153789433771,0.0798078173767,0.999999914822,0.000253488336134,-0.000322829357074,4.3371520361e-05,1793254848093321728
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783.035671335,760,736.035671335,717.964328665,686,650,917,799.035671335,840,657.035671335,635.964328665,657,0.406931924069,-0.015374092577,0.0797686322232,0.99999988977,0.000255026398587,-0.000392344783205,3.85687604672e-05,1793254848109988352
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783.53701504,759.46298496,736.53701504,718,686,650,917,799.53701504,839.46298496,657,635.46298496,657.53701504,0.406429318194,-0.0153747424897,0.0797551262141,0.999999884335,0.000254283858265,-0.00040650547837,3.7710945598e-05,1793254848126655232
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783.889598314,759,737,717.889598314,686,650,916.889598314,800,839,657,635,657.889598314,0.405949730476,-0.0153751095781,0.0797503417768,0.999999884373,0.000255494483711,-0.00040564653422,3.77864186916e-05,1793254848143321856
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783.312345088,759,737,717.312345088,686,650,916.312345088,800,839,657,635,657.312345088,0.405544545185,-0.0153727448756,0.0797752681993,0.999999900271,0.000265601142445,-0.000356729872327,4.07070066133e-05,1793254848159988480
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783,759,737,717.272391867,685.727608133,650,916,799.727608133,839,657,635,657,0.405149922912,-0.0153719323886,0.0797949631924,0.999999909562,0.000273512087744,-0.000322748930239,4.36001865347e-05,1793254848176655104
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783,759,737,717.86595262,685.13404738,650,916,799.13404738,839,657,635,657,0.404767755194,-0.0153729500714,0.0798084899661,0.999999913113,0.000278834134688,-0.000306378240462,4.64610504334e-05,1793254848193321984
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783,759.446428898,737,717.553571102,685.446428898,650,916,799,839.446428898,657,635.446428898,657,0.404396624029,-0.0153711798267,0.0798140596734,0.99999991452,0.000278130019824,-0.000302375379262,4.66221987119e-05,1793254848209988608
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783,759.976994077,737,717.023005923,686,650,916,799.023005923,839.976994077,657,635.976994077,657,0.404030061024,-0.0153685332749,0.0798172178003,0.99999991525,0.000275747453824,-0.000302245379004,4.59517599536e-05,1793254848226655488
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783,759.402390175,737,717.597609825,686,650,916,799.597609825,839.402390175,657,635.402390175,657,0.403695832901,-0.0153643756348,0.0798182090126,0.999999913559,0.000275270439687,-0.000308468344986,4.42254761557e-05,1793254848243322112
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783.176528793,759,737,718,686,650,916,799.823471207,839.176528793,657.176528793,635,657,0.403380352903,-0.0153621398413,0.0798195101085,0.999999912606,0.000275219071482,-0.000311722669455,4.32685267784e-05,1793254848259988480
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783.765530154,759,737,718,686,650,916,799.234469846,839.765530154,657.765530154,635,657,0.403108679329,-0.0153643945848,0.07982153527,0.99999991345,0.000276162256533,-0.000308040542849,4.41091843592e-05,1793254848276655104
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783.6500717,759,737,718,686,650,916,799.3499283,840,658,635,657,0.402854306874,-0.0153644565816,0.0798225017583,0.999999913329,0.000277219994026,-0.000307471690336,4.41825670927e-05,1793254848293321728
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783.068717839,759,737,718,686,650,916,799.931282161,840,658,635,657,0.402611376509,-0.0153630684027,0.0798227680918,0.999999912574,0.000278353491027,-0.000308961805551,4.3748511637e-05,1793254848309988608
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916,800,840,657.492798181,635,657,0.402404460566,-0.0153619042752,0.0798255977356,0.999999913092,0.000282075288807,-0.000303788220781,4.42928758972e-05,1793254848326655232
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783.081880759,759,737,718,686,650,916,800,840,657,635,657.081880759,0.40220714186,-0.0153611719861,0.0798285629451,0.999999913869,0.000285219871542,-0.000298151473571,4.49044589009e-05,1793254848343322112
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783.653495989,759,737,718,686,650,916,800,840,657,635,657.653495989,0.40203835023,-0.0153628429195,0.0798302838481,0.999999915445,0.000282836921856,-0.000295087141524,4.51336337426e-05,1793254848359988736
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,783.174332344,759.825667656,737,718,686,650,916.825667656,800,840,657,635,657.174332344,0.401754400235,-0.0153627536063,0.0798372208899,0.999999919168,0.000284460719476,-0.000280488787224,4.55246501536e-05,1793254848393321984
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,783,759.565825337,737,718,686,650,916,800,840,657,635.434174663,657.565825337,0.401424111662,-0.0153613199318,0.0798367847142,0.999999918487,0.000283794670111,-0.000283951529651,4.31133685987e-05,1793254848443321856
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a58a7cee8af05691a24264376f66127a491478e4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_01/simulation_data.csv
@@ -0,0 +1,417 @@
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+408,6.800000000,pose2_to_pose3_retreat,0.575667294997,-0.00981817918467,1.07002050212,0.546238442198,-0.00114394312374,1.06969221025
+409,6.816666667,pose2_to_pose3_retreat,0.575667061212,-0.00981817555676,1.07002050145,0.54623820832,-0.00114393980388,1.06969220982
+410,6.833333333,pose2_to_pose3_retreat,0.57566704966,-0.00981817537749,1.07002050142,0.546238196764,-0.00114393963983,1.0696922098
+411,6.850000000,pose2_to_pose3_retreat,0.575666988003,-0.00981817442067,1.07002050125,0.546238135081,-0.00114393876426,1.06969220969
+412,6.866666667,pose2_to_pose3_retreat,0.575666973098,-0.00981817418937,1.0700205012,0.54623812017,-0.0011439385526,1.06969220966
+413,6.883333333,pose2_to_pose3_retreat,0.575666816682,-0.00981818545792,1.07002047154,0.54623796362,-0.00114395021046,1.06969218181
+414,6.900000000,pose2_to_pose3_retreat,0.57566677288,-0.00981823766515,1.07002035859,0.54623791952,-0.00114400318284,1.0696920753
+415,6.916666667,pose2_to_pose3_retreat,0.575666768068,-0.00981823744522,1.07002034676,0.546237914777,-0.0011440027144,1.06969206398
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9a46096a2e57da1fb846d3f98b00643abc7c823d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e76600bbd66fa7e5c3108a75201296ea29d23fcb35cde2a78e5bb52c6e1611c
+size 26348980
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ffdc610d23ef5894c1336a07d8c90b8c0930b3f1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_02/franka_data.csv
@@ -0,0 +1,417 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,783,759,737,719,686,650,916,800,840,657,635,657,0.400981141902,-0.0153653841937,0.0798315804743,0.999999921278,0.000273753806176,-0.000284822944268,3.71362821107e-05,1793254849144989952
+1,0.016666667,BASELINE,783,759,737,718.424795247,686,650,916,799.424795247,839.424795247,657,635,657,0.400979500885,-0.0153660457164,0.0798310950429,0.999999921033,0.000272449808491,-0.000286906660882,3.72762790869e-05,1793254849161656064
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+3,0.050000000,BASELINE,783.722733088,759,737,718,686,650,916,799.722733088,839,657,635,657,0.400978493567,-0.0153678054545,0.079830668537,0.999999921967,0.000268445136251,-0.000287416965492,3.73381992527e-05,1793254849194989056
+4,0.066666667,BASELINE,784,759,737,718,686,650,916,799.693129802,839,657,635,657,0.400979174553,-0.0153669110117,0.0798309793316,0.999999921937,0.000269598525912,-0.000286456169787,3.72309355421e-05,1793254849211655680
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+9,0.150000000,BASELINE,783,759.214849913,737,718,686,650.785150087,916.785150087,800,839,657,635.214849913,657.785150087,0.400977466312,-0.0153674898623,0.0798302308682,0.99999992156,0.000269380328522,-0.000288056579647,3.65812085604e-05,1793254849294989056
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+18,0.300000000,BASELINE,783,759,737,718,686,650,916,799.553996918,839,657.553996918,635.553996918,657,0.400979207748,-0.0153673122587,0.079831813558,0.999999922316,0.000269805932454,-0.000284981105117,3.68666406363e-05,1793254849444988672
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+20,0.333333333,BASELINE,783,759,737,718,686,650,916,799.600978756,839.600978756,657.600978756,635.600978756,657,0.400978077136,-0.0153667572014,0.0798306344067,0.999999921696,0.000270294242545,-0.000286681145881,3.69186765772e-05,1793254849478321920
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+22,0.366666667,BASELINE,783,759,737,718,686,650,916,799.233150784,839.233150784,657.233150784,636,657.766849216,0.400979250314,-0.0153666525317,0.0798321385163,0.999999921765,0.000271464878727,-0.000285337153744,3.68644137826e-05,1793254849511655936
+23,0.383333333,BASELINE,783,759,737,718,686,650,916,799.347913461,839,657,635.652086539,657.652086539,0.400979985439,-0.0153663913058,0.0798325266078,0.999999922017,0.000271357764489,-0.000284558820688,3.68479982401e-05,1793254849528322560
+24,0.400000000,BASELINE,783,759,737,718,686,650,916,799.92539412,839,657,635.07460588,657.07460588,0.400980305961,-0.0153658807604,0.0798321253183,0.999999922178,0.000270696078648,-0.000284631626578,3.67767915671e-05,1793254849544989440
+25,0.416666667,BASELINE,783,759,737,718,686,650,916,800,839.501443924,657.501443924,635,657.501443924,0.400978600018,-0.0153655228855,0.079830936232,0.999999921526,0.000270904584993,-0.000286729695821,3.66638945221e-05,1793254849561656064
+26,0.433333333,BASELINE,783,759,737,718,686,650,916,800,840,657.922866293,635,657.922866293,0.400977129422,-0.0153652459897,0.0798300178301,0.999999920984,0.000271037509373,-0.000288506399026,3.65358650247e-05,1793254849578322432
+27,0.450000000,BASELINE,783,759,737,718,686,650,916,800,840,657.348129361,635,657.348129361,0.400979116591,-0.0153653453853,0.0798315996526,0.999999921954,0.000269849990141,-0.000286271557325,3.63501147241e-05,1793254849594989056
+28,0.466666667,BASELINE,783,759,737,718,686,650,916,800,840,657,635,657,0.40098055135,-0.0153659959357,0.0798330621291,0.999999922743,0.000269241442009,-0.000284066878738,3.64629760542e-05,1793254849611655680
+29,0.483333333,BASELINE,783,759,737,718,686,650,916,800,840,657,635,657,0.400981137461,-0.015367493206,0.0798343412585,0.999999923257,0.000269522347099,-0.000281908538832,3.70345840504e-05,1793254849628322304
+30,0.500000000,BASELINE,783,759,737,718.409355851,686,650,916,800,839.590644149,657,635,657,0.40098057639,-0.0153679036596,0.0798336723733,0.999999923006,0.000269578142442,-0.000282755144581,3.69426134753e-05,1793254849644988928
+31,0.516666667,BASELINE,783,759,737,718.988490498,686,650,916,800,839.011509502,657,635,657,0.400979539529,-0.01536786336,0.0798321955563,0.999999922436,0.000269540574359,-0.000284848040277,3.65754261729e-05,1793254849661655808
+32,0.533333333,BASELINE,783,759,737,718.437204357,686,650,916,800,839.562795643,657.562795643,635,657,0.400979539757,-0.0153672433235,0.0798321480541,0.999999922673,0.000268968014185,-0.000284587316097,3.63336926812e-05,1793254849678322432
+33,0.550000000,BASELINE,783,759,737,718,686,650,916.137897368,800,840,657.862102632,635,657.137897368,0.400979570041,-0.0153670152667,0.0798321565838,0.999999922875,0.000268448018819,-0.000284377840527,3.62719502521e-05,1793254849694989056
+34,0.566666667,BASELINE,783,759,737,718,686,650,916.715853533,800,840,657.284146467,635,657.715853533,0.400979629137,-0.0153680756111,0.0798322514371,0.999999922911,0.000268130386261,-0.000284484204956,3.67764785769e-05,1793254849711655680
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+39,0.650000000,BASELINE,783.622837441,759,737,718.622837441,686,650,916,800,840,657.377162559,635,657,0.400979366109,-0.0153678697403,0.07983221943,0.999999922686,0.000269828835492,-0.000283681351711,3.66742925679e-05,1793254849794989312
+40,0.666666667,BASELINE,783.797902402,759,737,718.797902402,686,650,916,800,839.797902402,657,635,657.202097598,0.400980211807,-0.0153673768479,0.0798329138772,0.999999922655,0.000270978689468,-0.000282708326914,3.65587506325e-05,1793254849811655936
+41,0.683333333,BASELINE,783.211412477,759,737,718.211412477,686,650,916,800,839.211412477,657,635,657.788587523,0.400980013007,-0.0153688447836,0.0798333524507,0.999999922874,0.000269613264311,-0.000283182254952,3.69957290353e-05,1793254849828322816
+42,0.700000000,BASELINE,783.370469115,759,737,718,686,650,916,800,839,657.370469115,635.370469115,658,0.400979761912,-0.0153680083263,0.0798331393243,0.999999922687,0.00026970505029,-0.000283795946009,3.66818782931e-05,1793254849844989184
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+44,0.733333333,BASELINE,783.473127892,759.526872108,737,718,686,650,916,800,839,657.473127892,636,657.473127892,0.400979672047,-0.0153667727099,0.079832647476,0.999999922378,0.000269919338893,-0.000284719729604,3.6371412771e-05,1793254849878322176
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+48,0.800000000,BASELINE,783.849346679,759.849346679,737,718,686,650,916,800,839.849346679,657.849346679,636,657,0.400979039521,-0.0153687831551,0.0798331924038,0.999999923786,0.000265529557168,-0.000283880128589,3.65156382646e-05,1793254849944989440
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+50,0.833333333,BASELINE,783,759.013931726,737,718,686,650,916.986068274,800,839.013931726,657,636,658,0.400979891331,-0.0153669991461,0.0798331977378,0.99999992244,0.000270814772064,-0.000283594222036,3.67989501475e-05,1793254849978322944
+51,0.850000000,BASELINE,783,759.586308295,737,718,686,650,916.413691705,800,839.586308295,657,636,658,0.400980057299,-0.015367095951,0.0798332772904,0.999999922392,0.000271395173768,-0.000283189202281,3.69338088537e-05,1793254849994989056
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+53,0.883333333,BASELINE,783,760,737,718,686,650.736987522,916,800,840,657,635.263012478,658,0.400979484226,-0.015366906213,0.0798326656972,0.999999921735,0.000272517850809,-0.000284435803351,3.68704438541e-05,1793254850028322304
+54,0.900000000,BASELINE,783,759.677466563,737,718,686,650.677466563,916,800,839.677466563,657,635.322533437,658,0.400979430326,-0.0153668774408,0.0798326835426,0.999999921886,0.000271847356906,-0.000284577151704,3.66528773742e-05,1793254850044989184
+55,0.916666667,BASELINE,783,759.08477622,737,718,686,650.08477622,916,800,839.08477622,657,635.91522378,658,0.400979785764,-0.0153669948824,0.0798331551228,0.999999922568,0.000270154104726,-0.000283827404505,3.63585507803e-05,1793254850061655808
+56,0.933333333,BASELINE,783,759,737,718,686,650,916.494901599,800,839.494901599,657,636,658,0.400979419116,-0.0153673278853,0.0798328162915,0.999999922437,0.000270336922039,-0.000284060980643,3.67774350511e-05,1793254850078322432
+57,0.950000000,BASELINE,783,759.071912399,737,718.071912399,686,650.071912399,916.928087601,800,839.928087601,657,635.928087601,658,0.400979061354,-0.0153679138337,0.0798324980757,0.999999922389,0.000270248282082,-0.000284254080352,3.72413095444e-05,1793254850094989312
+58,0.966666667,BASELINE,783,759.645469278,737,718.645469278,686,650.645469278,916.354530722,800,839.354530722,657,635.354530722,658,0.400979606318,-0.0153700132872,0.079833267255,0.999999923859,0.000266081654306,-0.000283019912848,3.71886126211e-05,1793254850111655936
+59,0.983333333,BASELINE,783,759.774472924,737,718.774472924,686,650.774472924,916,800,839.225527076,657.225527076,635.225527076,658,0.400979881135,-0.0153704153754,0.0798338127853,0.999999924439,0.000264977437143,-0.000282025695432,3.70181389238e-05,1793254850128322560
+60,1.000000000,BASELINE,783,759.183892199,737,718.183892199,686,650.183892199,916,800,839.816107801,657.816107801,635.816107801,658,0.400979718675,-0.0153680699919,0.0798339963018,0.999999923595,0.000268830247917,-0.000281419877554,3.66570236262e-05,1793254850144989184
+61,1.016666667,BASELINE,783,759,737,718,686,650,916,800,840,658,635.601389338,657.601389338,0.400978954572,-0.015367572737,0.0798330962496,0.999999922876,0.000269664160927,-0.000283194824313,3.645732602e-05,1793254850161656064
+62,1.033333333,BASELINE,783,759,737,718,686,650,916,800,840,658,635.022539076,657.022539076,0.400977918422,-0.0153679111497,0.0798317062405,0.999999922213,0.000269133020086,-0.000286046280363,3.63306165988e-05,1793254850178322688
+63,1.050000000,BASELINE,783,759.552868398,737,718,686,650,916,800,839.447131602,658,635.552868398,657,0.400978372222,-0.015367227338,0.0798319309513,0.999999922222,0.000269882717055,-0.000285307299774,3.63216242323e-05,1793254850194989056
+64,1.066666667,BASELINE,783.12810405,759.87189595,737,718,686,650.12810405,916.12810405,800,839.12810405,657.87189595,636,657,0.400978701326,-0.0153667324188,0.07983218712,0.99999992211,0.000270970290819,-0.000284657618837,3.64136682359e-05,1793254850211655936
+65,1.083333333,BASELINE,783.703226832,759.296773168,737,718,686,650.703226832,916.703226832,800,839.703226832,657.296773168,636,657,0.400978384657,-0.0153670411594,0.0798323247758,0.999999921478,0.00027305580269,-0.000284827156813,3.68416358015e-05,1793254850228322816
+66,1.100000000,BASELINE,783.713708661,759,737,718,686,650.713708661,916.713708661,800,840,657,636,657.286291339,0.400978739078,-0.0153672445779,0.0798325014195,0.999999921601,0.000273079495694,-0.000284371178255,3.68581374991e-05,1793254850244989184
+67,1.116666667,BASELINE,783.122176818,759,737,718,686,650.122176818,916.122176818,800,840,657,636,657.877823182,0.400979809005,-0.015367335703,0.0798327196318,0.999999922527,0.000270904901205,-0.00028324828121,3.64359390331e-05,1793254850261655808
+68,1.133333333,BASELINE,783,759.458860177,737,718,686,650.458860177,916.458860177,800,840,657.458860177,636,658,0.400978746022,-0.0153680610261,0.0798321004014,0.999999922661,0.000269033926077,-0.000284546264191,3.65079434985e-05,1793254850278322688
+69,1.150000000,BASELINE,783.036908848,759.963091152,737,718,686,651,916.963091152,800,839.963091152,657.963091152,635.963091152,657.963091152,0.400977265988,-0.0153688162028,0.0798313539954,0.999999922566,0.000267511949177,-0.000286284361681,3.66851957235e-05,1793254850294989056
+70,1.166666667,BASELINE,783.611223146,759.388776854,737,718,686,651,916.388776854,800,839.388776854,657.388776854,635.388776854,657.388776854,0.400977797633,-0.015367602338,0.0798319299211,0.999999922219,0.000269920738307,-0.00028525512319,3.65217770042e-05,1793254850311655680
+71,1.183333333,BASELINE,783.810139492,759,737,718,686,650.810139492,916,799.810139492,839,657,635,657,0.400978090257,-0.0153668601995,0.0798322009197,0.999999922163,0.00027075701749,-0.000284681655937,3.63476133809e-05,1793254850328322304
+72,1.200000000,BASELINE,783.222443435,759,737,718,686,650.222443435,916,799.222443435,839,657,635,657,0.400977882033,-0.0153671065204,0.0798318329715,0.999999922724,0.000268298244547,-0.000285063215964,3.61509347516e-05,1793254850344988928
+73,1.216666667,BASELINE,783,759.360132937,737,718,686,650,916,799,839,657,635,657,0.400978350212,-0.015367501372,0.0798320205033,0.999999922835,0.000268495069077,-0.00028448272175,3.62061114009e-05,1793254850361655552
+74,1.233333333,BASELINE,783,759.939591322,737,718,686,650,916,799,839,657,635,657,0.40097923033,-0.0153679866805,0.0798325463294,0.999999922669,0.000270309185718,-0.000283316324487,3.64146710659e-05,1793254850378322688
+75,1.250000000,BASELINE,783,759.484176905,737,718,686,650,916,799.515823095,839,657,635.515823095,657,0.400979494923,-0.0153695266678,0.0798331024157,0.999999923551,0.000267765688871,-0.000282607458041,3.64926572233e-05,1793254850394989568
+76,1.266666667,BASELINE,783,759,737,718,686,650.091461956,916,800,839,657.091461956,635.908538044,657,0.400979679054,-0.0153705805074,0.079833540471,0.999999924251,0.000265578419544,-0.00028219279842,3.65130780929e-05,1793254850411656192
+77,1.283333333,BASELINE,783,759,737,718,686,650.665952724,916,800,839,657.665952724,635.334047276,657,0.400979816577,-0.0153684186535,0.0798333365824,0.999999923383,0.000267950835412,-0.00028305068557,3.63097413006e-05,1793254850428322560
+78,1.300000000,BASELINE,783,759,737,718,686,650.75256712,916,800,839,657.75256712,635.24743288,657,0.40097988684,-0.015367499163,0.0798333202862,0.999999922957,0.000269425654484,-0.00028316354303,3.62616564721e-05,1793254850444989184
+79,1.316666667,BASELINE,783,759,737,718,686,650.161376683,916,800,839,657.161376683,635.838623317,657,0.40097986366,-0.0153683056835,0.0798335646112,0.99999992315,0.000269653445549,-0.000282241333506,3.64292626228e-05,1793254850461656064
+80,1.333333333,BASELINE,783,759.42038289,737,718,686,650,916,800,839,657,636,657,0.40097883725,-0.0153672542897,0.0798329039915,0.999999922372,0.000271600529109,-0.000283125144578,3.64651882637e-05,1793254850478322432
+81,1.350000000,BASELINE,783,759.998601624,737,718,686,650,916,800,839,657,636,657,0.400977434168,-0.0153655053283,0.0798319036037,0.999999921221,0.000274193133682,-0.000284687039274,3.64516735035e-05,1793254850494988800
+82,1.366666667,BASELINE,783,759.425401355,737,718,686.574598645,650,916,800,839,657,636,657.574598645,0.400978143048,-0.0153678287974,0.0798326018262,0.999999922886,0.000269119609462,-0.000283675858695,3.64730932594e-05,1793254850511655936
+83,1.383333333,BASELINE,783,759,737,718,687,650,916,800,839,657.152920491,636,657.847079509,0.400978745881,-0.0153689224108,0.0798332668919,0.999999923828,0.000266616373802,-0.000282718518317,3.64603052959e-05,1793254850528322560
+84,1.400000000,BASELINE,783,759,737,718,687,650,916,800,839,657.737825068,636,657.262174932,0.400979034676,-0.0153665139239,0.0798338266608,0.999999922761,0.000271426428441,-0.000281930891842,3.63506449349e-05,1793254850544989440
+85,1.416666667,BASELINE,783,759.320785166,737,718,686.679214834,650.320785166,916.320785166,800,839,657.679214834,635.679214834,657,0.400979409348,-0.0153660153891,0.0798337993719,0.999999922532,0.000272557994165,-0.000281655461857,3.6318510559e-05,1793254850561656064
+86,1.433333333,BASELINE,783,759.902165599,737,718,686.097834401,650.902165599,916.902165599,800,839,657.097834401,635.097834401,657,0.400979853782,-0.0153670684362,0.0798332951766,0.999999922995,0.000270701276794,-0.000281796123421,3.6349355738e-05,1793254850578322432
+87,1.450000000,BASELINE,783,760,737,718.479644499,686,650.520355501,916.520355501,800,839.479644499,657.479644499,635,657.479644499,0.400981418338,-0.015368061513,0.079834239338,0.999999923748,0.000269942495758,-0.000279824031915,3.65262336455e-05,1793254850594988800
+88,1.466666667,BASELINE,783.056160225,760,737,718.943839775,686,650.056160225,916,800,839.943839775,657.943839775,635.056160225,657.943839775,0.400982790452,-0.015369035249,0.0798352269505,0.999999924427,0.000269343715402,-0.000277942976716,3.67098822985e-05,1793254850611655424
+89,1.483333333,BASELINE,783.631070714,760,737,718.368929286,686,650.631070714,916,800,839.368929286,657.368929286,635.631070714,657.368929286,0.400980291597,-0.0153699424138,0.0798339091044,0.999999923931,0.000268170936436,-0.000280851319632,3.66831533304e-05,1793254850628322048
+90,1.500000000,BASELINE,784,759.788776839,737,718,686,651,916,800,839.211223161,657.211223161,636,657,0.4009787922,-0.0153700994171,0.0798329101344,0.999999923475,0.000267799033353,-0.000282830633176,3.66038802441e-05,1793254850644988928
+91,1.516666667,BASELINE,784,759.199235679,737,718,686,651,916,800,839.800764321,657.800764321,636,657,0.400979082916,-0.0153689128197,0.0798324822976,0.999999923107,0.000268861564769,-0.000283145978635,3.64304963374e-05,1793254850661655808
+92,1.533333333,BASELINE,783.617091008,759.382908992,737,718,686,650.617091008,916,800,839.617091008,657.617091008,635.617091008,657,0.400979345325,-0.0153680479954,0.0798328942038,0.999999922974,0.000270009396321,-0.000282533905231,3.63511989517e-05,1793254850678322688
+93,1.550000000,BASELINE,783.038721903,759.961278097,737,718,686,650.038721903,916,800,839.038721903,657.038721903,635.038721903,657,0.400979593284,-0.0153673474236,0.079833734766,0.999999922959,0.000271200770365,-0.000281448420682,3.63199290515e-05,1793254850694989568
+94,1.566666667,BASELINE,783.537239708,760,737,718,686,650,916,800,839.537239708,657,635.537239708,657,0.400980714403,-0.0153675789201,0.0798346110689,0.999999923413,0.000270503479669,-0.000280507917274,3.62836178375e-05,1793254850711655936
+95,1.583333333,BASELINE,784,760,737,718.113242631,686,650,916,800,839.886757369,657,635.886757369,657.113242631,0.400981437851,-0.0153679331019,0.0798350876361,0.999999923789,0.000269591002141,-0.000280054701202,3.62357124797e-05,1793254850728322048
+96,1.600000000,BASELINE,784,760,737,718.690122125,686,650,916,800,839.309877875,657,635.309877875,657.690122125,0.400980276649,-0.0153685157626,0.0798339171105,0.999999923704,0.000268352350966,-0.000281553940026,3.61418194929e-05,1793254850744988928
+97,1.616666667,BASELINE,783.725188909,760,737,718.725188909,686.274811091,650,916,800,839.274811091,657,635.274811091,657.725188909,0.400979772627,-0.015368727924,0.0798333942674,0.999999923589,0.000267945524961,-0.000282345337993,3.61752050278e-05,1793254850761656064
+98,1.633333333,BASELINE,783.131436427,760,737,718.131436427,686.868563573,650,916,800,839.868563573,657,635.868563573,657.131436427,0.400980031317,-0.0153685100896,0.0798336231144,0.999999923441,0.000268504102123,-0.000282315227008,3.63563080003e-05,1793254850778322432
+99,1.650000000,BASELINE,783.448592155,760,737.448592155,718,686.551407845,650,916,800,839.551407845,657,635.551407845,657,0.40097922303,-0.0153675287205,0.0798328649856,0.999999922856,0.000269664291681,-0.000283254449473,3.6540323006e-05,1793254850794989312
+100,1.666666667,BASELINE,783.975348015,760,738,718,686,650,916,800,839.024651985,657,635.024651985,657.024651985,0.400978229479,-0.0153664350566,0.0798319585346,0.999999922214,0.000270916117401,-0.000284301168517,3.67199603576e-05,1793254850811656192
+101,1.683333333,BASELINE,783.400783612,760,738,718,686,650,916,800,839.599216388,657,635.599216388,657.599216388,0.400979869888,-0.0153676786815,0.0798340027457,0.999999923117,0.000270396716663,-0.000281598414991,3.67834775562e-05,1793254850828322816
+102,1.700000000,BASELINE,783,759.822339131,737.822339131,718,686,650,916,800,840,657,636,657.822339131,0.400981328358,-0.0153687691254,0.0798354163153,0.999999924016,0.000269242264337,-0.000279489469005,3.69088213822e-05,1793254850844989440
+103,1.716666667,BASELINE,783,759.234946264,737.234946264,718,686,650,916,800,840,657,636,657.234946264,0.400982367231,-0.015369506294,0.0798353754619,0.999999924914,0.000266623218583,-0.000278749997444,3.71767534223e-05,1793254850861655808
+104,1.733333333,BASELINE,783,759.349486608,737,718,686.349486608,650,916,800,840,657,636,657,0.4009817087,-0.0153686583878,0.0798349287089,0.999999924491,0.000267537670479,-0.000279443809042,3.67674066265e-05,1793254850878322432
+105,1.750000000,BASELINE,783,759.931946359,737,718,686.931946359,650,916,800,840,657,636,657,0.400979918654,-0.0153667538467,0.0798342113769,0.99999992318,0.000270807605948,-0.000281093069145,3.59065753765e-05,1793254850894989056
+106,1.766666667,POSE1_TO_POSE2_PRESS,784,760,737,718,686,651,916,800,840,658,636,657,0.400978620239,-0.0153691627156,0.0798327525909,0.99999992289,0.000269467542491,-0.000283317328062,3.65827978874e-05,1793254850928283392
+107,1.783333333,POSE1_TO_POSE2_PRESS,783.374386503,759.374386503,737,718,686,650.374386503,916,800,840,658,635.374386503,657,0.400978618258,-0.0153695611664,0.0798329413236,0.999999922624,0.00027044704481,-0.000283345405914,3.64177987172e-05,1793254850944951296
+108,1.800000000,POSE1_TO_POSE2_PRESS,783.2362508,759,737,718,686,650,916,800,840,657.7637492,635,657,0.400979301133,-0.015369029389,0.0798335837003,0.999999922775,0.000270805831593,-0.000282485512453,3.62843679225e-05,1793254850961618432
+109,1.816666667,POSE1_TO_POSE2_PRESS,783.824570187,759,737,718,686,650,916,800,840,657.175429813,635,657,0.400981004602,-0.0153671113553,0.079834902112,0.999999923545,0.000270239608141,-0.000280302335409,3.61979813176e-05,1793254850978284800
+110,1.833333333,POSE1_TO_POSE2_PRESS,783.592397636,759,737,718.407602364,686,650,916,800,839.592397636,657,635.407602364,657.407602364,0.400980493768,-0.0153668800585,0.0798344439825,0.99999992364,0.000269271294002,-0.000280899072136,3.6165152175e-05,1793254850994950912
+111,1.850000000,POSE1_TO_POSE2_PRESS,783.011611939,759,737,718.988388061,686,650,916,800,839.011611939,657,635.988388061,657.988388061,0.400979042114,-0.0153673654277,0.0798332310308,0.999999923446,0.000268132138381,-0.000282676947212,3.61550786948e-05,1793254851011616768
+112,1.866666667,POSE1_TO_POSE2_PRESS,783.563236005,759,737,718.436763995,686,650,916,800,839,657.563236005,635.436763995,657.436763995,0.400978125173,-0.0153684146625,0.0798320547121,0.999999923097,0.000267941400494,-0.000284067735547,3.63248864813e-05,1793254851028283136
+113,1.883333333,POSE1_TO_POSE2_PRESS,783.862264606,759.137735394,737,718,686,650,916,800,839.137735394,657.862264606,635.137735394,657,0.400977490772,-0.0153691892201,0.0798312408365,0.999999922806,0.000267910033694,-0.000285110434887,3.63889601283e-05,1793254851044949760
+114,1.900000000,POSE1_TO_POSE2_PRESS,783.288485208,759.711514792,737,718,686,650,916,800,839.711514792,657.288485208,635.711514792,657,0.400977716306,-0.0153690577841,0.0798315720209,0.999999922716,0.000268321950002,-0.000285076151486,3.61066816556e-05,1793254851061616640
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,760,737,718,686,650,916,800,839.704238925,657.295761075,636,657,0.400980519792,-0.0153681777782,0.079833522347,0.999999923028,0.00026974813696,-0.000282623446146,3.60972446805e-05,1793254851078283264
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,760,737,718,686,650,916,800,839.109408723,657.890591277,636,657,0.400985930064,-0.0153665408296,0.0798371099246,0.999999923727,0.000272199939035,-0.000277725269096,3.63637009194e-05,1793254851094950144
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,759.5306436,737,718,686,650,916,800,839,657.5306436,636,657,0.401004581137,-0.015369073655,0.0798450836627,0.99999992844,0.000269149798219,-0.000263259770533,3.70629302227e-05,1793254851111616768
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,759,737,718,686,650,916.044541344,800,839,657,636,657,0.401027997587,-0.0153724492184,0.079854652725,0.999999933975,0.000265133562967,-0.000245603294257,3.78611148646e-05,1793254851128283392
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,759,737,718,686,650,916.620211278,800,839,657,636,657,0.401072651883,-0.0153746671141,0.0798714566846,0.999999941059,0.000264384421677,-0.000215609764566,3.86761480255e-05,1793254851144950016
+120,2.000000000,POSE1_TO_POSE2_PRESS,783,759,737,718,686,650,917,800,839,657.200973151,636,657,0.401127111639,-0.0153767556041,0.0798894916413,0.999999947703,0.000264141496502,-0.000182417033131,3.93249090583e-05,1793254851161616640
+121,2.016666667,POSE1_TO_POSE2_PRESS,783,759,737,718,686,650,917,800,839,657.791607746,636,657,0.401200582945,-0.0153785931931,0.0799099133481,0.999999953906,0.000264880060134,-0.00014302145017,3.96512896869e-05,1793254851178283264
+122,2.033333333,POSE1_TO_POSE2_PRESS,783.374756974,759,737,718,686,650,916.625243026,800,839.374756974,657.625243026,636,657,0.401279453929,-0.0153819199624,0.0799250752653,0.999999957068,0.000263961856989,-0.000120989129107,3.93656579732e-05,1793254851194949888
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.953825266,759,737,718,686,650,916.046174734,800,839.953825266,657.046174734,636,657,0.401361268722,-0.0153860586079,0.0799373696308,0.999999959013,0.000262140412008,-0.000108422974368,3.87463672262e-05,1793254851211616512
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.472090099,759,737,718,686,650,916,800,839.472090099,657.527909901,636,657.527909901,0.40145613568,-0.015388408732,0.0799408141622,0.999999960229,0.000262129200346,-9.76241657031e-05,3.60512712168e-05,1793254851228283392
+125,2.083333333,POSE1_TO_POSE2_PRESS,783.101818279,759,737,718,686,650,916.101818279,800,839.101818279,657.898181721,636,657.898181721,0.401556679909,-0.01539112691,0.0799436311549,0.999999961477,0.000261254926198,-8.7764685847e-05,3.29918133205e-05,1793254851244950272
+126,2.100000000,POSE1_TO_POSE2_PRESS,783.676914608,759,737,718,686,650,916.676914608,800,839.676914608,657.323085392,636,657.323085392,0.401678356587,-0.0153962762583,0.0799470956096,0.999999963575,0.000255639808116,-8.1559623192e-05,2.90747731088e-05,1793254851261616896
+127,2.116666667,POSE1_TO_POSE2_PRESS,784,759,737,718,686,650.259974748,916.740025252,800,839.740025252,657,635.740025252,657,0.401812732208,-0.0154008193041,0.0799518046924,0.999999965378,0.000251291791367,-7.40078963961e-05,2.48824312394e-05,1793254851278283520
+128,2.133333333,POSE1_TO_POSE2_PRESS,784,759,737,718,686,650.853244682,916.146755318,800,839.146755318,657,635.146755318,657,0.401963388233,-0.0154045850521,0.0799581094243,0.999999966805,0.0002485682358,-6.47297074933e-05,2.03371449415e-05,1793254851294949888
+129,2.150000000,POSE1_TO_POSE2_PRESS,784,759.434508124,737,718,686,650.565491876,916,800,839.434508124,657,635.434508124,657.434508124,0.402129723309,-0.0154103419973,0.0799598064024,0.999999968833,0.00024136116551,-6.21132478239e-05,1.48801622517e-05,1793254851311616512
+130,2.166666667,POSE1_TO_POSE2_PRESS,783.988201817,759.988201817,737,718,686,650.011798183,916.011798183,800,840,657,636,657.988201817,0.402301650777,-0.0154167332997,0.0799598621558,0.999999970993,0.000232581566322,-6.19409036481e-05,9.08560528837e-06,1793254851328283392
+131,2.183333333,POSE1_TO_POSE2_PRESS,783.412215975,759.412215975,737,718,686,650.587784025,916.587784025,800,840,657,636,657.412215975,0.402494579192,-0.0154221640398,0.0799538543018,0.999999973269,0.00021907077147,-7.39441962162e-05,1.47734223587e-06,1793254851344950016
+132,2.200000000,POSE1_TO_POSE2_PRESS,783.167016784,759.167016784,737,718,686,650.832983216,917,800,839.832983216,657.167016784,636,657.167016784,0.402700130511,-0.0154287415281,0.0799490403574,0.999999979003,0.000186940901419,-8.37160051698e-05,-6.26072620086e-06,1793254851361616640
+133,2.216666667,POSE1_TO_POSE2_PRESS,783.7544223,759.7544223,737,718,686,650.2455777,917,800,839.2455777,657.7544223,636,657.7544223,0.402937454287,-0.0154382054344,0.0799472315359,0.999999990211,0.000107945980841,-8.78710720901e-05,-1.43255222015e-05,1793254851378283520
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,759.663216806,737,718,686,650.336783194,917,800,839.336783194,657.663216806,636,658,0.403201974662,-0.0154470591643,0.0799463526195,0.999999993497,6.90235468693e-05,-8.79345517532e-05,-2.25477985548e-05,1793254851394950400
+135,2.250000000,POSE1_TO_POSE2_PRESS,784,759.084480129,737,718,686,650.915519871,917,800,839.915519871,657.084480129,636,658,0.403486033741,-0.0154554745276,0.0799461417703,0.999999994172,5.88901959709e-05,-8.50585326741e-05,-3.08832123044e-05,1793254851411617280
+136,2.266666667,POSE1_TO_POSE2_PRESS,784,759.49459796,737,718,686,650.50540204,916.50540204,800,840,657.49459796,636,657.50540204,0.403811025705,-0.015463256687,0.0799517641495,0.999999993704,7.9443213866e-05,-7.58604573624e-05,-2.29273157809e-05,1793254851428283648
+137,2.283333333,POSE1_TO_POSE2_PRESS,784,760,737,718,686,650.072618165,916,800,840,657.927381835,636,657.072618165,0.404147033559,-0.0154703631338,0.0799576385973,0.999999992806,9.87984413306e-05,-6.64605075765e-05,-1.45159067048e-05,1793254851444950272
+138,2.300000000,POSE1_TO_POSE2_PRESS,784,760,737,718,686,650.642987268,916,800,840,657.357012732,636,657.642987268,0.404510592449,-0.015473579849,0.0799584067674,0.999999995029,7.39922964558e-05,-6.3083581572e-05,-2.20686929123e-05,1793254851461616896
+139,2.316666667,POSE1_TO_POSE2_PRESS,783.778529419,760,737,718,686,650.778529419,916,800,840,657,635.778529419,657.778529419,0.404893937278,-0.0154776581571,0.0799577490545,0.999999996248,5.51104806966e-05,-6.07256246733e-05,-2.78993779327e-05,1793254851478283264
+140,2.333333333,POSE1_TO_POSE2_PRESS,783.186468522,760,737,718,686,650.186468522,916,800,840,657,635.186468522,657.186468522,0.405310390203,-0.0154831781825,0.0799547053884,0.999999996655,4.61419434914e-05,-6.00727257006e-05,-3.08484423665e-05,1793254851494949888
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,760,737,717.60318187,686,650,916,800,840.39681813,657.39681813,635,657,0.40574216575,-0.0154787306767,0.0799458637626,0.999999995237,5.21095454936e-05,-7.55590853363e-05,-3.3189602286e-05,1793254851511616768
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,760,737,717.023929072,686,650,916,800,840.976070928,657.976070928,635,657,0.406180985814,-0.0154697006609,0.0799343565605,0.999999992422,6.49439438568e-05,-9.84653687157e-05,-3.5251282123e-05,1793254851528283648
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,759.449898478,737,717,686,650.550101522,916,800,840.449898478,657.449898478,636.100203045,657,0.406660541255,-0.0154677187327,0.0799315335321,0.999999991515,6.89830365739e-05,-0.000104715363631,-3.53014015999e-05,1793254851544950272
+144,2.400000000,POSE1_TO_POSE2_PRESS,783.124104788,759.124104788,737,717,686,651,916,800,840,657,636.875895212,657.124104788,0.407148730694,-0.0154684852761,0.0799285578866,0.9999999908,6.83178358033e-05,-0.00011159795284,-3.57640674315e-05,1793254851561616896
+145,2.416666667,POSE1_TO_POSE2_PRESS,783.698826045,759.698826045,737,717,686,651,916,800,840,657,636.301173955,657.698826045,0.407661896376,-0.0154781286112,0.0799236693876,0.999999990315,5.19477474255e-05,-0.000123383464358,-3.80393873818e-05,1793254851578283264
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,760,737,717,686,651,916,800.282427489,840,657,636,658,0.408208649401,-0.0154839643118,0.0799192273555,0.999999989541,4.04887877604e-05,-0.000132831085628,-4.04261351193e-05,1793254851594949632
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,760,737,717,686,651,916,800.875805934,840,657,636,658,0.408792381856,-0.0154856078293,0.0799152768809,0.999999988727,3.44369520548e-05,-0.000139704703224,-4.29355640494e-05,1793254851611616256
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,760,737.454159129,717,686,651,916.454159129,800.545840871,840,657,636,657.545840871,0.40943972583,-0.0154852548919,0.0799423805549,0.999999993922,3.28245295478e-05,-9.61894020738e-05,-4.27290595815e-05,1793254851628283392
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,760,738,717,686,650.971556049,916.971556049,800,840,657,636,657,0.41010451234,-0.0154845353656,0.0799768830591,0.999999997772,3.2527706344e-05,-4.06918988401e-05,-4.17301368137e-05,1793254851644950016
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,760,738,717,686,650.39901484,916.39901484,800,840,657,636,657,0.410780861148,-0.0154869123386,0.0799956757672,0.999999998555,3.49180445727e-05,-1.11300635503e-05,-3.93251540699e-05,1793254851661616640
+151,2.516666667,POSE1_TO_POSE2_PRESS,784,760,737.819859176,717,686,650.180140824,916.180140824,800,840,657,636,657,0.411450560421,-0.0154887163065,0.0799997162839,0.999999998595,3.52729697339e-05,-5.84392711149e-06,-3.91284786545e-05,1793254851678283264
+152,2.533333333,POSE1_TO_POSE2_PRESS,784,760,737.225494,717,686,650.774506,916.774506,800,840,657,636,657,0.412104969346,-0.0154892026789,0.0799698349093,0.999999996963,3.09475692461e-05,-5.63784877644e-05,-4.40096901539e-05,1793254851694950144
+153,2.550000000,POSE1_TO_POSE2_PRESS,784,760,737,717,686,651,917,800,840.360260425,657.360260425,636,657.360260425,0.412813955798,-0.0154910196577,0.0799407003849,0.999999994118,2.45677997568e-05,-9.39804988531e-05,-4.8242050853e-05,1793254851711617024
+154,2.566666667,POSE1_TO_POSE2_PRESS,784,760,737,717,686,651,917,800,840.940751084,657.940751084,636,657.940751084,0.413556306017,-0.0154936500474,0.0799120224134,0.999999990853,1.69321767803e-05,-0.00012367673831,-5.20777640748e-05,1793254851728283648
+155,2.583333333,POSE1_TO_POSE2_PRESS,784.514915378,760,737.514915378,717,686,651,917,800.514915378,841,658,636,657.485084622,0.414339907861,-0.0154939566453,0.0799278409582,0.99999999426,1.14489286522e-05,-9.284967283e-05,-5.22253052067e-05,1793254851744950016
+156,2.600000000,POSE1_TO_POSE2_PRESS,785,760,737.911440218,717.088559782,686,651,917,801,841,658,636,657,0.415128504481,-0.0154941492343,0.0799469771771,0.999999996764,7.44208984611e-06,-6.10758989147e-05,-5.18317786888e-05,1793254851761616640
+157,2.616666667,POSE1_TO_POSE2_PRESS,785,760,737.336701898,717.663298102,686,651,917,801,841,658,636,657,0.415918779954,-0.0154951660323,0.0799565600446,0.999999996745,1.0197360752e-05,-6.18727609141e-05,-5.07693841138e-05,1793254851778283264
+158,2.633333333,POSE1_TO_POSE2_PRESS,785,760,737.245260496,717.754739504,686,651,916.754739504,801,841,658,636,657.245260496,0.416721522993,-0.0154958735864,0.0799593532722,0.999999996722,1.21042082127e-05,-6.18374086827e-05,-5.08441597193e-05,1793254851794949888
+159,2.650000000,POSE1_TO_POSE2_PRESS,785,760,737.837441286,717.162558714,686,651,916.162558714,801,841,658,636,657.837441286,0.417541901321,-0.0154961437158,0.0799525425723,0.999999996701,1.2810962886e-05,-6.06248916707e-05,-5.25274594717e-05,1793254851811616512
+160,2.666666667,POSE1_TO_POSE2_PRESS,785,760,738,717,686,651,916.420127367,801,841,657.579872633,636,658,0.418450628753,-0.0155002904055,0.0799734962247,0.999999998481,5.94273889475e-06,-1.48337481541e-05,-5.27478254809e-05,1793254851828283392
+161,2.683333333,POSE1_TO_POSE2_PRESS,785,760,738,717,686,651,916.999220864,801,841,657.000779136,636,658,0.41939278535,-0.0155059038927,0.080004955243,0.999999997476,-3.79167558299e-06,4.78248796674e-05,-5.24146521888e-05,1793254851844950528
+162,2.700000000,POSE1_TO_POSE2_PRESS,784.425578939,760,737.425578939,716.425578939,686,651,917,801,841,657,636,658,0.420245340885,-0.015505130111,0.0799831918385,0.999999998567,-1.40076162829e-06,1.05726271874e-05,-5.24561169779e-05,1793254851861616896
+163,2.716666667,POSE1_TO_POSE2_PRESS,784.149171031,760,737.149171031,716.149171031,686,650.850828969,917,801,841,657.149171031,636,658,0.421113315425,-0.0155085340669,0.0799689202165,0.999999998549,-3.44622234359e-06,-1.44690485551e-05,-5.17842718336e-05,1793254851878283264
+164,2.733333333,POSE1_TO_POSE2_PRESS,784.722655165,760,737.722655165,716.722655165,686,650.277344835,917,801,841,657.722655165,636,658,0.422025492153,-0.0155238459661,0.0799761627384,0.999999998621,-1.81573023675e-05,-4.39517021825e-06,-4.90819996759e-05,1793254851894949888
+165,2.750000000,POSE1_TO_POSE2_PRESS,785,760,738,717,686,650.306925896,916.693074104,801,841,658,636.306925896,658,0.422949267595,-0.0155402974847,0.0799938169027,0.999999998311,-3.14338749394e-05,1.90613633755e-05,-4.50129360285e-05,1793254851911616768
+166,2.766666667,POSE1_TO_POSE2_PRESS,785,760,738,717,686,650.901298724,916.098701276,801,841,658,636.901298724,658,0.423883905749,-0.0155578162988,0.0800212219384,0.999999996758,-4.33669823459e-05,5.50512269921e-05,-3.96638235682e-05,1793254851928283648
+167,2.783333333,POSE1_TO_POSE2_PRESS,785,760.482118877,738,716.517881123,686,651,916.482118877,801,841,657.517881123,636.517881123,658,0.424780238472,-0.0155539784971,0.0799810826437,0.999999997827,-4.16113027901e-05,-2.74998941252e-05,-4.31190009068e-05,1793254851944950016
+168,2.800000000,POSE1_TO_POSE2_PRESS,785,760.940234008,738,716.059765992,686.059765992,651,917,801,841,657.059765992,636,658,0.425676932472,-0.0155464560512,0.0799318959375,0.999999990797,-3.77090227373e-05,-0.000121096837407,-4.81710897989e-05,1793254851961616384
+169,2.816666667,POSE1_TO_POSE2_PRESS,785,760.366664457,738,716.633335543,686.633335543,651,917,801,841,657.633335543,636,658,0.426642306921,-0.015543816835,0.0799205566829,0.999999992207,-3.87860630235e-05,-0.000106726704526,-5.18798757474e-05,1793254851978283520
+170,2.833333333,POSE1_TO_POSE2_PRESS,785,760,738,716.786358938,687,651,917,801,841,657.786358938,636,657.786358938,0.427590247254,-0.0155423547962,0.0799140931898,0.99999999259,-4.06024718931e-05,-0.00010118615362,-5.41574427103e-05,1793254851994950400
+171,2.850000000,POSE1_TO_POSE2_PRESS,785,760,738,716.194116387,687,651,917,801,841,657.194116387,636,657.194116387,0.428507291865,-0.0155429788789,0.0799162702205,0.999999991398,-4.37291440282e-05,-0.000111292843231,-5.38986916065e-05,1793254852011617024
+172,2.866666667,POSE1_TO_POSE2_PRESS,785.387880903,760,738,716,686.612119097,651,917,801,841,657,636,657.387880903,0.429484657867,-0.01554599956,0.0799454525523,0.999999994928,-4.43381658522e-05,-7.4158336063e-05,-5.17489946345e-05,1793254852028283648
+173,2.883333333,POSE1_TO_POSE2_PRESS,785.964882843,760,738,716,686.035117157,651,917,801,841,657,636,657.964882843,0.430491435046,-0.0155501887627,0.0799878019941,0.999999997762,-4.37196440634e-05,-1.39902011366e-05,-4.86773195542e-05,1793254852044950272
+174,2.900000000,POSE1_TO_POSE2_PRESS,785.457642704,760,738,716.542357296,686.542357296,651,916.457642704,801,841,657.542357296,636,658,0.431501547596,-0.0155547199734,0.0800226310203,0.999999996969,-4.97001143681e-05,3.85186919903e-05,-4.59071484775e-05,1793254852061616384
+175,2.916666667,POSE1_TO_POSE2_PRESS,785.118860618,760,738,717,686.881139382,651,916.118860618,801,841.118860618,657.881139382,636,658,0.432479687142,-0.0155567927004,0.0800349810025,0.999999995735,-5.68878550138e-05,5.70508045921e-05,-4.51451884774e-05,1793254852078283264
+176,2.933333333,POSE1_TO_POSE2_PRESS,785.691539041,760,738,717,686.308460959,651,916.691539041,801,841.691539041,657.308460959,636,658,0.433334926089,-0.015549394147,0.0799633652723,0.999999995036,-6.70522311276e-05,-5.22475786462e-05,-5.19761119299e-05,1793254852094950144
+177,2.950000000,POSE1_TO_POSE2_PRESS,785.725980564,760,737.725980564,717,686.274019436,651,917,801,842,657,636,657.725980564,0.43422321047,-0.0155457495362,0.079918124363,0.999999989158,-7.00556910333e-05,-0.000116264896111,-5.70797412276e-05,1793254852111617024
+178,2.966666667,POSE1_TO_POSE2_PRESS,785.132056768,760,737.132056768,717,686.867943232,651,917,801,842,657,636,657.132056768,0.435150073899,-0.01554648747,0.0799036747645,0.999999987979,-6.46991317164e-05,-0.000127418787265,-6.01668400955e-05,1793254852128283904
+179,2.983333333,POSE1_TO_POSE2_PRESS,785.44723184,760,737.44723184,717,687,651,917,801,841.55276816,657,636,657,0.436094778587,-0.0155519288357,0.0799330311726,0.999999992082,-6.71865755998e-05,-8.97915554483e-05,-5.70988362644e-05,1793254852144950272
+180,3.000000000,POSE1_TO_POSE2_PRESS,786,760,738,717,687,651,917,801,841.022372418,657,636,657.022372418,0.437045640185,-0.0155587166272,0.0799746455695,0.999999995333,-7.18479489296e-05,-3.779261399e-05,-5.23798483334e-05,1793254852161616896
+181,3.016666667,POSE1_TO_POSE2_PRESS,786,760,738,717,687,651,917,801,841.598416092,657,636,657.598416092,0.438022630812,-0.015565544596,0.0800096523149,0.999999995629,-7.48060897007e-05,2.47054105877e-05,-5.03553992161e-05,1793254852178283520
+182,3.033333333,POSE1_TO_POSE2_PRESS,786,760,737.821207387,716.821207387,686.821207387,651,917,801,842,657,636,658,0.438957866788,-0.0155708639153,0.0800273112052,0.999999993881,-8.18465211926e-05,5.5258577881e-05,-4.98493226476e-05,1793254852194950144
+183,3.050000000,POSE1_TO_POSE2_PRESS,786,760,737.230857247,716.230857247,686.230857247,651,917,801,842,657,636,658,0.439796988887,-0.0155727105179,0.0800050375691,0.999999993699,-9.82838595678e-05,1.2278801204e-05,-5.28383442433e-05,1793254852211616768
+184,3.066666667,POSE1_TO_POSE2_PRESS,786,760,737,716,686,651,916.647748678,801,842,657,636,658,0.440559668468,-0.015570534234,0.0799244776879,0.999999986461,-0.00010254570655,-0.000113920763334,-5.98672100457e-05,1793254852228283648
+185,3.083333333,POSE1_TO_POSE2_PRESS,786,760,737,716,686,651,916.069290486,801,842,657,636,658,0.441273258569,-0.0155657745543,0.0798064878586,0.999999949597,-9.89887583847e-05,-0.000293561961985,-6.94903597958e-05,1793254852244950272
+186,3.100000000,POSE1_TO_POSE2_PRESS,785.493859015,760,737,716.506140985,686,651,916.506140985,801,842,657,636,658,0.442072364533,-0.0155728215525,0.0797689564842,0.999999933093,-0.000112812350143,-0.000340138823035,-7.34349577993e-05,1793254852261616896
+187,3.116666667,POSE1_TO_POSE2_PRESS,785.08110518,760,737,716.91889482,686,651,917,800.91889482,842,657,636,658,0.442891389978,-0.015581770458,0.0797553759532,0.999999927268,-0.000127398865644,-0.000351482499755,-7.54614269488e-05,1793254852278283776
+188,3.133333333,POSE1_TO_POSE2_PRESS,785.655732137,760,737,716.344267863,686,651,917,800.344267863,842,657,636,658,0.443760810647,-0.0155925155571,0.0798209095973,0.999999955328,-0.000132235315999,-0.000258621098117,-7.05184318402e-05,1793254852294950400
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+190,3.166666667,POSE1_TO_POSE2_PRESS,786,760,737,716,686,650.168868895,917,800,842,657,636,658,0.445353990756,-0.0156091434236,0.0798846133475,0.999999972347,-0.000144565257335,-0.000175132637106,-6.11124172304e-05,1793254852328283648
+191,3.183333333,POSE1_TO_POSE2_PRESS,786,760,737,716,685.58802174,650,917,799.58802174,842,657,636,658,0.4460787142,-0.0156148576514,0.079872341325,0.999999967966,-0.000154912270288,-0.000190139909107,-6.25821465859e-05,1793254852344950016
+192,3.200000000,POSE1_TO_POSE2_PRESS,786,760,737,716,685.012125473,650,917,799.012125473,842,657,636,658,0.446787236225,-0.0156199511974,0.0798482446042,0.99999995991,-0.000166697171825,-0.000219029324957,-6.64670494561e-05,1793254852361616640
+193,3.216666667,POSE1_TO_POSE2_PRESS,786,760,737,716,685.560381514,650,917,799,842,657.560381514,636,658,0.44743115362,-0.0156228059082,0.0798009268248,0.999999942108,-0.000176218140021,-0.000282210076875,-7.1335782899e-05,1793254852378283264
+194,3.233333333,POSE1_TO_POSE2_PRESS,786,760,737,716,686,650,917,798.863148794,842,657.863148794,636,658,0.44805639252,-0.0156247431842,0.0797497723029,0.999999917068,-0.000183838596623,-0.000355321389131,-7.62485193748e-05,1793254852394950144
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+196,3.266666667,POSE1_TO_POSE2_PRESS,785.687188081,760,737,716,685.687188081,650,917,798,842,657,635.687188081,658,0.449221692474,-0.0156241929321,0.0796559843298,0.999999851018,-0.000188107155729,-0.000505712287101,-8.26695390674e-05,1793254852428283648
+197,3.283333333,POSE1_TO_POSE2_PRESS,785.104245013,760,737,716,685.104245013,650,917,798,842,657,635.104245013,658,0.449844260605,-0.0156257311063,0.0796508342858,0.999999851475,-0.000191995865761,-0.000503608455348,-8.10316829129e-05,1793254852444950016
+198,3.300000000,POSE1_TO_POSE2_PRESS,785.469411375,760,737.469411375,716,685,649.530588625,916.530588625,798,842,657,635,657.530588625,0.450458441658,-0.0156333489083,0.0796862668014,0.999999874378,-0.000200785698141,-0.00045234893664,-7.94277381904e-05,1793254852461616640
+199,3.316666667,POSE1_TO_POSE2_PRESS,786,760,737.958545653,716,685,649,916.041454347,797.958545653,842,657,635,657.041454347,0.451063967587,-0.0156419362562,0.0797270910015,0.999999896517,-0.000210326574716,-0.000395806230636,-7.78835605148e-05,1793254852478283264
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+202,3.366666667,POSE1_TO_POSE2_PRESS,786,760,737,716,684.211231591,649,917,796.211231591,842,657,635,658,0.452498772417,-0.0156499915722,0.0796529538523,0.999999832336,-0.00022726279004,-0.000525916594754,-8.4214024479e-05,1793254852528283136
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,784.234589993,760,736.234589993,716.765410007,685.234589993,650,916,799.234589993,840,657.765410007,635,657.765410007,0.41349182048,-0.0153837994588,0.0797703441826,0.999999904307,0.000237557552562,-0.000365364676346,3.82196998461e-05,1793254855055204864
+352,5.866666667,POSE2_TO_POSE3_RETREAT,784.341880776,759.658119224,736.341880776,717,685.341880776,650,916,799.341880776,840,657.658119224,635.341880776,657.658119224,0.412773453549,-0.0153854523508,0.0797800314732,0.999999910369,0.000240755114527,-0.000346151010191,3.84422816401e-05,1793254855071871488
+353,5.883333333,POSE2_TO_POSE3_RETREAT,784.91890068,759.08109932,736.91890068,717,685.91890068,650,916,799.91890068,840,657.08109932,635.91890068,657.08109932,0.412057273051,-0.0153866449273,0.0797901968619,0.999999913633,0.000249818645269,-0.000329811208174,3.93488971699e-05,1793254855088538112
+354,5.900000000,POSE2_TO_POSE3_RETREAT,784.49521856,759,736.49521856,717,686,650,916.50478144,800,839.49521856,657,635.49521856,657,0.411340709467,-0.0153853570184,0.0797801058685,0.999999906877,0.000245505585457,-0.000352744220674,3.93000157506e-05,1793254855105204480
+355,5.916666667,POSE2_TO_POSE3_RETREAT,784,759,736.091349347,717,686,650,916.908650653,800,839.091349347,657,635,657,0.410635067806,-0.0153830885599,0.0797695290428,0.999999899311,0.000241254971497,-0.000376346545963,3.92127075541e-05,1793254855121870848
+356,5.933333333,POSE2_TO_POSE3_RETREAT,784,759,736.673821074,717,686,650,916.326178926,800,839.673821074,657,635,657,0.409988482601,-0.0153777292147,0.0797741497116,0.999999900097,0.000249100830486,-0.000369018513716,3.9758881412e-05,1793254855138537728
+357,5.950000000,POSE2_TO_POSE3_RETREAT,784.252082872,759,736.747917128,717,686,650,916.252082872,799.747917128,840,657,635,657,0.409380702772,-0.0153761151939,0.0797903777064,0.999999909242,0.000252033901623,-0.000341053697921,4.09515943557e-05,1793254855155204608
+358,5.966666667,POSE2_TO_POSE3_RETREAT,784.824986732,759,736.175013268,717,686,650,916.824986732,799.175013268,840,657,635,657,0.40882230984,-0.0153792677752,0.0798213781199,0.999999927013,0.000248714561736,-0.000286824847386,4.29671449441e-05,1793254855171871488
+359,5.983333333,POSE2_TO_POSE3_RETREAT,785,759,736.400953823,717.400953823,686,650,916.599046177,799.400953823,840,657,635,657.400953823,0.408249768305,-0.015377164662,0.0798276994019,0.999999927796,0.000254354466186,-0.00027884709313,4.42370431998e-05,1793254855188538112
+360,6.000000000,POSE2_TO_POSE3_RETREAT,785,759,736.978268335,717.978268335,686,650,916.021731665,799.978268335,840,657,635,657.978268335,0.407671003419,-0.0153727498168,0.0798231654998,0.999999921746,0.000263935119829,-0.000291213011742,4.51789643399e-05,1793254855205204992
+361,6.016666667,POSE2_TO_POSE3_RETREAT,784.433752875,759.566247125,737,717.433752875,686,650,916,800,840,657,635,657.433752875,0.407098762487,-0.0153680440762,0.0797835193053,0.999999899339,0.000262606257857,-0.000361648025691,3.96261652565e-05,1793254855221871616
+362,6.033333333,POSE2_TO_POSE3_RETREAT,784.152581678,759.847418322,737,717.152581678,686,650,916,800,839.847418322,657.152581678,635,657,0.406553409774,-0.0153653287594,0.0797528937198,0.999999879809,0.000260950911179,-0.000413553388997,3.54985362125e-05,1793254855238538240
+363,6.050000000,POSE2_TO_POSE3_RETREAT,784.733134494,759.266865506,737,717.733134494,686,650,916,800,839.266865506,657.733134494,635,657,0.406082759021,-0.0153682282278,0.0797514219814,0.999999882788,0.000259576732285,-0.000407114681042,3.60808693847e-05,1793254855255204608
+364,6.066666667,POSE2_TO_POSE3_RETREAT,785,759,737,717.689869072,686,650,916.310130928,800,839,657.689869072,635.310130928,657,0.405652671688,-0.0153703628196,0.0797622974208,0.999999892846,0.000260613458477,-0.000380738710029,3.77594799732e-05,1793254855271870976
+365,6.083333333,POSE2_TO_POSE3_RETREAT,785,759,737,717.11589822,686,650,916.88410178,800,839,657.11589822,635.88410178,657,0.405257093197,-0.0153718467022,0.0797836770638,0.999999907496,0.000263701231076,-0.000337401367044,4.03707344778e-05,1793254855288537856
+366,6.100000000,POSE2_TO_POSE3_RETREAT,784.062908958,759,737,717.468545521,686,650,916.531454479,799.531454479,839.468545521,657.468545521,635.531454479,657.468545521,0.404868821437,-0.0153712008404,0.079800176289,0.99999991092,0.00027371735813,-0.000318295531196,4.38863777174e-05,1793254855305204480
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783.054877576,759.054877576,737,718,686,650,916,799.054877576,840,657.945122424,635,657.945122424,0.404485692422,-0.0153696209777,0.0798144949944,0.999999911767,0.000283900227737,-0.000306036697621,4.69909272043e-05,1793254855321871360
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783.633936352,759.633936352,737,718,686,650,916,799.633936352,840,657.366063648,635,657.366063648,0.40413402757,-0.0153642667249,0.0798197804245,0.999999914946,0.00027893180152,-0.000300618136118,4.39831125153e-05,1793254855338538240
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783.787809187,759.787809187,737,718,686,650,916,799.787809187,840,657,635,657.212190813,0.40379167474,-0.0153598887545,0.0798213225434,0.999999915191,0.000276279995663,-0.000302538552468,4.19216903058e-05,1793254855355204864
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783.21093712,759.21093712,737,718,686,650,916,799.21093712,840,657,635,657.78906288,0.403465326033,-0.0153571886699,0.0798164312285,0.999999910339,0.000277609644554,-0.000317072086757,4.14867836615e-05,1793254855371871488
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783.365714886,759,737,718,686,650,916,799.365714886,839.634285114,657.365714886,635,658,0.403179771005,-0.0153556247008,0.0798157826543,0.999999908492,0.000282559735312,-0.000318417279574,4.22749616903e-05,1793254855388538112
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783.942240097,759,737,718,686,650,916,799.942240097,839.057759903,657.942240097,635,658,0.402917730792,-0.0153547156265,0.0798175797378,0.999999908387,0.000289596770303,-0.000312160271454,4.37681667015e-05,1793254855405204736
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783.470819799,759,737,718,686,650,916,800,839.529180201,657.470819799,635,657.470819799,0.402678016012,-0.0153534384575,0.0798210724084,0.999999908361,0.000291243491186,-0.000310792558163,4.31763079038e-05,1793254855421871616
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783.115895637,759,737,718,686,650,916,800,839.884104363,657,635.115895637,657,0.402449889845,-0.0153531162427,0.0798245552882,0.999999909041,0.000290818758448,-0.00030907914623,4.25651061312e-05,1793254855438537984
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783.697054081,759,737,718,686,650,916,800,839.302945919,657,635.697054081,657,0.402258307078,-0.0153567922194,0.0798272409728,0.999999912472,0.000284487534895,-0.000303792517105,4.28082307854e-05,1793254855455204608
+376,6.266666667,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916,800,839.274843382,657.274843382,635.725156618,657.274843382,0.402082543406,-0.0153609974441,0.0798287969699,0.999999915274,0.000278805835424,-0.000299712152572,4.34912727351e-05,1793254855471871232
+377,6.283333333,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916,800,839.848963986,657.848963986,635.151036014,657.848963986,0.401924005174,-0.0153657789672,0.079829122849,0.999999917423,0.000273831403733,-0.00029694529103,4.46533410344e-05,1793254855488537856
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783.57727895,759,737,718,686,650,916.42272105,800,840,658,635,658,0.401788872249,-0.015367082344,0.0798310383936,0.999999919705,0.000270897334092,-0.000291865170029,4.49453443274e-05,1793254855505204736
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783.003651677,759,737,718,686,650,916.996348323,800,840,658,635,658,0.401662094735,-0.0153671440651,0.0798335214292,0.999999922007,0.000268691648745,-0.000285959243862,4.49267450725e-05,1793254855521871360
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783,759.591284529,737,718,686,650,916.408715471,800,840,658,635,657.408715471,0.401550169545,-0.0153639033766,0.0798350464706,0.999999920976,0.000273637731551,-0.000285116801849,4.33448459473e-05,1793254855538537728
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783,759.820098685,737,718,685.820098685,650,916,799.820098685,839.820098685,657.820098685,635,657.179901315,0.401444591529,-0.0153617191908,0.0798345213015,0.999999919652,0.00027678309239,-0.000287077772708,4.09179190468e-05,1793254855555204352
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783,759.24564103,737,718,685.24564103,650,916,799.24564103,839.24564103,657.24564103,635,657.75435897,0.401352725348,-0.0153618985108,0.0798295131081,0.999999917727,0.000275878651094,-0.000295115990967,3.66596586849e-05,1793254855571870976
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783.329846746,759,737,718,685.329846746,650,916,799,839.329846746,657,635,658,0.401275647096,-0.0153617541243,0.0798258757905,0.999999916179,0.00027590791764,-0.000300466568277,3.51623169014e-05,1793254855588537856
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783.906104128,759,737,718,685.906104128,650,916,799,839.906104128,657,635,658,0.401209616097,-0.0153613679143,0.0798232625794,0.999999914948,0.000276634706653,-0.000303809355469,3.57275073917e-05,1793254855605204736
+385,6.416666667,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916,799.494058245,840,657.494058245,635,657.505941755,0.40116063166,-0.0153604220798,0.0798238992276,0.999999914776,0.000277886794817,-0.000303148860509,3.64395827075e-05,1793254855621871360
+386,6.433333333,POSE2_TO_POSE3_RETREAT,784,759.082348838,737,718,686,650,916,799.917651162,840,657.917651162,635,657,0.401116433954,-0.0153594659225,0.0798248698844,0.999999914785,0.000278973175181,-0.000302046696435,3.7050107543e-05,1793254855638537984
+387,6.450000000,POSE2_TO_POSE3_RETREAT,784,759.658992554,737,718,686,650,916,799.341007446,840,657.341007446,635,657,0.401081050642,-0.0153591016846,0.0798240481807,0.999999914657,0.000278451128156,-0.000302970987143,3.68794563427e-05,1793254855655204864
+388,6.466666667,POSE2_TO_POSE3_RETREAT,783.763972159,759.763972159,737,718,686.236027841,650,916,799.236027841,839.763972159,657.236027841,635,657,0.401050186353,-0.0153587856402,0.0798232211426,0.999999914607,0.000277455157423,-0.000304061015011,3.67633975398e-05,1793254855671871488
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783.186370234,759.186370234,737,718,686.813629766,650,916,799.813629766,839.186370234,657.813629766,635,657,0.401025861895,-0.0153585393404,0.079822386385,0.999999914668,0.000275773335182,-0.000305390893847,3.67263436142e-05,1793254855688537856
+390,6.500000000,POSE2_TO_POSE3_RETREAT,783.396447644,759,737,718,686.603552356,650,916,800,839.396447644,657.603552356,635,657.396447644,0.40101068754,-0.0153594500905,0.0798218828844,0.999999914929,0.000275794854058,-0.000304488633696,3.69667827373e-05,1793254855705204480
+391,6.516666667,POSE2_TO_POSE3_RETREAT,783.981750219,759,737,718,686.018249781,650,916,800,839.981750219,657.018249781,635,657.981750219,0.400999872002,-0.0153609120218,0.0798215371841,0.999999915281,0.000276627790008,-0.000302523054152,3.73394106417e-05,1793254855721871104
+392,6.533333333,POSE2_TO_POSE3_RETREAT,784,759.56254594,737,718,686.56254594,650,916,800,839.43745406,657,635.56254594,658,0.400991487844,-0.0153600025965,0.0798212399053,0.99999991512,0.000276582477078,-0.00030312467384,3.7111017987e-05,1793254855738537728
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783.85805163,759.85805163,737,718,686.85805163,650,916,800,839.14194837,657,635.85805163,658,0.40098474325,-0.0153591559493,0.0798212880084,0.999999914952,0.000277088580164,-0.000303233760119,3.69691116539e-05,1793254855755204608
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783.282462591,759.282462591,737,718,686.282462591,650,916,800,839.717537409,657,635.282462591,658,0.400982768345,-0.0153587342319,0.0798223864646,0.99999991481,0.000279365561946,-0.000301585794645,3.71505052486e-05,1793254855771871232
+395,6.583333333,POSE2_TO_POSE3_RETREAT,783.292301432,759,737.292301432,718,686,650,916,800,839.707698568,657.292301432,635.292301432,657.707698568,0.400981970673,-0.01535927205,0.0798240572657,0.999999915686,0.000278942006163,-0.000299059336807,3.71950110018e-05,1793254855788537600
+396,6.600000000,POSE2_TO_POSE3_RETREAT,783.86627052,759,737.86627052,718,686,650,916,800,839.13372948,657.86627052,635.86627052,657.13372948,0.400982307407,-0.0153607344963,0.0798262795903,0.999999917531,0.00027591615725,-0.000295686345509,3.7107608844e-05,1793254855805204480
+397,6.616666667,POSE2_TO_POSE3_RETREAT,784,759,737.545802342,718,686,650,916,800,839,657.545802342,635.545802342,657.454197658,0.400980721613,-0.0153610500238,0.0798263870278,0.999999917503,0.000276081597949,-0.000295625172832,3.71182119228e-05,1793254855821871360
+398,6.633333333,POSE2_TO_POSE3_RETREAT,784,759,737,718.045357277,686,650.045357277,916,800,839.045357277,657.045357277,635.045357277,658,0.400978618229,-0.0153609488544,0.0798258935238,0.999999916887,0.000277321722543,-0.000296543639125,3.71553207727e-05,1793254855838537728
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,784,759.202958656,737,718.797041344,686,650.797041344,916,800,840,658,635.797041344,658,0.400976999889,-0.01536021034,0.0798263766845,0.999999916163,0.000279980254206,-0.000296486838348,3.71675554446e-05,1793254855871871488
+401,6.683333333,POSE2_TO_POSE3_RETREAT,784,759.779422275,737,718.220577725,686,650.220577725,916,800,840,658,635.220577725,658,0.400978589392,-0.0153623497466,0.0798277729444,0.999999918175,0.000275925791054,-0.000293479857401,3.72085038648e-05,1793254855888538112
+402,6.700000000,POSE2_TO_POSE3_RETREAT,784,760,737,718.355156977,686,650,916,800,840,658,635.355156977,658,0.400979268302,-0.0153619527556,0.0798281428363,0.999999918744,0.000275311052712,-0.000292135144334,3.70439543161e-05,1793254855905204736
+403,6.716666667,POSE2_TO_POSE3_RETREAT,784,760,737,718.930439877,686,650,916,800,840,658,635.930439877,658,0.400979382828,-0.015359983708,0.0798278765865,0.999999918428,0.000276828252352,-0.000291820703271,3.67520373408e-05,1793254855921871616
+404,6.733333333,POSE2_TO_POSE3_RETREAT,783.48166663,759.48166663,737,719,686,650,916,800,839.48166663,657.48166663,636,658,0.400981567178,-0.0153610665475,0.0798300716479,0.999999919701,0.000275723024378,-0.000288468118898,3.68884016386e-05,1793254855938537984
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e685eca7e96168acc695a404f8b35fd5eec00c94
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_02/simulation_data.csv
@@ -0,0 +1,417 @@
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+379,6.316666667,pose2_to_pose3_retreat,0.576190921249,-0.00981807382805,1.07002062983,0.546762068081,-0.00114383911929,1.06969233479
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+382,6.366666667,pose2_to_pose3_retreat,0.575957467824,-0.00981810457573,1.07002069453,0.546528613638,-0.00114387351683,1.06969239531
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+384,6.400000000,pose2_to_pose3_retreat,0.575849313183,-0.00981825268776,1.0700206321,0.546420462075,-0.00114401080418,1.06969234242
+385,6.416666667,pose2_to_pose3_retreat,0.575808645815,-0.00981821802976,1.07002063684,0.546379793674,-0.00114397979778,1.06969234324
+386,6.433333333,pose2_to_pose3_retreat,0.57577508034,-0.00981817447666,1.07002050088,0.546346227762,-0.00114393772565,1.06969220736
+387,6.450000000,pose2_to_pose3_retreat,0.575747877332,-0.00981816387305,1.07002037261,0.546319024993,-0.00114392619425,1.06969208221
+388,6.466666667,pose2_to_pose3_retreat,0.57572582034,-0.0098181900692,1.07002038539,0.546296968337,-0.00114395113099,1.0696920981
+389,6.483333333,pose2_to_pose3_retreat,0.575708947454,-0.009818169953,1.07002060906,0.546280093927,-0.00114393646086,1.06969231459
+390,6.500000000,pose2_to_pose3_retreat,0.575696116963,-0.00981825654646,1.07002064822,0.546267264952,-0.00114401796757,1.06969235232
+391,6.516666667,pose2_to_pose3_retreat,0.57568686861,-0.00981825979516,1.07002061268,0.546258016728,-0.0011440208408,1.06969231521
+392,6.533333333,pose2_to_pose3_retreat,0.575680875993,-0.00981818209437,1.07002055328,0.546252022685,-0.00114394806991,1.06969225343
+393,6.550000000,pose2_to_pose3_retreat,0.575677015345,-0.0098182391371,1.0700205561,0.546248163411,-0.00114400057604,1.06969225281
+394,6.566666667,pose2_to_pose3_retreat,0.575674676722,-0.00981829266366,1.0700205651,0.546245826027,-0.00114404998824,1.06969225938
+395,6.583333333,pose2_to_pose3_retreat,0.575673253883,-0.00981832109045,1.07002056375,0.546244403765,-0.00114407648407,1.06969225726
+396,6.600000000,pose2_to_pose3_retreat,0.575672500784,-0.00981831400642,1.07002052658,0.546243650029,-0.00114407143747,1.06969222339
+397,6.616666667,pose2_to_pose3_retreat,0.575671828006,-0.00981830767793,1.07002049338,0.546242976682,-0.00114406692911,1.06969219314
+398,6.633333333,pose2_to_pose3_retreat,0.575671216825,-0.00981830192886,1.07002046322,0.546242364984,-0.00114406283351,1.06969216566
+399,6.650000000,pose2_to_pose3_retreat,0.575670759678,-0.0098182976287,1.07002044066,0.54624190745,-0.00114405977012,1.06969214511
+400,6.666666667,pose2_to_pose3_retreat,0.575670580987,-0.00981829594784,1.07002043184,0.546241728607,-0.00114405857269,1.06969213707
+401,6.683333333,pose2_to_pose3_retreat,0.575670486976,-0.00981829506352,1.0700204272,0.546241634517,-0.00114405794271,1.06969213285
+402,6.700000000,pose2_to_pose3_retreat,0.575669961887,-0.00981829012428,1.07002040129,0.546241108984,-0.00114405442403,1.06969210924
+403,6.716666667,pose2_to_pose3_retreat,0.57566924515,-0.00981829231648,1.07002040921,0.546240392031,-0.00114405730565,1.0696921183
+404,6.733333333,pose2_to_pose3_retreat,0.575668996712,-0.00981829574897,1.07002042491,0.546240143635,-0.00114406060328,1.06969213379
+405,6.750000000,pose2_to_pose3_retreat,0.575668971593,-0.00981829609602,1.07002042649,0.54624011852,-0.00114406093671,1.06969213535
+406,6.766666667,pose2_to_pose3_retreat,0.575668809999,-0.00981829832866,1.0700204367,0.546239956953,-0.00114406308163,1.06969214543
+407,6.783333333,pose2_to_pose3_retreat,0.57566841192,-0.00981830382865,1.07002046185,0.546239558942,-0.00114406836553,1.06969217025
+408,6.800000000,pose2_to_pose3_retreat,0.575667894059,-0.00981831098358,1.07002049457,0.546239041169,-0.00114407523936,1.06969220254
+409,6.816666667,pose2_to_pose3_retreat,0.57566762518,-0.00981830806269,1.07002048728,0.546238772423,-0.00114407184539,1.0696921958
+410,6.833333333,pose2_to_pose3_retreat,0.575667541065,-0.0098183034625,1.07002047151,0.546238688398,-0.00114406691548,1.06969218064
+411,6.850000000,pose2_to_pose3_retreat,0.575667481353,-0.0098183001969,1.07002046032,0.546238628751,-0.0011440634158,1.06969216988
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+413,6.883333333,pose2_to_pose3_retreat,0.575667084004,-0.00981827846613,1.07002038582,0.546238231829,-0.00114404012744,1.06969209826
+414,6.900000000,pose2_to_pose3_retreat,0.575666867482,-0.00981826115075,1.07002035561,0.546238014729,-0.0011440246596,1.069692071
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..76c802c67ac86b73e8ecacfd625b4626589bd90c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f60673d91f3f2f0b954f8f9cc51aaecbd6e1fe5ceb156281ebf93b311f673d33
+size 26417886
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a07ac30bccd8403d35bf286dda13fd69e485b92
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_03/franka_data.csv
@@ -0,0 +1,418 @@
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+12,0.200000000,BASELINE,783,759,737,719,686,650,916,800,840,657,635,658,0.400978862086,-0.0153638394017,0.0798313258131,0.9999999211,0.000272718995433,-0.000286560493036,3.61654316003e-05,1793254856440921856
+13,0.216666667,BASELINE,783.588570343,759,737,719,686,650,916,800,840,657,635.588570343,657.411429657,0.400978493741,-0.0153653422773,0.0798314404954,0.999999921824,0.000270126040032,-0.000286483738356,3.62079941634e-05,1793254856457588736
+14,0.233333333,BASELINE,783.822464618,759.177535382,737,718.822464618,686,650,916,800,839.822464618,657.177535382,636,657,0.400978078325,-0.0153657903448,0.0798313558084,0.999999922052,0.000268945647578,-0.000286804471388,3.61687139869e-05,1793254856474255360
+15,0.250000000,BASELINE,783.245971594,759.754028406,737,718.245971594,686,650,916,800,839.245971594,657.754028406,636,657,0.400977600896,-0.0153638454828,0.0798308375342,0.999999921167,0.000271006315352,-0.000287975455976,3.59498229514e-05,1793254856490921984
+16,0.266666667,BASELINE,783,759.67069258,737.32930742,718,686.32930742,650,916,800,839.32930742,657.67069258,636,657,0.400977765717,-0.0153631003173,0.0798309898986,0.999999920747,0.000272782057571,-0.000287750558101,3.60020924148e-05,1793254856507588864
+17,0.283333333,BASELINE,783,759.096317058,737.903682942,718,686.903682942,650,916,800,839.903682942,657.096317058,636,657,0.400978408495,-0.0153632479571,0.079831641347,0.999999920673,0.000274345760215,-0.000286486854941,3.62561574921e-05,1793254856524255488
+18,0.300000000,BASELINE,783,759,737.508050347,718,686.508050347,650.491949653,916.491949653,800,839.508050347,657.491949653,636,657.491949653,0.400979053229,-0.0153632058267,0.0798325792449,0.999999921273,0.000273515495145,-0.000285213651633,3.59987743854e-05,1793254856540921856
+19,0.316666667,BASELINE,783,759,737,718,686,650.918649319,916.918649319,800,839.081350681,658,636,657.918649319,0.400979552422,-0.0153631514406,0.0798333411231,0.999999921882,0.000272355983871,-0.00028422337513,3.56977507311e-05,1793254856557588480
+20,0.333333333,BASELINE,783,759,737,718,686,650.339434481,916.339434481,800,839.660565519,658,636,657.339434481,0.400979158492,-0.015363256041,0.079832672566,0.999999921727,0.000272133315889,-0.000284976317588,3.57602763727e-05,1793254856574255104
+21,0.350000000,BASELINE,783,759,737,718,686,650,916.238153968,800,840,657.761846032,635.761846032,657.238153968,0.400978709198,-0.0153635199244,0.0798321108775,0.999999921647,0.00027166715763,-0.000285699284345,3.57724956076e-05,1793254856590921728
+22,0.366666667,BASELINE,783,759,737,718,686,650,916.813440045,800,840,657.186559955,635.186559955,657.813440045,0.400978181533,-0.0153640092894,0.0798317004725,0.999999921674,0.000270856313174,-0.000286379817263,3.57135008021e-05,1793254856607588608
+23,0.383333333,BASELINE,783.385247791,759,737,718,686,650,917,800,839.614752209,657.385247791,635,658,0.400979458161,-0.0153642495416,0.0798325416685,0.999999921784,0.000271812910286,-0.00028505182755,3.59801440217e-05,1793254856624255232
+24,0.400000000,BASELINE,783.955386245,759,737,718,686,650,917,800,839.044613755,657.955386245,635,658,0.400981600717,-0.015364370238,0.0798339835409,0.999999921927,0.000273617749549,-0.000282759894455,3.64030695867e-05,1793254856640922112
+25,0.416666667,BASELINE,784,759,737,718.549506821,686,650.549506821,916.450493179,800,839,657.450493179,635,657.450493179,0.400979324175,-0.0153642734813,0.0798319071738,0.999999921506,0.000272049765798,-0.000285804638882,3.59547139487e-05,1793254856657588736
+26,0.433333333,BASELINE,783.858503773,759.141496227,737,718.858503773,686,650.858503773,916,800,839.141496227,657.141496227,635,657.141496227,0.40097762742,-0.0153642156544,0.079830447661,0.999999921188,0.000271007618988,-0.000287938447614,3.56326834563e-05,1793254856674255360
+27,0.450000000,BASELINE,783.279401825,759.720598175,737,718.279401825,686,650.279401825,916,800,839.720598175,657.720598175,635,657.720598175,0.400978884014,-0.0153643353181,0.0798318196119,0.999999921376,0.000272477267166,-0.000285853853848,3.59300947235e-05,1793254856690921728
+28,0.466666667,BASELINE,783.297382232,759.702617768,737,718,686,650,916,800,840,658,635,657.702617768,0.400979059718,-0.0153638596872,0.0798322522547,0.999999921111,0.000273840014393,-0.000285476518183,3.59491735723e-05,1793254856707588352
+29,0.483333333,BASELINE,783.87200535,759.12799465,737,718,686,650,916,800,840,658,635,657.12799465,0.400978227738,-0.0153628290801,0.0798318092076,0.999999920426,0.000275103100855,-0.00028669081018,3.57087711093e-05,1793254856724255232
+30,0.500000000,BASELINE,783.553836158,759.446163842,737,718,686,650,916.446163842,800,839.553836158,657.553836158,635.446163842,657,0.400979295093,-0.0153623314007,0.0798330335859,0.999999921121,0.000274158843284,-0.000285151404767,3.58324646719e-05,1793254856740922112
+31,0.516666667,BASELINE,783,760,737,718.020849572,686,650,916.979150428,800,839.020849572,657,636,657.020849572,0.400980802547,-0.0153620115732,0.0798346202998,0.999999922151,0.000272641849066,-0.000282957679841,3.60420271414e-05,1793254856757588736
+32,0.533333333,BASELINE,783,760,737,718.613651608,686,650,916.386348392,800,839.613651608,657,636,657.613651608,0.4009794512,-0.0153623810015,0.079833038177,0.999999921701,0.000272766496713,-0.000284462772522,3.57448151297e-05,1793254856774255360
+33,0.550000000,BASELINE,783,759.798612842,737,718.798612842,686,650.201387158,916,800,840,657.201387158,635.798612842,658,0.400978805895,-0.0153629637798,0.0798321339515,0.999999921522,0.000272535013767,-0.000285322417968,3.56583214766e-05,1793254856790922240
+34,0.566666667,BASELINE,783,759.220358559,737,718.220358559,686,650.779641441,916,800,840,657.779641441,635.220358559,658,0.400979481847,-0.0153639458121,0.0798324983137,0.999999921855,0.000271637083584,-0.000284974201495,3.5966156983e-05,1793254856807589632
+35,0.583333333,BASELINE,783,759,737.355138334,718,686.355138334,650.644861666,916,800,839.644861666,658,635.355138334,657.644861666,0.400980369933,-0.015364048414,0.0798327251379,0.999999922127,0.000271774563506,-0.000283895780438,3.58880203383e-05,1793254856824256000
+36,0.600000000,BASELINE,783,759,737.92893754,718,686.92893754,650.07106246,916,800,839.07106246,658,635.92893754,657.07106246,0.40098138863,-0.0153636095453,0.0798328672791,0.99999992236,0.000272549551757,-0.000282367767859,3.55722382785e-05,1793254856840922112
+37,0.616666667,BASELINE,783.517073171,759.517073171,737.482926829,718.517073171,686.482926829,650,916,800,839.517073171,657.482926829,636,657.517073171,0.400980489705,-0.0153650376783,0.0798336087472,0.999999922587,0.000271171003139,-0.000282871049272,3.57120832377e-05,1793254856857588480
+38,0.633333333,BASELINE,783.89483046,760,737,718.89483046,686,650,916,800,839.89483046,657.10516954,636,657.89483046,0.400979550361,-0.0153660261998,0.07983415832,0.999999922688,0.000269979181491,-0.000283639773304,3.58372693002e-05,1793254856874255360
+39,0.650000000,BASELINE,783.316036791,760,737,718.316036791,686,650,916,800,839.316036791,657.683963209,636,657.316036791,0.400979649684,-0.0153638464901,0.0798334621943,0.999999922229,0.000270999140354,-0.000284310848312,3.56064033707e-05,1793254856890921984
+40,0.666666667,BASELINE,783,759.738140992,737.261859008,718,686,650,916,799.738140992,839,657.738140992,635.738140992,657,0.400979208359,-0.0153627164091,0.0798329697793,0.999999921706,0.000272048982345,-0.00028516607707,3.5455875133e-05,1793254856907588608
+41,0.683333333,BASELINE,783,759.161325162,737.838674838,718,686,650,916,799.161325162,839,657.161325162,635.161325162,657,0.400978116759,-0.0153628487927,0.0798327223821,0.999999921105,0.000273134766884,-0.000286242800862,3.54019748785e-05,1793254856924255232
+42,0.700000000,BASELINE,783.413677762,759,737.586322238,718,686,650,916,799.413677762,839.413677762,657.413677762,635.413677762,657,0.400978425451,-0.0153641068534,0.0798325661126,0.999999921616,0.000271617781288,-0.000285881059866,3.55458230192e-05,1793254856940921856
+43,0.716666667,BASELINE,783.987976763,759,737.012023237,718,686,650,916,799.987976763,839.987976763,657.987976763,635.987976763,657,0.400979277843,-0.0153658019877,0.0798324452257,0.999999922554,0.000269090201906,-0.000284960797165,3.57664521611e-05,1793254856957588736
+44,0.733333333,BASELINE,784,759,737.578453147,718,686,650,916,800,840,658,635.421546853,657.578453147,0.400980458669,-0.0153645208386,0.0798334994854,0.999999923037,0.000269733690089,-0.000282639959206,3.58411671689e-05,1793254856974255104
+45,0.750000000,BASELINE,784,759.165523886,737.834476114,718.165523886,686,650,916,800,840,658,635,657.834476114,0.400981295791,-0.0153634929852,0.0798342653531,0.999999923313,0.000270439460401,-0.000280980724019,3.58640635678e-05,1793254856990921472
+46,0.766666667,BASELINE,784,759.743252003,737.256747997,718.743252003,686,650,916,800,840,658,635,657.256747997,0.400981259497,-0.0153632544033,0.0798342504605,0.999999923111,0.000271131470856,-0.000281043660327,3.5765686046e-05,1793254857007588096
+47,0.783333333,BASELINE,784,759.679734524,737,719,686,650,916,800,839.679734524,657.679734524,635.320265476,657.320265476,0.400980375535,-0.0153643069412,0.0798336583499,0.999999922707,0.000271197968782,-0.000282414501218,3.5773082544e-05,1793254857024254976
+48,0.800000000,BASELINE,784,759.103292622,737,719,686,650,916,800,839.103292622,657.103292622,635.896707378,657.896707378,0.400978813535,-0.0153663922301,0.0798326045297,0.999999922136,0.000270764126983,-0.000284831518942,3.58650863716e-05,1793254857040921600
+49,0.816666667,BASELINE,783.517709165,759.482290835,737,718.517709165,686,650,916,800,839.482290835,657,636,658,0.40097930822,-0.0153659730206,0.0798335613561,0.999999922386,0.000270998172618,-0.000283696638742,3.61114485538e-05,1793254857057588224
+50,0.833333333,BASELINE,783.068869048,759.931130952,737,718,686,650,916,800,839.931130952,657,635.931130952,657.931130952,0.400979893845,-0.0153651445069,0.0798345715813,0.999999922784,0.000270924829098,-0.000282339570464,3.62765861465e-05,1793254857074255104
+51,0.850000000,BASELINE,783.648031086,759.351968914,737,718,686,650,916,800,839.351968914,657,635.351968914,657.351968914,0.400977826441,-0.0153653344414,0.0798327250832,0.999999922955,0.000267493487602,-0.00028508166414,3.55901936272e-05,1793254857090921728
+52,0.866666667,BASELINE,783.773490195,759.226509805,737,718,686,650,916,800,839.226509805,657,635,657,0.400977338276,-0.015365746295,0.0798320898708,0.999999923048,0.000266210328244,-0.000285989446367,3.53074223628e-05,1793254857107588352
+53,0.883333333,BASELINE,783.196070111,759.803929889,737,718,686,650,916,800,839.803929889,657,635,657,0.400979296676,-0.0153665019469,0.0798333311889,0.99999992304,0.000268255145083,-0.000284055502706,3.56499434844e-05,1793254857124254976
+54,0.900000000,BASELINE,783,759.618736419,737,718.381263581,686,650,916,800,839.618736419,657,635,657,0.400979525848,-0.0153654673108,0.079833481614,0.999999922327,0.0002715772938,-0.000283388556918,3.58136814759e-05,1793254857140921856
+55,0.916666667,BASELINE,783,759.041447163,737,718.958552837,686,650,916,800,839.041447163,657,635,657,0.400978865943,-0.0153635122028,0.0798330711591,0.99999992124,0.000275556179305,-0.000283373034836,3.58854985769e-05,1793254857157588480
+56,0.933333333,BASELINE,783.544456639,759,737,718.455543361,686,650,916,800,839.544456639,657.544456639,635.544456639,657,0.400978690805,-0.015364238344,0.0798328936202,0.999999921487,0.000274384131906,-0.000283640673471,3.58794369313e-05,1793254857174256640
+57,0.950000000,BASELINE,784,759.129386771,737.129386771,718,686,650,916,800,839.870613229,658,635.870613229,657.129386771,0.40097863409,-0.0153643086421,0.0798326878981,0.999999921635,0.000273540331532,-0.00028395382152,3.57319744614e-05,1793254857190924032
+58,0.966666667,BASELINE,784,759.70861495,737.70861495,718,686,650,916,800,839.29138505,658,635.29138505,657.70861495,0.400978858732,-0.015361377709,0.0798323215548,0.999999921082,0.000275222957073,-0.000284349044584,3.51138444708e-05,1793254857207589888
+59,0.983333333,BASELINE,784,760,737.714009588,718,686,650,916,800,839.285990412,657.714009588,635.285990412,658,0.400978821196,-0.0153609222829,0.0798320866162,0.999999920823,0.000275708868671,-0.000284803719592,3.49965656457e-05,1793254857224256256
+60,1.000000000,BASELINE,784,760,737.138509569,718,686,650,916,800,839.861490431,657.138509569,635.861490431,658,0.400978518255,-0.0153629728251,0.0798319846995,0.999999920863,0.000274983340621,-0.000285318578167,3.53863010286e-05,1793254857240922624
+61,1.016666667,BASELINE,783.554382502,760,737,718,686,650,916,800,840,657,635.554382502,658,0.400980434359,-0.0153630320529,0.0798340820176,0.999999921558,0.000275223109896,-0.000282592345167,3.57440729551e-05,1793254857257588992
+62,1.033333333,BASELINE,783,759.967944333,737,718,686.032055667,650.032055667,916,800,840,657,635,657.967944333,0.400982802294,-0.0153625493434,0.0798366360311,0.999999922393,0.000275632247876,-0.000279180165603,3.60531156412e-05,1793254857274255360
+63,1.050000000,BASELINE,783,759.388731675,737,718,686.611268325,650.611268325,916,800,840,657,635,657.388731675,0.400980877011,-0.0153635897749,0.0798350870198,0.999999922256,0.000273709863233,-0.000281594605802,3.57033304568e-05,1793254857290922240
+64,1.066666667,BASELINE,783,759.190537764,737,718.190537764,686.809462236,650.809462236,916,800,840,657,635.190537764,657,0.400979535095,-0.0153642926786,0.0798339146867,0.999999922362,0.000271595702622,-0.000283293405801,3.54352041908e-05,1793254857307588608
+65,1.083333333,BASELINE,783,759.769923047,737,718.769923047,686.230076953,650.230076953,916,800,840,657,635.769923047,657,0.400979383707,-0.015364306759,0.0798335110748,0.999999922976,0.000269090167693,-0.000283531734464,3.53337266311e-05,1793254857324255232
+66,1.100000000,BASELINE,783,759.65301809,737,718.65301809,686,650,916,800,840,657,636,657,0.400978782382,-0.0153640725942,0.0798329429285,0.999999922662,0.000269359576129,-0.000284384545802,3.53175102382e-05,1793254857340921856
+67,1.116666667,BASELINE,783,759.077491581,737,718.077491581,686,650,916,800,840,657,636,657,0.400977884698,-0.0153636749193,0.0798322664092,0.999999921735,0.000271456740818,-0.000285642094936,3.53574523367e-05,1793254857357588736
+68,1.133333333,BASELINE,783,759.507833493,737,718,686,650,916,800,839.492166507,657.507833493,635.492166507,657.507833493,0.400978481583,-0.0153641847901,0.0798322949095,0.999999922001,0.000271444612801,-0.000284704270588,3.55002900255e-05,1793254857374255360
+69,1.150000000,BASELINE,783.093453902,760,737,718,686,650,916,800,839.093453902,657.906546098,635.093453902,658,0.400979323681,-0.0153645274613,0.0798325695906,0.999999922314,0.000271631496277,-0.000283403791464,3.56330223129e-05,1793254857390921984
+70,1.166666667,BASELINE,783.672684314,760,737,718,686,650,916,800,839.672684314,657.327315686,635.672684314,658,0.400980231616,-0.0153632670126,0.0798335537174,0.999999921914,0.000274558815356,-0.00028199380915,3.56300057835e-05,1793254857407588352
+71,1.183333333,BASELINE,784,759.749163092,737,718,686,650,916,800,840,657,636,657.749163092,0.400980643376,-0.0153623877337,0.0798339162028,0.999999921814,0.000275286744943,-0.00028164547653,3.55771819403e-05,1793254857424254976
+72,1.200000000,BASELINE,784,759.172410842,737,718,686,650,916,800,840,657,636,657.172410842,0.400980410453,-0.0153620037131,0.0798334709825,0.999999922111,0.000273156982325,-0.000282676557639,3.54596428688e-05,1793254857440922112
+73,1.216666667,BASELINE,784,759,737,718,686,650,916,800,839.589606341,657,635.589606341,657,0.400980829162,-0.0153630573624,0.0798339580768,0.999999922653,0.000271428233839,-0.000282439021855,3.53531219272e-05,1793254857457588736
+74,1.233333333,BASELINE,784,759,737,718,686,650,916,800,839.004221201,657,635.004221201,657,0.400981525728,-0.0153647240328,0.0798348427093,0.999999923297,0.00026987047754,-0.000281660548923,3.52512991133e-05,1793254857474255104
+75,1.250000000,BASELINE,784,759,737,718.575400368,686.575400368,650,916,800,839.575400368,657.575400368,635.575400368,657.575400368,0.400981012489,-0.0153654660902,0.0798344350498,0.99999992298,0.000270726800006,-0.000281927075961,3.55472831701e-05,1793254857490921472
+76,1.266666667,BASELINE,784,759.154519468,737,718.845480532,686.845480532,650,916,800,839.845480532,657.845480532,636,657.845480532,0.400980265713,-0.0153657861678,0.0798339063167,0.999999922681,0.000271084698557,-0.000282620754962,3.57300016661e-05,1793254857507588352
+77,1.283333333,BASELINE,784,759.732376608,737,718.267623392,686.267623392,650,916,800,839.267623392,657.267623392,636,657.267623392,0.400978903192,-0.0153649685449,0.0798330715936,0.999999922449,0.000270029024007,-0.000284463909151,3.55944898468e-05,1793254857524255488
+78,1.300000000,BASELINE,784,760,737,718.308781783,686,650,916.308781783,800,839.308781783,657.308781783,636,657,0.400978111171,-0.0153652991725,0.0798326275713,0.999999922352,0.000269379348436,-0.000285405180838,3.57127476503e-05,1793254857540922112
+79,1.316666667,BASELINE,784,760,737,718.88393439,686,650,916.88393439,800,839.88393439,657.88393439,636,657,0.400977811293,-0.0153666203394,0.0798325205873,0.999999922374,0.000269079908229,-0.000285568442851,3.60499200062e-05,1793254857557588736
+80,1.333333333,BASELINE,783.540142074,759.540142074,737,718.540142074,686,650,916.540142074,800,840,657.540142074,636,657,0.400978488548,-0.0153657919667,0.0798330609809,0.999999922587,0.000269252077373,-0.000284706481515,3.56599006872e-05,1793254857574255360
+81,1.350000000,BASELINE,783,759.036944707,737.036944707,718,686,650.036944707,916,800,840,657,636,657.036944707,0.400979308137,-0.0153645229742,0.0798336539417,0.999999922773,0.000269655422251,-0.000283734897974,3.51484837001e-05,1793254857590921984
+82,1.366666667,BASELINE,783,759.628569298,737.628569298,718,686,650.628569298,916,800,840,657,636,657.628569298,0.40097855573,-0.01536479775,0.0798325788424,0.999999921831,0.000271739473611,-0.000285008973365,3.55746740217e-05,1793254857607588608
+83,1.383333333,BASELINE,783,760,737.785280139,718,686.214719861,650.785280139,916,800,839.785280139,657,635.785280139,657.785280139,0.400978646446,-0.0153648472322,0.0798324510091,0.999999921508,0.000272876014303,-0.000285028800523,3.57874050532e-05,1793254857624255232
+84,1.400000000,BASELINE,783,760,737.208363264,718,686.791636736,650.208363264,916,800,839.208363264,657,635.208363264,657.208363264,0.40098015937,-0.0153645166814,0.0798339210572,0.999999922235,0.000272414261002,-0.000282932917845,3.56400655138e-05,1793254857640922112
+85,1.416666667,BASELINE,783.366910104,759.633089896,737,718,686.633089896,650.366910104,916,800,839.366910104,657,635,657,0.400979787472,-0.0153640819634,0.0798338057473,0.999999922568,0.000270967527029,-0.000283163090975,3.54888488931e-05,1793254857657588992
+86,1.433333333,BASELINE,783.941254273,759.058745727,737,718,686.058745727,650.941254273,916,800,839.941254273,657,635,657,0.400978349982,-0.0153635883539,0.0798327941489,0.999999922675,0.000268963930398,-0.000284708309,3.53354403578e-05,1793254857674256128
+87,1.450000000,BASELINE,783.469049699,759,737,718,686,650.469049699,916,800,839.469049699,657,635,657,0.400978916704,-0.0153648751554,0.0798332921217,0.999999922852,0.000269128733903,-0.000283913902305,3.54893669032e-05,1793254857690922496
+88,1.466666667,BASELINE,783.119590504,759.119590504,737,718,686,650,916,800,839.119590504,657,635.119590504,657,0.400979586288,-0.0153660212954,0.0798338449058,0.999999923055,0.000269406534574,-0.000282915384224,3.56347121151e-05,1793254857707588864
+89,1.483333333,BASELINE,783.697481345,759.697481345,737,718,686,650,916,800,839.697481345,657,635.697481345,657,0.400979774955,-0.0153658509973,0.0798339486092,0.999999923333,0.000269170569685,-0.000282156222119,3.56129783938e-05,1793254857724255488
+90,1.500000000,BASELINE,783.724440146,759.724440146,737,718,686,650.275559854,916,800,839.724440146,657.275559854,636,657,0.400979166245,-0.0153655856273,0.0798337921019,0.999999923289,0.000268935143659,-0.000282560454795,3.54238674047e-05,1793254857740922368
+91,1.516666667,BASELINE,783.146155507,759.146155507,737,718,686,650.853844493,916,800,839.146155507,657.853844493,636,657,0.400977681551,-0.0153652158132,0.079833349732,0.999999922889,0.000268700309633,-0.000284242770777,3.50508789511e-05,1793254857757588736
+92,1.533333333,BASELINE,783,759,737,718,686,650.562671293,916,800,839,657.562671293,636,657.437328707,0.400978096221,-0.0153644377804,0.0798331764025,0.999999922621,0.000270151834396,-0.000283813147205,3.50293412423e-05,1793254857774255360
+93,1.550000000,BASELINE,783,759.022347702,737,718,686,650,916,800,839,657,636,657.977652298,0.400979143297,-0.0153636151116,0.0798331233735,0.999999922433,0.000272022543023,-0.000282671401386,3.51363856593e-05,1793254857790921984
+94,1.566666667,BASELINE,783,759.601785896,737,718,686,650,916,800,839,657,636,657.398214104,0.400979941125,-0.0153651215562,0.0798338008747,0.999999923242,0.00027012459801,-0.000281584046896,3.54855788073e-05,1793254857807588608
+95,1.583333333,BASELINE,783.179681554,759.820318446,737,718,686,650,916,800,839.179681554,657,636,657,0.400980417482,-0.0153659814618,0.0798342378506,0.99999992363,0.000269265890395,-0.000281003799657,3.5670429338e-05,1793254857824255488
+96,1.600000000,BASELINE,783.754187823,759.245812177,737,718,686,650,916,800,839.754187823,657,636,657,0.400980187452,-0.01536542069,0.0798341463063,0.999999923102,0.000270690759106,-0.000281537848426,3.54941603595e-05,1793254857840922112
+97,1.616666667,BASELINE,783.669755958,759.330244042,737,718.330244042,686.330244042,650,916,800,839.669755958,657,635.669755958,657.330244042,0.400979388589,-0.0153652088515,0.0798338234923,0.999999922888,0.000270591562241,-0.000282384628635,3.55331624409e-05,1793254857857588736
+98,1.633333333,BASELINE,783.092540651,759.907459349,737,718.907459349,686.907459349,650,916,800,839.092540651,657,635.092540651,657.907459349,0.400978164328,-0.0153652579608,0.0798333277244,0.99999992291,0.000269352600891,-0.000283465283372,3.57331538593e-05,1793254857874255104
+99,1.650000000,BASELINE,783,759.504401648,737,718.504401648,686.504401648,650,916,800,839.495598352,657,635,658,0.400978418879,-0.015364544102,0.0798331654957,0.999999922557,0.000269974636614,-0.000284163349183,3.53644582315e-05,1793254857890921728
+100,1.666666667,BASELINE,783,759.084129631,737,718,686,650,916,800,840,657,635,657.915870369,0.400978884601,-0.0153638116376,0.079833118863,0.999999922197,0.000270951186658,-0.000284543502045,3.50134391656e-05,1793254857907588608
+101,1.683333333,BASELINE,783,759.662708274,737,718,686,650,916,800,840,657,635,657.337291726,0.400978931969,-0.0153638259958,0.0798333773299,0.99999992222,0.000271922961757,-0.000283484534051,3.540446711e-05,1793254857924255232
+102,1.700000000,BASELINE,783,759.75999653,737,718,686,650,916.24000347,800,840,657,635,657,0.400979035722,-0.0153643186048,0.0798335888192,0.999999922165,0.000272503464564,-0.00028308195238,3.57188069631e-05,1793254857940922112
+103,1.716666667,BASELINE,783,759.184495498,737,718,686,650,916.815504502,800,840,657,635,657,0.400979218296,-0.0153654797538,0.0798337346391,0.999999922003,0.000272537013115,-0.000283596924247,3.59259455512e-05,1793254857957588736
+104,1.733333333,BASELINE,783.391120498,759,737,718,686,650,916.608879502,800,840,657.391120498,635.391120498,657,0.400980021747,-0.0153662183489,0.0798341369187,0.999999922871,0.000270397610109,-0.000282612488414,3.56876728004e-05,1793254857974255360
+105,1.750000000,BASELINE,783.96679079,759,737,718,686,650,916.03320921,800,840,657.96679079,635.96679079,657,0.400981118158,-0.0153667575625,0.0798346602086,0.999999924214,0.000267232902202,-0.000280920558679,3.52392331966e-05,1793254857990921984
+106,1.766666667,BASELINE,783.442572997,759.557427003,737,718.557427003,686,650,916,800,840,658,635.442572997,657.557427003,0.400980857099,-0.0153667480258,0.079834783308,0.999999923833,0.000268779652888,-0.000280762435421,3.55537913824e-05,1793254858007588608
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,759,737,718,686,650,916,800,840,657,636,657,0.400978532519,-0.0153647750986,0.0798333259361,0.999999922405,0.000271591692154,-0.000283185511801,3.51317499974e-05,1793254858048989184
+108,1.800000000,POSE1_TO_POSE2_PRESS,783.425534405,759,737,718,686,650,916.574465595,800,839.425534405,657.574465595,636,657,0.400978263301,-0.0153640024582,0.0798334386843,0.99999992212,0.000272844886094,-0.000282986211417,3.51338308961e-05,1793254858065656576
+109,1.816666667,POSE1_TO_POSE2_PRESS,783,759.149309818,737,718,686,650,916.850690182,800,839.149309818,658,636,657.149309818,0.400978434936,-0.0153635413479,0.0798338009561,0.999999922133,0.000273191077497,-0.000282603031958,3.51717584258e-05,1793254858082323456
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,759.725236009,737,718,686,650,916.274763991,800,839.725236009,658,636,657.725236009,0.400979866201,-0.0153639703581,0.0798348761809,0.999999922995,0.000270945730759,-0.000281694462866,3.53121089568e-05,1793254858098989824
+111,1.850000000,POSE1_TO_POSE2_PRESS,783.310872692,760,737,718,686,650.310872692,916,800,840,657.689127308,636,658,0.400979418028,-0.0153650999616,0.0798344695306,0.999999923369,0.000268931195089,-0.000282293425883,3.53297528256e-05,1793254858115656192
+112,1.866666667,POSE1_TO_POSE2_PRESS,783.905368663,760,737,718,686,650.905368663,916,800,840,657.094631337,636,658,0.400977255158,-0.0153668687481,0.0798327108984,0.999999923297,0.000267127238979,-0.000284267778978,3.52354458236e-05,1793254858132322048
+113,1.883333333,POSE1_TO_POSE2_PRESS,784,759.51483379,737,718,686.48516621,650.51483379,916,800,840,657.48516621,635.51483379,658,0.400978492264,-0.0153656329475,0.0798332291338,0.999999923151,0.000268805509573,-0.000283194736908,3.52482572763e-05,1793254858148988672
+114,1.900000000,POSE1_TO_POSE2_PRESS,784,759.062036811,737,718,686.937963189,650,916,800,839.937963189,657.937963189,635,657.937963189,0.400980245076,-0.0153642029816,0.0798341489867,0.999999923078,0.000270676307388,-0.000281659429988,3.53026230401e-05,1793254858165655296
+115,1.916666667,POSE1_TO_POSE2_PRESS,784,759.637712438,737,718,686.362287562,650,916,800,839.362287562,657.362287562,635,657.362287562,0.400980938456,-0.0153658749175,0.079834825211,0.999999923772,0.000268682968504,-0.00028107337287,3.55331393432e-05,1793254858182321920
+116,1.933333333,POSE1_TO_POSE2_PRESS,783.782788194,760,737,718,686.217211806,650,916.217211806,800,839.217211806,657.217211806,635,657,0.400984040416,-0.0153673282195,0.0798365545022,0.999999924743,0.000267588847183,-0.00027862293359,3.57666111364e-05,1793254858198988544
+117,1.950000000,POSE1_TO_POSE2_PRESS,783.196796986,760,737,718,686.803203014,650,916.803203014,800,839.803203014,657.803203014,635,657,0.400991231634,-0.0153684103278,0.0798400716767,0.999999926168,0.000268021406037,-0.000273007170388,3.60051006984e-05,1793254858215655168
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,760,737,718.384585396,687,650,916.615414604,800,840,657.615414604,635.384585396,657.384585396,0.401012657593,-0.015368611295,0.0798486540916,0.999999929859,0.000269144984399,-0.000257901971708,3.64635726457e-05,1793254858232322048
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,760,737,718.963637367,687,650,916.036362633,800,840,657.036362633,635.963637367,657.963637367,0.401041281385,-0.0153683667111,0.0798597977584,0.999999934376,0.000270617978471,-0.000237998415468,3.70332792505e-05,1793254858248988928
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.542414405,759.457585595,737,719,686.457585595,650,916,800,839.457585595,657.542414405,635.457585595,657.457585595,0.401096870087,-0.0153700081821,0.0798783408799,0.999999942587,0.000269781659848,-0.000201517766832,3.78767042689e-05,1793254858265655552
+121,2.016666667,POSE1_TO_POSE2_PRESS,784,759,737,718.879802454,686,650,916,800,839.120197546,657.879802454,635.120197546,657,0.401157912255,-0.0153722891477,0.0798972108845,0.999999949438,0.000268503043875,-0.000165973077479,3.85021752834e-05,1793254858282322176
+122,2.033333333,POSE1_TO_POSE2_PRESS,784,759,737,718.305702838,686,650,916,800,839.694297162,657.305702838,635.694297162,657,0.401232725464,-0.0153765078112,0.0799154430248,0.99999995431,0.000266138504451,-0.000138157329808,3.8235328114e-05,1793254858298988800
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.72483139,759,737,718.27516861,686.27516861,650,916.27516861,800,839.72483139,657,636,657.27516861,0.401313468422,-0.0153800379574,0.0799302689487,0.999999957245,0.000265947273446,-0.000115578580424,3.77371552872e-05,1793254858315655168
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.136246888,759,737,718.863753112,686.863753112,650,916.863753112,800,839.136246888,657,636,657.863753112,0.401400965336,-0.015382783885,0.0799412152051,0.999999958445,0.000268231431877,-9.89647518435e-05,3.69755035419e-05,1793254858332321792
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,759.442721685,737,718.557278315,686.557278315,650,916.557278315,800,839.442721685,657,636,658,0.401502011291,-0.0153862911918,0.0799448355391,0.999999959807,0.000266279876139,-9.11662716524e-05,3.42055516952e-05,1793254858348988672
+126,2.100000000,POSE1_TO_POSE2_PRESS,783.018900412,760,737,718.018900412,686,650.018900412,916,800,840,657,636,657.981099588,0.401607855331,-0.0153900566657,0.0799462608243,0.999999961232,0.000263018921152,-8.60685070187e-05,3.08030166759e-05,1793254858365655552
+127,2.116666667,POSE1_TO_POSE2_PRESS,783.598238287,760,737,718.598238287,686,650.598238287,916,800,840,657,636,657.401761713,0.40173496093,-0.0153946771656,0.0799480290142,0.99999996278,0.000258762366559,-8.23192618704e-05,2.65799831893e-05,1793254858382322176
+128,2.133333333,POSE1_TO_POSE2_PRESS,784,760,737,718.820163564,686,650.820163564,916,800,840,657.179836436,636,657.179836436,0.401870619817,-0.0153995604815,0.0799509232134,0.99999996468,0.000253574692577,-7.64555361727e-05,2.2247702457e-05,1793254858398988800
+129,2.150000000,POSE1_TO_POSE2_PRESS,784,760,737,718.23345168,686,650.23345168,916,800,840,657.76654832,636,657.76654832,0.402025630289,-0.0154050384112,0.0799563649801,0.999999967352,0.000246280384777,-6.58078514916e-05,1.76682531293e-05,1793254858415655680
+130,2.166666667,POSE1_TO_POSE2_PRESS,784,759.649406251,737,718,686,650,916.350593749,800,840,658,635.649406251,658,0.402195778755,-0.0154107147436,0.0799579148613,0.999999969634,0.000237636514604,-6.41925855652e-05,1.18403829286e-05,1793254858432322048
+131,2.183333333,POSE1_TO_POSE2_PRESS,784,759.067122888,737,718,686,650,916.932877112,800,840,658,635.067122888,658,0.40237593117,-0.0154165221908,0.0799568927934,0.999999971622,0.000228100786425,-6.8546385675e-05,5.18749428201e-06,1793254858448988672
+132,2.200000000,POSE1_TO_POSE2_PRESS,783.492009405,759,737,718.507990595,686.507990595,650,916.492009405,800,840,657.492009405,635.507990595,657.492009405,0.402583347014,-0.0154230219186,0.0799523951057,0.999999974159,0.00021369954449,-7.7510299794e-05,-2.67899882016e-06,1793254858465655296
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,759.082133977,737,719,686.917866023,650,916,800,840,657.082133977,636,657,0.402799772751,-0.0154298665851,0.0799479881928,0.999999978403,0.00018897283277,-8.58367636485e-05,-1.07150259895e-05,1793254858482321920
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,759.656062646,737,719,686.343937354,650,916,800,840,657.656062646,636,657,0.403048877121,-0.0154382365525,0.0799468363839,0.999999990419,0.000106216090095,-8.67496907588e-05,-1.88193604304e-05,1793254858498988800
+135,2.250000000,POSE1_TO_POSE2_PRESS,783.236897104,760,737,718.763102896,686.236897104,650,916,800,840,658,636,657,0.403316737252,-0.0154475735313,0.0799480324993,0.999999994708,5.36329321163e-05,-8.37413195706e-05,-2.63599736842e-05,1793254858515655424
+136,2.266666667,POSE1_TO_POSE2_PRESS,783.828058694,760,737,718.171941306,686.828058694,650,916,800,840,658,636,657,0.403612645409,-0.0154583566134,0.0799527397856,0.999999995585,4.61724483518e-05,-7.48688979157e-05,-3.30575775882e-05,1793254858532322304
+137,2.283333333,POSE1_TO_POSE2_PRESS,784,760,737,718,686.589761468,650,916,800,840,658,635.589761468,657.410238532,0.403938482387,-0.015466022335,0.0799552594624,0.999999995049,6.3657157788e-05,-7.1490884038e-05,-2.71754381759e-05,1793254858548988928
+138,2.300000000,POSE1_TO_POSE2_PRESS,784,760,737,718,686.011265469,650,916,800,840,658,635.011265469,657.988734531,0.404276594527,-0.0154724094851,0.0799568819011,0.99999999322,9.13730248316e-05,-7.03663766732e-05,-1.61337741068e-05,1793254858565655552
+139,2.316666667,POSE1_TO_POSE2_PRESS,784,759.434550072,737,718,686,650,916,800,840,657.434550072,635.565449928,657.434550072,0.404674681769,-0.0154750987525,0.0799577682802,0.999999995182,7.10744057661e-05,-6.35677127016e-05,-2.33269182742e-05,1793254858582322176
+140,2.333333333,POSE1_TO_POSE2_PRESS,784,759,737,718,686,650.14466874,916,800,840,657,636,657.14466874,0.40507508635,-0.0154768516849,0.0799570905082,0.999999996246,5.5249423117e-05,-5.99772242698e-05,-2.93022779523e-05,1793254858598988800
+141,2.350000000,POSE1_TO_POSE2_PRESS,784,759,737,718,686,650.731649537,916,800,840,657,636,657.731649537,0.405478934132,-0.0154759663956,0.0799516751752,0.999999995754,5.60177178556e-05,-6.65399984691e-05,-3.0447118245e-05,1793254858615655424
+142,2.366666667,POSE1_TO_POSE2_PRESS,784,759.314331215,737,718,686,650.685668785,916,800,840,657,636,657.685668785,0.405910418827,-0.0154713714584,0.07994491929,0.9999999946,5.98045142014e-05,-7.81416069929e-05,-3.34314502664e-05,1793254858632321792
+143,2.383333333,POSE1_TO_POSE2_PRESS,784,759.893392239,737,718,686,650.106607761,916,800,840,657,636,657.106607761,0.406365179378,-0.0154636522548,0.079937034391,0.999999992676,6.6133493255e-05,-9.39869234651e-05,-3.79650026959e-05,1793254858648988416
+144,2.400000000,POSE1_TO_POSE2_PRESS,784,760,737,718,686,650,916.470440544,800,840,657,636,657,0.406854993971,-0.0154676615368,0.0799353921564,0.999999991904,7.18862963922e-05,-9.90995479446e-05,-3.4700302638e-05,1793254858665655296
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,760,737,717.955633146,686,650,916.955633146,800,839.955633146,657,636,657,0.407354192961,-0.0154740971327,0.0799343856992,0.999999991337,7.57682952467e-05,-0.000103223093125,-3.05091694515e-05,1793254858682322432
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,760,737,717.411743327,686,650,916.411743327,800,839.411743327,657,636,657,0.407869994178,-0.0154780536754,0.0799246776449,0.999999989936,6.00508584771e-05,-0.000123477554216,-3.5699200904e-05,1793254858698989056
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,759.847405818,737,717,686,650.152594182,916.152594182,800,839.152594182,657,636,657.152594182,0.408411993726,-0.0154819385675,0.0799192279459,0.999999988937,4.61482654947e-05,-0.000135621293085,-4.00504940491e-05,1793254858715655680
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,759.219357232,737,717,686,650.780642768,916.780642768,800,839.780642768,657,636,657.780642768,0.409035622252,-0.0154856002096,0.0799270464715,0.999999990906,3.79003810706e-05,-0.000122493565595,-4.17884381584e-05,1793254858732322304
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,759.376868295,737,717,686,650.623131705,916.623131705,800,840,657,636,658,0.409699676002,-0.0154881895253,0.0799559631814,0.999999995855,3.36991108029e-05,-7.40933218801e-05,-4.07905886155e-05,1793254858748988672
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,759.956013387,737,717,686,650.043986613,916.043986613,800,840,657,636,658,0.410385427194,-0.0154902032904,0.0799962039351,0.999999998741,3.16697828779e-05,-6.7612346531e-06,-3.83243543218e-05,1793254858765655552
+151,2.516666667,POSE1_TO_POSE2_PRESS,784,760,737,717,686,650,916,800.531581681,840,657,636,657.468418319,0.411050153391,-0.0154924294617,0.0799980206246,0.999999998878,2.50389921255e-05,-8.77010605782e-06,-3.92380436013e-05,1793254858782322176
+152,2.533333333,POSE1_TO_POSE2_PRESS,784.106860824,760.106860824,737.106860824,717,686,650.106860824,916.106860824,800.893139176,840.106860824,657,636,657.106860824,0.411717498815,-0.0154943338231,0.0799896114344,0.999999998628,1.99125330299e-05,-2.59663499876e-05,-4.09032720474e-05,1793254858798989312
+153,2.550000000,POSE1_TO_POSE2_PRESS,784.682161019,760.682161019,737.682161019,717,686,650.682161019,916.682161019,800.317838981,840.682161019,657,636,657.682161019,0.412403901264,-0.0154947509538,0.0799502201391,0.999999995146,2.30384644963e-05,-8.47545146653e-05,-4.46451662077e-05,1793254858815656704
+154,2.566666667,POSE1_TO_POSE2_PRESS,784.735218461,760.735218461,738,717,686,651,917,800,840.735218461,657.264781539,636,657.735218461,0.413114203544,-0.015496049009,0.0799241092275,0.999999991661,2.1930626786e-05,-0.000117787053301,-4.82057857359e-05,1793254858832323840
+155,2.583333333,POSE1_TO_POSE2_PRESS,784.143560833,760.143560833,738,717,686,651,917,800,840.143560833,657.856439167,636,657.143560833,0.413854010555,-0.0154984345765,0.0799143931086,0.999999991467,1.55961490982e-05,-0.000119023960859,-5.15426201369e-05,1793254858848989952
+156,2.600000000,POSE1_TO_POSE2_PRESS,784.436930631,760,737.563069369,717,686,651,917,800.436930631,840,657.563069369,636,657,0.414640383228,-0.015503707772,0.0799333305081,0.999999995054,1.09252863917e-06,-8.5918465887e-05,-5.00820599066e-05,1793254858865656064
+157,2.616666667,POSE1_TO_POSE2_PRESS,784.986194526,760,737,717,686,651,916.986194526,800.986194526,840,657.013805474,636,657,0.415441314919,-0.0155100957797,0.0799606568565,0.999999997821,-1.58317996519e-05,-4.34590270732e-05,-4.71097667218e-05,1793254858882322176
+158,2.633333333,POSE1_TO_POSE2_PRESS,784.410913215,760,737,717,686,651,916.410913215,800.410913215,840,657.589086785,636,657,0.416227621639,-0.0155241980555,0.0799558113162,0.999999996358,-2.4763822691e-05,-6.80506593944e-05,-4.51644765883e-05,1793254858898988800
+159,2.650000000,POSE1_TO_POSE2_PRESS,784,760,737,717,686,651,916,800,840,657.831659519,636,657.168340481,0.417041387517,-0.0155363513588,0.079955216504,0.999999995679,-3.39592509686e-05,-7.44752868471e-05,-4.40778769044e-05,1793254858915655680
+160,2.666666667,POSE1_TO_POSE2_PRESS,784,760,737,717,686,651,916,800,840,657.242475065,636,657.757524935,0.417923800063,-0.0155436323136,0.07996524833,0.999999997392,-4.38131805005e-05,-3.54831808326e-05,-4.51379666058e-05,1793254858932322816
+161,2.683333333,POSE1_TO_POSE2_PRESS,784.340357679,760,737.340357679,717,686,651,916,800,840,657,636,657.659642321,0.418816009942,-0.0155459309782,0.0799787952635,0.999999997967,-4.53972486267e-05,-1.44678061321e-06,-4.4754133562e-05,1793254858948989440
+162,2.700000000,POSE1_TO_POSE2_PRESS,784.91874826,760,737.91874826,717,686,651,916,800,840,657,636,657.08125174,0.419715071658,-0.0155447452229,0.0799948005257,0.999999997787,-4.11976974102e-05,2.9123790361e-05,-4.33604771531e-05,1793254858965656320
+163,2.716666667,POSE1_TO_POSE2_PRESS,785,760,738,717,686,650.504706059,916,800,840,657,636,657.495293941,0.420585218753,-0.0155393925823,0.0799811591828,0.999999998562,-3.11266343704e-05,2.9952061708e-06,-4.35726728712e-05,1793254858982322944
+164,2.733333333,POSE1_TO_POSE2_PRESS,784.928547058,760,737.928547058,717,686,650.071452942,916,800,840.071452942,657,636,658,0.421460835187,-0.0155346014764,0.079968010832,0.999999998524,-2.18818986703e-05,-2.31666390506e-05,-4.3994562557e-05,1793254858998989312
+165,2.750000000,POSE1_TO_POSE2_PRESS,784.352989087,760,737.352989087,717,686,650.647010913,916,800,840.647010913,657,636,658,0.422408378315,-0.0155385767486,0.0799925252093,0.999999998587,-2.52372278288e-05,1.58150021258e-05,-4.40441956842e-05,1793254859015655680
+166,2.766666667,POSE1_TO_POSE2_PRESS,784.228574609,760,737.228574609,717,686,651,916,800,841,657,636,657.771425391,0.423344837991,-0.0155412946461,0.0800073730919,0.999999998046,-2.72362321094e-05,3.56349454138e-05,-4.35414718634e-05,1793254859032322304
+167,2.783333333,POSE1_TO_POSE2_PRESS,784.819663337,760,737.819663337,717,686,651,916,800,841,657,636,657.180336663,0.424263719709,-0.0155420183764,0.0800068901382,0.99999999843,-2.70841366299e-05,2.50648788694e-05,-4.21627226089e-05,1793254859048989184
+168,2.800000000,POSE1_TO_POSE2_PRESS,785,760,738,717,686.401619573,651,916.401619573,800.401619573,841,657,636,657.401619573,0.425165423213,-0.015540861237,0.0799695900799,0.999999997611,-2.98563549024e-05,-4.1852140509e-05,-4.61973226835e-05,1793254859065655552
+169,2.816666667,POSE1_TO_POSE2_PRESS,785,760,738,717,686.979566244,651,916.979566244,800.979566244,841,657,636,657.979566244,0.426059584736,-0.0155388783204,0.0799161258363,0.999999989129,-3.3912463975e-05,-0.000133507730803,-5.26085999454e-05,1793254859082322176
+170,2.833333333,POSE1_TO_POSE2_PRESS,785,760,738,717,687,651,917,801,841,657,636,658,0.427013641017,-0.0155392419017,0.0799087513222,0.999999990017,-3.78702685625e-05,-0.000124902973587,-5.41434433528e-05,1793254859098989056
+171,2.850000000,POSE1_TO_POSE2_PRESS,785.13234396,760,738,717,687,651,917,801,841,657.13234396,636,658,0.427972726588,-0.0155398877593,0.0799080440144,0.99999999119,-4.13938178916e-05,-0.000113583270034,-5.48304284008e-05,1793254859115655936
+172,2.866666667,POSE1_TO_POSE2_PRESS,785.721658223,760,738,717,687,651,917,801,841,657.721658223,636,658,0.428941597797,-0.0155412113292,0.0799245250392,0.999999992068,-4.34303683949e-05,-0.000105577516633,-5.32069782177e-05,1793254859132322304
+173,2.883333333,POSE1_TO_POSE2_PRESS,785.694545795,760,738,717,686.694545795,651,917,801,841,657.694545795,636,658,0.429940225543,-0.0155450041461,0.0799605753269,0.999999995954,-4.45087059745e-05,-5.97255343922e-05,-5.04365142844e-05,1793254859148988928
+174,2.900000000,POSE1_TO_POSE2_PRESS,785.115689084,760,738,717,686.115689084,651,917,801,841,657.115689084,636,658,0.430965487381,-0.0155510071088,0.0800141414487,0.999999997712,-4.47293768147e-05,2.00014234036e-05,-4.66393940618e-05,1793254859165655552
+175,2.916666667,POSE1_TO_POSE2_PRESS,785.4608893,760,737.5391107,717,686,651,917,801,841,657.4608893,636,657.5391107,0.431918557566,-0.0155518595338,0.0800213058541,0.999999997625,-4.23178309621e-05,2.87434075748e-05,-4.61908069893e-05,1793254859182322176
+176,2.933333333,POSE1_TO_POSE2_PRESS,785.963222708,760,737.036777292,717,686.036777292,651,917,801,841.036777292,657.963222708,636,657.036777292,0.432849870906,-0.0155510376127,0.0800126044582,0.99999999801,-3.9644520481e-05,1.40811447776e-05,-4.70166683898e-05,1793254859198988800
+177,2.950000000,POSE1_TO_POSE2_PRESS,785.389107845,760,737.610892155,717,686.610892155,651,917,801,841.610892155,657.389107845,636,657.610892155,0.43372675942,-0.0155445489047,0.079941432999,0.999999994131,-4.27526950564e-05,-8.34780645318e-05,-5.42428181345e-05,1793254859215655424
+178,2.966666667,POSE1_TO_POSE2_PRESS,785,760,738,716.809330553,687,651,917,801,842,657,636,657.809330553,0.434636349598,-0.015542157113,0.0798999077228,0.999999987436,-4.87087856212e-05,-0.000138829761492,-5.90076148457e-05,1793254859232322048
+179,2.983333333,POSE1_TO_POSE2_PRESS,785,760,738,716.217643897,687,651,917,801,842,657,636,657.217643897,0.435614718292,-0.0155483819805,0.0799207344764,0.999999990888,-6.06546326966e-05,-0.000105410366322,-5.85956802326e-05,1793254859248988672
+180,3.000000000,POSE1_TO_POSE2_PRESS,785,760,737.633813909,716,687,651,917,801,841.633813909,657,636,657.366186091,0.436581453385,-0.0155522303092,0.0799545827178,0.999999994521,-6.42976539384e-05,-6.05630373547e-05,-5.61824564449e-05,1793254859265655552
+181,3.016666667,POSE1_TO_POSE2_PRESS,785,760,737.054555508,716,687,651,917,801,841.054555508,657,636,657.945444492,0.437541419189,-0.0155546958032,0.0799960077573,0.999999996584,-6.31095179394e-05,-9.06615064282e-06,-5.260474459e-05,1793254859282322432
+182,3.033333333,POSE1_TO_POSE2_PRESS,785,760,737,716.518469349,686.481530651,651,917,801,841,657,636,657.481530651,0.438479269262,-0.0155631264241,0.0800214413994,0.999999995215,-7.59581878451e-05,3.44954460032e-05,-5.1098336356e-05,1793254859298988800
+183,3.050000000,POSE1_TO_POSE2_PRESS,785.093693615,760,737.093693615,716.906306385,686,650.906306385,916.906306385,801,841.093693615,657,636,657.093693615,0.439392062039,-0.0155706847774,0.0800315930052,0.999999993338,-8.79729175985e-05,5.49379847788e-05,-5.0667574019e-05,1793254859315655424
+184,3.066666667,POSE1_TO_POSE2_PRESS,785.684011262,760,737.684011262,716.315988738,686,650.315988738,916.315988738,801,841.684011262,657,636,657.684011262,0.440184226646,-0.0155703321907,0.0799695551213,0.999999993726,-8.7831432323e-05,-4.27890332371e-05,-5.47967565292e-05,1793254859332321792
+185,3.083333333,POSE1_TO_POSE2_PRESS,785.730923722,760,738,716.269076278,686,650.269076278,916.269076278,801,842,657,635.730923722,658,0.440956856858,-0.0155688761305,0.0798822489644,0.999999978234,-9.06728144585e-05,-0.000177308207223,-6.22327443249e-05,1793254859348988416
+186,3.100000000,POSE1_TO_POSE2_PRESS,785.151909048,760,738,716.848090952,686,650.848090952,916.848090952,801,842,657,635.151909048,658,0.441706986115,-0.0155661490228,0.0797658372806,0.99999992987,-9.69500431132e-05,-0.00035420681137,-7.34777100713e-05,1793254859365655040
+187,3.116666667,POSE1_TO_POSE2_PRESS,785,760,738,717,686,650.574509863,916.574509863,800.574509863,842,657.425490137,635.425490137,658,0.442542391682,-0.0155735190262,0.0797609634297,0.999999927988,-0.00010839229134,-0.000355880587273,-7.49967583971e-05,1793254859382321920
+188,3.133333333,POSE1_TO_POSE2_PRESS,785.002309123,760.002309123,738,716.997690877,686,650,916.002309123,800,842,657.997690877,636,658,0.443407984916,-0.0155844721057,0.0797958176735,0.999999946361,-0.000121646801498,-0.000295201381759,-7.30441431936e-05,1793254859398988800
+189,3.150000000,POSE1_TO_POSE2_PRESS,785.577722751,760.577722751,738,716.422277249,686,650,916.577722751,800,842,657.422277249,636,658,0.444238159346,-0.0155933965446,0.0798449004693,0.999999963652,-0.000128749462118,-0.000226926562473,-6.80045843691e-05,1793254859415655424
+190,3.166666667,POSE1_TO_POSE2_PRESS,786,761,737.843131668,716,686,650,917,799.843131668,842,657,635.843131668,658,0.445046386917,-0.0156018678844,0.0798804667653,0.999999972565,-0.000136637459894,-0.000179099475586,-6.42122706747e-05,1793254859432322048
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,784,759,737,717.690966756,686,650,916,800,840,657,635.690966756,657.690966756,0.405926648329,-0.0153691122641,0.0797550170051,0.999999887217,0.000261576958262,-0.000394672638179,3.70980959159e-05,1793254862394913536
+366,6.100000000,POSE2_TO_POSE3_RETREAT,784,759,737,717.116334921,686,650,916,800,840,657,635.116334921,657.116334921,0.405500649685,-0.0153727402336,0.079774104146,0.999999901909,0.00026343785844,-0.000353945341426,3.87976020433e-05,1793254862411580160
+367,6.116666667,POSE2_TO_POSE3_RETREAT,784,759,737,717.458717012,686,650,916.458717012,800,839.541282988,657,635.458717012,657,0.405108399534,-0.015370917955,0.0797926640879,0.999999909995,0.000270350883793,-0.000324326547948,4.16310663399e-05,1793254862428246784
+368,6.133333333,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916.965052375,800,839.034947625,657.034947625,636,657.034947625,0.40472612717,-0.015367720826,0.0798103437216,0.999999915574,0.00027841717313,-0.00029889589732,4.46806732064e-05,1793254862444913408
+369,6.150000000,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916.37169195,800,839.62830805,657.62830805,636,657.62830805,0.404366400643,-0.0153646619175,0.0798160956331,0.999999914858,0.000284419408885,-0.00029532935317,4.65845632217e-05,1793254862461580288
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783.784164105,759.215835895,737,718,685.784164105,650,916,800,839.784164105,657.784164105,635.784164105,657.784164105,0.404013495649,-0.0153616069939,0.0798187951361,0.999999914348,0.000283823339475,-0.00029778505823,4.55201733293e-05,1793254862478247424
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783.206416342,759.793583658,737,718,685.206416342,650,916,800,839.206416342,657.206416342,635.206416342,657.206416342,0.403672028983,-0.0153585587525,0.079816376385,0.999999914029,0.000272163285121,-0.000310338821971,3.94785956924e-05,1793254862494913792
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783.369503343,760,737,718,685.369503343,650,916,799.630496657,839.369503343,657.369503343,635,657.369503343,0.403363779819,-0.0153568117449,0.0798167994124,0.99999991274,0.000273703375091,-0.000313112161922,3.95767827517e-05,1793254862511580416
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783.944406886,760,737,718,685.944406886,650,916,799.055593114,839.944406886,657.944406886,635,657.944406886,0.403073995629,-0.0153557880692,0.0798188021326,0.999999910956,0.00028258118456,-0.000310448743039,4.30879529739e-05,1793254862528247040
+374,6.233333333,POSE2_TO_POSE3_RETREAT,784,760,737,718,686,650,916,799.532243957,839.467756043,657.467756043,635,657.467756043,0.402830797587,-0.015352832318,0.0798232677751,0.999999910348,0.000289958931387,-0.000305565964959,4.30859021135e-05,1793254862544913408
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783.880654985,759.880654985,737,718.119345015,686,650,916.119345015,799.880654985,839.119345015,657,635,657.119345015,0.40259883875,-0.015351074858,0.0798273510417,0.999999910495,0.000294392648888,-0.000300847266955,4.28153552921e-05,1793254862561580032
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783.301719937,759.301719937,737,718.698280063,686,650,916.698280063,799.301719937,839.698280063,657,635,657.698280063,0.402390956189,-0.0153547284371,0.079828946466,0.999999913269,0.000288107499811,-0.000297675359425,4.29591716615e-05,1793254862578246912
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783,759,737,718.724418458,686,650,916.724418458,799,840,657,635.275581542,657.724418458,0.402198254329,-0.0153584740051,0.0798278757181,0.999999914838,0.000281880651308,-0.000298320120439,4.3272229086e-05,1793254862594913792
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916,799.426313034,840,657,636,657.426313034,0.401873465493,-0.015365512685,0.0798255268331,0.999999917476,0.00027225611226,-0.00029819623321,4.47563297713e-05,1793254862628247296
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783.001451863,759.001451863,737,718.001451863,686,650,916,800,840,657,636,658,0.401734541187,-0.0153684615476,0.0798291043318,0.999999920543,0.000269759341043,-0.000289890671486,4.59100435011e-05,1793254862644913920
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783.593227729,759.593227729,737,718.593227729,686,650,916,800,840,657,636,658,0.401621394851,-0.0153647684388,0.0798329454813,0.999999920108,0.000275914361592,-0.000285641869413,4.54395682892e-05,1793254862661580288
+382,6.366666667,POSE2_TO_POSE3_RETREAT,784,759.819073764,737,718.819073764,686,650,916,800,840,657,635.819073764,658,0.401513638566,-0.0153623314848,0.0798352549344,0.999999919955,0.000279496042948,-0.000283074304169,4.28958312081e-05,1793254862678246912
+383,6.383333333,POSE2_TO_POSE3_RETREAT,784,759.240340329,737,718.240340329,686,650,916,800,840,657,635.240340329,658,0.401417733541,-0.0153626564711,0.0798341966067,0.999999920493,0.00027741965599,-0.000284203318459,3.57935596307e-05,1793254862694913536
+384,6.400000000,POSE2_TO_POSE3_RETREAT,784,759.335701806,737,718,686,650,916.335701806,800,840,657.335701806,635,658,0.401333217108,-0.0153628036651,0.0798319891973,0.999999919523,0.00027725295146,-0.000288053968723,3.33044474717e-05,1793254862711580160
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,784,759.50386803,737,718,686,650,916.50386803,799.50386803,839.50386803,658,635,657.50386803,0.401198865288,-0.0153595611955,0.0798262787312,0.999999916105,0.000280677401786,-0.00029635308313,3.4432952376e-05,1793254862744913920
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,784,759,737,718.661257095,686,650,916.661257095,799,839.661257095,657.338742905,635.661257095,657,0.401105715709,-0.0153591213538,0.0798255388579,0.999999916351,0.000277637214203,-0.000298214776651,3.58292350822e-05,1793254862778247424
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783.760786091,759,737,718.760786091,686,650,916.760786091,799.239213909,840,657,635.760786091,657.239213909,0.401070811252,-0.0153600436212,0.0798257455874,0.999999916596,0.000276225632051,-0.000298627620985,3.6452730884e-05,1793254862794914048
+390,6.500000000,POSE2_TO_POSE3_RETREAT,783.182988389,759,737,718.182988389,686,650,916.182988389,799.817011611,840,657,635.182988389,657.817011611,0.401044054829,-0.015358710488,0.0798243806155,0.999999915568,0.000279151415651,-0.000299340820895,3.65043829393e-05,1793254862811580416
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916,800,840,657,635.966050635,658,0.40100790813,-0.0153559258388,0.0798225070355,0.999999914114,0.000282945039893,-0.000300596263673,3.68328193262e-05,1793254862844913664
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916,799.443447414,840,657,635.443447414,657.443447414,0.400998719988,-0.0153575690095,0.0798215775431,0.999999914712,0.000280713275668,-0.000300732600018,3.65516399188e-05,1793254862861580544
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916,799,839.855258546,657,635,657,0.400990996458,-0.0153585617079,0.079821390123,0.999999915226,0.000279302547943,-0.000300356027315,3.63944491265e-05,1793254862878247168
+395,6.583333333,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916,799,839.277120844,657,635,657,0.400986293176,-0.0153570331393,0.0798234384673,0.99999991526,0.000281091049061,-0.000298533144465,3.66963543984e-05,1793254862894913792
+396,6.600000000,POSE2_TO_POSE3_RETREAT,783,759,737,718,686.299989159,650,916,799.299989159,839.299989159,657.299989159,635.299989159,657,0.400983274277,-0.0153569294719,0.0798248264843,0.999999915891,0.000280392649796,-0.000297084704091,3.65772677123e-05,1793254862911580928
+397,6.616666667,POSE2_TO_POSE3_RETREAT,783,759,737,718,686.876153111,650,916,799.876153111,839.876153111,657.876153111,635.876153111,657,0.400981806047,-0.0153581375912,0.0798256065937,0.99999991707,0.000277404770668,-0.000295980981208,3.60706091649e-05,1793254862928247552
+398,6.633333333,POSE2_TO_POSE3_RETREAT,783.450329831,759,737,718,686.549670169,650,916,800,839.549670169,657.549670169,635.549670169,657,0.400981505329,-0.015359481317,0.0798260749393,0.999999917963,0.000275749278596,-0.000294503791819,3.60976347824e-05,1793254862944913920
+399,6.650000000,POSE2_TO_POSE3_RETREAT,783.975366129,759,737,718,686,650,916.024633871,799.975366129,839,657,635,657,0.400981440396,-0.0153607690347,0.0798264523752,0.999999918701,0.000274634803209,-0.000293014569985,3.62722932156e-05,1793254862961580288
+400,6.666666667,POSE2_TO_POSE3_RETREAT,783.385659283,759,737,718,686,650,916.614340717,799.385659283,839,657,635,657,0.400979451211,-0.015359920273,0.07982670257,0.999999917715,0.000277562195229,-0.000293594998583,3.64815246521e-05,1793254862978246912
+401,6.683333333,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916.799281056,799,839,657,635,657,0.400978616416,-0.0153594431567,0.0798272829397,0.9999999173,0.00027951442657,-0.000293142927436,3.65999385359e-05,1793254862994913792
+402,6.700000000,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916.21919411,799,839,657,635,657,0.400979963471,-0.0153596684671,0.0798284873552,0.999999917973,0.00027962355936,-0.000290739384416,3.65467030704e-05,1793254863011580160
+403,6.716666667,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916,799,839,657.356956271,635,657,0.400980060688,-0.0153603646071,0.0798287883918,0.999999918606,0.000278169980381,-0.000289963592547,3.64843237922e-05,1793254863028247040
+404,6.733333333,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916,799,839,657.930715694,635,657,0.400979398795,-0.0153613467131,0.0798285407465,0.999999919212,0.00027576726318,-0.000290176441701,3.64163908733e-05,1793254863044913920
+405,6.750000000,POSE2_TO_POSE3_RETREAT,783.517011848,759.517011848,737,718,686,650,916,799.517011848,839.517011848,658,635,657,0.400981371506,-0.0153606512463,0.0798298762449,0.999999919591,0.000277171726651,-0.000287496040542,3.66164213512e-05,1793254863061580544
+406,6.766666667,POSE2_TO_POSE3_RETREAT,784,760,737,718,686,650,916,800,839.895951967,657.895951967,635,657,0.40098294709,-0.0153599756031,0.0798309912766,0.99999991985,0.000278411420386,-0.000285371099784,3.67358229843e-05,1793254863078246912
+407,6.783333333,POSE2_TO_POSE3_RETREAT,784,760,737,718,686,650,916,800,839.313430654,657.313430654,635,657,0.400981032528,-0.015360450619,0.0798300926136,0.999999919753,0.00027648891962,-0.000287627768882,3.63152096412e-05,1793254863094913280
+408,6.800000000,POSE2_TO_POSE3_RETREAT,783.732417489,759.732417489,737,718,686,650,916.267582511,800,839,657.267582511,635,657.267582511,0.400980226519,-0.0153598907565,0.0798298544967,0.999999919424,0.000276891273659,-0.000288436345393,3.58886938528e-05,1793254863111579904
+409,6.816666667,POSE2_TO_POSE3_RETREAT,783.153160906,759.153160906,737,718,686,650,916.846839094,800,839,657.846839094,635,657.846839094,0.400980711727,-0.0153581254911,0.0798303857689,0.999999918826,0.000280001565886,-0.000287558216617,3.54553029744e-05,1793254863128246784
+410,6.833333333,POSE2_TO_POSE3_RETREAT,783.419480751,759,737,718,686,650,917,799.580519249,839.419480751,657.580519249,635.419480751,658,0.400981607351,-0.0153583320196,0.0798311419943,0.999999919377,0.000279528305544,-0.000286072466231,3.56799040094e-05,1793254863144913408
+411,6.850000000,POSE2_TO_POSE3_RETREAT,783.989744625,759,737,718,686,650,917,799.010255375,839.989744625,657.010255375,635.989744625,658,0.4009826505,-0.0153592473131,0.0798319790795,0.999999920337,0.000277766930486,-0.000284368305196,3.61410214677e-05,1793254863161580032
+412,6.866666667,POSE2_TO_POSE3_RETREAT,783.418332704,759.581667296,737,718,686,650.581667296,916.418332704,799.581667296,840,657.581667296,635.418332704,658,0.400982157956,-0.0153601157903,0.0798315678746,0.999999920332,0.000277601857597,-0.000284517973016,3.63582131497e-05,1793254863178246656
+413,6.883333333,POSE2_TO_POSE3_RETREAT,783,759.829887609,737,718,686,650.829887609,916.170112391,800,840,658,635,657.829887609,0.400981662116,-0.0153607458813,0.0798315628008,0.999999920418,0.000277234929602,-0.000284559794017,3.64631171451e-05,1793254863194913280
+414,6.900000000,POSE2_TO_POSE3_RETREAT,783,759.250757684,737,718,686,650.250757684,916.749242316,800,840,658,635,657.250757684,0.400981225972,-0.0153608048588,0.079832589191,0.999999920765,0.000276312374546,-0.000284260681802,3.63087774811e-05,1793254863211579904
+415,6.916666667,POSE2_TO_POSE3_RETREAT,783.325517981,759,737,718,686,650,917,800,840,657.674482019,635,657.325517981,0.400981051402,-0.0153606199573,0.0798327416644,0.999999921038,0.000275398175916,-0.00028420719063,3.61447950091e-05,1793254863228246784
+416,6.933333333,POSE2_TO_POSE3_RETREAT,783.899613997,759,737,718,686,650,917,800,840,657.100386003,635,657.899613997,0.400981076579,-0.0153602488202,0.0798322267814,0.999999921255,0.000274490358616,-0.000284341265136,3.59734489253e-05,1793254863244913408
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..924ee2f0080686c31607d0cd3c37f96ede86c4ae
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_03/simulation_data.csv
@@ -0,0 +1,418 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+369,6.150000000,pose2_to_pose3_retreat,0.578296228862,-0.00981821990703,1.0700205275,0.548867376614,-0.00114398214495,1.06969223062
+370,6.166666667,pose2_to_pose3_retreat,0.578024190101,-0.00981820684581,1.07002057787,0.548595338044,-0.00114396843262,1.06969228117
+371,6.183333333,pose2_to_pose3_retreat,0.577766762407,-0.00981826336447,1.07002080684,0.548337911717,-0.00114402066601,1.06969250082
+372,6.200000000,pose2_to_pose3_retreat,0.577527416993,-0.00981828296631,1.07002045829,0.548098564989,-0.00114404439304,1.06969216092
+373,6.216666667,pose2_to_pose3_retreat,0.577307114372,-0.00981826079066,1.07002036514,0.547878260968,-0.00114402656653,1.06969207846
+374,6.233333333,pose2_to_pose3_retreat,0.577107760609,-0.00981833099382,1.07002044033,0.547678909409,-0.00114408934673,1.06969215212
+375,6.250000000,pose2_to_pose3_retreat,0.576926542798,-0.00981832806897,1.07002064059,0.54749769251,-0.00114408376187,1.06969234087
+376,6.266666667,pose2_to_pose3_retreat,0.57676310258,-0.00981820938851,1.07002075771,0.547334250188,-0.00114397247773,1.06969245129
+377,6.283333333,pose2_to_pose3_retreat,0.576614391541,-0.00981810750048,1.07002050988,0.547185537051,-0.00114387710155,1.06969221947
+378,6.300000000,pose2_to_pose3_retreat,0.576480376355,-0.00981822705165,1.07002084595,0.547051524473,-0.00114398814995,1.06969254641
+379,6.316666667,pose2_to_pose3_retreat,0.576361178211,-0.00981821989615,1.07002074857,0.546932327547,-0.00114397692633,1.06969244737
+380,6.333333333,pose2_to_pose3_retreat,0.576255249689,-0.00981812490814,1.07002072373,0.546826397328,-0.00114388764947,1.06969242372
+381,6.350000000,pose2_to_pose3_retreat,0.576161855853,-0.0098180304003,1.07002074832,0.546733000952,-0.00114380170718,1.06969244963
+382,6.366666667,pose2_to_pose3_retreat,0.576078497956,-0.00981802386071,1.07002064455,0.546649642438,-0.00114379725416,1.06969234626
+383,6.383333333,pose2_to_pose3_retreat,0.576005055695,-0.00981811724473,1.07002040629,0.546576201416,-0.00114388618319,1.06969211577
+384,6.400000000,pose2_to_pose3_retreat,0.575940250514,-0.00981817113052,1.07002056473,0.546511397691,-0.00114393528245,1.0696922698
+385,6.416666667,pose2_to_pose3_retreat,0.575884017135,-0.0098182214172,1.0700205193,0.546455164615,-0.00114398453739,1.06969222405
+386,6.433333333,pose2_to_pose3_retreat,0.575836426408,-0.00981824814724,1.07002048507,0.546407573725,-0.00114401178772,1.06969219069
+387,6.450000000,pose2_to_pose3_retreat,0.575796629784,-0.00981823762044,1.0700206064,0.54636777757,-0.00114399974917,1.06969230987
+388,6.466666667,pose2_to_pose3_retreat,0.575764453188,-0.00981822016068,1.07002040324,0.546335602532,-0.00114397698361,1.06969210727
+389,6.483333333,pose2_to_pose3_retreat,0.575738389493,-0.0098182380307,1.07002048998,0.546309536457,-0.00114400290568,1.06969219454
+390,6.500000000,pose2_to_pose3_retreat,0.575717860009,-0.00981822997698,1.07002051018,0.546289006906,-0.00114399502555,1.06969221616
+391,6.516666667,pose2_to_pose3_retreat,0.575702187265,-0.00981824194648,1.07002052661,0.546273334793,-0.00114400497936,1.06969222935
+392,6.533333333,pose2_to_pose3_retreat,0.575690644031,-0.00981827666654,1.07002053999,0.54626179221,-0.00114403759729,1.06969223991
+393,6.550000000,pose2_to_pose3_retreat,0.575682364396,-0.00981831714013,1.0700205174,0.546253513259,-0.00114407550749,1.06969222385
+394,6.566666667,pose2_to_pose3_retreat,0.575676797175,-0.00981829395315,1.07002053205,0.546247944088,-0.00114405906199,1.06969223529
+395,6.583333333,pose2_to_pose3_retreat,0.575673345711,-0.00981824748726,1.07002056035,0.546244491779,-0.00114401541385,1.0696922648
+396,6.600000000,pose2_to_pose3_retreat,0.575671144243,-0.00981818231486,1.07002059971,0.546242290517,-0.00114394932039,1.06969230991
+397,6.616666667,pose2_to_pose3_retreat,0.575669944878,-0.00981816309164,1.07002060156,0.546241091436,-0.00114392905222,1.06969231386
+398,6.633333333,pose2_to_pose3_retreat,0.575669135173,-0.00981818594627,1.07002055968,0.546240282301,-0.00114395000613,1.06969227114
+399,6.650000000,pose2_to_pose3_retreat,0.575668583943,-0.0098182015052,1.07002053116,0.546239731459,-0.0011439642711,1.06969224205
+400,6.666666667,pose2_to_pose3_retreat,0.575668365885,-0.00981820766007,1.07002051988,0.546239513554,-0.0011439699141,1.06969223055
+401,6.683333333,pose2_to_pose3_retreat,0.575668194921,-0.00981821248569,1.07002051104,0.54623934271,-0.0011439743384,1.06969222153
+402,6.700000000,pose2_to_pose3_retreat,0.575667955317,-0.009818219012,1.07002049887,0.546239103265,-0.00114398033566,1.0696922091
+403,6.716666667,pose2_to_pose3_retreat,0.575667805103,-0.00981821416702,1.07002049986,0.546238952782,-0.00114397641986,1.06969220972
+404,6.733333333,pose2_to_pose3_retreat,0.57566746634,-0.00981820324056,1.0700205021,0.54623861341,-0.0011439675889,1.06969221111
+405,6.750000000,pose2_to_pose3_retreat,0.575667382714,-0.00981820054328,1.07002050265,0.546238529634,-0.00114396540892,1.06969221146
+406,6.766666667,pose2_to_pose3_retreat,0.575667369742,-0.00981820012488,1.07002050274,0.546238516639,-0.00114396507076,1.06969221151
+407,6.783333333,pose2_to_pose3_retreat,0.575667267038,-0.0098181968123,1.07002050342,0.546238413751,-0.00114396239348,1.06969221193
+408,6.800000000,pose2_to_pose3_retreat,0.57566724859,-0.00981819621726,1.07002050354,0.546238395269,-0.00114396191255,1.06969221201
+409,6.816666667,pose2_to_pose3_retreat,0.575667225389,-0.00981819546895,1.07002050369,0.546238372027,-0.00114396130775,1.06969221211
+410,6.833333333,pose2_to_pose3_retreat,0.575667130798,-0.00981820298689,1.07002048214,0.546238277634,-0.00114396811034,1.06969219168
+411,6.850000000,pose2_to_pose3_retreat,0.575667003477,-0.00981822309903,1.07002043215,0.546238150928,-0.00114398602999,1.0696921445
+412,6.866666667,pose2_to_pose3_retreat,0.575666957869,-0.00981823030339,1.07002041424,0.546238105541,-0.00114399244899,1.0696921276
+413,6.883333333,pose2_to_pose3_retreat,0.575666908563,-0.00981823809202,1.07002039488,0.546238056473,-0.00114399938856,1.06969210932
+414,6.900000000,pose2_to_pose3_retreat,0.575666790354,-0.00981825242444,1.07002034981,0.546237938478,-0.0011440129001,1.0696920668
+415,6.916666667,pose2_to_pose3_retreat,0.575666771509,-0.00981823975767,1.07002034723,0.546237918435,-0.00114400428686,1.06969206442
+416,6.933333333,pose2_to_pose3_retreat,0.575666768068,-0.00981823744522,1.07002034676,0.546237914777,-0.00114400271446,1.06969206398
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bc032da85127bab71481c5637bc6486a9b8b23fe
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12fe3cc988df289fd016cf44fb2751b4334d0078687ce24625a9c3175caa50e0
+size 26423584
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9dcddcbbe565a96e124b0f38f1388d912ffcba8e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_04/franka_data.csv
@@ -0,0 +1,418 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,784,759,737,718,686,650,916,800,840,657,635,657,0.400980104426,-0.0153608816278,0.0798324045828,0.999999921225,0.000274853839773,-0.000284178677274,3.53334180319e-05,1793254863391067648
+1,0.016666667,BASELINE,784,759.578237371,737,718,686,650,916,799.421762629,839.421762629,657,635,657,0.400980462329,-0.015360566342,0.0798324151854,0.999999921139,0.000275084231568,-0.000284266887887,3.52527266454e-05,1793254863407734528
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+3,0.050000000,BASELINE,783.269227188,759.269227188,737,718,686,650.730772812,916,799.730772812,839,657.730772812,635,657,0.400982225279,-0.0153617466994,0.0798337839898,0.999999922569,0.000272245624001,-0.00028193048825,3.54891918642e-05,1793254863441068032
+4,0.066666667,BASELINE,783,759,737,718,686,650.694268959,916.305731041,800,839,657.694268959,635,657,0.40098214864,-0.0153624934629,0.0798339100583,0.999999922621,0.000272350463609,-0.000281618075198,3.56987276183e-05,1793254863457734400
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+7,0.116666667,BASELINE,783.059792498,759,737,718,686,650,916,800,839.940207502,657,635.940207502,657,0.400979332804,-0.0153609514028,0.0798327655294,0.999999920581,0.000278100779216,-0.000283231081181,3.57444529056e-05,1793254863507734528
+8,0.133333333,BASELINE,783.63792072,759,737,718,686,650,916,800,839.36207928,657,635.36207928,657,0.400980053336,-0.0153612461451,0.0798331375683,0.999999921342,0.000276130830579,-0.00028247630001,3.57137656057e-05,1793254863524401152
+9,0.150000000,BASELINE,783.785602828,759,737,718,686,650,916,800,839.214397172,657.214397172,635,657,0.400980519209,-0.0153612784565,0.0798334011823,0.999999921637,0.000275250154193,-0.000282298820642,3.56444908402e-05,1793254863541068032
+10,0.166666667,BASELINE,783.211894657,759,737,718,686,650,916,800,839.788105343,657.788105343,635,657,0.400980558293,-0.0153608709563,0.0798334830858,0.999999921158,0.000276195003493,-0.000283088848926,3.5510546844e-05,1793254863557735424
+11,0.183333333,BASELINE,783,759,737,718,686,650.36318827,916,799.63681173,840,657.63681173,635,657,0.400981287907,-0.0153610575363,0.0798339052654,0.999999921517,0.000275683898786,-0.000282330155222,3.54017756832e-05,1793254863574402048
+12,0.200000000,BASELINE,783,759,737,718,686,650.939076373,916,799.060923627,840,657.060923627,635,657,0.400982421927,-0.015361592037,0.0798345267264,0.999999922365,0.00027432012023,-0.000280664458439,3.5307746885e-05,1793254863591067904
+13,0.216666667,BASELINE,783.530834176,759,737,718,686,650.469165824,916,799.530834176,839.469165824,657,635,657,0.400982914123,-0.0153620479692,0.0798349559647,0.999999922811,0.000273046332943,-0.000280334714367,3.51510258727e-05,1793254863607734784
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+16,0.266666667,BASELINE,783,759.729976976,737,718,686,650,916,800,839.729976976,657.729976976,635,658,0.400980339589,-0.0153619862701,0.0798338267695,0.999999921821,0.000274192937892,-0.000282748871299,3.50539925939e-05,1793254863657735424
+17,0.283333333,BASELINE,783,759.154811482,737,718,686,650,916,800,839.154811482,657.154811482,635,658,0.400981717974,-0.0153635462341,0.0798353957451,0.999999922625,0.000273771926624,-0.000280193534258,3.59346514067e-05,1793254863674401536
+18,0.300000000,BASELINE,783,759,737,718,686,650,916,799.56920979,839,657,635.43079021,657.56920979,0.40098085491,-0.0153631050334,0.0798345446714,0.999999922024,0.000274987054878,-0.000281145377605,3.59343336126e-05,1793254863691067904
+19,0.316666667,BASELINE,783,759,737,718,686,650,916.019938196,799.019938196,839,657,636,657,0.400979233303,-0.0153619957836,0.07983288011,0.999999920966,0.000276676483381,-0.000283282459336,3.56343220896e-05,1793254863707734784
+20,0.333333333,BASELINE,783,759,737,718,686,650,916.600725492,799.600725492,839,657,636,657,0.400979495176,-0.0153628262369,0.0798334036844,0.999999921723,0.00027475773314,-0.000282426147137,3.60307849245e-05,1793254863724401408
+21,0.350000000,BASELINE,783.178651723,759,737,718.178651723,686,650.178651723,917,800,839.178651723,657,635.821348277,657.178651723,0.400979729955,-0.0153633513522,0.0798336724759,0.999999922336,0.000273016886536,-0.000281926275025,3.61555689549e-05,1793254863741067776
+22,0.366666667,BASELINE,783.750284382,759,737,718.750284382,686,650.750284382,917,800,839.750284382,657,635.249715618,657.750284382,0.400979905136,-0.0153632048136,0.07983338082,0.99999992264,0.000271667375562,-0.00028221046577,3.56827399381e-05,1793254863757734656
+23,0.383333333,BASELINE,784,759,737,718.675456884,686,650.675456884,917,800,840,657.324543116,635,657.675456884,0.400980720289,-0.0153626223272,0.0798336597986,0.999999922643,0.000272467188273,-0.000281446957244,3.55312350736e-05,1793254863774401536
+24,0.400000000,BASELINE,784,759,737,718.099161005,686,650.099161005,917,800,840,657.900838995,635,657.099161005,0.400982031877,-0.0153617016698,0.0798343814264,0.999999922407,0.000274934262144,-0.000279870733352,3.5628985926e-05,1793254863791068672
+25,0.416666667,BASELINE,783.509453113,759,737,718,686,650,916.509453113,800,839.509453113,657.509453113,635.490546887,657,0.400981618074,-0.0153615694244,0.0798344912812,0.999999922352,0.000274628667795,-0.000280389393455,3.54454408594e-05,1793254863807735296
+26,0.433333333,BASELINE,783,759.081056085,737,718,686.081056085,650,916,800,839.081056085,657,636,657.081056085,0.400981057944,-0.0153615696201,0.07983452444,0.99999992238,0.000273862715736,-0.000281062761631,3.52437146497e-05,1793254863824401408
+27,0.450000000,BASELINE,783,759.659381319,737,718,686.659381319,650,916,800,839.659381319,657,636,657.659381319,0.400981799963,-0.0153613771104,0.0798348670798,0.999999922688,0.000273807640252,-0.000280014296052,3.52890978052e-05,1793254863841067776
+28,0.466666667,BASELINE,783.235375587,759.764624413,737,718,686.764624413,650,916.235375587,799.764624413,839.764624413,657,636,658,0.400982188345,-0.0153619128738,0.0798350750983,0.999999923091,0.00027289021406,-0.000279460321488,3.53615930747e-05,1793254863857734656
+29,0.483333333,BASELINE,783.808029694,759.191970306,737,718,686.191970306,650,916.808029694,799.191970306,839.191970306,657,636,658,0.400982069986,-0.015363492207,0.0798350902127,0.999999923629,0.000270737093156,-0.000279614921734,3.54729383078e-05,1793254863874401280
+30,0.500000000,BASELINE,783.607452215,759.392547785,737,718,686,650,916.607452215,799.392547785,839.392547785,657,635.607452215,657.607452215,0.400983081375,-0.0153641665915,0.0798357754953,0.999999923791,0.000271287177333,-0.000278470175976,3.57067247542e-05,1793254863891067904
+31,0.516666667,BASELINE,783.0169514,759.9830486,737,718,686,650,916.0169514,799.9830486,839.9830486,657,635.0169514,657.0169514,0.400984662471,-0.0153643846307,0.0798367987285,0.999999923759,0.000273200427166,-0.000276670199216,3.60022555499e-05,1793254863907734528
+32,0.533333333,BASELINE,783,759.438486154,736.438486154,718,686.561513846,650,916,799.438486154,839.438486154,657.561513846,635,657,0.400984267206,-0.0153633227823,0.0798366650407,0.999999923528,0.000273654815134,-0.00027710521761,3.56291454019e-05,1793254863924401920
+33,0.550000000,BASELINE,783.139458875,759,736.139458875,718,686.860541125,650,916,799.139458875,839,657.860541125,635.139458875,657,0.400983398471,-0.0153624507416,0.0798362579336,0.999999923203,0.000274038726966,-0.000277941126151,3.52953507791e-05,1793254863941068544
+34,0.566666667,BASELINE,783.716887176,759,736.716887176,718,686.283112824,650,916,799.716887176,839,657.283112824,635.716887176,657,0.400981226245,-0.015362293587,0.0798350995385,0.9999999226,0.000274336717699,-0.000279828578879,3.51470882486e-05,1793254863957735168
+35,0.583333333,BASELINE,783.707258451,759,737,718,686,650,916,800,839.292741549,657.292741549,635.707258451,657,0.400981291042,-0.0153621876662,0.07983496205,0.999999922511,0.000274555770968,-0.000279930522069,3.51632113849e-05,1793254863974401536
+36,0.600000000,BASELINE,783.132918028,759,737,718,686,650,916,800,839.867081972,657.867081972,635.132918028,657,0.400983507712,-0.0153621310292,0.079835806609,0.999999922916,0.000274698891421,-0.00027831491812,3.53374631288e-05,1793254863991067904
+37,0.616666667,BASELINE,783.45565127,759,737,718,686,650,916,800,839.54434873,658,635,657,0.400983447412,-0.0153630246614,0.0798357201414,0.999999923263,0.000273415605579,-0.000278344102317,3.52553527555e-05,1793254864007734528
+38,0.633333333,BASELINE,783.952708138,759.047291862,737,718,686,650.047291862,916,800,839,657.952708138,635,657,0.40098269371,-0.0153640278396,0.0798353112376,0.999999923512,0.000271940112476,-0.000278912436837,3.50979349379e-05,1793254864024401152
+39,0.650000000,BASELINE,783.374682339,759.625317661,737,718,686,650.625317661,916,800,839,657.374682339,635,657,0.400981852753,-0.0153630492068,0.0798344299558,0.999999922897,0.00027312774757,-0.000279973251993,3.49616885758e-05,1793254864041067520
+40,0.666666667,BASELINE,783,759.797751847,737,718,686.202248153,650.797751847,916,800,839.202248153,657,635.202248153,657.202248153,0.400981673367,-0.0153626062887,0.0798341016174,0.999999922699,0.00027354208033,-0.000280271672148,3.49990095026e-05,1793254864057734400
+41,0.683333333,BASELINE,783,759.222839613,737,718,686.777160387,650.222839613,916,800,839.777160387,657,635.777160387,657.777160387,0.400982712999,-0.0153631504827,0.079834792137,0.999999923272,0.000272531519891,-0.000279165297052,3.53561469266e-05,1793254864074401536
+42,0.700000000,BASELINE,783.35919895,759,737,718.35919895,686.64080105,650,916,800,840,657,636,657.64080105,0.400982723459,-0.0153632978929,0.0798353294021,0.999999923334,0.00027303368782,-0.000278429115921,3.55310150614e-05,1793254864091068160
+43,0.716666667,BASELINE,783.945748003,759,737,718.945748003,686.054251997,650,916,800,840,657,636,657.054251997,0.40098208252,-0.0153631941641,0.0798357696668,0.999999923072,0.000274493316693,-0.000277927244082,3.55905183076e-05,1793254864107734784
+44,0.733333333,BASELINE,783.471609472,759.528390528,737,718.471609472,686,650,916,800,840,657.528390528,635.471609472,657.528390528,0.400981541667,-0.0153627547696,0.0798354500034,0.999999923053,0.000273504420127,-0.000278968942161,3.558276582e-05,1793254864124401152
+45,0.750000000,BASELINE,783,759.890336608,737,718,686,650,916,800,839.890336608,657.890336608,635.109663392,657.890336608,0.400981087135,-0.0153622713243,0.0798351067354,0.999999922926,0.000272918669611,-0.000280005046573,3.55025017153e-05,1793254864141068032
+46,0.766666667,BASELINE,783,759.313205195,737,718,686,650,916,800,839.313205195,657.313205195,635.686794805,657.313205195,0.400980957092,-0.0153617459359,0.079834993006,0.999999922241,0.000275115223231,-0.000280346683608,3.5142358526e-05,1793254864157734656
+47,0.783333333,BASELINE,783,759,737,718,686,650,916,800,839,657.262540174,635.737459826,657,0.400981427747,-0.0153618797091,0.0798353994228,0.999999922267,0.000276095870206,-0.000279287715814,3.51559239658e-05,1793254864174401536
+48,0.800000000,BASELINE,783,759,737,718,686,650,916,800,839,657.836640779,635.163359221,657,0.400982611262,-0.0153627957194,0.0798364231049,0.999999923134,0.000275633582501,-0.000276566628943,3.56129750906e-05,1793254864191068160
+49,0.816666667,BASELINE,783,759,737,718,686,650,916,800,839,657.579649384,635,657,0.400983039436,-0.0153633257113,0.0798365843888,0.999999923067,0.000275945369699,-0.000276466381511,3.58576975472e-05,1793254864207735040
+50,0.833333333,BASELINE,783.007812777,759,737,718,686,650,916,800,839,657.007812777,635.007812777,657,0.400983139236,-0.0153636999921,0.0798363855423,0.999999922638,0.000276518269329,-0.000277425744156,3.60108711607e-05,1793254864224401664
+51,0.850000000,BASELINE,783.590170931,759,737,718,686,650,916,800,839,657.590170931,635.590170931,657,0.400981182699,-0.015363913611,0.0798349262937,0.999999922819,0.000273653136652,-0.000279654043389,3.5641775956e-05,1793254864241068288
+52,0.866666667,BASELINE,784,759,737,718.169753521,686,650,916,800,839.169753521,657.830246479,636,657.169753521,0.400980423378,-0.0153637457155,0.0798342884933,0.999999922981,0.000272084974529,-0.000280637723545,3.53516309724e-05,1793254864257734656
+53,0.883333333,BASELINE,784,759,737,718.742742945,686,650,916,800,839.742742945,657.257257055,636,657.742742945,0.400982507947,-0.015362671563,0.0798356019773,0.999999923124,0.000273597662329,-0.000278664910575,3.5249025943e-05,1793254864274401280
+54,0.900000000,BASELINE,783.682436425,759,737,718.682436425,686,650,916,800,839.682436425,657,635.682436425,657.682436425,0.400982549608,-0.0153625822297,0.0798355958598,0.999999923076,0.000273701334327,-0.000278729302832,3.53027012315e-05,1793254864291067904
+55,0.916666667,BASELINE,783.106123767,759,737,718.106123767,686,650,916,800,839.106123767,657,635.106123767,657.106123767,0.400980926717,-0.0153632953219,0.0798345145381,0.999999922872,0.000272656947798,-0.000280453598984,3.54837128827e-05,1793254864307734528
+56,0.933333333,BASELINE,783,759,737,718,686,650,916,800,839.48347745,657.48347745,635,657,0.400980817481,-0.015363734002,0.0798340663703,0.999999922702,0.000272738433064,-0.00028101933536,3.51783950977e-05,1793254864324401152
+57,0.950000000,BASELINE,783,759,737,718,686,650.073859456,916,800,839.926140544,658,635,657.073859456,0.400980941584,-0.0153639756715,0.0798338876713,0.999999922534,0.000273257650498,-0.000281153670617,3.4867617329e-05,1793254864341067776
+58,0.966666667,BASELINE,783,759,737,718,686,650.649178934,916,800,839.350821066,658,635,657.649178934,0.400980330389,-0.0153633002691,0.0798345682573,0.999999922322,0.000275023519018,-0.000280134429255,3.52650182718e-05,1793254864357734656
+59,0.983333333,BASELINE,783.225146139,759,737,718,686,650.774853861,916,800,839.225146139,657.774853861,635,657.774853861,0.400980253404,-0.0153627932145,0.0798349888914,0.999999922317,0.000275646938357,-0.000279517297192,3.54137779303e-05,1793254864374401536
+60,1.000000000,BASELINE,783.802125627,759,737,718,686,650.197874373,916,800,839.802125627,657.197874373,635,657.197874373,0.400981011222,-0.0153625492352,0.0798350033016,0.999999922642,0.000274485065428,-0.000279528536671,3.51739886999e-05,1793254864391068160
+61,1.016666667,BASELINE,783.622496078,759,737.377503922,718,686,650,916,800,840,657.377503922,635.377503922,657,0.40098089756,-0.0153628548136,0.0798345926318,0.999999922687,0.000273839251414,-0.000280002204634,3.51613556332e-05,1793254864407734784
+62,1.033333333,BASELINE,783.047953561,759,737.952046439,718,686,650,916,800,840,657.952046439,635.952046439,657,0.400980329027,-0.0153634472345,0.0798339600909,0.999999922586,0.000273462794998,-0.000280717237659,3.5267286994e-05,1793254864424401408
+63,1.050000000,BASELINE,783,759,737.456434371,718,686,650,916,800,839.456434371,657.456434371,636,657,0.400981309297,-0.0153624307888,0.0798352546707,0.999999922755,0.000274458531496,-0.000279140324705,3.52470950941e-05,1793254864441068032
+64,1.066666667,BASELINE,783.132443448,759.132443448,737,718,686,650,916.132443448,800,839.132443448,657.132443448,635.867556552,657.132443448,0.400982343035,-0.0153617123666,0.0798364710684,0.999999923055,0.000274958154344,-0.000277571185258,3.52544670608e-05,1793254864457734656
+65,1.083333333,BASELINE,783.707332837,759.707332837,737,718,686,650,916.707332837,800,839.707332837,657.707332837,635.292667163,657.707332837,0.400983084229,-0.0153624789729,0.0798368400306,0.999999923716,0.000273382999856,-0.000276725255881,3.53922884288e-05,1793254864474401024
+66,1.100000000,BASELINE,784,759.717792077,737,718.282207923,686,650.282207923,916.717792077,800,839.717792077,657.717792077,635.282207923,657.717792077,0.400983258567,-0.0153632966771,0.0798368073213,0.999999923943,0.000272572213517,-0.000276691175493,3.55120324278e-05,1793254864491067648
+67,1.116666667,BASELINE,784,759.142931862,737,718.857068138,686,650.857068138,916.142931862,800,839.142931862,657.142931862,635.857068138,657.142931862,0.400982845073,-0.0153641673701,0.0798363580749,0.99999992372,0.000272554084302,-0.000277498990261,3.56130300151e-05,1793254864507734784
+68,1.133333333,BASELINE,783.556758585,759.443241415,737,718.556758585,686,651,916,800,839,657,635.556758585,657,0.400982747523,-0.0153643100401,0.0798362476389,0.999999923573,0.000272916812591,-0.000277688403047,3.54844179545e-05,1793254864524401664
+69,1.150000000,BASELINE,783,759.967432214,737,718.032567786,686,650.967432214,916,800,839.032567786,657,635,657,0.400982684818,-0.015364151519,0.0798361739132,0.999999923417,0.000273428419162,-0.00027777411395,3.52765213608e-05,1793254864541068032
+70,1.166666667,BASELINE,783,759.388022886,737,718.611977114,686,650.388022886,916,800,839.611977114,657,635,657,0.400981451699,-0.0153629808955,0.079834834033,0.999999922685,0.000274323638857,-0.000279554645531,3.50131630727e-05,1793254864557734656
+71,1.183333333,BASELINE,783,759,737,718.809812916,686,650,916,800,840,657,635,657,0.400980351749,-0.0153617947246,0.0798338289713,0.999999921981,0.000275338412219,-0.00028109444147,3.48191925813e-05,1793254864574401280
+72,1.200000000,BASELINE,783,759,737,718.234034455,686,650,916,800,840,657,635,657,0.400979521791,-0.0153605770325,0.079833502731,0.99999992134,0.000276595572678,-0.000282146162588,3.47659010806e-05,1793254864591067904
+73,1.216666667,BASELINE,783.34776457,759,737,718,686,650,916.34776457,800,840,657,635.34776457,657.34776457,0.400980526595,-0.0153606454925,0.079834542071,0.999999921752,0.000277109923453,-0.000280154547059,3.49176457897e-05,1793254864607734528
+74,1.233333333,BASELINE,783.933686586,759,737,718,686,650,916.933686586,800,840,657,635.933686586,657.933686586,0.400982787887,-0.0153615947402,0.079836516593,0.999999922874,0.000277115580418,-0.000276078782165,3.52098041735e-05,1793254864624401152
+75,1.250000000,BASELINE,784,759,737,718,686,650,916.483590773,800,840,657,635.483590773,657.483590773,0.400982834441,-0.0153625692718,0.0798361299873,0.999999923323,0.000274822850895,-0.000276746902522,3.51878164337e-05,1793254864641068288
+76,1.266666667,BASELINE,784,759,737,718,686,650,916.09743698,800,840,657,635,657.09743698,0.400982688743,-0.0153636460191,0.079835644906,0.999999923739,0.000272356238295,-0.000277682773506,3.51707522894e-05,1793254864657734912
+77,1.283333333,BASELINE,784,759,737,718,686,650,916.672162503,800,840,657,635,657.672162503,0.40098298585,-0.0153652076573,0.0798361535009,0.999999924441,0.000270474700867,-0.000276964576734,3.53741936021e-05,1793254864674401536
+78,1.300000000,BASELINE,783.756293159,759,737,718,686.243706841,650,916.756293159,800,839.756293159,657,635,658,0.400983186627,-0.0153657102992,0.0798364501491,0.999999924649,0.000270170428276,-0.000276514109828,3.53565358707e-05,1793254864691067904
+79,1.316666667,BASELINE,783.188973095,759,737,718,686.811026905,650,916.188973095,800,839.188973095,657,635,658,0.400983259492,-0.015364806722,0.0798364653576,0.999999924201,0.000271960572871,-0.000276419155881,3.50452853206e-05,1793254864707734272
+80,1.333333333,BASELINE,783,759.400782343,737,718,687,650,916.400782343,800,839.400782343,657,635.400782343,657.599217657,0.400982940859,-0.0153650124133,0.0798362975934,0.999999924325,0.000271441681025,-0.000276474904313,3.50861636969e-05,1793254864724400896
+81,1.350000000,BASELINE,783,759.998319931,737,718,687,650.001680069,916.998319931,800,839.998319931,657,635.998319931,657,0.400982424738,-0.015365768832,0.0798360367985,0.99999992473,0.000269776535257,-0.000276611072069,3.5301885265e-05,1793254864741067776
+82,1.366666667,BASELINE,783,759.419269207,737,718,687,650.580730793,916.419269207,800,839.419269207,657,635.419269207,657,0.400981239405,-0.0153653844974,0.0798352120159,0.999999924003,0.000270531258684,-0.000278516375357,3.51619927182e-05,1793254864757734400
+83,1.383333333,BASELINE,783,759,737,718,686.842004727,650.842004727,916,800,839,657,635,657,0.400980404359,-0.0153653894176,0.079834781437,0.999999923604,0.000270669942658,-0.000279813278466,3.51311781689e-05,1793254864774401024
+84,1.400000000,BASELINE,783,759,737,718,686.269427253,650.269427253,916,800,839,657,635,657,0.400980488473,-0.015366415749,0.0798353852552,0.999999924078,0.000269192129115,-0.000279513729889,3.53865860539e-05,1793254864791067904
+85,1.416666667,BASELINE,783,759,737,718,686,650,916,800,839,657,635,657.309988922,0.400981293764,-0.0153652030203,0.0798360115836,0.999999923965,0.000270640641793,-0.000278524730469,3.53269325767e-05,1793254864807734784
+86,1.433333333,BASELINE,783,759,737,718,686,650,916,800,839,657,635,657.895483012,0.400982740006,-0.0153620003087,0.079836657918,0.999999923317,0.00027468995072,-0.000276922976034,3.49872657423e-05,1793254864824401408
+87,1.450000000,BASELINE,783.479958865,759,737,718,686,650,916,800,839.479958865,657.479958865,635.479958865,657.520041135,0.400983211884,-0.0153629650154,0.0798366630521,0.999999924067,0.000272576082653,-0.000276326697385,3.47990002003e-05,1793254864841068288
+88,1.466666667,BASELINE,783.936809165,759,737,718,686,650,916,800,840,657.936809165,636,657,0.400983180231,-0.0153645731102,0.0798364161285,0.999999924853,0.000269705058287,-0.00027631353801,3.4701578745e-05,1793254864857734656
+89,1.483333333,BASELINE,783.361858971,759,737,718,686,650,916,800,840,657.361858971,636,657,0.400980785387,-0.0153640577624,0.0798352562938,0.999999923524,0.000271548333372,-0.000279253366853,3.50734275092e-05,1793254864874401536
+90,1.500000000,BASELINE,783.212760059,759,737,718,686,650,916,800,840,657,635.787239941,657,0.400979723927,-0.0153640682114,0.0798348461916,0.999999923026,0.000272121064332,-0.000280454335129,3.5273204979e-05,1793254864891068160
+91,1.516666667,BASELINE,783.786816666,759,737,718,686,650,916,800,840,657,635.213183334,657,0.400980926744,-0.0153649715373,0.0798357092407,0.999999923949,0.000270536232221,-0.000278702472935,3.51807811158e-05,1793254864907734784
+92,1.533333333,BASELINE,783.636648882,759,737,718,686,650,916,800,840,657,635.363351118,657,0.400981506267,-0.0153661588543,0.0798357558375,0.999999924307,0.000269940775309,-0.000277994124586,3.51697287865e-05,1793254864924401664
+93,1.550000000,BASELINE,783.058650605,759,737,718,686,650,916,800,840,657,635.941349395,657,0.400981717584,-0.015367513937,0.0798353201209,0.999999924334,0.000269929784798,-0.000277902224652,3.52067461188e-05,1793254864941068800
+94,1.566666667,BASELINE,783,759,737,718.532430492,686.532430492,650.532430492,916,800,839.467569508,657,636,657.532430492,0.400981317892,-0.0153651342858,0.0798351010706,0.999999923477,0.000271835460672,-0.00027913337689,3.51493694695e-05,1793254864957735168
+95,1.583333333,BASELINE,783.121299395,759.121299395,737,718.878700605,686.878700605,651,916,800,839.121299395,657.121299395,635.878700605,658,0.400981012565,-0.0153631104241,0.0798349688756,0.999999922826,0.000273289749084,-0.000280049794875,3.5102082597e-05,1793254864974401536
+96,1.600000000,BASELINE,783.696365895,759.696365895,737,718.303634105,686.303634105,651,916,800,839.696365895,657.696365895,635.303634105,658,0.400981318371,-0.0153639953161,0.0798350700626,0.999999923339,0.00027224572883,-0.000279229887985,3.5132418367e-05,1793254864991067904
+97,1.616666667,BASELINE,783.728830175,759.728830175,737,718,686,650.728830175,916,800,840,657.728830175,635,658,0.400981664068,-0.0153640651117,0.0798355343916,0.99999992357,0.000272154188623,-0.000278508623657,3.50091508674e-05,1793254865007734528
+98,1.633333333,BASELINE,783.15432,759.15432,737,718,686,650.15432,916,800,840,657.15432,635,658,0.40098205439,-0.0153632231112,0.0798364049446,0.999999923484,0.00027312812703,-0.000277897704508,3.4714057206e-05,1793254865024401408
+99,1.650000000,BASELINE,783,759,737,718.431616061,686,650,916,800,840,657,635.431616061,657.568383939,0.400981723504,-0.0153625848426,0.079836416441,0.999999923326,0.000273752301919,-0.000277844782444,3.47899451547e-05,1793254865041067776
+100,1.666666667,BASELINE,783.021332548,759.021332548,737,718.978667452,686,650,916,800,839.978667452,657,635.978667452,657.021332548,0.400981169286,-0.0153621013794,0.0798361343554,0.999999923152,0.000274247155745,-0.000277956838297,3.50045573053e-05,1793254865057734656
+101,1.683333333,BASELINE,783.60018074,759.60018074,737,718.39981926,686,650,916,800,839.39981926,657,635.39981926,657.60018074,0.400981700731,-0.0153637082147,0.0798364250633,0.999999923271,0.000274719374259,-0.000277024732774,3.52838956297e-05,1793254865074401280
+102,1.700000000,BASELINE,784,760,737,718,686,650.177514702,916.177514702,800,839.177514702,657.177514702,635,658,0.40098199826,-0.015364906236,0.0798365778167,0.999999923434,0.000274596744569,-0.000276530190178,3.54840390724e-05,1793254865091067904
+103,1.716666667,BASELINE,784,760,737,718,686,650.75146691,916.75146691,800,839.75146691,657.75146691,635,658,0.400981773391,-0.0153651912669,0.079836422481,0.999999923697,0.000273145660684,-0.000277012842011,3.55073192597e-05,1793254865107734528
+104,1.733333333,BASELINE,784,759.666179577,737,718,686.333820423,650.666179577,917,800,839.666179577,658,635.333820423,658,0.400981921896,-0.0153651485304,0.0798364699823,0.999999924345,0.000270963822134,-0.000276846192708,3.52954613229e-05,1793254865124401408
+105,1.750000000,BASELINE,784,759.077409654,737,718,686.922590346,650.077409654,917,800,839.077409654,658,635.922590346,658,0.400982355559,-0.0153648554676,0.079836672397,0.99999992528,0.000268223882354,-0.000276183651088,3.49040207653e-05,1793254865141068032
+106,1.766666667,BASELINE,783.494802926,759,737,718,686.494802926,650,917,800,839.505197074,658,636,658,0.400980955863,-0.0153642360527,0.0798351005725,0.999999924379,0.00026959107654,-0.000278131230187,3.47261497841e-05,1793254865157734400
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,759,738,718,686,650,916,800,840,657,636,658,0.400982962751,-0.0153646807409,0.0798358546567,0.999999924303,0.000271176472875,-0.00027677326165,3.54146385359e-05,1793254865200871424
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,759,737.425496325,718,686,650.574503675,916.574503675,800,839.425496325,657.574503675,636,657.425496325,0.400981178475,-0.0153638446391,0.0798349523661,0.999999923282,0.000273282416883,-0.000278399988481,3.53112469825e-05,1793254865217538304
+109,1.816666667,POSE1_TO_POSE2_PRESS,783.152897716,759.152897716,737,718,686,650.847102284,917,800,839.152897716,658,635.847102284,657,0.40098039199,-0.0153631958328,0.0798346210036,0.999999922722,0.000274613989588,-0.000279107457493,3.52525524367e-05,1793254865234205184
+110,1.833333333,POSE1_TO_POSE2_PRESS,783.742400988,759.742400988,737,718,686,650.257599012,917,800,839.742400988,658,635.257599012,657,0.40098245474,-0.0153630818558,0.0798359199489,0.999999923494,0.000273734314482,-0.00027718994933,3.53214919649e-05,1793254865250871808
+111,1.850000000,POSE1_TO_POSE2_PRESS,784,759.673111682,737,718,686.326888318,650,916.673111682,800,839.673111682,657.673111682,635,657.326888318,0.400983610173,-0.0153638346482,0.0798369091545,0.999999924135,0.000272957248676,-0.000275607837019,3.5568193124e-05,1793254865267538432
+112,1.866666667,POSE1_TO_POSE2_PRESS,784,759.09251738,737,718,686.90748262,650,916.09251738,800,839.09251738,657.09251738,635,657.90748262,0.400984061414,-0.0153652601614,0.0798376579634,0.999999924675,0.0002722598205,-0.000274286033707,3.5952859409e-05,1793254865284205056
+113,1.883333333,POSE1_TO_POSE2_PRESS,783.51514652,759,737,718.48485348,686.51514652,650,916,800,839,657,635.48485348,658,0.400983135245,-0.0153655025685,0.0798369569606,0.999999924575,0.000270801017592,-0.000276159227904,3.54082272827e-05,1793254865300871680
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,759,737,719,686,650.062413513,916.062413513,800,839.062413513,657.062413513,635.937586487,657.937586487,0.400982330927,-0.0153654511882,0.0798361852162,0.9999999244,0.000269447331475,-0.000278187257755,3.47712015199e-05,1793254865317538304
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,759,737,719,686,650.646663941,916.646663941,800,839.646663941,657.646663941,635.353336059,657.353336059,0.400984728406,-0.015364818522,0.0798371197548,0.999999924684,0.000270179195901,-0.000276446234959,3.48344851653e-05,1793254865334204928
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,759,737,718.771174947,686.228825053,650.771174947,916.771174947,800,840,657.771174947,635.228825053,657.228825053,0.400992202404,-0.0153644421301,0.0798404549428,0.999999925928,0.000271308740277,-0.000270738318238,3.51520078715e-05,1793254865350871552
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,759,737,718.192210879,686.807789121,650.192210879,916.192210879,800,840,657.192210879,635.807789121,657.807789121,0.40100744429,-0.015364457879,0.0798474635091,0.99999992855,0.000273046798635,-0.000258960417971,3.58585570915e-05,1793254865367538432
+118,1.966666667,POSE1_TO_POSE2_PRESS,783.384093776,759.384093776,737,718.384093776,686.615906224,650,916.384093776,800,840,657,636,657.615906224,0.401040078117,-0.0153662466846,0.0798595806657,0.999999934131,0.000273189484266,-0.00023614630894,3.65991135733e-05,1793254865384205056
+119,1.983333333,POSE1_TO_POSE2_PRESS,783.959076792,759.959076792,737,718.959076792,686.040923208,650,916.959076792,800,840,657,636,657.040923208,0.401081355498,-0.0153689166748,0.0798742367209,0.999999940563,0.000272539291928,-0.000207847357144,3.73565712298e-05,1793254865400871424
+120,2.000000000,POSE1_TO_POSE2_PRESS,784,759.463543063,737,718.463543063,686,650,916.463543063,800,840,657,635.463543063,657.536456937,0.401146777674,-0.0153713816748,0.0798940015282,0.999999948026,0.000270397604181,-0.000171492910947,3.77206547685e-05,1793254865417538304
+121,2.016666667,POSE1_TO_POSE2_PRESS,783.883572177,759,737,718,686,650,916,800,839.883572177,657,635.116427823,657.883572177,0.401216239076,-0.0153740619181,0.0799128577047,0.999999953561,0.000268494593106,-0.000139120257017,3.78594459848e-05,1793254865434204928
+122,2.033333333,POSE1_TO_POSE2_PRESS,783.293815395,759,737,718,686,650,916,800,839.293815395,657,635.706184605,657.293815395,0.401294600097,-0.015377681076,0.0799264284352,0.999999955521,0.000268026536256,-0.000125444731644,3.72048716565e-05,1793254865450871552
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.290818799,759,737,718.290818799,686,650,916,800,839,657,635.709181201,657,0.401382511384,-0.0153814135881,0.0799368681511,0.999999957786,0.000266563543642,-0.000109895069114,3.59715365535e-05,1793254865467538176
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.870367171,759,737,718.870367171,686,650,916,800,839,657,635.129632829,657,0.401479904324,-0.0153852586399,0.0799441993447,0.999999960262,0.00026411276283,-9.24847339308e-05,3.41635984959e-05,1793254865484204800
+125,2.083333333,POSE1_TO_POSE2_PRESS,784,759.447050002,737,718.552949998,686,650,916,800.447050002,839.447050002,657.447050002,635.447050002,657.447050002,0.401589532852,-0.0153888269026,0.0799476149794,0.999999961608,0.000262069565675,-8.45878537433e-05,3.07958359584e-05,1793254865500871680
+126,2.100000000,POSE1_TO_POSE2_PRESS,783.977124238,759.977124238,737,718,686.022875762,650,916,800.977124238,839.977124238,657.977124238,635.977124238,657.977124238,0.401703718308,-0.0153924125937,0.0799499135368,0.999999962669,0.000260025377808,-7.95038680266e-05,2.6968442141e-05,1793254865517538304
+127,2.116666667,POSE1_TO_POSE2_PRESS,783.402056979,759.402056979,737,718,686.597943021,650,916,800.402056979,839.402056979,657.402056979,635.402056979,657.402056979,0.401842803487,-0.0153983440583,0.0799524800565,0.999999964295,0.000255122523776,-7.61533044598e-05,2.28947430521e-05,1793254865534204928
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,759.177819843,737,718,686.822180157,650,916,800,839,657.177819843,635.177819843,657,0.401991021138,-0.0154042187007,0.0799546101784,0.999999966216,0.000248935571019,-7.25733618623e-05,1.82499281916e-05,1793254865550871808
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,759.76887348,737,718,686.23112652,650,916,800,839,657.76887348,635.76887348,657,0.402160461635,-0.0154099612936,0.0799557261595,0.999999968838,0.000239764514467,-6.84603680453e-05,1.2277903539e-05,1793254865567538432
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,759.647713162,737,718,686,650.352286838,916.352286838,800,839.352286838,657.647713162,635.647713162,657.352286838,0.402341199694,-0.0154152820571,0.079954122889,0.999999970604,0.000231297491548,-7.25366959545e-05,5.58668027139e-06,1793254865584204800
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,759.069205938,737,718,686,650.930794062,916.930794062,800,839.930794062,657.069205938,635.069205938,657.930794062,0.402529192481,-0.015420331944,0.079950773456,0.99999997172,0.000223282561685,-8.18717822852e-05,-1.56637573611e-06,1793254865600871424
+132,2.200000000,POSE1_TO_POSE2_PRESS,783.506622269,759.506622269,737,718,686,650.493377731,916.493377731,800,840,657,635,657.493377731,0.402749884994,-0.0154285964925,0.0799484913316,0.999999982396,0.000166702863873,-8.5627107483e-05,-9.24633161484e-06,1793254865617538048
+133,2.216666667,POSE1_TO_POSE2_PRESS,784,760,737,718,686,650.083821192,916.083821192,800,840,657,635.083821192,657.083821192,0.402982294386,-0.0154372457327,0.0799469185699,0.999999990273,0.000107113956211,-8.76891511484e-05,-1.70811273526e-05,1793254865634204928
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,760,737,718,686,650.671447026,916.671447026,800,840,657,635.671447026,657.671447026,0.403258421047,-0.0154455816527,0.0799487377101,0.99999999375,6.91024221481e-05,-8.41309240011e-05,-2.54162532849e-05,1793254865650871552
+135,2.250000000,POSE1_TO_POSE2_PRESS,784,760,737.254800899,718,686,651,916.745199101,800,840,657.254800899,636,657.745199101,0.403552622592,-0.0154539520833,0.0799511097408,0.999999995193,4.54355950026e-05,-8.0668741146e-05,-3.22853256808e-05,1793254865667537920
+136,2.266666667,POSE1_TO_POSE2_PRESS,784,760,737.832737088,718,686,651,916.167262912,800,840,657.832737088,636,657.167262912,0.403869746459,-0.0154623662794,0.07995418294,0.999999995516,3.99605468681e-05,-7.73283607885e-05,-3.72951669859e-05,1793254865684204800
+137,2.283333333,POSE1_TO_POSE2_PRESS,784,760,737.590302676,718,686,651,916,800,839.590302676,658,636,657.409697324,0.404216136492,-0.0154684863349,0.0799555466235,0.999999995491,5.28392970612e-05,-7.22330460772e-05,-3.17417776836e-05,1793254865700872448
+138,2.300000000,POSE1_TO_POSE2_PRESS,784,760,737.013739951,718,686,651,916,800,839.013739951,658,636,657.986260049,0.404574446318,-0.015473672011,0.0799562140391,0.999999994876,7.31933559911e-05,-6.64229651483e-05,-2.18860957452e-05,1793254865717540352
+139,2.316666667,POSE1_TO_POSE2_PRESS,783.44649356,759.44649356,737.55350644,718,686.55350644,651,916,800,839.55350644,657.44649356,636,658,0.404964187299,-0.0154786039207,0.0799539686487,0.999999995414,6.33601462315e-05,-6.69053242066e-05,-2.60843103645e-05,1793254865734205952
+140,2.333333333,POSE1_TO_POSE2_PRESS,783.127452195,759,737.872547805,718,686.872547805,650.872547805,916,800,840,657,636,657.872547805,0.405367028919,-0.0154807101043,0.0799509218317,0.99999999554,5.60308272363e-05,-6.97421802013e-05,-3.02683465768e-05,1793254865750871808
+141,2.350000000,POSE1_TO_POSE2_PRESS,783.727058563,759,737.272941437,718,686.272941437,650.272941437,916,800,840,657,636,657.272941437,0.405815559981,-0.0154723711684,0.0799451695107,0.99999999435,6.07073920555e-05,-8.07323343468e-05,-3.31288534274e-05,1793254865767538432
+142,2.366666667,POSE1_TO_POSE2_PRESS,783.685146216,759.314853784,737,717.685146216,686,650.314853784,916.314853784,800,839.685146216,657,636,657,0.406276608098,-0.0154676484875,0.0799388984994,0.999999993014,6.48047264355e-05,-9.23386441963e-05,-3.52883516088e-05,1793254865784205056
+143,2.383333333,POSE1_TO_POSE2_PRESS,783.107219612,759.892780388,737,717.107219612,686,650.892780388,916.892780388,800,839.107219612,657,636,657,0.40674811476,-0.0154659473303,0.0799321941012,0.999999991524,6.84180913285e-05,-0.000104459777775,-3.68621295645e-05,1793254865800872192
+144,2.400000000,POSE1_TO_POSE2_PRESS,783.468196883,760,737,717,686,650.531803117,916.531803117,800,839.468196883,657,636,657,0.407249391912,-0.0154722085788,0.0799293213208,0.999999991109,6.21171480967e-05,-0.000112082298034,-3.68840383945e-05,1793254865817539584
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,759.956032249,737,717,686,650.043967751,916,800,840,657,635.956032249,657,0.407759696436,-0.0154799374816,0.0799267670723,0.999999990742,5.3437449193e-05,-0.000119599840202,-3.68255188703e-05,1793254865834206720
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,759.368817964,737,717,686,650.631182036,916,800,840,657,635.368817964,657,0.408297753517,-0.0154833906735,0.079917364748,0.99999998867,4.32697251441e-05,-0.000138481234834,-4.01408463102e-05,1793254865850872832
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,759,737,716.784075566,686,651,916,800.215924434,840,657,635.215924434,657,0.408885492498,-0.015485627741,0.0799223211631,0.999999989695,3.63007275511e-05,-0.000132331313674,-4.21918061888e-05,1793254865867538944
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,759,737,716.203507618,686,651,916,800.796492382,840,657,635.796492382,657,0.409557132015,-0.0154858110719,0.0799515259746,0.99999999499,3.47335965423e-05,-8.3909625978e-05,-4.21075585051e-05,1793254865884205568
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,759.375067334,737.375067334,716.375067334,686,650.624932666,916,800.624932666,840,657,635.624932666,657,0.410236977007,-0.0154861887756,0.0799804522627,0.999999997847,3.58737645007e-05,-3.71480126418e-05,-4.04753722269e-05,1793254865900872192
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,759.952566602,737.952566602,716.952566602,686,650.047433398,916,800.047433398,840,657,635.047433398,657,0.41092125065,-0.0154866713864,0.0800092282247,0.9999999985,3.84751201601e-05,8.71762118058e-06,-3.80077300484e-05,1793254865917538816
+151,2.516666667,POSE1_TO_POSE2_PRESS,784,760,737.471691728,717,686,650.528308272,916.528308272,800,840,657,635.528308272,657,0.411578631478,-0.015488460884,0.0799888840099,0.999999998243,3.14430135423e-05,-2.81674651303e-05,-4.16206299164e-05,1793254865934205184
+152,2.533333333,POSE1_TO_POSE2_PRESS,784,760,737,717,686,651,917,800,840,657,636,657.106252027,0.41223927203,-0.0154900872339,0.0799625355339,0.999999996051,2.46579711021e-05,-7.21562489724e-05,-4.56433264296e-05,1793254865950872064
+153,2.550000000,POSE1_TO_POSE2_PRESS,784,760,737,717,686,651,917,800,840,657,636,657.694907556,0.412925638191,-0.0154904418992,0.0799288832747,0.999999991947,2.29085501876e-05,-0.000114776965555,-4.90561581533e-05,1793254865967539200
+154,2.566666667,POSE1_TO_POSE2_PRESS,784.279123221,760,737,717,686,651,917,800,840,657,636,657.720876779,0.413670357033,-0.0154949226483,0.0799180025161,0.999999991047,1.7220393733e-05,-0.000122751565892,-5.04065751643e-05,1793254865984205824
+155,2.583333333,POSE1_TO_POSE2_PRESS,784.858561999,760,737,717,686,651,917,800,840,657,636,657.141438001,0.41447785905,-0.015503842753,0.0799316221724,0.99999999438,7.29445438595e-06,-9.34495608073e-05,-4.95379897915e-05,1793254866000872192
+156,2.600000000,POSE1_TO_POSE2_PRESS,785,760,737,716.564602259,686,650.564602259,917,800,840,657.435397741,636,657,0.415280618591,-0.0155187782035,0.0799505106835,0.99999999665,-1.50674478014e-05,-6.56822378468e-05,-4.64605954807e-05,1793254866017538560
+157,2.616666667,POSE1_TO_POSE2_PRESS,784.988624879,759.988624879,737,716,686,650.011375121,916.988624879,800,840,657.988624879,636,657,0.416081848311,-0.0155354258257,0.0799703717349,0.999999997468,-4.09116109675e-05,-3.9489731464e-05,-4.27801357412e-05,1793254866034205184
+158,2.633333333,POSE1_TO_POSE2_PRESS,784.413527781,759.413527781,737,716,686,650.586472219,916.413527781,800,840,657.413527781,636,657,0.416883160056,-0.0155406610495,0.0799541122207,0.999999995965,-4.03156781305e-05,-6.67815878641e-05,-4.45607516695e-05,1793254866050872064
+159,2.650000000,POSE1_TO_POSE2_PRESS,784.165928442,759.165928442,737.165928442,716.165928442,686,651,916,800,840,657,636,657,0.417713784658,-0.0155439789237,0.0799515954467,0.999999995979,-3.92306213226e-05,-6.66319129306e-05,-4.5416852388e-05,1793254866067538944
+160,2.666666667,POSE1_TO_POSE2_PRESS,784.756541569,759.756541569,737.756541569,716.756541569,686,651,916,800,840,657,636,657,0.418619433849,-0.0155423894466,0.0799842524585,0.999999998348,-3.6893678687e-05,3.75284837072e-06,-4.39067072855e-05,1793254866084205568
+161,2.683333333,POSE1_TO_POSE2_PRESS,785,760,737.660377067,717,686,651,916.339622933,800.339622933,840.339622933,657,636,657,0.419516958836,-0.0155388452301,0.0799922633282,0.99999999809,-3.65540327566e-05,2.23729433291e-05,-4.45236869248e-05,1793254866100872192
+162,2.700000000,POSE1_TO_POSE2_PRESS,785,760,737.082577728,717,686,651,916.917422272,800.917422272,840.917422272,657,636,657,0.420408786311,-0.0155339301615,0.0799829899412,0.999999998194,-3.76150843774e-05,4.69065127823e-06,-4.66324120557e-05,1793254866117538816
+163,2.716666667,POSE1_TO_POSE2_PRESS,785,760,737,717,686,651,917,801,841,657,636,657.493441701,0.421307216199,-0.0155353488195,0.0799778805072,0.999999998269,-3.48174382032e-05,-5.55269879131e-06,-4.71149755653e-05,1793254866134205440
+164,2.733333333,POSE1_TO_POSE2_PRESS,785,760,737.070711127,716.929288873,686,651,917,801,840.929288873,657,636,658,0.422209816465,-0.015537756755,0.0799772772613,0.999999998399,-3.05401173216e-05,-8.7834301032e-06,-4.68154364795e-05,1793254866150871808
+165,2.750000000,POSE1_TO_POSE2_PRESS,785,760,737.659308947,716.340691053,686,651,917,801,840.340691053,657,636,658,0.423134896708,-0.0155396749685,0.0800045919425,0.999999998425,-2.01381912784e-05,3.02611758697e-05,-4.2773771764e-05,1793254866167538432
+166,2.766666667,POSE1_TO_POSE2_PRESS,785,760,738,716.243809118,686.243809118,651,917,801,840.243809118,657,636,657.756190882,0.42404419492,-0.0155404477949,0.0800056856116,0.999999998823,-1.64496134822e-05,1.93410589804e-05,-4.13527910248e-05,1793254866184205056
+167,2.783333333,POSE1_TO_POSE2_PRESS,785,760,738,716.822678092,686.822678092,651,917,801,840.822678092,657,636,657.177321908,0.424931804474,-0.0155396465492,0.079970744502,0.999999996996,-2.19869955194e-05,-6.02441335929e-05,-4.35333401912e-05,1793254866200871680
+168,2.800000000,POSE1_TO_POSE2_PRESS,785,760,738,717,686.59872968,651,916.59872968,800.59872968,841,657,636,657.40127032,0.425887125522,-0.0155397436045,0.0799401895877,0.999999994045,-2.72564978436e-05,-9.39522583006e-05,-4.83682727875e-05,1793254866217538816
+169,2.816666667,POSE1_TO_POSE2_PRESS,785,760,738,717,686.020259697,651,916.020259697,800.020259697,841,657,636,657.979740303,0.426872347692,-0.0155402373465,0.079911571605,0.999999992229,-3.24077050686e-05,-0.00010740121508,-5.43753723763e-05,1793254866234205440
+170,2.833333333,POSE1_TO_POSE2_PRESS,785,760,738,716.447622065,686,651,916,800.552377935,841,657,636,658,0.427809424254,-0.0155395247692,0.0799123175369,0.99999999104,-3.66534252804e-05,-0.000116729150838,-5.43297641837e-05,1793254866250872320
+171,2.850000000,POSE1_TO_POSE2_PRESS,785.128827721,760,737.871172279,716.128827721,686.128827721,651,916.128827721,801,841,657,636,658,0.428753174617,-0.0155396589742,0.0799203994787,0.99999999119,-4.0543493835e-05,-0.000114354736289,-5.38408716782e-05,1793254866267538944
+172,2.866666667,POSE1_TO_POSE2_PRESS,785.71970937,760,737.28029063,716.71970937,686.71970937,651,916.71970937,801,841,657,636,658,0.429727128433,-0.0155429872806,0.0799509704106,0.999999995195,-4.32758500284e-05,-7.05450757328e-05,-5.25499888394e-05,1793254866284205312
+173,2.883333333,POSE1_TO_POSE2_PRESS,785.695908486,760,737.304091514,717,687,651,917,801,841,657,636,657.695908486,0.430726535277,-0.0155473314304,0.0799907590639,0.999999997702,-4.44150226373e-05,-1.26692512714e-05,-4.96294040792e-05,1793254866300871936
+174,2.900000000,POSE1_TO_POSE2_PRESS,785.117391804,760,737.882608196,717,687,651,917,801,841,657,636,657.117391804,0.431748911968,-0.0155525923204,0.0800388661809,0.999999996327,-4.41164380861e-05,5.79004778061e-05,-4.52381066577e-05,1793254866317538560
+175,2.916666667,POSE1_TO_POSE2_PRESS,785.458339105,760,738,716.541660895,687,651,917,801,841,657,636,657.458339105,0.432677795961,-0.0155490250489,0.0800031208918,0.999999997322,-5.4660856519e-05,1.91109587873e-07,-4.86566556956e-05,1793254866334205184
+176,2.933333333,POSE1_TO_POSE2_PRESS,785.965860931,760,738,716.034139069,687,651,917,801,841,657,636,658,0.433584023065,-0.0155436406284,0.0799475876118,0.999999992555,-6.67156942389e-05,-8.67582367548e-05,-5.3969628107e-05,1793254866350872064
+177,2.950000000,POSE1_TO_POSE2_PRESS,785.377425702,760,738,716.622574298,687,651,917,801,841,657,636,658,0.434508826844,-0.015545242716,0.079917365449,0.999999989633,-5.84756456906e-05,-0.000118228706014,-5.77598799486e-05,1793254866367538688
+178,2.966666667,POSE1_TO_POSE2_PRESS,785.207374801,760.207374801,737.792625199,717,687,651,917,801.207374801,841.207374801,657,635.792625199,657.792625199,0.435443232681,-0.0155481798417,0.0799104982606,0.999999989097,-5.65715734275e-05,-0.000123064128774,-5.88230712254e-05,1793254866384205312
+179,2.983333333,POSE1_TO_POSE2_PRESS,785.785674088,760.785674088,737.214325912,717,687,651,917,801.785674088,841.785674088,657,635.214325912,657.214325912,0.436394813558,-0.0155535049065,0.0799454053415,0.999999993088,-6.60004522212e-05,-8.02583250636e-05,-5.5008459599e-05,1793254866400872192
+180,3.000000000,POSE1_TO_POSE2_PRESS,786,761,737,717,687,651,917,801.636391556,841.636391556,657,635,657,0.437363962264,-0.0155579196103,0.079981289766,0.999999995826,-7.00354799727e-05,-2.60007434394e-05,-5.26078015911e-05,1793254866417538560
+181,3.016666667,POSE1_TO_POSE2_PRESS,786,761,737,717,687,651,917,801.058672125,841.058672125,657,635,657,0.438343455736,-0.0155617982472,0.0800177496976,0.999999995572,-7.08943355166e-05,3.50002199661e-05,-5.10397508846e-05,1793254866434205184
+182,3.033333333,POSE1_TO_POSE2_PRESS,786,760.484442444,737,716.484442444,686.484442444,651,916.484442444,801,841,657,635.515557556,657.515557556,0.439261614575,-0.0155676164271,0.0800147906935,0.999999994525,-8.71993003265e-05,2.38635392655e-05,-5.27006027497e-05,1793254866450871808
+183,3.050000000,POSE1_TO_POSE2_PRESS,786,760,737.092068788,716,686,651,916.092068788,801,841,657,635.907931212,657.907931212,0.440144090849,-0.0155719893212,0.0799909670511,0.999999993093,-0.000101660276534,-1.92968710655e-05,-5.57464383482e-05,1793254866467538432
+184,3.066666667,POSE1_TO_POSE2_PRESS,786,760,737.683082085,716,686,651,916.683082085,801,841,657,635.316917915,657.316917915,0.440870766606,-0.0155673417078,0.0798782199083,0.999999974863,-9.66661822323e-05,-0.000191811863328,-6.43198874948e-05,1793254866484205056
+185,3.083333333,POSE1_TO_POSE2_PRESS,786,760,738,716.268579744,686,650.731420256,917,800.731420256,841.268579744,657,635,657.268579744,0.44163611065,-0.0155675333823,0.0797965686621,0.999999943882,-0.000104003224518,-0.000310425883014,-7.10922332394e-05,1793254866500871680
+186,3.100000000,POSE1_TO_POSE2_PRESS,786,760,738,716.847700004,686,650.152299996,917,800.152299996,841.847700004,657,635,657.847700004,0.442446164157,-0.015573320397,0.0797508714969,0.999999922,-0.000125597925108,-0.000366717862229,-7.57820864148e-05,1793254866517538304
+187,3.116666667,POSE1_TO_POSE2_PRESS,785.575834453,760,737.575834453,716.575834453,686,650,917,800,842,657,635,658,0.443306701426,-0.0155830025294,0.0797847591387,0.999999939071,-0.000128764739448,-0.000315938112458,-7.38974335253e-05,1793254866534205440
+188,3.133333333,POSE1_TO_POSE2_PRESS,785.000316132,760,737.000316132,716.000316132,686,650,917,800,842,657,635,658,0.444185252619,-0.0155940745367,0.0798470446076,0.999999963962,-0.000125356028444,-0.000226952520038,-6.96668339387e-05,1793254866550872576
+189,3.150000000,POSE1_TO_POSE2_PRESS,785.587248887,760,737,716.587248887,686,650,917,800,842,657,635.587248887,658,0.444996241902,-0.0156017441927,0.0798716592493,0.99999996976,-0.000133652086517,-0.000196000527569,-6.48104126307e-05,1793254866567538944
+190,3.166666667,POSE1_TO_POSE2_PRESS,786,760.172243531,737,716.827756469,686,650,917,799.827756469,842,657,635.827756469,657.827756469,0.445789722467,-0.0156085532326,0.0798828002975,0.999999971495,-0.000143166849832,-0.000180634330129,-6.23177247261e-05,1793254866584205312
+191,3.183333333,POSE1_TO_POSE2_PRESS,786,760.751154006,737,716.248845994,686,650,917,799.248845994,842,657,635.248845994,657.248845994,0.446541952784,-0.0156133347746,0.079862179081,0.999999965364,-0.000155543789664,-0.00020199088086,-6.54066221323e-05,1793254866600871936
+192,3.200000000,POSE1_TO_POSE2_PRESS,786,760.670566861,737,716,685.670566861,650,917,799,842,657,635,657.329433139,0.447243812456,-0.015617474058,0.0798250553755,0.999999952381,-0.000167441596836,-0.000249726011318,-6.95543745478e-05,1793254866617538560
+193,3.216666667,POSE1_TO_POSE2_PRESS,786,760.092763751,737,716,685.092763751,650,917,799,842,657,635,657.907236249,0.447907696074,-0.0156211291224,0.0797754899276,0.999999930853,-0.000178978169571,-0.000317348777891,-7.4500430531e-05,1793254866634205184
+194,3.233333333,POSE1_TO_POSE2_PRESS,786,760,737,715.516797386,685,650,916.516797386,798.516797386,841.516797386,657,635,658,0.44850816414,-0.0156199459769,0.0797118747226,0.999999891121,-0.000180086546056,-0.000423073613715,-7.95973641845e-05,1793254866650871808
+195,3.250000000,POSE1_TO_POSE2_PRESS,785.939812148,760,737,715.060187852,685,650,916,798,841.060187852,657,635,658,0.449103964433,-0.0156183094279,0.0796526703829,0.999999843536,-0.000179657493201,-0.000523047192811,-8.41014916285e-05,1793254866667538432
+196,3.266666667,POSE1_TO_POSE2_PRESS,785.350788153,760,737,715.649211847,685,650,916,798,841.649211847,657,635,658,0.449765315424,-0.0156208192274,0.0796558310471,0.999999850488,-0.000183243525458,-0.000508460967939,-8.31434431236e-05,1793254866684205568
+197,3.283333333,POSE1_TO_POSE2_PRESS,785.234167608,760,737,716,685,649.765832392,916.234167608,797.765832392,842,657,635,657.765832392,0.450423502594,-0.0156269158569,0.0796755986257,0.999999865227,-0.000191548135622,-0.000475612321206,-8.15400682602e-05,1793254866700872448
+198,3.300000000,POSE1_TO_POSE2_PRESS,785.813133084,760,737,716,685,649.186866916,916.813133084,797.186866916,842,657,635,657.186866916,0.45107703117,-0.0156382938802,0.0797198188973,0.999999889022,-0.00020680057022,-0.000415873345043,-7.89864886187e-05,1793254866717538816
+199,3.316666667,POSE1_TO_POSE2_PRESS,786,760,737,715.609773782,685,649,917,797,842,657,635,657,0.451642891173,-0.0156449444413,0.0797214126128,0.99999988521,-0.000215185161451,-0.000420805863593,-7.87245825419e-05,1793254866734205440
+200,3.333333333,POSE1_TO_POSE2_PRESS,786,760,737,715.033572919,685,649,917,797,842,657,635,657,0.452166970004,-0.0156493419818,0.079702691299,0.999999868347,-0.000220296666119,-0.000456559622753,-7.95548457522e-05,1793254866750871808
+201,3.350000000,POSE1_TO_POSE2_PRESS,785.447044644,760.552955356,737,715.552955356,684.447044644,649,917,796.447044644,842,657,635,657.552955356,0.452639779009,-0.0156479967494,0.0796533326959,0.999999829363,-0.000230385180164,-0.000529770978253,-8.68317148821e-05,1793254866767538688
+202,3.366666667,POSE1_TO_POSE2_PRESS,785.138043008,760.861956992,737,716,684.138043008,649,917,796,842,657,635,658,0.453103362425,-0.0156477299602,0.0796064263155,0.99999978848,-0.000235981331462,-0.00059912266579,-9.16806606669e-05,1793254866784205312
+203,3.383333333,POSE1_TO_POSE2_PRESS,785.716496121,760.283503879,737,716,684.716496121,649,917,796,842,657,635,658,0.453547633055,-0.0156520373959,0.0795733910119,0.999999760124,-0.000226262707261,-0.000648766725446,-8.7511094392e-05,1793254866800871936
+204,3.400000000,POSE1_TO_POSE2_PRESS,786,760,737,716,684.705023995,649,917,795.705023995,842,657,635,657.705023995,0.453983096715,-0.0156547730448,0.0795514959924,0.999999738074,-0.000227142311988,-0.000681537518628,-8.81232633983e-05,1793254866817538816
+205,3.416666667,POSE1_TO_POSE2_PRESS,786,760,737,716,684.126518412,649,917,795.126518412,842,657,635,657.126518412,0.45441009513,-0.0156559978992,0.0795403089646,0.999999723608,-0.00023820888647,-0.000698089803812,-9.33316147144e-05,1793254866834205696
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,785.935867223,759,737,716.064132777,686,650,917,799.935867223,840,657,635.935867223,658,0.422613088755,-0.0153833097215,0.0797053710571,0.999999855994,0.000248541999379,-0.000474294219838,3.58420978513e-05,1793254869163165696
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,785.14856511,759.14856511,736.14856511,716.85143489,686,650,917,799.14856511,840,657,635,657.85143489,0.418310533997,-0.0153818487425,0.0798070766251,0.999999926156,0.000240921257269,-0.000296596130624,4.09421565945e-05,1793254869246498304
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..979f3a923d4938c7d5f78b5c443c0351c111c9a9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_04/simulation_data.csv
@@ -0,0 +1,418 @@
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+402,6.700000000,pose2_to_pose3_retreat,0.575668614011,-0.00981825756945,1.07002050356,0.546239761509,-0.00114402050117,1.06969221173
+403,6.716666667,pose2_to_pose3_retreat,0.575668321443,-0.00981825037111,1.07002050788,0.546239468867,-0.00114401354391,1.06969221625
+404,6.733333333,pose2_to_pose3_retreat,0.575668267787,-0.00981825293233,1.07002052213,0.546239415234,-0.00114401604411,1.06969223002
+405,6.750000000,pose2_to_pose3_retreat,0.575668058428,-0.0098182629259,1.0700205777,0.546239205966,-0.00114402579959,1.06969228377
+406,6.766666667,pose2_to_pose3_retreat,0.575667866776,-0.00981827207421,1.07002062858,0.546239014397,-0.00114403472995,1.06969233297
+407,6.783333333,pose2_to_pose3_retreat,0.5756677951,-0.00981827549563,1.07002064761,0.546238942752,-0.00114403806986,1.06969235138
+408,6.800000000,pose2_to_pose3_retreat,0.575667619032,-0.00981828390003,1.07002069435,0.546238766761,-0.00114404627404,1.06969239658
+409,6.816666667,pose2_to_pose3_retreat,0.575667283863,-0.00981829989905,1.07002078333,0.546238431736,-0.00114406189189,1.06969248262
+410,6.833333333,pose2_to_pose3_retreat,0.575667249717,-0.00981829746352,1.07002076335,0.546238397528,-0.00114405963855,1.0696924635
+411,6.850000000,pose2_to_pose3_retreat,0.575667069077,-0.00981827704542,1.07002060385,0.546238216408,-0.00114404059382,1.06969231066
+412,6.866666667,pose2_to_pose3_retreat,0.575666902096,-0.00981825817134,1.07002045641,0.546238048984,-0.00114402298926,1.06969216938
+413,6.883333333,pose2_to_pose3_retreat,0.575666768048,-0.00981824276257,1.07002033845,0.546237914589,-0.00114400857344,1.06969205633
+414,6.900000000,pose2_to_pose3_retreat,0.575666768067,-0.00981823796458,1.07002034595,0.546237914758,-0.00114400328672,1.06969206323
+415,6.916666667,pose2_to_pose3_retreat,0.575666768068,-0.00981823744522,1.07002034676,0.546237914776,-0.00114400271446,1.06969206398
+416,6.933333333,pose2_to_pose3_retreat,0.575666768068,-0.00981823744522,1.07002034676,0.546237914777,-0.00114400271445,1.06969206398
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..490f9daef77e6e74adca6a4b26526c811c168c90
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:742558ea0f89cf623a16d688c3ebf2d1968cd6151bdb20ae2a9895c56d78dd2a
+size 26557145
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..520418d07bf1e3be7b3f1e26a5779443f9285e09
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_05/franka_data.csv
@@ -0,0 +1,420 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,784,759,737,718,686,650,916,800,840,657,635,657,0.4009835802,-0.0153588054598,0.0798344406918,0.999999921223,0.000278319903266,-0.000280890157061,3.45369087677e-05,1793254870543087872
+1,0.016666667,BASELINE,783.421056103,759,737,718,686,650,916,800,840,657,635,657,0.400982294163,-0.01535938745,0.0798343086692,0.999999920937,0.000278525224074,-0.000281638791974,3.50604063463e-05,1793254870559755008
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+12,0.200000000,BASELINE,783.96498952,760,737,718,686,650,916,800,840,657.03501048,636,657,0.400983308869,-0.0153598832618,0.0798362257285,0.999999921096,0.000280372177782,-0.000279215638498,3.51955079021e-05,1793254870743088128
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+19,0.316666667,BASELINE,784,759.027989909,737,718.027989909,686,650,916.972010091,800,839.972010091,657,635.027989909,657.027989909,0.400981986686,-0.0153621706878,0.0798350744758,0.999999922888,0.000272878616963,-0.00028021416085,3.5218774029e-05,1793254870859754752
+20,0.333333333,BASELINE,784,759.604237634,737,718.604237634,686,650,916.395762366,800,839.395762366,657,635.604237634,657.604237634,0.400982363271,-0.0153609526874,0.0798353021844,0.999999922191,0.000276203893655,-0.000279458486434,3.51015344212e-05,1793254870876421632
+21,0.350000000,BASELINE,783.819976822,759.819976822,737,719,686,650,916,800,839.180023178,657,635.819976822,657.819976822,0.400982915622,-0.0153600160681,0.0798357504083,0.999999921828,0.000278542739668,-0.000278441970646,3.5028639671e-05,1793254870893088512
+22,0.366666667,BASELINE,783.245204806,759.245204806,737,719,686,650,916,800,839.754795194,657,635.245204806,657.245204806,0.400983853388,-0.0153596964523,0.079836682171,0.99999992222,0.000278718572869,-0.000276853490678,3.50529828653e-05,1793254870909755136
+23,0.383333333,BASELINE,783,759.337103138,737,719,686,650,916,800,840,657.337103138,635.337103138,657,0.400984440968,-0.0153599423325,0.0798372775874,0.999999922626,0.000278054559444,-0.000276044036965,3.51138701166e-05,1793254870926422272
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+25,0.416666667,BASELINE,783,760,737,719,686,650,916,800,840,658,635.491583909,657,0.400982962746,-0.0153607586467,0.0798359897188,0.999999922669,0.000275771374589,-0.000278190174665,3.49652669323e-05,1793254870959755264
+26,0.433333333,BASELINE,783,759.909988354,737,718.909988354,686,650,916,800,840,658,635,657.090011646,0.40098143121,-0.0153609895985,0.0798345755216,0.999999922351,0.000274889015842,-0.000280227473867,3.47377729169e-05,1793254870976421632
+27,0.450000000,BASELINE,783,759.334552475,737,718.334552475,686,650,916,800,840,658,635,657.665447525,0.400983056811,-0.01536206629,0.0798359010208,0.999999923003,0.000274378165551,-0.000278384002354,3.48158397809e-05,1793254870993088256
+28,0.466666667,BASELINE,783,759,737,718,686,650,916.239665958,800,840,657.760334042,635.239665958,657.760334042,0.400983465865,-0.0153619150431,0.079836289791,0.99999992295,0.000275101922069,-0.000277859307505,3.48344368499e-05,1793254871009755136
+29,0.483333333,BASELINE,783,759,737,718,686,650,916.812193497,800,840,657.187806503,635.812193497,657.187806503,0.400982185308,-0.0153600583659,0.0798353775793,0.999999921914,0.000277540370094,-0.000279166204082,3.47704389131e-05,1793254871026422016
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+48,0.800000000,BASELINE,783,759,737,718,686,650,916,800,840,658,635,658,0.400984117635,-0.0153603038318,0.0798368175111,0.999999922383,0.000278450134963,-0.000276559966899,3.48567037514e-05,1793254871343088640
+49,0.816666667,BASELINE,783.433278537,759,737.433278537,718.433278537,686,650,916,800,839.566721463,657.566721463,635,658,0.400984030151,-0.0153605729758,0.0798367483136,0.999999922658,0.000277290098331,-0.000276714713963,3.49694984901e-05,1793254871359755264
+50,0.833333333,BASELINE,783.987788947,759,737.987788947,718.987788947,686,650,916,800,839.012211053,657,635.012211053,658,0.400983292484,-0.0153609398025,0.0798365569416,0.999999922865,0.000275745145233,-0.0002774847371,3.51599084223e-05,1793254871376421632
+51,0.850000000,BASELINE,783.407406314,759,737.407406314,718.407406314,686,650,916,800,839.592593686,657,635.592593686,658,0.400983455954,-0.0153618641189,0.0798372249578,0.999999923177,0.000275387803923,-0.000276727073569,3.50683945802e-05,1793254871393088256
+52,0.866666667,BASELINE,783.170924289,759,737,718,686,650,916,800,839.829075711,657.170924289,635.829075711,657.829075711,0.400983800615,-0.0153622529906,0.0798377446643,0.999999923366,0.000275474995397,-0.000275969823256,3.4955598937e-05,1793254871409754880
+53,0.883333333,BASELINE,783.744421768,759,737,718,686,650,916,800,839.255578232,657.744421768,635.255578232,657.255578232,0.400984572026,-0.0153613807445,0.0798379150611,0.999999923267,0.000276609182503,-0.000275213546234,3.47926788693e-05,1793254871426421504
+54,0.900000000,BASELINE,783.673644375,759,737,718,686,650,916,800,839.326355625,658,635,657.326355625,0.400984572447,-0.0153611829493,0.0798378731995,0.999999923231,0.00027656988085,-0.000275384380176,3.47954465644e-05,1793254871443088128
+55,0.916666667,BASELINE,783.084928462,759,737,718,686,650,916,800,839.915071538,658,635,657.915071538,0.400983953061,-0.0153615273514,0.0798376607013,0.999999923245,0.000275587200742,-0.000276300527186,3.4931412183e-05,1793254871459754752
+56,0.933333333,BASELINE,783,759,737,718.495211932,686,650.495211932,916,800,840,657.504788068,635.495211932,657.504788068,0.400983537556,-0.0153609547238,0.0798367962205,0.999999922887,0.000276153905508,-0.000277016156131,3.50332396569e-05,1793254871476421632
+57,0.950000000,BASELINE,783.073583637,759,737,719,686,651,916,800,840,657,636,657.073583637,0.400983076787,-0.0153603215279,0.0798359734026,0.999999922512,0.00027683641926,-0.00027767580244,3.51194810193e-05,1793254871493088512
+58,0.966666667,BASELINE,783.649748765,759,737,719,686,651,916,800,840,657,636,657.649748765,0.400982072113,-0.0153603305269,0.0798361858466,0.999999922456,0.000276525934273,-0.000278183962148,3.51385751891e-05,1793254871509755136
+59,0.983333333,BASELINE,783.774386444,759,737,718.774386444,686,650.774386444,916,800,840,657.225613556,635.774386444,658,0.400982031219,-0.0153604105763,0.0798364639249,0.999999922545,0.000276537553285,-0.000277862476948,3.50513163196e-05,1793254871526421760
+60,1.000000000,BASELINE,783.198987198,759,737,718.198987198,686,650.198987198,916,800,840,657.801012802,635.198987198,658,0.400983484543,-0.0153606007806,0.079836843761,0.999999922858,0.000277048554343,-0.000276254730836,3.47991703261e-05,1793254871543088128
+61,1.016666667,BASELINE,783,759,737.386168286,718.386168286,686,650,916,800,839.613831714,658,635,657.613831714,0.400983731712,-0.015360820542,0.0798369658862,0.999999922798,0.000277656132205,-0.000275851193439,3.48982668988e-05,1793254871559754496
+62,1.033333333,BASELINE,783,759,737.976481291,718.976481291,686,650,916,800,839.023518709,658,635,657.023518709,0.400983341256,-0.0153610559287,0.0798369517745,0.99999992254,0.000278314764578,-0.00027608425127,3.51830450095e-05,1793254871576421120
+63,1.050000000,BASELINE,783,759,737.443049588,718.443049588,686,650,916,800,839.556950412,658,635.556950412,657,0.400983533247,-0.0153605580104,0.0798377846576,0.999999922273,0.000279836246147,-0.000275509468233,3.52100431411e-05,1793254871593088000
+64,1.066666667,BASELINE,783.135647151,759.135647151,737,718,686,650,916,800,840,657.864352849,635.864352849,657.135647151,0.400983570168,-0.0153606130141,0.0798382506833,0.999999922254,0.000280105823986,-0.00027529829649,3.52577557909e-05,1793254871609754880
+65,1.083333333,BASELINE,783.709933394,759.709933394,737,718,686,650,916,800,840,657.290066606,635.290066606,657.709933394,0.400983027495,-0.0153625543834,0.0798374167619,0.999999923036,0.000276211372991,-0.000276371321611,3.54070411725e-05,1793254871626422016
+66,1.100000000,BASELINE,784,759.708662986,737.291337014,718,686,650.291337014,916.291337014,800,840,657.291337014,635.291337014,657.708662986,0.400982993729,-0.0153628027546,0.0798369357424,0.999999923351,0.000274725203811,-0.000276744889449,3.51652455426e-05,1793254871643088640
+67,1.116666667,BASELINE,784,759.119995605,737.880004395,718,686,650.880004395,916.880004395,800,840,657.880004395,635.880004395,657.119995605,0.40098347934,-0.0153613232992,0.0798368148846,0.9999999232,0.000275696859587,-0.000276404610787,3.45243236182e-05,1793254871659755008
+68,1.133333333,BASELINE,784,759,737.53934462,718,686,651,917,800,840,658,636,657,0.400983002986,-0.0153614995575,0.0798373189977,0.999999922917,0.000276705489026,-0.000276413618224,3.45911235675e-05,1793254871676421376
+69,1.150000000,BASELINE,783.960845175,759,737,718,686,650.960845175,916.960845175,800,839.960845175,658,635.960845175,657,0.400982412055,-0.0153620333434,0.079837956312,0.999999922667,0.000277536076177,-0.000276453749379,3.4817006364e-05,1793254871693088000
+70,1.166666667,BASELINE,783.383707586,759,737,718,686,650.383707586,916.383707586,800,839.383707586,658,635.383707586,657,0.400983630913,-0.0153616549337,0.0798382252281,0.999999923363,0.000275790313406,-0.000275692774129,3.47389962647e-05,1793254871709754624
+71,1.183333333,BASELINE,783.192302065,759.192302065,737,718,686,650,916,800,839,658,635,657,0.400984333174,-0.0153613254226,0.0798381579363,0.999999923668,0.000275123187829,-0.000275269815035,3.46193040878e-05,1793254871726421248
+72,1.200000000,BASELINE,783.766074327,759.766074327,737,718,686,650,916,800,839,658,635,657,0.40098401066,-0.0153610929121,0.079837423708,0.9999999232,0.000276595757859,-0.000275517379495,3.44169270321e-05,1793254871743087872
+73,1.216666667,BASELINE,783.650012005,759.650012005,737,718,686,650,916,800,839.349987995,657.650012005,635.349987995,657,0.400983537167,-0.0153616759772,0.0798373159229,0.999999923086,0.000276593345638,-0.000275931430154,3.44509188274e-05,1793254871759755008
+74,1.233333333,BASELINE,783.059117766,759.059117766,737,718,686,650,916,800,839.940882234,657.059117766,635.940882234,657,0.400982959751,-0.0153628204253,0.0798376393357,0.999999923214,0.000275575662982,-0.000276460077772,3.46476097354e-05,1793254871776422400
+75,1.250000000,BASELINE,783.520551081,759.520551081,737,718.520551081,686,650,916,800,840,657,636,657.520551081,0.40098200664,-0.0153622050946,0.0798369738971,0.999999922965,0.000275229650273,-0.000277706915718,3.46027629773e-05,1793254871793089024
+76,1.266666667,BASELINE,783.901381748,760,737,719,686,650,916,800,839.901381748,657.098618252,635.901381748,658,0.400981522617,-0.0153616042497,0.0798364474593,0.999999922854,0.00027497820642,-0.000278362799511,3.45502803498e-05,1793254871809755392
+77,1.283333333,BASELINE,783.325028229,760,737,719,686,650,916,800,839.325028229,657.674971771,635.325028229,658,0.400983513324,-0.0153620212916,0.0798371269186,0.999999923614,0.000274823159499,-0.000275769155801,3.45908853421e-05,1793254871826421504
+78,1.300000000,BASELINE,783,759.75080041,737,718.75080041,686,650,916,800,839.24919959,658,635,658,0.400984461736,-0.0153620096174,0.0798377167452,0.999999923999,0.000274954231167,-0.000274233578035,3.46077153636e-05,1793254871843088128
+79,1.316666667,BASELINE,783,759.179321714,737,718.179321714,686,650,916,800,839.820678286,658,635,658,0.400984062194,-0.015361443503,0.0798381906538,0.999999923908,0.00027545532771,-0.000274066351629,3.45937982356e-05,1793254871859755008
+80,1.333333333,BASELINE,783.408968939,759,737,718,686,650,916,800,840,658,635,658,0.400984623422,-0.015361320441,0.0798384797983,0.99999992411,0.000274874884905,-0.000273923655568,3.44975769126e-05,1793254871876421632
+81,1.350000000,BASELINE,784,759,737,718,686,650,916,800,840,658,635.004779869,657.995220131,0.40098560439,-0.015361398842,0.079838674025,0.999999924436,0.000273818076138,-0.000273808174774,3.43655381376e-05,1793254871893088000
+82,1.366666667,BASELINE,784,759,737,718,686,650,916,800,840,658,635.580594196,657.419405804,0.400984245014,-0.0153613420509,0.0798376221367,0.999999923633,0.000274934349006,-0.000275603953257,3.44506677625e-05,1793254871909755392
+83,1.383333333,BASELINE,784,759,737,718,686,650,916,800,840,657.843535947,635.843535947,657.156464053,0.40098347924,-0.0153610717272,0.0798371109868,0.999999923042,0.00027610208422,-0.000276570332097,3.45219906004e-05,1793254871926422528
+84,1.400000000,BASELINE,784,759,737,718,686,650,916,800,840,657.267517059,635.267517059,657.732482941,0.400984305198,-0.0153602288205,0.0798380498144,0.999999923027,0.000277407814804,-0.000275312694878,3.45562908692e-05,1793254871943088896
+85,1.416666667,BASELINE,783.685180364,759,737,718,686,650,916,800,839.685180364,657,635,657.685180364,0.400984533717,-0.0153600799252,0.0798380944519,0.999999923177,0.0002774582369,-0.000274723569691,3.44984789292e-05,1793254871959755008
+86,1.433333333,BASELINE,783.097365222,759,737,718,686,650,916,800,839.097365222,657,635,657.097365222,0.400984244165,-0.0153605328411,0.0798373636935,0.999999923472,0.000276420119524,-0.00027471414406,3.43607919856e-05,1793254871976421120
+87,1.450000000,BASELINE,783.485437467,759,737,718.485437467,686,650,916,800,839,657.485437467,635,657.485437467,0.400984202656,-0.0153609918881,0.0798377414551,0.999999923668,0.000275558896651,-0.000274840043828,3.45656857243e-05,1793254871993087744
+88,1.466666667,BASELINE,783.933742389,759,737,718.933742389,686,650,916,800,839.066257611,657.933742389,635,657.933742389,0.400984296502,-0.0153613942129,0.0798382790105,0.999999923829,0.00027491692204,-0.000274869115031,3.47901948457e-05,1793254872009754624
+89,1.483333333,BASELINE,783.360478328,759,737,718.360478328,686,650,916,800,839.639521672,657.360478328,635,657.360478328,0.400985049283,-0.0153613531826,0.0798383553612,0.999999923874,0.000275683924966,-0.000273951676301,3.46443868727e-05,1793254872026420992
+90,1.500000000,BASELINE,783.212694291,759.212694291,737,718,686.212694291,650,916,800,840,657.212694291,635.212694291,657.212694291,0.400985317886,-0.0153619944254,0.0798383231413,0.999999923841,0.00027599709923,-0.000273752350834,3.46861180463e-05,1793254872043087872
+91,1.516666667,BASELINE,783.78571194,759.78571194,737,718,686.78571194,650,916,800,840,657.78571194,635.78571194,657.78571194,0.400984766249,-0.0153637915007,0.0798381069927,0.999999923675,0.000275541446637,-0.00027476957425,3.5045557504e-05,1793254872059754752
+92,1.533333333,BASELINE,784,760,737,718,686.628541359,650,916,800,840,658,635.628541359,657.628541359,0.400983234752,-0.0153640385911,0.0798373372999,0.999999923511,0.000274923333533,-0.000275982528803,3.50496138718e-05,1793254872076421632
+93,1.550000000,BASELINE,784,760,737,718,686.035190869,650,916,800,840,658,635.035190869,657.035190869,0.400981117935,-0.0153633597939,0.0798362369459,0.999999923347,0.00027420817415,-0.000277312403993,3.48413812007e-05,1793254872093088512
+94,1.566666667,BASELINE,783.454860008,759.454860008,737,718,686,650,916,800,840,657.454860008,635,657,0.400981977378,-0.0153642172676,0.0798369664048,0.999999923726,0.00027335062442,-0.000276791814788,3.48419380436e-05,1793254872109754624
+95,1.583333333,BASELINE,783.123548409,759,737.123548409,718,686,650,916,800,840,657.123548409,635.123548409,657,0.400982685844,-0.0153643786921,0.0798374448686,0.999999923815,0.000273439923514,-0.000276392123349,3.47434791529e-05,1793254872126421248
+96,1.600000000,BASELINE,783.697937208,759,737.697937208,718,686,650,916,800,840,657.697937208,635.697937208,657,0.400982158638,-0.0153616467164,0.0798365864435,0.999999922719,0.000277017127114,-0.000276859333302,3.42356661416e-05,1793254872143087872
+97,1.616666667,BASELINE,783.720983506,759.279016494,737.720983506,718,686,650,916,800,840,658,636,657.279016494,0.400982254406,-0.0153612094086,0.0798364589201,0.999999922673,0.000277447990347,-0.000276599302011,3.41890819891e-05,1793254872159754496
+98,1.633333333,BASELINE,783.132483195,759.867516805,737.132483195,718,686,650,916,800,840,658,636,657.867516805,0.400983041175,-0.015363317336,0.0798371421095,0.999999923796,0.000274388947063,-0.000275532618042,3.46540908015e-05,1793254872176421120
+99,1.650000000,BASELINE,783.448431496,759.551568504,737,718.448431496,686,650,916,800,840,658,636,658,0.400983977807,-0.015363796044,0.0798378461962,0.999999924275,0.000273873033988,-0.000274289985361,3.47515669578e-05,1793254872193088256
+100,1.666666667,BASELINE,784,759.027083206,737,718.972916794,686,650,916,800,840,658,636,658,0.400984848431,-0.0153637044312,0.0798385075113,0.999999924516,0.000274187028447,-0.000273098032063,3.47369977971e-05,1793254872209755392
+101,1.683333333,BASELINE,784,759.604532278,737,718.395467722,686,650,916,800,840,658,636,658,0.400983492954,-0.0153616417355,0.0798381762766,0.999999923685,0.00027635170779,-0.000273974713837,3.4615358953e-05,1793254872226422016
+102,1.700000000,BASELINE,784,759.821055265,737,718,686,650,916.178944735,800,839.821055265,657.821055265,636,658,0.400982881423,-0.0153605040367,0.0798379297163,0.999999923261,0.000277312782776,-0.000274556422797,3.45613329166e-05,1793254872243088896
+103,1.716666667,BASELINE,784,759.253241817,737,718,686,650,916.746758183,800,839.253241817,657.253241817,636,658,0.400983886582,-0.0153613764688,0.0798378671636,0.999999923731,0.000275658278567,-0.00027449711978,3.46542377656e-05,1793254872259754752
+104,1.733333333,BASELINE,783.67984358,759,737.32015642,718,686,650,916.67984358,800,839.32015642,657.32015642,635.67984358,657.67984358,0.40098327326,-0.0153618707495,0.0798374808317,0.999999923683,0.000274654191005,-0.000275712597333,3.43799427594e-05,1793254872276421120
+105,1.750000000,BASELINE,783.101949318,759,737.898050682,718,686,650,916.101949318,800,839.898050682,657.898050682,635.101949318,657.101949318,0.400981357002,-0.0153620606041,0.0798368338456,0.999999923214,0.000274173712886,-0.00027795432072,3.38100382032e-05,1793254872293087744
+106,1.766666667,BASELINE,783.493047047,759,737.506952953,718,686,650,916,800,840,658,635.493047047,657,0.400982393202,-0.015362079148,0.0798374128368,0.999999923545,0.00027450325579,-0.000276392037953,3.41360241234e-05,1793254872309754368
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,759,737,718,686,650,916,800,839,658,636,658,0.400987892114,-0.0153615932254,0.0798405659125,0.99999992515,0.000275375383654,-0.000269562254605,3.47020897251e-05,1793254872353031680
+108,1.800000000,POSE1_TO_POSE2_PRESS,784,759,737,718,686,650,916,800,839.592256224,658,636,658,0.40098521475,-0.0153631210109,0.0798386635477,0.999999924856,0.000273373293193,-0.000272673805696,3.47008756789e-05,1793254872369698304
+109,1.816666667,POSE1_TO_POSE2_PRESS,783.819860436,759,737,718,686,650,916,800,840,657.819860436,635.819860436,657.819860436,0.40098317775,-0.0153642616037,0.0798373378528,0.999999924563,0.000272247208107,-0.00027486546837,3.47176895198e-05,1793254872386364928
+110,1.833333333,POSE1_TO_POSE2_PRESS,783.241640378,759,737,718,686,650,916,800,840,657.241640378,635.241640378,657.241640378,0.400982555854,-0.0153645465607,0.0798372865084,0.999999924296,0.000273056958643,-0.000275024320932,3.47743421956e-05,1793254872403032832
+111,1.850000000,POSE1_TO_POSE2_PRESS,783.335801633,759,737.335801633,718,686.335801633,650.335801633,916.335801633,800,840,657.335801633,635.335801633,657,0.400984054945,-0.0153635850683,0.0798386437124,0.999999924624,0.000273716086508,-0.00027318786788,3.4635834047e-05,1793254872419699456
+112,1.866666667,POSE1_TO_POSE2_PRESS,783.912685026,759,737.912685026,718,686.912685026,650.912685026,916.912685026,800,840,657.912685026,635.912685026,657,0.400987076756,-0.0153617287135,0.0798410121543,0.99999992537,0.000274267077923,-0.000269918926874,3.4357214262e-05,1793254872436365312
+113,1.883333333,POSE1_TO_POSE2_PRESS,783.511131391,759.488868609,737.511131391,718,686.511131391,650.511131391,917,800,839.511131391,658,636,657.488868609,0.400986459965,-0.0153614150117,0.0798399532714,0.999999924613,0.000275462290113,-0.000271513736811,3.42701539873e-05,1793254872453031680
+114,1.900000000,POSE1_TO_POSE2_PRESS,783.066456122,760,737,718,686,650,916.933543878,800,839,658,636,658,0.400985376921,-0.0153615273965,0.0798385167841,0.999999923719,0.000276539631536,-0.000273705288155,3.42527633455e-05,1793254872469698304
+115,1.916666667,POSE1_TO_POSE2_PRESS,783.656078441,760,737,718,686,650,916.343921559,800,839,658,636,658,0.400985732112,-0.0153628281372,0.0798389197678,0.999999923902,0.000275784539597,-0.000273765690605,3.45148792532e-05,1793254872486365184
+116,1.933333333,POSE1_TO_POSE2_PRESS,784,759.758878827,737,718,686,650,916,800,839.241121173,658,635.758878827,657.758878827,0.400991152939,-0.0153635667775,0.0798413903988,0.999999925251,0.000274635202074,-0.000269929393861,3.47959423202e-05,1793254872503032064
+117,1.950000000,POSE1_TO_POSE2_PRESS,784,759.180246456,737,718,686,650,916,800,839.819753544,658,635.180246456,657.180246456,0.401003664429,-0.0153635186133,0.0798467552347,0.999999928171,0.000272934016337,-0.000260638662724,3.51035267935e-05,1793254872519698688
+118,1.966666667,POSE1_TO_POSE2_PRESS,783.603732104,759,737,718,686,650,916,800,840,658,635.396267896,657,0.401033486991,-0.015364892872,0.0798591568972,0.999999933365,0.00027364047425,-0.000238958085265,3.59118668613e-05,1793254872536365312
+119,1.983333333,POSE1_TO_POSE2_PRESS,783.028175981,759,737,718,686,650,916,800,840,658,635.971824019,657,0.401071141809,-0.0153669106945,0.0798747423158,0.999999938982,0.000275436250878,-0.000211671820405,3.69467697804e-05,1793254872553031680
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.545829314,759,737,718,686,650,916,799.454170686,839.454170686,657.454170686,636,657,0.401134642438,-0.0153697414309,0.0798938104832,0.99999994633,0.000274979657302,-0.00017403608432,3.79176020842e-05,1793254872569698048
+121,2.016666667,POSE1_TO_POSE2_PRESS,783.876132095,759,737,718,686,650,916,799.123867905,839.123867905,657,636,657,0.401201343271,-0.0153724196911,0.079911961523,0.999999951748,0.000274327327203,-0.000140588107643,3.85090023609e-05,1793254872586364928
+122,2.033333333,POSE1_TO_POSE2_PRESS,783.282494287,759,737,718,686,650,916,799.717505713,839.717505713,657,636,657,0.401275135388,-0.0153743609902,0.0799259544654,0.999999954106,0.000273372365768,-0.000125042614964,3.76739120827e-05,1793254872603031552
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.301102765,759.301102765,737,718,686,650,916,800,840,657.301102765,635.698897235,657.301102765,0.401360372408,-0.0153768606264,0.0799366786728,0.999999956262,0.000272538411851,-0.000109002980728,3.62875745841e-05,1793254872619698176
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.875583553,759.875583553,737,718,686,650,916,800,840,657.875583553,635.124416447,657.875583553,0.401456000508,-0.0153798671892,0.0799444351209,0.999999958187,0.000271814323448,-9.25147051071e-05,3.44007472933e-05,1793254872636365056
+125,2.083333333,POSE1_TO_POSE2_PRESS,783.547417567,759.547417567,737,718,686,650.452582433,916,800,840,657.547417567,635,658,0.401563396452,-0.0153853901139,0.0799481649677,0.99999996011,0.0002675585895,-8.49299804295e-05,3.12881235409e-05,1793254872653031680
+126,2.100000000,POSE1_TO_POSE2_PRESS,783.030724892,759.030724892,737,718,686,650.969275108,916.030724892,800,840,657.030724892,635.030724892,657.969275108,0.401675068022,-0.0153914636407,0.0799507354116,0.999999961997,0.000262382025654,-7.99390971672e-05,2.77814784075e-05,1793254872669698304
+127,2.116666667,POSE1_TO_POSE2_PRESS,783.616957839,759.616957839,737,718,686,650.383042161,916.616957839,800,840,657.616957839,635.616957839,657.383042161,0.401805226619,-0.0153949151144,0.0799524690504,0.999999963402,0.000258208242056,-7.73443769781e-05,2.32775286501e-05,1793254872686364928
+128,2.133333333,POSE1_TO_POSE2_PRESS,784,759.798090514,737,718,686,650.201909486,917,800,840,658,636,657.201909486,0.401947115224,-0.0153992381652,0.0799549926806,0.999999965134,0.000253174899382,-7.27331630244e-05,1.85481883198e-05,1793254872703031552
+129,2.150000000,POSE1_TO_POSE2_PRESS,784,759.215554358,737,718,686,650.784445642,917,800,840,658,636,657.784445642,0.402111116461,-0.0154052042566,0.079959005551,0.999999967455,0.000246521172141,-6.43205860768e-05,1.33939568061e-05,1793254872719698432
+130,2.166666667,POSE1_TO_POSE2_PRESS,783.637423617,759,737,718,686,651,917,800,840,658,635.637423617,658,0.402291355778,-0.0154104192616,0.0799574733499,0.999999969328,0.000238427691973,-6.66931552214e-05,6.9055345047e-06,1793254872736364800
+131,2.183333333,POSE1_TO_POSE2_PRESS,783.061880434,759,737,718,686,651,917,800,840,658,635.061880434,658,0.402481132887,-0.0154151931009,0.0799526841357,0.999999970825,0.000229488542231,-7.54006040778e-05,-3.66553076845e-07,1793254872753031424
+132,2.200000000,POSE1_TO_POSE2_PRESS,783.510655545,759.510655545,737.510655545,718,686,651,917,800,840,657.489344455,635.510655545,657.489344455,0.402690282111,-0.0154223153922,0.0799474570178,0.999999975279,0.000204700190343,-8.64221059881e-05,-8.43825331944e-06,1793254872769698048
+133,2.216666667,POSE1_TO_POSE2_PRESS,784,760,737.91449325,718.08550675,686,650.91449325,916.91449325,800,840,657.08550675,636,657.08550675,0.402908773786,-0.0154299531634,0.0799430944783,0.999999980863,0.000170067363875,-9.5275555135e-05,-1.65370066144e-05,1793254872786364928
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,760,737.323823467,718.676176533,686,650.323823467,916.323823467,800,840,657.676176533,636,657.676176533,0.403168672129,-0.015438964897,0.0799441514183,0.999999991765,8.85547425505e-05,-8.96734807983e-05,-2.42264925472e-05,1793254872803031808
+135,2.250000000,POSE1_TO_POSE2_PRESS,784,759.737079744,737.262920256,718.737079744,686,650,916,800,840,657.737079744,636,658,0.403454163162,-0.0154484712502,0.0799469373152,0.999999995137,4.07024406665e-05,-8.40749459889e-05,-3.16313498759e-05,1793254872819698432
+136,2.266666667,POSE1_TO_POSE2_PRESS,784,759.155100409,737.844899591,718.155100409,686,650,916,800,840,657.155100409,636,658,0.403770711426,-0.0154585778339,0.0799518213366,0.999999995604,3.36976265195e-05,-7.84807073579e-05,-3.86908042998e-05,1793254872836365056
+137,2.283333333,POSE1_TO_POSE2_PRESS,784,759,737.579551163,718,686,650.420448837,916.420448837,800,840,657.420448837,636,657.579551163,0.404116204582,-0.0154645939403,0.0799533973305,0.999999994928,6.12447861177e-05,-7.39173123234e-05,-3.04980087631e-05,1793254872853031936
+138,2.300000000,POSE1_TO_POSE2_PRESS,784,759,737.00633821,718,686,650.99366179,916.99366179,800,840,657.99366179,636,657.00633821,0.404472214447,-0.0154691238296,0.0799537713994,0.999999992293,0.000101345914801,-6.97284596798e-05,-1.67635245821e-05,1793254872869698560
+139,2.316666667,POSE1_TO_POSE2_PRESS,784,759.56860827,737,718,686.56860827,651,916.43139173,800,840,657.43139173,636,657,0.404863513673,-0.015471645182,0.0799520660493,0.999999994115,7.98128225725e-05,-6.94205063285e-05,-2.41027172946e-05,1793254872886364928
+140,2.333333333,POSE1_TO_POSE2_PRESS,784,759.852551137,737,718,686.852551137,650.852551137,916,800,840,657.147448863,636,657,0.405262189233,-0.0154733027293,0.0799499831046,0.999999995084,6.28269552637e-05,-7.05184112811e-05,-3.01859576109e-05,1793254872903031296
+141,2.350000000,POSE1_TO_POSE2_PRESS,784,759.262068398,737,718,686.262068398,650.262068398,916,800,840,657.737931602,636,657,0.405681842556,-0.0154724323115,0.0799468354747,0.999999994733,6.15745659159e-05,-7.57100653223e-05,-3.1787514329e-05,1793254872919697920
+142,2.366666667,POSE1_TO_POSE2_PRESS,784,759.322246507,737.322246507,718,686,650,916.322246507,800,840,657.677753493,636,657,0.406128995298,-0.0154687380175,0.0799407152271,0.999999993568,6.27381397504e-05,-8.77363494032e-05,-3.50881883613e-05,1793254872936365312
+143,2.383333333,POSE1_TO_POSE2_PRESS,784,759.901639659,737.901639659,718,686,650,916.901639659,800,840,657.098360341,636,657,0.406598092103,-0.0154627903233,0.0799322228863,0.999999991508,6.58296065769e-05,-0.000105216540143,-3.9744726191e-05,1793254872953032960
+144,2.400000000,POSE1_TO_POSE2_PRESS,784,759.527322142,737.527322142,717.527322142,686,650,916.527322142,800,840,657,635.527322142,657.472677858,0.407098681787,-0.0154687608159,0.079928161669,0.999999990533,6.64093839011e-05,-0.000114492921504,-3.76304448646e-05,1793254872969699328
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,759.043867313,737,717,686,650,916,800,840,657,635.043867313,657.956132687,0.407607637174,-0.0154768201711,0.0799244656736,0.999999989684,6.55034275357e-05,-0.000123029816696,-3.47048965782e-05,1793254872986365440
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,759.638401513,737,717,686,650,916,800,840,657,635.638401513,657.361598487,0.408140771589,-0.0154805093615,0.079913980469,0.999999987595,5.23940616741e-05,-0.000143341536824,-3.89748894213e-05,1793254873003031808
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,759.773424673,737,717,686,650.226575327,916,800,840,657,636,657,0.408712846807,-0.015483594489,0.0799162377957,0.99999998822,4.29216676813e-05,-0.000141413795078,-4.14765702407e-05,1793254873019698432
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,759.195124457,737,717,686,650.804875543,916,800,840,657,636,657,0.409345371865,-0.0154857418973,0.0799382760297,0.999999992877,3.90951386603e-05,-0.000104962556745,-4.1233206321e-05,1793254873036365056
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,759,737,716.617221408,686,650.617221408,916.382778592,800,840,657,636,657.382778592,0.410019084137,-0.0154898093161,0.0799692494447,0.999999997237,3.46105542069e-05,-5.26700120786e-05,-3.94262330357e-05,1793254873053031680
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,759,737,716.039520625,686,650.039520625,916.960479375,800,840,657,636,657.960479375,0.410713770138,-0.015494854461,0.0800047729177,0.999999998849,2.97908684743e-05,7.68939374034e-06,-3.68230234791e-05,1793254873069698560
+151,2.516666667,POSE1_TO_POSE2_PRESS,784,759,737,716.54609957,686,650,916.45390043,800,839.45390043,657,636,657.45390043,0.411370849147,-0.0155033339874,0.0799927182521,0.999999998964,1.61039430566e-05,-2.04961781854e-05,-3.73080863447e-05,1793254873086365696
+152,2.533333333,POSE1_TO_POSE2_PRESS,784,759,737,716.869446152,686,650,916,800,839.130553848,657,636,657.130553848,0.412032707367,-0.0155137782814,0.0799720643193,0.999999997543,6.74763473121e-07,-5.86886198819e-05,-3.83399967497e-05,1793254873103032320
+153,2.550000000,POSE1_TO_POSE2_PRESS,784,759,737,716.290987238,686,650,916,800,839.709012762,657,636,657.709012762,0.412720436596,-0.0155300980632,0.0799338946693,0.99999999308,-1.84977626735e-05,-0.000108904913487,-4.04699845522e-05,1793254873119698688
+154,2.566666667,POSE1_TO_POSE2_PRESS,784.287350946,759.287350946,737.287350946,716.287350946,686,650.287350946,916,800.287350946,840.287350946,657,636,658,0.413446161771,-0.0155388214949,0.0799152280233,0.999999990335,-2.98450194054e-05,-0.000128769913573,-4.31092562563e-05,1793254873136365056
+155,2.583333333,POSE1_TO_POSE2_PRESS,784.865566992,759.865566992,737.865566992,716.865566992,686,650.865566992,916,800.865566992,840.865566992,657,636,658,0.414210347645,-0.0155398556789,0.0799163028884,0.999999991425,-3.32713100658e-05,-0.000117912445753,-4.62640404848e-05,1793254873153031680
+156,2.600000000,POSE1_TO_POSE2_PRESS,785,760,738,717,686.442572379,651,916.442572379,801,840.557427621,657.442572379,636,658,0.415016683613,-0.015535957168,0.0799398430634,0.999999995261,-3.28281145461e-05,-7.98821204279e-05,-4.49267300329e-05,1793254873169698304
+157,2.616666667,POSE1_TO_POSE2_PRESS,785,760,737.980397227,717,686.980397227,651,917,801,840.019602773,657.980397227,636,658,0.415834867823,-0.0155307047585,0.0799685832375,0.999999997954,-3.11188306686e-05,-3.6423845263e-05,-4.23877820234e-05,1793254873186364928
+158,2.633333333,POSE1_TO_POSE2_PRESS,785,760,737.391998872,717,686.391998872,651,917,801,840.608001128,657.391998872,636,658,0.416626356425,-0.0155295244089,0.0799507437709,0.999999995894,-2.66842399036e-05,-7.43088689054e-05,-4.44661754105e-05,1793254873203031808
+159,2.650000000,POSE1_TO_POSE2_PRESS,785,760,737,717,686,651,916.806613809,800.806613809,841,657,636,658,0.417459894963,-0.0155301926055,0.0799482901793,0.999999995578,-2.60488637538e-05,-7.79119623365e-05,-4.57712489362e-05,1793254873219698688
+160,2.666666667,POSE1_TO_POSE2_PRESS,785,760,737,717,686,651,916.227243088,800.227243088,841,657,636,658,0.418377362016,-0.015534550364,0.0799765456568,0.999999998333,-3.29964391738e-05,-1.30908568669e-05,-4.55328330826e-05,1793254873236365312
+161,2.683333333,POSE1_TO_POSE2_PRESS,785,760,737.34986357,717,686,651,916.34986357,800.34986357,840.65013643,657,636,658,0.419267276361,-0.0155367777991,0.0799890762874,0.99999999813,-3.76291372544e-05,1.63197486511e-05,-4.53571881585e-05,1793254873253032192
+162,2.700000000,POSE1_TO_POSE2_PRESS,785,760,737.925509109,717,686,651,916.925509109,800.925509109,840.074490891,657,636,658,0.420139409725,-0.0155376304452,0.0799914589986,0.999999997885,-4.07679454958e-05,2.28784372433e-05,-4.52220521015e-05,1793254873269698816
+163,2.716666667,POSE1_TO_POSE2_PRESS,785,760,738,717,686,651,917,800.499739318,840.500260682,657,636,658,0.421028729591,-0.0155346138148,0.0799791990449,0.999999998484,-3.11545512644e-05,1.06226776869e-07,-4.5400216099e-05,1793254873286365184
+164,2.733333333,POSE1_TO_POSE2_PRESS,785,760,737.92284702,716.92284702,686,651,916.92284702,800.07715298,841,657,636,657.92284702,0.421929337383,-0.0155321683747,0.0799703230801,0.999999998591,-2.07259988422e-05,-1.81916241926e-05,-4.5360551718e-05,1793254873303031808
+165,2.750000000,POSE1_TO_POSE2_PRESS,785,760,737.330781139,716.330781139,686,651,916.330781139,800.669218861,841,657,636,657.330781139,0.422888230448,-0.0155373733446,0.0799985571476,0.999999998646,-1.75073587324e-05,2.24683656838e-05,-4.35563237689e-05,1793254873319698176
+166,2.766666667,POSE1_TO_POSE2_PRESS,785,760,737,716.255126343,686.255126343,651,916.255126343,801,841,657,636,657,0.423817803225,-0.0155384591942,0.0800043481211,0.999999998743,-1.54181646387e-05,2.08308152863e-05,-4.29191092841e-05,1793254873336364800
+167,2.783333333,POSE1_TO_POSE2_PRESS,785,760,737,716.833237494,686.833237494,651,916.833237494,801,841,657,636,657,0.42471025724,-0.0155343303212,0.0799817265935,0.999999998344,-1.47588259971e-05,-3.43545632327e-05,-4.375931006e-05,1793254873353031680
+168,2.800000000,POSE1_TO_POSE2_PRESS,785.408701582,760,737.408701582,717,687,651,917,801,841,657.408701582,636,657.408701582,0.425629031969,-0.0155330533797,0.0799475912843,0.999999995338,-2.10193990699e-05,-8.08175124232e-05,-4.84890999923e-05,1793254873369698560
+169,2.816666667,POSE1_TO_POSE2_PRESS,785.983092504,760,737.983092504,717,687,651,917,801,841,657.983092504,636,657.983092504,0.426558477171,-0.0155329326236,0.0799087882409,0.99999999039,-3.00853334777e-05,-0.000123744348674,-5.47957456343e-05,1793254873386365184
+170,2.833333333,POSE1_TO_POSE2_PRESS,786,760,737.441588729,717,686.441588729,651,916.441588729,800.441588729,841,657.441588729,636,658,0.427519322396,-0.0155351909213,0.0799062747158,0.999999989606,-3.9506453486e-05,-0.000126755653421,-5.6211699439e-05,1793254873403031552
+171,2.850000000,POSE1_TO_POSE2_PRESS,785.862315652,760,737,716.862315652,686,650.862315652,916,800.137684348,841,657,636,658,0.428489226823,-0.0155370585602,0.079911629115,0.999999990089,-4.50961086403e-05,-0.000120750190767,-5.66327629974e-05,1793254873419698432
+172,2.866666667,POSE1_TO_POSE2_PRESS,785.270080761,760,737,716.270080761,686,650.270080761,916,800.729919239,841,657,636,658,0.429485895267,-0.0155373982759,0.0799393251389,0.999999993848,-3.80010177534e-05,-8.89733738538e-05,-5.42589831246e-05,1793254873436365056
+173,2.883333333,POSE1_TO_POSE2_PRESS,785,760,737.314999305,716,686,650.314999305,916,801,841.314999305,657,636,658,0.430500361437,-0.0155402962835,0.0799798104622,0.99999999759,-3.4323586099e-05,-3.24970432455e-05,-5.08499439532e-05,1793254873453031680
+174,2.900000000,POSE1_TO_POSE2_PRESS,785,760,737.894081032,716,686,650.894081032,916,801,841.894081032,657,636,658,0.431529748437,-0.0155453390575,0.0800310178052,0.999999997356,-3.35113791689e-05,4.46863392107e-05,-4.65729860126e-05,1793254873469698048
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+176,2.933333333,POSE1_TO_POSE2_PRESS,785.95884289,760,737,716.95884289,686.04115711,651,917,801,841.95884289,657.04115711,636,657,0.433343540408,-0.0155424749988,0.0799690778468,0.999999995921,-5.07070933793e-05,-5.40841446626e-05,-5.15878418045e-05,1793254873503031296
+177,2.950000000,POSE1_TO_POSE2_PRESS,785.371024396,760,737,716.371024396,686.628975604,651,917,801,841.371024396,657.628975604,636,657,0.434288829872,-0.0155398909424,0.0799215469271,0.999999991356,-4.0352978107e-05,-0.000111447743034,-5.69086854723e-05,1793254873519698176
+178,2.966666667,POSE1_TO_POSE2_PRESS,785.214469158,760,737.214469158,716,687,651,917,801,841.214469158,658,636,657.214469158,0.435243045757,-0.0155395658583,0.0799035952958,0.999999988774,-3.73114574527e-05,-0.000132639536348,-5.88760122248e-05,1793254873536364800
+179,2.983333333,POSE1_TO_POSE2_PRESS,785.795983871,760,737.795983871,716,687,651,917,801,841.795983871,658,636,657.795983871,0.436212538599,-0.015543106811,0.0799362660698,0.999999993162,-4.67848132672e-05,-9.19263998562e-05,-5.51040836965e-05,1793254873553031424
+180,3.000000000,POSE1_TO_POSE2_PRESS,786,760,738,716.374209469,687,651,917,801,841.625790531,657.625790531,636,658,0.437192158904,-0.015548297045,0.079976010134,0.999999996579,-5.38090692979e-05,-3.39551356642e-05,-5.28536479889e-05,1793254873569697792
+181,3.016666667,POSE1_TO_POSE2_PRESS,786,760,738,716.950657457,687,651,917,801,841.049342543,657.049342543,636,658,0.438177252457,-0.0155543786199,0.0800195768995,0.999999996351,-5.95097281783e-05,3.33431434317e-05,-5.1425490983e-05,1793254873586364672
+182,3.033333333,POSE1_TO_POSE2_PRESS,786,760,737.476666694,716.476666694,686.476666694,651,917,801,841.523333306,657,636,658,0.439085293037,-0.0155624064509,0.0800221163266,0.999999994978,-7.80645011045e-05,3.48774555408e-05,-5.22839038176e-05,1793254873603031552
+183,3.050000000,POSE1_TO_POSE2_PRESS,786,760,737,716.098759567,686,651,917,801,841.901240433,657,636,657.901240433,0.439964760929,-0.0155685435514,0.0800028848814,0.999999994023,-9.46472149869e-05,3.31905080654e-06,-5.46383508503e-05,1793254873619698176
+184,3.066666667,POSE1_TO_POSE2_PRESS,786,760,737,716.689651083,686,651,917,801,841.310348917,657,636,657.310348917,0.440737790444,-0.015564351016,0.0798943044497,0.999999980242,-9.54068007856e-05,-0.000162467619698,-6.33811099378e-05,1793254873636364800
+185,3.083333333,POSE1_TO_POSE2_PRESS,786,760,737,716.724428897,686,650.724428897,917,800.724428897,841.275571103,657,636,657,0.441527972894,-0.0155639864673,0.0798089023307,0.999999950054,-0.000105973271832,-0.000289193370662,-7.0913756685e-05,1793254873653031424
+186,3.100000000,POSE1_TO_POSE2_PRESS,786,760,737,716.144008609,686,650.144008609,917,800.144008609,841.855991391,657,636,657,0.442337130642,-0.0155678566102,0.079749141114,0.999999919458,-0.000127388563338,-0.000372708162362,-7.7107723119e-05,1793254873669698048
+187,3.116666667,POSE1_TO_POSE2_PRESS,786,760,737.432314292,716,686,650,917,800,842,657,636,657.432314292,0.443203111446,-0.0155772876833,0.0797778387071,0.999999934937,-0.000127761908105,-0.000328751223943,-7.56697123803e-05,1793254873686364672
+188,3.133333333,POSE1_TO_POSE2_PRESS,786,760,737.992569163,716.007430837,686,650,917,799.992569163,842,657.007430837,636,657.992569163,0.444086916244,-0.0155885107838,0.0798353842818,0.999999960461,-0.000121417207753,-0.000243298449514,-7.16990884096e-05,1793254873703031552
+189,3.150000000,POSE1_TO_POSE2_PRESS,786,760,737.406101636,716.593898364,686,650,917,799.406101636,842,657.593898364,636,657.406101636,0.444898506124,-0.0155963840958,0.079866283017,0.999999968565,-0.000132640287116,-0.000202084939866,-6.66229803147e-05,1793254873719698432
+190,3.166666667,POSE1_TO_POSE2_PRESS,786,760,737,716.821908775,685.821908775,650,917,799,842,657.821908775,636,657.178091225,0.445702404333,-0.0156031521313,0.0798824369508,0.999999971653,-0.00014309380892,-0.00017922515993,-6.40112141643e-05,1793254873736364800
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+192,3.200000000,POSE1_TO_POSE2_PRESS,786,760,737,716,685,650,917,799,842,657,635.663839915,658,0.44721809493,-0.0156118216193,0.0798301305606,0.999999954628,-0.00016304147134,-0.000243175167762,-7.09067549856e-05,1793254873769698048
+193,3.216666667,POSE1_TO_POSE2_PRESS,786,760,737,716,685,650,917,799,842,657,635.084896053,658,0.447905698973,-0.0156162915056,0.0797817119042,0.999999934154,-0.000176078200397,-0.00030817610345,-7.56035498689e-05,1793254873786364672
+194,3.233333333,POSE1_TO_POSE2_PRESS,786,760,737,716,685.490056954,650,917,799,842,657,635,658,0.44851708488,-0.0156144188549,0.0797157291724,0.999999894163,-0.00017770524163,-0.000416477918748,-8.14944842774e-05,1793254873803031552
+195,3.250000000,POSE1_TO_POSE2_PRESS,786,760,737,716,685.934073161,650,917,798.934073161,842.065926839,657,635,658,0.449122319039,-0.0156122890827,0.079654584145,0.999999846277,-0.000178042206807,-0.000517898111136,-8.676292295e-05,1793254873819697920
+196,3.266666667,POSE1_TO_POSE2_PRESS,786,760,737,716,685.345497867,650,917,798.345497867,842.654502133,657,635,658,0.449782614322,-0.0156167612294,0.079655718169,0.999999851571,-0.000183695020717,-0.000505775012819,-8.54696564745e-05,1793254873836364800
+197,3.283333333,POSE1_TO_POSE2_PRESS,786.238762796,760,737.238762796,716,685.238762796,650,917,797.761237204,843,657.238762796,635,658,0.450452160687,-0.0156227147254,0.0796745627491,0.99999986537,-0.000191480029953,-0.000475015839718,-8.33968721711e-05,1793254873853031680
+198,3.300000000,POSE1_TO_POSE2_PRESS,786.816890812,760,737.816890812,716,685.816890812,650,917,797.183109188,843,657.816890812,635,658,0.451134856009,-0.0156307737349,0.0797185802075,0.999999889056,-0.000202295631624,-0.0004177683035,-8.02161210404e-05,1793254873869698560
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+228,3.800000000,POSE1_TO_POSE2_PRESS,786.226114354,760,737,716,684,647.773885646,916,790.773885646,842,657,634,657.773885646,0.458973583345,-0.0157034195171,0.0794275547301,0.999999548013,-0.000306325461564,-0.000894897328888,-9.64210535063e-05,1793254874369698048
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,786,759,736,716,685.903177484,650,917,799,839.903177484,658,635.903177484,657.903177484,0.420620595348,-0.0153894632102,0.0798343749112,0.999999939765,0.000247833818291,-0.000238870125941,4.46132544016e-05,1793254876376579840
+347,5.783333333,POSE2_TO_POSE3_RETREAT,786,759,736,716,685.329696246,650,917,799,839.329696246,658,635.329696246,657.329696246,0.419760155746,-0.0153865635522,0.0798543936151,0.999999947616,0.000244639446936,-0.000206873196395,4.60867914655e-05,1793254876393246464
+348,5.800000000,POSE2_TO_POSE3_RETREAT,785.750715121,759,736,716,685.249284879,650,917,799.249284879,839.249284879,658,635,657.249284879,0.418882917743,-0.0153842387691,0.0798460211711,0.999999944538,0.000242379075335,-0.000223926599912,4.50831338701e-05,1793254876409913344
+349,5.816666667,POSE2_TO_POSE3_RETREAT,785.164295962,759,736,716,685.835704038,650,917,799.835704038,839.835704038,658,635,657.835704038,0.417982961556,-0.0153826914505,0.0797992523766,0.999999922816,0.000241381849601,-0.000307315952817,4.07293039228e-05,1793254876426580224
+350,5.833333333,POSE2_TO_POSE3_RETREAT,785,759,736,716,686,650,917,799.580734491,840,657.580734491,635.419265509,657.580734491,0.417107418775,-0.0153831842752,0.0797924914998,0.999999917263,0.000239124977358,-0.000326727249618,3.92695503789e-05,1793254876443246848
+351,5.850000000,POSE2_TO_POSE3_RETREAT,785.001693464,759,736.001693464,716,686,650,917,799.001693464,840,657.001693464,635.998306536,657.001693464,0.416241480399,-0.0153844587461,0.0798012291977,0.999999919666,0.000236404383461,-0.000321347005909,3.89394088285e-05,1793254876459913472
+352,5.866666667,POSE2_TO_POSE3_RETREAT,785.576903279,759,736.576903279,716,686,650,917,799.576903279,840,657.576903279,635.423096721,657.576903279,0.415410240299,-0.0153815320858,0.0797852309446,0.999999907436,0.000242675111533,-0.000353074107665,3.96926330587e-05,1793254876476580096
+353,5.883333333,POSE2_TO_POSE3_RETREAT,785.848016008,759,736.848016008,716.151983992,686,650,917,799.848016008,839.848016008,657.848016008,635.151983992,657.848016008,0.41460166213,-0.0153790980485,0.0797727338412,0.999999898567,0.000246245378866,-0.000375038800198,3.96970742667e-05,1793254876493246720
+354,5.900000000,POSE2_TO_POSE3_RETREAT,785.273294257,759,736.273294257,716.726705743,686,650,917,799.273294257,839.273294257,657.273294257,635.726705743,657.273294257,0.413856117083,-0.0153780342232,0.0797699750501,0.999999901542,0.000242304418196,-0.00036984972653,3.7618803916e-05,1793254876509913600
+355,5.916666667,POSE2_TO_POSE3_RETREAT,785.310427388,759,736.310427388,717,686,650,916.689572612,799,839.310427388,657,636,657.310427388,0.413137861966,-0.0153787758351,0.0797802535411,0.999999909494,0.000242096015053,-0.000347825486217,3.7676049407e-05,1793254876526579968
+356,5.933333333,POSE2_TO_POSE3_RETREAT,785.902308899,759,736.902308899,717,686,650,916.097691101,799,839.902308899,657,636,657.902308899,0.412444349762,-0.0153811543768,0.0798023524995,0.999999920917,0.000245271796889,-0.000310537363658,3.96694957301e-05,1793254876543246336
+357,5.950000000,POSE2_TO_POSE3_RETREAT,786,759.48137263,737,717,686,650,916.48137263,799.48137263,840,657.48137263,635.51862737,658,0.411709961095,-0.0153827852538,0.0797933820537,0.999999915798,0.000241323318459,-0.000329541254331,3.96161975079e-05,1793254876559913216
+358,5.966666667,POSE2_TO_POSE3_RETREAT,785.942119317,759.942119317,737,717,686,650,916.942119317,800,840,658,635,657.942119317,0.410975561099,-0.0153835078611,0.0797794133214,0.999999907081,0.000237691097179,-0.000357496306812,3.92006951241e-05,1793254876576580096
+359,5.983333333,POSE2_TO_POSE3_RETREAT,785.365807132,759.365807132,737,717,686,650,916.365807132,800,840,658,635,657.365807132,0.410313435105,-0.0153774189964,0.0797756866639,0.999999901145,0.000249505716805,-0.000365955854012,3.91649153287e-05,1793254876593246720
+360,6.000000000,POSE2_TO_POSE3_RETREAT,785,759,736.790969527,717,686,650,916.209030473,799.790969527,840,658,635,657,0.409684317665,-0.0153734019503,0.0797832251754,0.999999903707,0.000256688818252,-0.000353750040577,3.94795372238e-05,1793254876609913344
+361,6.016666667,POSE2_TO_POSE3_RETREAT,785,759,736.218694448,717,686,650,916.781305552,799.218694448,840,658,635,657,0.409112561208,-0.0153729852264,0.0798103398372,0.999999919755,0.000255823455292,-0.000305632807371,4.04030727976e-05,1793254876626580480
+362,6.033333333,POSE2_TO_POSE3_RETREAT,785,759,736.369051487,717,686,650,917,799.369051487,840,658,635.369051487,657.369051487,0.408543710709,-0.0153721768053,0.079826688875,0.999999927205,0.000255771898999,-0.0002800036123,4.20633383436e-05,1793254876643247104
+363,6.050000000,POSE2_TO_POSE3_RETREAT,785,759,736.966366416,717,686,650,917,799.966366416,840,658,635.966366416,657.966366416,0.407976657529,-0.0153711261141,0.0798363792282,0.999999930211,0.000256223693506,-0.000268283574959,4.41792816771e-05,1793254876659913216
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,784,760,737.886284641,717,686,650,916.113715359,799.113715359,840,657.886284641,636,657.113715359,0.406822097895,-0.0153639321406,0.079772412142,0.999999891028,0.000265281386923,-0.000382323353478,3.74034010441e-05,1793254876693246720
+366,6.100000000,POSE2_TO_POSE3_RETREAT,784,760,737.308300034,717,686,650,916.691699966,799.691699966,840,657.308300034,636,657.691699966,0.406330119923,-0.0153656075381,0.0797567038919,0.999999884879,0.00026295100193,-0.000399713406155,3.64503393296e-05,1793254876709913600
+367,6.116666667,POSE2_TO_POSE3_RETREAT,784.274375094,759.725624906,737,717.274375094,686,650.274375094,917,800,839.725624906,657.274375094,635.725624906,658,0.40588338171,-0.0153665457051,0.0797591714001,0.999999889838,0.000263995559332,-0.000386342468383,3.70073830602e-05,1793254876726580224
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916.976564874,799,840,657,635,658,0.404701806926,-0.0153637682587,0.0798143079724,0.999999913563,0.000289306093008,-0.00029512541725,4.55710420354e-05,1793254876776579840
+371,6.183333333,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916.402043609,799,840,657,635,658,0.404332037491,-0.0153617621104,0.0798192877723,0.999999918504,0.000275982800877,-0.000291580929698,4.24956842717e-05,1793254876793246464
+372,6.200000000,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916,799,840,657.173480577,635,658,0.403972633156,-0.0153596507679,0.0798226686977,0.999999920295,0.000268763134998,-0.000292481488762,4.03889485201e-05,1793254876809913344
+373,6.216666667,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916,799,840,657.75134248,635,658,0.403637389805,-0.0153572942194,0.0798223226633,0.999999915023,0.000275770957021,-0.000303743403391,4.05400605139e-05,1793254876826579712
+374,6.233333333,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916.335779475,799,839.664220525,658,635,657.664220525,0.403339171658,-0.015353748642,0.0798227297813,0.999999912296,0.000282631721464,-0.000306290109007,4.13966102583e-05,1793254876843246592
+375,6.250000000,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916.925182889,799,839.074817111,658,635,657.074817111,0.403068919684,-0.0153493049565,0.0798237057771,0.999999911535,0.000289381409818,-0.00030225396668,4.27859975325e-05,1793254876859913728
+376,6.266666667,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916.497294725,799,839.502705275,658,635.502705275,657,0.402824955965,-0.0153499046671,0.0798274037267,0.999999912373,0.000291715051938,-0.00029724062185,4.24838711762e-05,1793254876876580096
+377,6.283333333,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916,799,840,658,636,657,0.402588269824,-0.015351316153,0.0798303738477,0.999999913356,0.000292118792603,-0.000293588331469,4.19615527718e-05,1793254876893246464
+378,6.300000000,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916,799,840,658,636,657,0.402373473704,-0.015353224945,0.0798262261437,0.999999913866,0.000284364131985,-0.000299458305761,4.16023067776e-05,1793254876909913088
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783.76523051,759,737,718,686,650,916.23476949,799,839.76523051,657.76523051,635.76523051,657,0.402176514213,-0.0153555640031,0.0798231734637,0.999999914042,0.000278559721429,-0.00030422596591,4.20386004095e-05,1793254876926579712
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783.174459679,759,737,718,686,650,916.825540321,799,839.174459679,657.174459679,635.174459679,657,0.40200660196,-0.0153585555105,0.0798217812637,0.999999913814,0.000275712644697,-0.000307322091191,4.3681239804e-05,1793254876943246336
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,917,799,839,657,635.407302218,657.407302218,0.401865266128,-0.0153605081784,0.0798255902886,0.999999916135,0.000276166311222,-0.00029901363201,4.53003084361e-05,1793254876959912960
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,917,799,839,657,635.985288808,657.985288808,0.401735905555,-0.0153620255093,0.0798315789426,0.99999991938,0.000278003189722,-0.000285925958992,4.69094994391e-05,1793254876976579584
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916.436772568,799,839.563227432,657,636,657.436772568,0.401622827731,-0.0153605811285,0.0798380404361,0.99999991934,0.000285957964723,-0.000277948717978,4.78854921342e-05,1793254876993247232
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916,799.139274293,840,657,636,657.139274293,0.401513596207,-0.0153595259917,0.0798419480941,0.999999919511,0.000289832864692,-0.000273629994668,4.58339140953e-05,1793254877009914368
+385,6.416666667,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916,799.709471693,840,657,636,657.709471693,0.401414949613,-0.0153599145305,0.0798379158195,0.99999992078,0.000280590005711,-0.00028021798325,3.44660161333e-05,1793254877026580480
+386,6.433333333,POSE2_TO_POSE3_RETREAT,783.291562665,759,737,718,686,650,916,800,840,657.291562665,635.708437335,658,0.401328598085,-0.0153609065038,0.0798342854031,0.999999920838,0.000275122976181,-0.000285926870187,2.96283744833e-05,1793254877043246848
+387,6.450000000,POSE2_TO_POSE3_RETREAT,783.886009097,759,737,718,686,650,916,800,840,657.886009097,635.113990903,658,0.401255019018,-0.0153625253426,0.0798310724483,0.999999919819,0.000273578386896,-0.000290722521654,3.15745514089e-05,1793254877059913216
+388,6.466666667,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916,800,840,658,635.467187586,657.532812414,0.401200474692,-0.0153593231647,0.0798313903959,0.999999919119,0.000276797660949,-0.000289971716987,3.25880014011e-05,1793254877076580096
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783.954841189,759.045158811,737,718.045158811,686,650,916,799.954841189,840,657.954841189,635.954841189,657,0.401151198956,-0.015355278472,0.0798324464788,0.999999918483,0.000280908240819,-0.000288113110573,3.33912694964e-05,1793254877093246720
+390,6.500000000,POSE2_TO_POSE3_RETREAT,783.377569028,759.622430972,737,718.622430972,686,650,916,799.377569028,840,657.377569028,635.377569028,657,0.401110789847,-0.0153547840397,0.0798323290523,0.999999917916,0.000282203252831,-0.000288706903046,3.43254851246e-05,1793254877109913088
+391,6.516666667,POSE2_TO_POSE3_RETREAT,783,759.796801598,737,718.796801598,686,650,916,799.203198402,840,657,635,657.203198402,0.401074950549,-0.0153542230286,0.0798316652962,0.999999917334,0.000282887124791,-0.000289963386417,3.50507134709e-05,1793254877126579456
+392,6.533333333,POSE2_TO_POSE3_RETREAT,783,759.209425865,737,718.209425865,686,650,916,799.790574135,840,657,635,657.790574135,0.40104775117,-0.0153535361402,0.0798299686212,0.999999916725,0.000282415543917,-0.000292472787187,3.5380819677e-05,1793254877143246080
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783.372189909,759,737,718,686,650,916.372189909,799.627810091,840,657.372189909,635,657.627810091,0.401028034251,-0.0153537221482,0.0798284192862,0.999999916164,0.000283065231239,-0.000293749128178,3.54671087705e-05,1793254877159912960
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783.950614012,759,737,718,686,650,916.950614012,799.049385988,840,657.950614012,635,657.049385988,0.401012463439,-0.0153543918368,0.0798269515938,0.999999915631,0.000284336224632,-0.000294342218184,3.54182963236e-05,1793254877176579840
+395,6.583333333,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,917,799.527975713,840,657.472024287,635.527975713,657.527975713,0.401006117122,-0.0153548352497,0.0798290265985,0.999999916767,0.000284241517252,-0.000290538565578,3.54980366517e-05,1793254877193246720
+396,6.600000000,POSE2_TO_POSE3_RETREAT,784,759,736.89517477,718,686.10482523,650,917,800,840,657,636,657.89517477,0.401000456185,-0.0153551185855,0.0798309437829,0.999999917768,0.000284001350642,-0.000287295698888,3.56199608073e-05,1793254877209913344
+397,6.616666667,POSE2_TO_POSE3_RETREAT,784,759,736.320177888,718,686.679822112,650,917,800,840,657,636,657.320177888,0.400994007042,-0.0153547786714,0.0798306697535,0.999999917529,0.000283680581911,-0.000288409056377,3.5877266079e-05,1793254877226579712
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b0dadac3802327cc3a9fc084ac6562da701c57f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_08/depth_05/simulation_data.csv
@@ -0,0 +1,420 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2148a740030703203655734a174a6d826995db10
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
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+size 26284180
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9bacb44fd2d6f86a4e092fb0219fc13fc675ac3e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_01/franka_data.csv
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+2,0.033333333,BASELINE,783,760,737.840068279,721.840068279,691,650,916,800,838,658,635,657,0.400911638466,0.00440354983062,0.0599278948881,0.999999969109,-0.00011442904069,-0.000218595534762,-3.00584571748e-05,1793254879365519616
+3,0.050000000,BASELINE,783,760,737.263865065,721.263865065,691,650,916,800,838,658,635,657,0.400912695331,0.00440414004179,0.0599283555147,0.999999969136,-0.000116176110631,-0.00021753930974,-3.01396484296e-05,1793254879382185984
+4,0.066666667,BASELINE,783.312381315,760.312381315,737.312381315,721.312381315,691,650,916.312381315,800,838,658,635,657,0.400912692477,0.00440462148218,0.059927935673,0.999999968996,-0.00011657219826,-0.000217981272103,-3.00388530911e-05,1793254879398852608
+5,0.083333333,BASELINE,783.888664127,760.888664127,737.888664127,721.888664127,691,650,916.888664127,800,838,658,635,657,0.400911794366,0.00440501103235,0.0599267720067,0.999999968717,-0.0001158269683,-0.000219688911689,-2.97843144464e-05,1793254879415519232
+6,0.100000000,BASELINE,784,760.522939483,738,721.522939483,691,650,916.522939483,800,838.477060517,657.522939483,634.522939483,657,0.400912732816,0.00440542871293,0.0599275604786,0.999999969159,-0.000114473076045,-0.000218364206373,-2.99075004279e-05,1793254879432185600
+7,0.116666667,BASELINE,783.933652791,760.066347209,738,721.066347209,691,650,916.066347209,800,839,657.066347209,634.066347209,657,0.400914053308,0.00440580157142,0.0599286778332,0.999999969701,-0.000113220154452,-0.000216504109682,-3.00756904944e-05,1793254879448852224
+8,0.133333333,BASELINE,783.359745797,760.640254203,738,721.640254203,691,650,916.640254203,800,839,657.640254203,634.640254203,657,0.400914932092,0.00440578000701,0.0599287350824,0.999999969721,-0.000113854658235,-0.000216103121924,-2.9896219297e-05,1793254879465518848
+9,0.150000000,BASELINE,783.214496677,760.785503323,738,721.785503323,691,650,916.785503323,800,839,658,635,657,0.400915022522,0.00440571479509,0.0599283747395,0.999999969574,-0.00011495081856,-0.00021620201286,-2.99081079427e-05,1793254879482185472
+10,0.166666667,BASELINE,783.789302629,760.210697371,738,721.210697371,691,650,916.210697371,800,839,658,635,657,0.400913788681,0.00440557626451,0.0599273129297,0.999999969144,-0.000116822464649,-0.000217140594841,-3.02414408694e-05,1793254879498852096
+11,0.183333333,BASELINE,783.627322147,760,738,721.372677853,691,650,916,800,838.627322147,658,635,657,0.400913325936,0.00440654383,0.0599271805691,0.99999996925,-0.000115167857523,-0.000217524369332,-3.03368578945e-05,1793254879515518976
+12,0.200000000,BASELINE,783.038988119,760,738,721.961011881,691,650,916,800,838.038988119,658,635,657,0.400913309398,0.00440815145618,0.0599275860494,0.999999969656,-0.000111472726095,-0.00021758709542,-3.02946009973e-05,1793254879532185856
+13,0.216666667,BASELINE,783,760,738,722,691,650,916,800,838.545457448,658,635,657,0.400912458768,0.00440702098754,0.0599270010481,0.999999969376,-0.000111817904704,-0.000218706785897,-3.02008191962e-05,1793254879548852736
+14,0.233333333,BASELINE,783.127174122,760,738,722,691,650,916,799.872825878,839,658,635,657,0.40091214417,0.00440606961427,0.0599266129556,0.999999969195,-0.00011250631246,-0.00021919207222,-3.01159369125e-05,1793254879565519104
+15,0.250000000,BASELINE,783.700289682,760,738,722,691,650,916,799.299710318,839,658,635,657,0.400913916771,0.00440642766463,0.0599271618293,0.999999969533,-0.000113392772342,-0.000217189751446,-3.00750839293e-05,1793254879582185728
+16,0.266666667,BASELINE,784,760,738,722,691,650,916.274887827,799.274887827,839,657.725112173,634.725112173,657,0.400914344583,0.00440662494594,0.0599275016616,0.999999969734,-0.000113165825946,-0.000216387809748,-3.00268413779e-05,1793254879598852096
+17,0.283333333,BASELINE,784,760,738,722,691,650,916.851111167,799.851111167,839,657.148888833,634.148888833,657,0.40091329822,0.00440664599016,0.0599276123401,0.999999969787,-0.000111718349458,-0.00021690173889,-2.99704982908e-05,1793254879615518720
+18,0.300000000,BASELINE,784,760.436269831,738,722,691,650,917,800,839,657.436269831,634,657,0.400913467401,0.00440621193509,0.0599280951942,0.999999969804,-0.000112452287005,-0.000216462828892,-2.9850401158e-05,1793254879632185600
+19,0.316666667,BASELINE,783.975855061,760.975855061,738,722,691,650,917,800,839,658,634.024144939,657,0.400914038803,0.00440565715286,0.0599286432173,0.999999969813,-0.000113846081562,-0.000215710443227,-2.97143579076e-05,1793254879648852480
+20,0.333333333,BASELINE,783.397092922,760.397092922,738,722,691,650,917,800,839,658,634.602907078,657,0.400914121185,0.00440597145933,0.0599277096171,0.999999969986,-0.000112938808574,-0.000215383140017,-2.97222607222e-05,1793254879665519104
+21,0.350000000,BASELINE,783.17930263,760,738,722,690.82069737,650,916.82069737,800,839,658,635,657,0.400914157555,0.00440628462225,0.059927070698,0.999999970047,-0.000112353193988,-0.000215395763759,-2.97996255903e-05,1793254879682185984
+22,0.366666667,BASELINE,783.750525213,760,738,722,690.249474787,650,916.249474787,800,839,658,635,657,0.400914093348,0.00440659528556,0.0599270758933,0.999999969864,-0.000112470660931,-0.000216151400385,-3.00288207167e-05,1793254879698852352
+23,0.383333333,BASELINE,784,760.324889631,738,722,690.324889631,650,916.324889631,800,839,658,634.675110369,657,0.400914022163,0.00440603275628,0.0599272295815,0.999999969757,-0.000112528985089,-0.000216632236676,-2.99022273457e-05,1793254879715518976
+24,0.400000000,BASELINE,784,760.901690204,738,722,690.901690204,650,916.901690204,800,839,658,634.098309796,657,0.400913945567,0.00440479317626,0.0599274984072,0.999999969709,-0.000112541451486,-0.000216900000038,-2.94997648811e-05,1793254879732185600
+25,0.416666667,BASELINE,784,761,738,722,691,650,916.505395467,800,839,658,634.494604533,657,0.400913841754,0.00440594691171,0.0599271027629,0.999999969694,-0.000112242067205,-0.00021709944231,-2.969578638e-05,1793254879748851968
+26,0.433333333,BASELINE,784,760.912364439,738,722,691,650,916,800,839,657.912364439,635,657,0.40091382619,0.00440737729944,0.059926683006,0.999999969732,-0.000111774528858,-0.000217128872523,-2.99659345626e-05,1793254879765518592
+27,0.450000000,BASELINE,784,760.337105307,738,722,691,650,916,800,839,657.337105307,635,657,0.400914332783,0.00440761097033,0.0599268887134,0.99999997003,-0.000110727856161,-0.00021629042388,-2.99643448184e-05,1793254879782185472
+28,0.466666667,BASELINE,783.761946763,760,738,722,691,650,916.238053237,800,838.761946763,657.238053237,635,657,0.400914075451,0.00440729129877,0.0599266198098,0.999999969995,-0.000110717461581,-0.000216472504656,-2.98550113438e-05,1793254879798852352
+29,0.483333333,BASELINE,783.186930633,760,738,722,691,650,916.813069367,800,838.186930633,657.813069367,635,657,0.400912736788,0.00440618837438,0.0599256790974,0.999999969487,-0.000112173912363,-0.000218099138596,-2.95931672816e-05,1793254879815518976
+30,0.500000000,BASELINE,783.397922258,760.397922258,737.602077742,722,691,650,916.602077742,800,838,658,635,657,0.400912306421,0.00440577135512,0.0599254791187,0.999999969257,-0.000113240941332,-0.000218622079129,-2.94456717518e-05,1793254879832185600
+31,0.516666667,BASELINE,783.987513241,760.987513241,737.012486759,722,691,650,916.012486759,800,838,658,635,657,0.400912313557,0.00440568471843,0.0599256359321,0.999999969162,-0.000114120395974,-0.000218613399419,-2.93532549216e-05,1793254879848852224
+32,0.533333333,BASELINE,783.429919424,761,737.570080576,721.429919424,691,650,916.570080576,800,838,657.429919424,635,656.429919424,0.400913732154,0.00440632534192,0.0599264513168,0.999999969447,-0.000114368361318,-0.000217125751574,-2.96979085307e-05,1793254879865518848
+33,0.550000000,BASELINE,783,761,737.84973678,721.15026322,691,650,917,800,838,657,635,656.15026322,0.400914832516,0.00440697501751,0.0599271133939,0.999999969713,-0.000114025669429,-0.000216039038637,-3.00000286736e-05,1793254879882185728
+34,0.566666667,BASELINE,783,761,737.275848762,721.724151238,691,650,917,800,838,657,635,656.724151238,0.400914949603,0.00440760585056,0.0599273030908,0.999999969902,-0.000112056306244,-0.000216172864808,-3.01555766881e-05,1793254879898852608
+35,0.583333333,BASELINE,783.297794314,761,737.297794314,722,691,650,917,800,838.297794314,657.297794314,635,657,0.400914992852,0.00440777493852,0.0599273223961,0.999999970002,-0.000111277848208,-0.000216123553372,-3.00613027046e-05,1793254879915519232
+36,0.600000000,BASELINE,783.871210751,761,737.871210751,722,691,650,917,800,838.871210751,657.871210751,635,657,0.40091496776,0.00440751666057,0.0599271839963,0.999999970023,-0.000111601626596,-0.0002159047398,-2.97358071662e-05,1793254879932186112
+37,0.616666667,BASELINE,783.539960279,760.539960279,738,721.539960279,691,650,917,800,839,658,634.539960279,657,0.400915456828,0.00440734338058,0.0599273706229,0.999999970183,-0.000111065574236,-0.000215474362945,-2.94769345973e-05,1793254879948852992
+38,0.633333333,BASELINE,783,760.051990393,738,721,691,650.051990393,916.948009607,800,839,658,634.051990393,657,0.400915895447,0.00440718840768,0.0599274884748,0.999999970307,-0.000110474057112,-0.000215233010265,-2.92586973219e-05,1793254879965519360
+39,0.650000000,BASELINE,783,760.630348138,738,721,691,650.630348138,916.369651862,800,839,658,634.630348138,657,0.400914315491,0.00440696951847,0.0599259568655,0.999999969659,-0.000111842516428,-0.000217525824061,-2.92564875893e-05,1793254879982185984
+40,0.666666667,BASELINE,783,761,738,721.208079461,691,650.791920539,916.208079461,800,839,657.791920539,634.791920539,657,0.400913140842,0.00440709910442,0.0599252007581,0.999999969252,-0.000112845118555,-0.000218863427015,-2.9335743553e-05,1793254879998852352
+41,0.683333333,BASELINE,783,761,738,721.784701257,691,650.215298743,916.784701257,800,839,657.215298743,634.215298743,657,0.400912684056,0.00440784589619,0.05992581819,0.999999969283,-0.000113199728426,-0.000218509197146,-2.95592884235e-05,1793254880015518976
+42,0.700000000,BASELINE,783,761,738,722,691,650,917,800,838.637187276,657.362812724,634.362812724,657,0.400913781863,0.00440760863993,0.0599267821507,0.999999969668,-0.000113367663407,-0.000216648116477,-2.95889403505e-05,1793254880032185600
+43,0.716666667,BASELINE,783,761,738,722,691,650,917,800,838.058188191,657.941811809,634.941811809,657,0.400915805995,0.00440678502668,0.0599279525947,0.999999970258,-0.000113424365878,-0.000213889160496,-2.95030588075e-05,1793254880048852224
+44,0.733333333,BASELINE,783.52934059,760.47065941,737.47065941,722,691,650,916.47065941,800,838,657.47065941,635,657,0.400916311011,0.00440712294931,0.0599282271146,0.999999970424,-0.000111790683245,-0.000213984540873,-2.94264234198e-05,1793254880065519360
+45,0.750000000,BASELINE,783.884594095,760,737.115405905,722,691,650,916,800,838.115405905,657,635,657,0.400916183788,0.00440738253807,0.0599280661855,0.999999970395,-0.000110538523194,-0.000214780552016,-2.93368500283e-05,1793254880082185984
+46,0.766666667,BASELINE,783.308181839,760,737.691818161,722,691,650,916,800,838.691818161,657,635,657,0.400914208978,0.00440681080865,0.0599265656469,0.999999969784,-0.00011156484397,-0.000217101428451,-2.91914672184e-05,1793254880098852864
+47,0.783333333,BASELINE,783,760,737.733357924,721.733357924,691,650,916,800,838.733357924,657.266642076,634.733357924,657,0.400913501354,0.00440687171557,0.0599260829257,0.999999969678,-0.000111148139807,-0.000217813269486,-2.91173922871e-05,1793254880115519488
+48,0.800000000,BASELINE,783,760,737.160358852,721.160358852,691,650,916,800,838.160358852,657.839641148,634.160358852,657,0.400914249654,0.00440765948658,0.0599267696201,0.999999970153,-0.000109073479941,-0.000216676418151,-2.91252461454e-05,1793254880132185856
+49,0.816666667,BASELINE,783.425970148,760,737.425970148,721.425970148,691,650,916,800,838,657.574029852,634,657,0.400915053291,0.00440721156428,0.0599271232302,0.999999970182,-0.00011020662804,-0.000215945343117,-2.92927708051e-05,1793254880148852480
+50,0.833333333,BASELINE,784,760,737.982941425,722,691,650,916,800,838.017058575,657,634.017058575,657,0.400915821804,0.00440634657402,0.0599273376043,0.999999970035,-0.000112492379214,-0.000215414676768,-2.95151943775e-05,1793254880165518848
+51,0.850000000,BASELINE,784,760,737.405671284,722,691,650,916,800,838.594328716,657,634.594328716,657,0.400914730632,0.00440755522806,0.0599272303463,0.999999969937,-0.000111690985095,-0.000216286864146,-2.95027494213e-05,1793254880182185472
+52,0.866666667,BASELINE,783.828647546,760,737.171352454,722,691,650,916,800,838.828647546,657,634.828647546,657,0.400913848505,0.00440831625308,0.0599268150144,0.999999969803,-0.000111206309672,-0.000217166186871,-2.94178773695e-05,1793254880198852096
+53,0.883333333,BASELINE,783.252206358,760,737.747793642,722,691,650,916,800,838.252206358,657,634.252206358,657,0.400913460574,0.00440801905285,0.0599256713748,0.999999969586,-0.000111470378614,-0.000218062377988,-2.91617827889e-05,1793254880215518976
+54,0.900000000,BASELINE,783.322195752,760,738,722,691,650,916,800,838,657,634,656.677804248,0.400913451143,0.00440790579049,0.0599255455942,0.999999969672,-0.000110863760788,-0.000217985805477,-2.91187778974e-05,1793254880232186112
+55,0.916666667,BASELINE,783.895011734,760,738,722,691,650,916,800,838,657,634,656.104988266,0.40091373613,0.00440793560435,0.0599262115561,0.999999969991,-0.000109579878531,-0.000217152567932,-2.92415250082e-05,1793254880248852992
+56,0.933333333,BASELINE,784,760,738,722,691,650,916,800,838.486355095,657,634.486355095,656.486355095,0.400914944785,0.00440770156859,0.0599272085592,0.999999970208,-0.000109814591455,-0.000216018051573,-2.93303878507e-05,1793254880265519360
+57,0.950000000,BASELINE,784,760,738,722,691,650,916.079110762,800,839,657.079110762,635,657,0.400916187042,0.00440750548426,0.0599280565248,0.999999970393,-0.000110322559658,-0.000214891135166,-2.94006914227e-05,1793254880282185728
+58,0.966666667,BASELINE,784,760,738,722,691,650,916.654637987,800,839,657.654637987,635,657,0.400916339438,0.0044079190975,0.059927503113,0.999999970524,-0.000110406701087,-0.000214236170565,-2.94022523183e-05,1793254880298852352
+59,0.983333333,BASELINE,784,760.229817557,738,721.770182443,691,650,917,800,839,657.770182443,635,657,0.400915629602,0.00440795617013,0.0599267998193,0.999999970274,-0.000111191498797,-0.00021499918805,-2.93764029104e-05,1793254880315518976
+60,1.000000000,BASELINE,784,760.804475561,738,721.195524439,691,650,917,800,839,657.195524439,635,657,0.400913625989,0.00440742824496,0.0599258716284,0.999999969445,-0.000113027628832,-0.000217889882626,-2.93094244373e-05,1793254880332185600
+61,1.016666667,BASELINE,784,760.612434918,738,721,691,650,917,800,839,657,635,657,0.400913328029,0.00440787950244,0.0599254463097,0.999999969399,-0.000111671869052,-0.000218789341105,-2.93602403153e-05,1793254880348852480
+62,1.033333333,BASELINE,784,760.02499718,738,721,691,650,917,800,839,657,635,657,0.400913909696,0.00440883573795,0.0599252803291,0.999999969755,-0.000108670007587,-0.000218661891506,-2.9471804368e-05,1793254880365519360
+63,1.050000000,BASELINE,783.441725403,760,738,721.558274597,691,650,916.441725403,800,839,657.558274597,635,657,0.400913895836,0.00440706916668,0.0599255701717,0.999999969576,-0.000111692115089,-0.000217959340918,-2.94411735344e-05,1793254880382186240
+64,1.066666667,BASELINE,783,760,738,722,691,650,916.139575726,800,838.860424274,658,635,657,0.40091379408,0.00440609644177,0.0599257036901,0.999999969426,-0.000113682119595,-0.000217613583988,-2.94878623931e-05,1793254880398852864
+65,1.083333333,BASELINE,783,760,738,722,691,650,916.715297508,800,838.284702492,658,635,657,0.400913500375,0.00440798246763,0.0599252854221,0.999999969465,-0.000111610407238,-0.000218462604906,-2.97959076109e-05,1793254880415519488
+66,1.100000000,BASELINE,783.290548231,760,738,722,691,650,917,800,838,658,635,657,0.400913263103,0.00440889165999,0.0599251756864,0.999999969599,-0.000109893575721,-0.000218727595012,-2.97202714371e-05,1793254880432185856
+67,1.116666667,BASELINE,783.865338086,760,738,722,691,650,917,800,838,658,635,657,0.400913081039,0.00440884522178,0.0599253677858,0.999999969829,-0.000108523922165,-0.000218421231162,-2.92692819966e-05,1793254880448852224
+68,1.133333333,BASELINE,783.550536822,760,738,721.550536822,691,650,916.550536822,800,838.449463178,658,635,657,0.400913778939,0.00440911339502,0.0599259880147,0.999999970036,-0.000108624561612,-0.000217413259836,-2.93456459507e-05,1793254880465519104
+69,1.150000000,BASELINE,783,760,738,721.036116683,691,650,916,800,839,657.963883317,635,657,0.400914597657,0.00440942880585,0.0599266505566,0.999999970197,-0.000109183946194,-0.000216359618567,-2.95572454683e-05,1793254880482185472
+70,1.166666667,BASELINE,783,760,738,721.617817632,691,650,916,800,839,657.382182368,635,657,0.400913174379,0.00440900369443,0.0599259735166,0.999999969801,-0.000109877670018,-0.000217858835648,-2.93743636894e-05,1793254880498852608
+71,1.183333333,BASELINE,783,760,738,722,691,650,916.196671737,800,839,657.196671737,635,657,0.400912754102,0.00440834358869,0.0599258785173,0.999999969599,-0.000110856089308,-0.000218306303625,-2.92403058229e-05,1793254880515519488
+72,1.200000000,BASELINE,783,760,738,722,691,650,916.770072748,800,839,657.770072748,635,657,0.400914255094,0.00440723334579,0.0599268984303,0.999999969771,-0.000112379849491,-0.00021673912207,-2.91997712603e-05,1793254880532186368
+73,1.216666667,BASELINE,783,760,738,722,691,650,916.655104541,800,839,658,635,657,0.400914600235,0.00440729627511,0.0599266265886,0.999999969821,-0.000111876949247,-0.000216773320369,-2.91720597435e-05,1793254880548852992
+74,1.233333333,BASELINE,783,760,738,722,691,650,916.079330152,800,839,658,635,657,0.400914171631,0.00440814454608,0.0599254900241,0.999999969787,-0.000110017367703,-0.000217879509871,-2.91529321956e-05,1793254880565519360
+75,1.250000000,BASELINE,783.512889868,760,738,722,691,650,916.512889868,800,839,658,635,657,0.400915574496,0.0044092719149,0.0599269306322,0.999999970222,-0.000110098133776,-0.000215811056896,-2.93216431508e-05,1793254880582185728
+76,1.266666667,BASELINE,783.895844059,760,738,722,691,650,916.895844059,800,838.895844059,658,634.895844059,657,0.400916466585,0.0044100820217,0.0599279722506,0.999999970494,-0.00011045257909,-0.00021434654648,-2.9466169082e-05,1793254880598852608
+77,1.283333333,BASELINE,783.320772693,760,738,722,691,650,916.320772693,800,838.320772693,658,634.320772693,657,0.400913726119,0.00440925606346,0.0599253479767,0.999999969706,-0.000110642532541,-0.000217906233811,-2.93656385529e-05,1793254880615518976
+78,1.300000000,BASELINE,783,760,738,722,691,650,916,800,838.253769373,657.746230627,634.253769373,657,0.400913622381,0.00440894637311,0.0599249231358,0.999999969746,-0.000110135709303,-0.000217985295291,-2.93357291364e-05,1793254880632185600
+79,1.316666667,BASELINE,783,760,738,722,691,650,916,800,838.827643736,657.172356264,634.827643736,657,0.400916844617,0.00440928790376,0.0599272726626,0.999999970826,-0.000108749971104,-0.0002136738909,-2.93949012831e-05,1793254880648852224
+80,1.333333333,BASELINE,783.413924515,760,738,721.586075485,691,650,916,800,839,657,635,657,0.400916387313,0.00441012710374,0.0599269234162,0.999999970666,-0.000108767618387,-0.000214394915696,-2.95529448965e-05,1793254880665519360
+81,1.350000000,BASELINE,783.994588408,760,738,721,691,650,916,800,838.994588408,657.005411592,635,657,0.40091436791,0.00441116154837,0.0599254279016,0.999999969973,-0.00010939381395,-0.000217258812329,-2.97494108504e-05,1793254880682186752
+82,1.366666667,BASELINE,783.415747882,760,738,721,691,650,916,800,838.415747882,657.584252118,635,657,0.400914190613,0.00441024778439,0.0599252263291,0.999999969617,-0.000110669442757,-0.000218283557292,-2.95199697053e-05,1793254880698852864
+83,1.383333333,BASELINE,783,760,738,721.162039934,691,650,916.162039934,800,838.162039934,657.837960066,634.837960066,657,0.400914084367,0.00440944745875,0.0599252888419,0.999999969468,-0.000111421572508,-0.000218609740883,-2.93171036131e-05,1793254880715519232
+84,1.400000000,BASELINE,783,760,738,721.737144355,691,650,916.737144355,800,838.737144355,657.262855645,634.262855645,657,0.400914159242,0.00440893630451,0.0599260245482,0.999999969853,-0.000110839223664,-0.000217155185307,-2.91819813314e-05,1793254880732185856
+85,1.416666667,BASELINE,783.309627413,760,738,722,691,650,916.690372587,799.690372587,838.690372587,657.309627413,634.309627413,657,0.400914332753,0.00440838213487,0.0599262734679,0.99999997005,-0.000110606267815,-0.000216380744727,-2.90768756504e-05,1793254880748852480
+86,1.433333333,BASELINE,783.879903736,760,738,722,691,650,916.120096264,799.120096264,838.120096264,657.879903736,634.879903736,657,0.400914589297,0.00440779175424,0.0599261126034,0.999999970089,-0.000110667436161,-0.000216178835039,-2.89970383935e-05,1793254880765518848
+87,1.450000000,BASELINE,783.527811543,760,738,722,691,650,916,799.472188457,838.472188457,658,634.527811543,657,0.400913947853,0.00441012029836,0.0599258029944,0.999999970185,-0.000108087719304,-0.000217026285826,-2.91024425019e-05,1793254880782185728
+88,1.466666667,BASELINE,783,760.067799094,737.932200906,722,691,650,916.067799094,800,838.932200906,658,634,657,0.400913199327,0.00441258910176,0.0599255376897,0.999999970256,-0.000105465346632,-0.000217970046701,-2.92155758009e-05,1793254880798852352
+89,1.483333333,BASELINE,783,760.644311387,737.355688613,722,691,650,916.644311387,800,838.355688613,658,634,657,0.40091344482,0.00441026758253,0.0599259025478,0.999999970107,-0.00010780909597,-0.000217535973032,-2.90159111395e-05,1793254880815519232
+90,1.500000000,BASELINE,783.220134357,761,737.220134357,721.779865643,691,650,916.779865643,800,838,657.779865643,634,657,0.400913661331,0.00440924103253,0.0599259319179,0.999999969985,-0.000109655934311,-0.000217163063608,-2.90944392243e-05,1793254880832186112
+91,1.516666667,BASELINE,783.794846952,761,737.794846952,721.205153048,691,650,916.205153048,800,838,657.205153048,634,657,0.400913831157,0.00441030033576,0.0599254209054,0.999999969913,-0.000110702380205,-0.000216888673655,-2.96210622814e-05,1793254880848852736
+92,1.533333333,BASELINE,784,760.620161158,738,721.379838842,691,650,916.379838842,800,838,657.379838842,634,657,0.400915104637,0.00441043175552,0.0599260004784,0.999999970122,-0.000110514307586,-0.000216018676131,-2.96253325759e-05,1793254880865519360
+93,1.550000000,BASELINE,784,760.029462883,738,721.970537117,691,650,916.970537117,800,838,657.970537117,634,657,0.400916990785,0.00441004808067,0.0599271854666,0.999999970486,-0.00010964091844,-0.000214818039742,-2.93396299234e-05,1793254880882185984
+94,1.566666667,BASELINE,783.45000297,760,737.45000297,722,691.54999703,650,916.45000297,800,838.54999703,657.45000297,634.54999703,657,0.400915384609,0.00440999053753,0.059926303518,0.999999970088,-0.000111042916172,-0.000215903274244,-2.96464269345e-05,1793254880898852352
+95,1.583333333,BASELINE,783,760.128152135,737.128152135,722,691.871847865,650,916.128152135,800,838.871847865,657.128152135,634.871847865,656.871847865,0.400913826615,0.00440985257567,0.0599254246213,0.999999969743,-0.000111894234075,-0.000217034799896,-2.9834856397e-05,1793254880915519232
+96,1.600000000,BASELINE,783,760.703811193,737.703811193,722,691.296188807,650,916.703811193,800,838.296188807,657.703811193,634.296188807,656.296188807,0.400913077081,0.00440937400616,0.0599249352877,0.999999969728,-0.000110405461431,-0.000217908934138,-2.95013311742e-05,1793254880932186112
+97,1.616666667,BASELINE,783,760.721095412,738,721.721095412,691,650.278904588,916.721095412,800,838.278904588,658,634.278904588,656.278904588,0.400912693578,0.00440904089465,0.059924834889,0.999999969743,-0.000109865863036,-0.000218147362708,-2.92308371522e-05,1793254880948852992
+98,1.633333333,BASELINE,783,760.146601554,738,721.146601554,691,650.853398446,916.146601554,800,838.853398446,658,634.853398446,656.853398446,0.400912698002,0.0044088619428,0.0599251466923,0.999999969793,-0.000110332220658,-0.000217712056259,-2.9027145015e-05,1793254880965519616
+99,1.650000000,BASELINE,783,760,737.559363707,721.440636293,691,650.559363707,916,800,838.559363707,657.559363707,634.559363707,657,0.400913513984,0.00440889384403,0.0599252673556,0.999999969795,-0.00011118905625,-0.000217247557396,-2.91731949063e-05,1793254880982186240
+100,1.666666667,BASELINE,783,760,737,721.968452537,691,650,916,800,838.031547463,657.031547463,634.031547463,657,0.400914518516,0.00440897526702,0.0599253034245,0.999999969765,-0.000112155257591,-0.000216853558991,-2.94200682691e-05,1793254880998852864
+101,1.683333333,BASELINE,783,760,737,721.389563491,691,650,916,800,838.610436509,657.610436509,634.610436509,657,0.400913970213,0.00440866251545,0.059925007986,0.999999969489,-0.000112697826833,-0.000217856255397,-2.93372478601e-05,1793254881015519488
+102,1.700000000,BASELINE,783,760,737,721.187678075,691,650,916,800,839,657.812321925,634.812321925,657,0.40091393715,0.00440856339221,0.0599249996128,0.999999969442,-0.000112864488499,-0.000217996915154,-2.92452323596e-05,1793254881032186112
+103,1.716666667,BASELINE,783,760,737,721.761529656,691,650,916,800,839,657.238470344,634.238470344,657,0.400914964264,0.00440890383876,0.0599255819157,0.999999969868,-0.000112257668454,-0.000216363815576,-2.91342967012e-05,1793254881048852224
+104,1.733333333,BASELINE,783,760,737.343350486,722,691,650,916,800,839,657,634,657,0.400915888692,0.00440926979598,0.0599264250163,0.999999970295,-0.000111429766092,-0.000214812380998,-2.91499100687e-05,1793254881065518848
+105,1.750000000,BASELINE,783,760,737.930837852,722,691,650,916,800,839,657,634,657,0.400916740107,0.00440965389241,0.0599274535551,0.999999970721,-0.000110444664685,-0.000213319013563,-2.9255505194e-05,1793254881082185472
+106,1.766666667,BASELINE,783,760,738,721.490116082,691,650,916.509883918,800,839,657.509883918,634.509883918,657,0.400916980961,0.00440953510004,0.0599277817705,0.999999970879,-0.000109301766568,-0.000213173201464,-2.91817561932e-05,1793254881098852608
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,760,738,722,691,650,917,800,839,658,634,657,0.400915692882,0.00441075046601,0.0599260196716,0.99999997079,-0.000108219652008,-0.000214105410318,-2.94417413489e-05,1793254881141867264
+108,1.800000000,POSE1_TO_POSE2_PRESS,783.575462125,760,738,722,691,650,916.424537875,800,839,657.424537875,634.575462125,657,0.400914907062,0.00441070170249,0.0599256779858,0.999999970508,-0.000108017475726,-0.000215511275001,-2.95008684169e-05,1793254881158534144
+109,1.816666667,POSE1_TO_POSE2_PRESS,783.844948328,760,738,722,691,650,916.155051672,800,839,657,634.844948328,657,0.400914355113,0.00441025362884,0.0599253379174,0.999999970203,-0.000108623347486,-0.000216626707231,-2.94575023239e-05,1793254881175200768
+110,1.833333333,POSE1_TO_POSE2_PRESS,783.253748538,760,738,722,691,650,916.746251462,800,839,657,634.253748538,657,0.400914461027,0.00440868232732,0.0599250023986,0.999999969831,-0.000111502194576,-0.000216925176214,-2.912583107e-05,1793254881191866368
+111,1.850000000,POSE1_TO_POSE2_PRESS,783.33109912,760,738,722,691,650,916.66890088,799.66890088,838.66890088,657,634.33109912,656.66890088,0.400915743033,0.0044077114771,0.0599256677404,0.999999970023,-0.000112232175983,-0.000215683759035,-2.89424693107e-05,1793254881208532736
+112,1.866666667,POSE1_TO_POSE2_PRESS,783.911170217,760,738,722,691,650,916.088829783,799.088829783,838.088829783,657,634.911170217,656.088829783,0.400917909408,0.00440719213995,0.0599270856854,0.999999970639,-0.000111346304721,-0.000213284415164,-2.88706297893e-05,1793254881225199360
+113,1.883333333,POSE1_TO_POSE2_PRESS,783.516551494,760,738,722,691,650,916.483448506,799.483448506,838.483448506,657.483448506,635,656.483448506,0.400925013885,0.00440857090816,0.0599292932659,0.999999971838,-0.000110833220892,-0.000207842303472,-2.9000166998e-05,1793254881241866240
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,760,737.944939124,722,691,650,917,799.944939124,839,657.944939124,635,657,0.400934140253,0.00441001657254,0.0599319862217,0.999999973242,-0.000110435324523,-0.000201171210028,-2.91501083561e-05,1793254881258533376
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,760,737.366258711,722,691,650,917,799.366258711,839,657.366258711,635,657,0.400954002716,0.00440883435838,0.0599379371292,0.99999997579,-0.000110491782698,-0.000188045161663,-2.91477951058e-05,1793254881275200000
+116,1.933333333,POSE1_TO_POSE2_PRESS,783.217413555,760,737.217413555,722,691,650,916.782586445,799.217413555,839,657,635,656.782586445,0.400978771939,0.00440834055424,0.0599436232706,0.999999978421,-0.000110995137682,-0.000173112211666,-2.94996755233e-05,1793254881291866368
+117,1.950000000,POSE1_TO_POSE2_PRESS,783.809692741,760,737.809692741,722,691,650,916.190307259,799.809692741,839,657,635,656.190307259,0.40101200142,0.00440903371049,0.0599488529005,0.999999981211,-0.000112269034561,-0.00015506379344,-3.04622585853e-05,1793254881308532736
+118,1.966666667,POSE1_TO_POSE2_PRESS,784,760,737.608300315,722,691,650,916.391699685,800,839,657,634.608300315,656.391699685,0.401052736373,0.00440987404534,0.059952206167,0.99999998366,-0.000111602485936,-0.000138664156565,-3.15666502327e-05,1793254881325199360
+119,1.983333333,POSE1_TO_POSE2_PRESS,784,760,737.031156551,722,691,650,916.968843449,800,839,657,634.031156551,656.968843449,0.401097024676,0.00441078405967,0.059954671099,0.999999985842,-0.000110017263889,-0.000123045107779,-3.27381790147e-05,1793254881341865984
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.457099711,760,737.542900289,721.457099711,691,650,916.457099711,800,838.457099711,657.542900289,634.542900289,657,0.401148430227,0.00440995712945,0.0599547524993,0.999999985683,-0.000113006899788,-0.000121537749395,-3.30571251282e-05,1793254881358532352
+121,2.016666667,POSE1_TO_POSE2_PRESS,783.116762134,760,738,721.116762134,691.116762134,650,916,800,838.116762134,658,635,657,0.401205286315,0.00440935548319,0.0599550639443,0.999999985603,-0.000115690044557,-0.000119528802729,-3.35013725323e-05,1793254881375199232
+122,2.033333333,POSE1_TO_POSE2_PRESS,783.690550396,760,738,721.690550396,691.690550396,650,916,800,838.690550396,658,635,657,0.401281887005,0.00441002359944,0.0599568082086,0.999999986338,-0.000116151692269,-0.000112404566185,-3.46265028963e-05,1793254881391866368
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.725253458,760.274746542,738,722,691.725253458,650,916,800,839,658,635,657,0.401368043246,0.00441041665057,0.059958412328,0.99999998678,-0.00011742003132,-0.000106647801862,-3.57468244778e-05,1793254881408533504
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.128873297,760.871126703,738,722,691.128873297,650,916,800,839,658,635,657,0.401465385745,0.0044104876951,0.0599598523862,0.999999986912,-0.000119632728195,-0.000102491877184,-3.68615165638e-05,1793254881425200384
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,760.548329398,738,722,691,650,916.451670602,800,838.548329398,658,635,657,0.401585657786,0.00441041416492,0.0599637390098,0.999999987896,-0.000119557699785,-9.2139567639e-05,-3.773646182e-05,1793254881441866496
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,760,738,722,691,650,916.97243582,800,838.02756418,658,635,657,0.401713277017,0.00441034986387,0.0599682301114,0.999999988965,-0.000118914720491,-8.02647563658e-05,-3.85559154109e-05,1793254881458532864
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,760,738,722,691,650,916.402151282,800,838.597848718,658,635,657,0.401861105732,0.00441125196882,0.0599713440637,0.999999989481,-0.000119505971292,-7.2044251685e-05,-3.95840197012e-05,1793254881475199232
+128,2.133333333,POSE1_TO_POSE2_PRESS,783.17489254,760,738,722,691,650,916,800,838.82510746,657.82510746,635,657,0.402018045619,0.00441196331787,0.0599730103616,0.999999989817,-0.000120218330602,-6.52052550037e-05,-4.07568545002e-05,1793254881491865856
+129,2.150000000,POSE1_TO_POSE2_PRESS,783.768103539,760,738,722,691,650,916,800,838.231896461,657.231896461,635,657,0.40219677813,0.0044122184054,0.0599712140726,0.999999989858,-0.000121220364433,-6.16706331572e-05,-4.22758642631e-05,1793254881508532736
+130,2.166666667,POSE1_TO_POSE2_PRESS,783.647350315,760,738,721.647350315,691,650,916.352649685,800,838.352649685,657.352649685,635,657,0.402397582751,0.00441236666512,0.0599695693946,0.999999990101,-0.000121169758628,-5.68370943668e-05,-4.34262295448e-05,1793254881525199616
+131,2.183333333,POSE1_TO_POSE2_PRESS,783.06836533,760,738,721.06836533,691,650,916.93163467,800,838.93163467,657.93163467,635,657,0.402612553567,0.00441244636134,0.0599680220225,0.999999990454,-0.000120443554671,-5.11698928999e-05,-4.43399939994e-05,1793254881541866496
+132,2.200000000,POSE1_TO_POSE2_PRESS,783.508114774,760.508114774,738,721.508114774,691,650,917,800,839,658,635,657,0.402863636175,0.00441292721065,0.0599695369504,0.999999991026,-0.000118764180973,-4.23841099123e-05,-4.52412043214e-05,1793254881558532864
+133,2.216666667,POSE1_TO_POSE2_PRESS,783.914203144,761,738,722,690.828406289,650,917,800,839,657.914203144,635,657,0.403123357601,0.00441339959859,0.0599716814729,0.999999991501,-0.00011730483988,-3.32825207639e-05,-4.61595218924e-05,1793254881575199488
+134,2.233333333,POSE1_TO_POSE2_PRESS,783.327546174,761,738,722,689.655092347,650,917,800,839,657.327546174,635,657,0.403405285443,0.00441350905088,0.0599751079211,0.999999991633,-0.000117874987815,-2.47748094134e-05,-4.71875198838e-05,1793254881591866112
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,760.744044682,737.744044682,722,689,650,916.744044682,800,838.744044682,657,635,657,0.403702786552,0.00441444467164,0.059971752338,0.999999991782,-0.000115362527435,-2.88966226071e-05,-4.78768828099e-05,1793254881608532480
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,760.164532119,737.164532119,722,689,650,916.164532119,800,838.164532119,657,635,657,0.404019974063,0.00441642466525,0.0599598234796,0.999999991706,-0.000108953292094,-4.89836220049e-05,-4.81381716138e-05,1793254881625199104
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,760,737.412939359,721.587060641,688.587060641,650,916.412939359,800,838.412939359,657,635,657,0.404356766185,0.00441732757169,0.0599475528782,0.999999990858,-0.000105156608999,-6.98715857187e-05,-4.84169240128e-05,1793254881641865728
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,760,737.98960157,721.01039843,688.01039843,650,916.98960157,800,838.98960157,657,635,657,0.404701331167,0.00441780343286,0.0599351467823,0.999999989424,-0.00010239575489,-9.10771165371e-05,-4.87026003859e-05,1793254881658532352
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,760.563672801,738,721,688,650,917,800,839,657,635,657,0.405090232908,0.00441852065566,0.0599242943216,0.999999987967,-9.72823995909e-05,-0.00011049596043,-4.8908004542e-05,1793254881675199488
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,761,738,721,688,650,917,800,839,657.141863216,635,657,0.405499484666,0.00441929601178,0.0599209412186,0.999999987565,-9.3188845206e-05,-0.00011734695441,-4.91502911677e-05,1793254881691866368
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,761,738,721,688,650,917,800,839,657.733256989,635,657,0.405970640783,0.00442024153385,0.0599412613821,0.999999990931,-9.24636856396e-05,-8.44774031072e-05,-4.95141204216e-05,1793254881708532992
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,760.682476271,738,721,687.682476271,650,916.682476271,800,839,657.682476271,635,656.682476271,0.406486737086,0.0044210820838,0.0599681136344,0.999999993973,-9.03012490974e-05,-3.77401875206e-05,-4.97591227808e-05,1793254881725199360
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,760.104065255,738,721,687.104065255,650,916.104065255,800,839,657.104065255,635,656.104065255,0.407039757685,0.00442183638552,0.0600003328544,0.999999994766,-8.69579012208e-05,2.03911322648e-05,-4.9906493241e-05,1793254881741865728
+144,2.400000000,POSE1_TO_POSE2_PRESS,783,760,738,721,687,650,916.471350859,800,839,657,635,656.471350859,0.407581927429,0.00442112161593,0.060015685408,0.999999993945,-8.95089991801e-05,4.07993069193e-05,-4.93396330399e-05,1793254881758532608
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,760,738,721,687,650,917,800,839,657.047209681,635,657,0.408121753271,0.00442026118046,0.0600255141808,0.99999999312,-9.46043272494e-05,4.94488727256e-05,-4.86313903164e-05,1793254881775199232
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,760,738,721,687,650,917,800,839,657.635677549,635,657,0.408661999534,0.00442142579429,0.0600144370825,0.999999992175,-0.000114043105889,1.81699905638e-05,-4.80986796596e-05,1793254881791865856
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,760.220608655,738,721,687,650,917,800,839,657.779391345,635,657,0.409227410002,0.00442285566579,0.0600028825036,0.999999990821,-0.00012614797691,-1.12730556659e-05,-4.81374128177e-05,1793254881808532480
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,760.799791126,738,721,687,650,917,800,839,657.200208874,635,657,0.409833721936,0.00442471668283,0.0599905518359,0.999999990103,-0.000126332429499,-3.77321613101e-05,-4.91049618062e-05,1793254881825199360
+149,2.483333333,POSE1_TO_POSE2_PRESS,783.37752975,761,738,721,687.37752975,650.37752975,917,800,839.37752975,657,635.37752975,657,0.41050810616,0.00442545345518,0.0599940408041,0.999999990648,-0.0001249003243,-2.25511734085e-05,-5.09498604771e-05,1793254881841866240
+150,2.500000000,POSE1_TO_POSE2_PRESS,783.954505583,761,738,721,687.954505583,650.954505583,917,800,839.954505583,657,635.954505583,657,0.411218452436,0.0044255962976,0.0600058871655,0.999999990958,-0.000122614203858,1.46279585935e-05,-5.32582562045e-05,1793254881858532864
+151,2.516666667,POSE1_TO_POSE2_PRESS,783.470983543,761,738,721,688,650.470983543,917,800,840,657.529016457,636,657,0.411908436703,0.00442775829664,0.0600027522511,0.999999991782,-0.000116177173769,8.80871383979e-06,-5.34849261024e-05,1793254881875199488
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,761,738,721,687.893986053,650,917,800,839.893986053,658,635.893986053,657,0.412591667381,0.00442992074503,0.0599929108866,0.999999992534,-0.000109251144823,-1.1722862204e-05,-5.34682719862e-05,1793254881891866112
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,761,738,721,687.304691237,650,917,800,839.304691237,658,635.304691237,657,0.413252056192,0.00443129733113,0.059958343094,0.999999990007,-0.000101715698252,-8.2544144565e-05,-5.31547134091e-05,1793254881908532736
+154,2.566666667,POSE1_TO_POSE2_PRESS,783.280367127,761,738,721,687,650,917,800,839,658,635,657,0.41397170273,0.00443111202468,0.0599392424775,0.999999986817,-9.62774990926e-05,-0.000119526155066,-5.30072545583e-05,1793254881925199104
+155,2.583333333,POSE1_TO_POSE2_PRESS,783.860890096,761,738,721,687,650,917,800,839,658,635,657,0.414754789572,0.00442925458521,0.0599367007285,0.999999987027,-9.30845735644e-05,-0.000120280478347,-5.30376191711e-05,1793254881941865984
+156,2.600000000,POSE1_TO_POSE2_PRESS,784,761,738,720.562639765,687.437360235,650.437360235,917,800,839,657.562639765,635,657,0.415628639448,0.00442919322136,0.0599813440628,0.999999993653,-9.18059759131e-05,-3.80779020545e-05,-5.30601554028e-05,1793254881958532608
+157,2.616666667,POSE1_TO_POSE2_PRESS,784,761,738,720.01280121,688.01280121,650.98719879,917,800,839,657.01280121,635,657,0.416529047375,0.00442969426205,0.0600396344458,0.99999999214,-9.11552128508e-05,6.77890002883e-05,-5.30679035033e-05,1793254881975199744
+158,2.633333333,POSE1_TO_POSE2_PRESS,784,761,738,720.599362607,688.599362607,650.400637393,917,800,839,657.599362607,635,657,0.41733777116,0.00443003292278,0.0600431011907,0.99999999247,-9.16044068359e-05,6.25332249034e-05,-5.25234372238e-05,1793254881991866368
+159,2.650000000,POSE1_TO_POSE2_PRESS,783.81640518,761,737.81640518,720.81640518,688.632810359,650.18359482,917,800,839,658,635,657,0.418161073384,0.00443076092598,0.0600393707556,0.999999992921,-9.29774711372e-05,5.22370364064e-05,-5.27707404219e-05,1793254882008532992
+160,2.666666667,POSE1_TO_POSE2_PRESS,783.237192033,761,737.237192033,720.237192033,687.474384066,650.762807967,917,800,839,658,635,657,0.419015789832,0.00443232790174,0.0600201315149,0.999999993379,-9.63413324489e-05,3.10795406998e-05,-5.47241839072e-05,1793254882025199616
+161,2.683333333,POSE1_TO_POSE2_PRESS,783.684421915,760.657789043,737.342210957,720,687,650.657789043,916.657789043,800,839,658,635,657,0.419865237132,0.00443342764667,0.0599900383282,0.99999999353,-9.78279869966e-05,-1.32442986763e-05,-5.65160384317e-05,1793254882041866240
+162,2.700000000,POSE1_TO_POSE2_PRESS,784.843491161,760.078254419,737.921745581,720,687,650.078254419,916.078254419,800,839,658,635,657,0.420711030235,0.00443420336646,0.0599524179191,0.999999990792,-9.80127962409e-05,-7.36340213027e-05,-5.81958306065e-05,1793254882058532864
+163,2.716666667,POSE1_TO_POSE2_PRESS,785,760.496358679,738,720,687,650.496358679,916.496358679,800,839.496358679,658,635,657,0.421562512096,0.00443464661414,0.0599142050385,0.99999998242,-9.70164489593e-05,-0.000149365854699,-5.86329260899e-05,1793254882075199488
+164,2.733333333,POSE1_TO_POSE2_PRESS,784.928087241,761,738,720,687,651,917,800,840,657.928087241,635.071912759,657,0.422428603759,0.00443489295216,0.0598852717214,0.999999971925,-9.63962268714e-05,-0.000208283245538,-5.89631969073e-05,1793254882091865856
+165,2.750000000,POSE1_TO_POSE2_PRESS,784.340271069,761,738,720,687,651,917,800,840,657.340271069,635.659728931,657,0.423393134959,0.00443409900194,0.0599235737023,0.999999984854,-9.97971496502e-05,-0.00012939140591,-5.99188404018e-05,1793254882108532992
+166,2.766666667,POSE1_TO_POSE2_PRESS,784.244062333,761,738.244062333,720,687.244062333,651,917,800,840,657,635.755937667,657,0.42437672164,0.00443266902504,0.0599743789633,0.999999992207,-0.000102057254679,-4.01667681664e-05,-5.96460493264e-05,1793254882125200128
+167,2.783333333,POSE1_TO_POSE2_PRESS,784.823608463,761,738.823608463,720,687.823608463,651,917,800,840,657,635.176391537,657,0.425386501785,0.0044303647769,0.0600423710189,0.999999991057,-0.000102749212047,6.32611634137e-05,-5.76846737447e-05,1793254882141867008
+168,2.800000000,POSE1_TO_POSE2_PRESS,785,761,738.597296042,720,687.597296042,651,917,800,840,657,635.402703958,657,0.42635556832,0.00443104524655,0.0600555287957,0.999999988747,-0.000102414953321,9.26305806573e-05,-5.86316728062e-05,1793254882158533120
+169,2.816666667,POSE1_TO_POSE2_PRESS,785,761,738.018397747,720,687.018397747,651,917,800,840,657,635.981602253,657,0.42730682144,0.00443303161453,0.0600446950252,0.99999998897,-0.000101631696387,8.95973036286e-05,-6.08511680775e-05,1793254882175199232
+170,2.833333333,POSE1_TO_POSE2_PRESS,784.447365419,761,738,720,687,651,917,800.552634581,840,657,635.447365419,657,0.428244764547,0.00443133855832,0.0600168785329,0.999999991419,-0.000104938811182,4.76916551264e-05,-6.22597462597e-05,1793254882191865856
+171,2.850000000,POSE1_TO_POSE2_PRESS,784,760.871942938,738,719.871942938,687,651,917,800.871942938,840,657,635.128057062,657,0.429165401438,0.00443042474673,0.0599859506326,0.999999992319,-0.000106499042311,-1.6507038218e-06,-6.33788417087e-05,1793254882208532480
+172,2.866666667,POSE1_TO_POSE2_PRESS,784,760.279669912,738,719.279669912,687,651,917,800.279669912,840,657,635.720330088,657,0.430024885758,0.00443277356181,0.0599457644075,0.999999990168,-0.000101239988538,-7.33262981268e-05,-6.35450315887e-05,1793254882225199104
+173,2.883333333,POSE1_TO_POSE2_PRESS,784.301021189,760,738,719,687,651,917,800,840,657,636,657,0.430950679656,0.00443187852496,0.0599398057641,0.999999989594,-0.000102026227719,-7.9217157844e-05,-6.42432872014e-05,1793254882241865984
+174,2.900000000,POSE1_TO_POSE2_PRESS,784.87135051,760,738,719,687,651,917,800,840,657,636,657,0.431935797268,0.00442808138099,0.0599644687746,0.99999999166,-0.000108220879081,-2.62538050987e-05,-6.54175546484e-05,1793254882258532864
+175,2.916666667,POSE1_TO_POSE2_PRESS,785,760.452262626,738,719,687.452262626,651,917,800,840,657,636,657,0.4329287653,0.00442439124796,0.0600006367617,0.999999990875,-0.000114455051586,3.04949859024e-05,-6.49580249082e-05,1793254882275199488
+176,2.933333333,POSE1_TO_POSE2_PRESS,785,761,738,719,687.963544306,651,917,800,840.036455694,657,636,657.036455694,0.433919243316,0.00442101047042,0.0600364983758,0.999999987325,-0.000120098576562,8.25905313768e-05,-6.40752814637e-05,1793254882291866368
+177,2.950000000,POSE1_TO_POSE2_PRESS,785,761,738,719,687.376353689,651,917,800,840.623646311,657,636,657.623646311,0.43483755972,0.00442183224491,0.0600171067595,0.99999999001,-0.000116645303065,4.77326980929e-05,-6.39881891089e-05,1793254882308532480
+178,2.966666667,POSE1_TO_POSE2_PRESS,785,761,738,718.79231147,687,651,917,800,840.79231147,657,635.79231147,657.79231147,0.435743285933,0.00442070234852,0.059992916089,0.99999999109,-0.000117090149951,3.39739384991e-06,-6.40141674766e-05,1793254882325199104
+179,2.983333333,POSE1_TO_POSE2_PRESS,785,761,738,718.213889193,687,651,917,800,840.213889193,657,635.213889193,657.213889193,0.436626538218,0.0044160886284,0.0599601588791,0.999999988514,-0.00012449332351,-5.78556454628e-05,-6.42419823114e-05,1793254882341865728
+180,3.000000000,POSE1_TO_POSE2_PRESS,785,761,738,718.365104105,687,651,917,800,840.365104105,657,635.365104105,657,0.437485241709,0.00441700539185,0.0599333298315,0.999999984794,-0.000120314041419,-0.000108955087598,-6.37669511364e-05,1793254882358532352
+181,3.016666667,POSE1_TO_POSE2_PRESS,785,761,738,718.944432414,687,651,917,800,840.944432414,657,635.944432414,657,0.438329541183,0.00442116715728,0.0599099791248,0.999999980173,-0.000109338772961,-0.000154096920341,-6.28795262481e-05,1793254882375198976
+182,3.033333333,POSE1_TO_POSE2_PRESS,785,761,738,718.480602271,687,650.480602271,917,800,841,657.519397729,636,657,0.439227336628,0.00442026051861,0.0599208436998,0.999999982293,-0.000111069137813,-0.000138250182745,-6.29681333347e-05,1793254882391866112
+183,3.050000000,POSE1_TO_POSE2_PRESS,785.096091039,761,738,718,687,650.096091039,917,800,840.903908961,657.903908961,636,657,0.440132749196,0.0044185507093,0.0599419750499,0.999999985975,-0.000114121578222,-0.000105161746485,-6.29941091961e-05,1793254882408532736
+184,3.066666667,POSE1_TO_POSE2_PRESS,785.683997746,761,738,718,687,650.683997746,917,800,840.316002254,657.316002254,636,657,0.44104809903,0.0044154822868,0.0599970748255,0.999999991075,-0.000117041410016,-1.69438198334e-05,-6.21695286646e-05,1793254882425199616
+185,3.083333333,POSE1_TO_POSE2_PRESS,786,760.731733474,738,718,686.731733474,651,917,800.268266526,840,657.268266526,636,657,0.441910551896,0.00441553417312,0.0600150883016,0.999999991384,-0.000115128748189,1.35446819898e-05,-6.1602851438e-05,1793254882441866496
+186,3.100000000,POSE1_TO_POSE2_PRESS,786,760.151692664,738,718,686.151692664,651,917,800.848307336,840,657.848307336,636,657,0.442711528844,0.00441921242358,0.0599900007778,0.999999992064,-0.000107599854144,-2.30588683875e-05,-6.13359049826e-05,1793254882458532864
+187,3.116666667,POSE1_TO_POSE2_PRESS,785.574520957,760.425479043,737.574520957,718,686,650.574520957,917,800.574520957,840.425479043,657.574520957,635.574520957,657,0.443470279375,0.00442121216181,0.0599549405304,0.999999989703,-0.000105124262627,-7.52429872583e-05,-6.22986822871e-05,1793254882475199232
+188,3.133333333,POSE1_TO_POSE2_PRESS,785.001633401,761,737.001633401,718,686,650.001633401,917,800,840.998366599,657.001633401,635,657,0.444214035312,0.00442262095462,0.0599164140354,0.999999983693,-0.000104434461753,-0.00013285579403,-6.36957131532e-05,1793254882491865856
+189,3.150000000,POSE1_TO_POSE2_PRESS,785.577313775,761,737.577313775,718,686,650.577313775,917,800,840.422686225,657.577313775,635,657,0.444943437188,0.0044252502423,0.0599008847654,0.999999979989,-0.000102424808911,-0.000159216053641,-6.46592578932e-05,1793254882508532480
+190,3.166666667,POSE1_TO_POSE2_PRESS,786,761,738,718,685.843321691,650.843321691,917,800,840.156678309,657.843321691,635.156678309,657,0.445654251719,0.0044284249108,0.0598800871736,0.99999997356,-9.84007971518e-05,-0.000197390718181,-6.50739625398e-05,1793254882525198848
+191,3.183333333,POSE1_TO_POSE2_PRESS,786,761,738,718,685.25377857,650.25377857,917,800,840.74622143,657.25377857,635.74622143,657,0.446313714008,0.00443310633707,0.0598447344617,0.999999958043,-8.88115913656e-05,-0.000268205772367,-6.39723529798e-05,1793254882541865728
+192,3.200000000,POSE1_TO_POSE2_PRESS,785.670582645,761,738,718,685,650,917,800,841,657.329417355,635.670582645,657.329417355,0.446988842805,0.0044368692209,0.0598246332661,0.999999949871,-8.05559815215e-05,-0.000299548868052,-6.35493052719e-05,1793254882558532864
+193,3.216666667,POSE1_TO_POSE2_PRESS,785.09218411,761,738,718,685,650,917,800,841,657.90781589,635.09218411,657.90781589,0.447675812667,0.00443993784902,0.0598160595178,0.99999994997,-7.3308334836e-05,-0.000301058150237,-6.36391303882e-05,1793254882575199744
+194,3.233333333,POSE1_TO_POSE2_PRESS,785.483394852,760.516605148,738,718,684.516605148,650,917,800,841,657.516605148,635.483394852,658,0.448340624515,0.00444267882648,0.0598297035507,0.999999956443,-7.39175752992e-05,-0.000278402836247,-6.43662905981e-05,1793254882591866368
+195,3.250000000,POSE1_TO_POSE2_PRESS,785.941763693,760.058236307,737.941763693,717.941763693,684,649.941763693,917,800,840.941763693,657.058236307,635.941763693,657.941763693,0.448989745055,0.0044454038382,0.0598419733486,0.99999996116,-7.54363072199e-05,-0.000260274859251,-6.51688790726e-05,1793254882608532736
+196,3.266666667,POSE1_TO_POSE2_PRESS,785.368716112,760.631283888,737.368716112,717.368716112,684,649.368716112,917,800,840.368716112,657.631283888,635.368716112,657.368716112,0.449537291385,0.00444853686552,0.0598048571319,0.999999943213,-7.18265815983e-05,-0.000322669371943,-6.55700623088e-05,1793254882625199360
+197,3.283333333,POSE1_TO_POSE2_PRESS,785,761,737.212986328,717,683.787013672,649,917,800,840.212986328,658,635,657.212986328,0.450077464366,0.0044519642592,0.0597655830232,0.999999921622,-6.77943024714e-05,-0.000384421085017,-6.61790433447e-05,1793254882641865728
+198,3.300000000,POSE1_TO_POSE2_PRESS,785,761,737.810306394,717,683.189693606,649,917,800,840.810306394,658,635,657.810306394,0.450604332086,0.00445592283651,0.0597224150033,0.999999896742,-6.29995263561e-05,-0.000445012860692,-6.71629955925e-05,1793254882658532608
+199,3.316666667,POSE1_TO_POSE2_PRESS,785,761,738,717,683,648.609415357,917,800,841,658,635.390584643,657.609415357,0.451114807854,0.00445833177401,0.0597033825815,0.999999885635,-5.9045300331e-05,-0.000469746375517,-6.76855985194e-05,1793254882675199232
+200,3.333333333,POSE1_TO_POSE2_PRESS,785,761,738,717,683,648.037067663,917,800,841,658,635.962932337,657.037067663,0.451617655486,0.00446001956916,0.0596955819337,0.999999882006,-5.54822335944e-05,-0.000477792842374,-6.79935073963e-05,1793254882691866112
+201,3.350000000,POSE1_TO_POSE2_PRESS,785.502347088,761,738,716.497652912,683,648,917,800,841,658,636,657.502347088,0.452106045591,0.00446080119352,0.0597169084039,0.999999898596,-5.43154628197e-05,-0.000441919105367,-6.75600621003e-05,1793254882708532992
+202,3.366666667,POSE1_TO_POSE2_PRESS,785.952852655,761,738,716,682.952852655,648,917,799.952852655,841,658,635.952852655,657.952852655,0.452590010344,0.00446143889477,0.0597383228532,0.999999913739,-5.3435291462e-05,-0.000406402513505,-6.71065670333e-05,1793254882725199616
+203,3.383333333,POSE1_TO_POSE2_PRESS,785.31142253,761,738,716,682.31142253,648,917,799.31142253,841,658,635.31142253,657.31142253,0.453030814371,0.00446105344491,0.0597354220634,0.999999910706,-5.40759908633e-05,-0.000413724312134,-6.70474559994e-05,1793254882741866496
+204,3.400000000,POSE1_TO_POSE2_PRESS,785.295537497,761.295537497,738,716.295537497,682,648,917,799.295537497,841,658,635.295537497,657,0.453419523506,0.00446082941051,0.0597201849002,0.999999897515,-5.46681046825e-05,-0.000444464154586,-6.65795187995e-05,1793254882758532864
+205,3.416666667,POSE1_TO_POSE2_PRESS,785.869968646,761.869968646,738,716.869968646,682,648,917,799.869968646,841,658,635.869968646,657,0.453759071561,0.00446075770114,0.0596933061137,0.999999872661,-5.52143689718e-05,-0.000497303200852,-6.57257792434e-05,1793254882775199232
+206,3.433333333,POSE1_TO_POSE2_PRESS,786,761.552666963,738,717,681.552666963,648,917,800,841,658,635.552666963,657,0.454091022091,0.0044620986556,0.0596711443193,0.99999985734,-5.33296868633e-05,-0.000527311241042,-6.6467157221e-05,1793254882791865856
+207,3.450000000,POSE1_TO_POSE2_PRESS,786,761,738,717,681,648,917,800,841,658,635,657,0.454420271494,0.00446387284707,0.0596517316059,0.999999845933,-5.07906627096e-05,-0.000548613770594,-6.76619114131e-05,1793254882808532480
+208,3.466666667,POSE1_TO_POSE2_PRESS,786,761,738,717,681,648,917,800,841,658,635,657,0.454739181796,0.00446607721618,0.059661922475,0.999999858024,-4.94832966963e-05,-0.000526120225996,-6.85678491257e-05,1793254882825199104
+209,3.483333333,POSE1_TO_POSE2_PRESS,786.198905074,761,738,717,680.801094926,647.801094926,917,800,841,658,635,657.198905074,0.455047502867,0.00446732236961,0.0596717340387,0.999999868109,-4.81786810486e-05,-0.000506668552506,-6.89093823765e-05,1793254882841865984
+210,3.500000000,POSE1_TO_POSE2_PRESS,786.778831024,761,738,717,680.221168976,647.221168976,917,800,841,658,635,657.778831024,0.455335539256,0.00446673005739,0.0596808190067,0.999999875031,-4.68793341615e-05,-0.000493043864486,-6.81697471645e-05,1793254882858532864
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+212,3.533333333,POSE1_TO_POSE2_PRESS,786.069768089,761,737.069768089,717,680,647,917,800,841,657.069768089,635,657.069768089,0.455809367059,0.00446736621663,0.0596734887336,0.999999869067,-4.78948993438e-05,-0.000504926123044,-6.79845167982e-05,1793254882891866112
+213,3.550000000,POSE1_TO_POSE2_PRESS,786,761,737,717,680,647,917,799.495039158,841,657.504960842,635,657,0.456000599449,0.00446964847901,0.0596599892209,0.999999860519,-4.56273819162e-05,-0.000521676969044,-6.8801522414e-05,1793254882908532736
+214,3.566666667,POSE1_TO_POSE2_PRESS,786,761,737,717,680,647.082059674,917,799.082059674,841,657.917940326,635,657,0.456181034209,0.00447266482359,0.0596447539428,0.999999850425,-4.24395865818e-05,-0.000540798244995,-6.98948044579e-05,1793254882925199104
+215,3.583333333,POSE1_TO_POSE2_PRESS,786,761,737,717,680,647.673859508,917,799.673859508,841,657.326140492,635,657,0.456323266046,0.00447873940873,0.0596245987863,0.999999834681,-3.62826801642e-05,-0.000569323027975,-7.20543865365e-05,1793254882941865984
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+218,3.633333333,POSE1_TO_POSE2_PRESS,786,761,738,716.414806507,679,647,917,799.414806507,841,658,635,658,0.456683400528,0.00450653122619,0.0595850142758,0.999999799886,-1.13196222009e-05,-0.000627470496284,-7.98832232927e-05,1793254882991866112
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+222,3.700000000,POSE1_TO_POSE2_PRESS,786,761,737.743097965,716.743097965,678.256902035,647,917,800,841,658,635,657.743097965,0.456992952832,0.00451162987602,0.059561208191,0.999999778133,-4.78071744874e-06,-0.000661241437651,-8.04376130253e-05,1793254883058533120
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+238,3.966666667,POSE1_TO_POSE2_PRESS,786,761,738,716.014873718,678.985126282,647,917,800,841,658,635.014873718,657.014873718,0.457223654427,0.00451606668129,0.059534422765,0.999999752406,6.64815652012e-07,-0.000699301726915,-7.85140446867e-05,1793254883325200128
+239,3.983333333,POSE1_TO_POSE2_PRESS,786,761,738,716.602235162,678.397764838,647,917,800,841,658,635.602235162,657.602235162,0.457221692952,0.00451532523329,0.0595319770545,0.999999750068,1.47414043723e-06,-0.00070269547843,-7.79767762936e-05,1793254883341866240
+240,4.000000000,POSE1_TO_POSE2_PRESS,786,761,738,716.812843264,678,647,917,800,841,657.812843264,635.812843264,657.812843264,0.457220891679,0.00451506105294,0.0595305722397,0.999999748834,2.30151643084e-06,-0.000704478836111,-7.76889384838e-05,1793254883358532352
+241,4.016666667,POSE1_TO_POSE2_PRESS,786,761,738,716.233040454,678,647,917,800,841,657.233040454,635.233040454,657.233040454,0.457222524459,0.0045157981578,0.0595313511755,0.999999749936,3.16676296619e-06,-0.000702883662712,-7.79243943965e-05,1793254883375198976
+242,4.033333333,POSE1_TO_POSE2_PRESS,786,761,737.655104328,716,678,647,917,799.655104328,841,657.344895672,635,657,0.457223367075,0.00451637608248,0.0595313582881,0.999999750213,3.21464076965e-06,-0.000702491309358,-7.79081113252e-05,1793254883391865600
+243,4.050000000,POSE1_TO_POSE2_PRESS,786,761,737.078422722,716,678,647,917,799.078422722,841,657.921577278,635,657,0.457223678665,0.00451684703064,0.0595308466995,0.999999749937,2.71320873484e-06,-0.000702907307081,-7.77226479387e-05,1793254883408532224
+244,4.066666667,POSE1_TO_POSE2_PRESS,786,761,737.496164898,716.496164898,678,646.503835102,917,799.496164898,841,658,635,657.496164898,0.457224757679,0.00451551108343,0.0595318497656,0.999999750888,3.99511595485e-06,-0.000701608738255,-7.71580874705e-05,1793254883425199616
+245,4.083333333,POSE1_TO_POSE2_PRESS,786,761,738,717,678,646.072434277,917,800,841,658,635,658,0.457225673657,0.00451424909135,0.059532839325,0.999999751734,5.13128836987e-06,-0.000700454161764,-7.66097889766e-05,1793254883441866752
+246,4.100000000,POSE1_TO_POSE2_PRESS,786,761,738,717,678,646.663093321,917,800,841,658,635,658,0.45722455905,0.00451555087534,0.0595320266613,0.999999750476,3.21666889251e-06,-0.000702260468771,-7.66047211211e-05,1793254883458533120
+247,4.116666667,POSE1_TO_POSE2_PRESS,786,761,738,717,678,647,917,800,841,658,635,657.751727151,0.457223726252,0.00451629242885,0.0595309043538,0.999999749298,2.62737338216e-06,-0.000703890667508,-7.7034662721e-05,1793254883475199744
+248,4.133333333,POSE1_TO_POSE2_PRESS,786,761,738,717,678,647,917,800,841,658,635,657.17382269,0.457223267613,0.00451629016511,0.0595293709323,0.999999748233,3.79770890796e-06,-0.000705287047726,-7.80421659387e-05,1793254883491865856
+249,4.150000000,HOLD_POSE2,786,761,738,717,678,647,917,800,841,658,635,658,0.457226907931,0.00451627470507,0.0595313939516,0.999999751538,3.40685273356e-06,-0.00070068140819,-7.71895433259e-05,1793254883525964800
+250,4.166666667,HOLD_POSE2,786,761,738,717,678.591309888,647,917,800,841,657.408690112,635.591309888,658,0.457224429919,0.00451630855981,0.0595296798473,0.99999974947,3.26364529873e-06,-0.000703625484225,-7.71995521585e-05,1793254883542631168
+251,4.183333333,HOLD_POSE2,786,761,737.821233592,717,678.821233592,647,917,799.821233592,841,657.178766408,635.821233592,658,0.457223521057,0.0045163898691,0.0595288678934,0.999999748602,3.26509588229e-06,-0.000704864974193,-7.71339943738e-05,1793254883559297792
+252,4.200000000,HOLD_POSE2,786,761,737.242400524,717,678.242400524,647,917,799.242400524,841,657.757599476,635.242400524,658,0.457226123841,0.00451657737839,0.0595300748887,0.999999750431,3.59028091993e-06,-0.000702289720882,-7.68993238114e-05,1793254883575964672
+253,4.216666667,HOLD_POSE2,786,761,737.33505939,717,677.66494061,646.66494061,917,799.33505939,841,658,635,658,0.457226113641,0.00451653157317,0.0595302646513,0.999999750315,3.66334414911e-06,-0.000702472086443,-7.67364789541e-05,1793254883592631296
+254,4.233333333,HOLD_POSE2,786,761,737.911529908,717,677.088470092,646.088470092,917,799.911529908,841,658,635,658,0.457224220779,0.00451631766424,0.0595297214951,0.999999748798,3.55475296558e-06,-0.000704641323449,-7.66253847108e-05,1793254883609298176
+255,4.250000000,HOLD_POSE2,786,761,738,717,677.487221622,646.487221622,917,800,841,658,635.487221622,658,0.457224960147,0.00451672119636,0.0595301526826,0.999999749211,3.7599993952e-06,-0.000704036101097,-7.67962713353e-05,1793254883625964800
+256,4.266666667,HOLD_POSE2,786,761,738,717,678,647,917,800,841,658,635.935619717,658,0.457226045331,0.00451712084679,0.059530654112,0.99999974987,4.11583097425e-06,-0.00070307788338,-7.69644599814e-05,1793254883642631168
+257,4.283333333,HOLD_POSE2,786,761,738,717,678,647,917,800,841,658,635.345324358,658,0.45722605727,0.00451657439177,0.0595302863899,0.999999749698,5.23699887417e-06,-0.000703344909945,-7.66930109143e-05,1793254883659297536
+258,4.300000000,HOLD_POSE2,786,761,738,717,678,647,917,800,841,658,635,657.760131086,0.457225864621,0.00451608788534,0.0595298121074,0.999999749314,4.97740203533e-06,-0.000703905449761,-7.65720954761e-05,1793254883675964160
+259,4.316666667,HOLD_POSE2,786,761,738,717,678,647,917,800,841,658,635,657.182130044,0.457225383573,0.0045156858857,0.0595291876118,0.99999974863,2.7714048198e-06,-0.000704879741628,-7.66633803645e-05,1793254883692630784
+260,4.333333333,HOLD_POSE2,786,761,737.605064895,717,678,647,917,800,841,658,635.394935105,657.394935105,0.457225059289,0.00451699370322,0.0595291514308,0.999999748428,3.29546202032e-06,-0.000705120082115,-7.70621260318e-05,1793254883709297664
+261,4.350000000,HOLD_POSE2,786,761,737.028430277,717,678,647,917,800,841,658,635.971569723,657.971569723,0.457224807128,0.00451908816372,0.0595293859182,0.999999748447,5.0755470526e-06,-0.000705022750477,-7.76023265264e-05,1793254883725964544
+262,4.366666667,HOLD_POSE2,786,761,737.557510959,717,678,647,917,800,841,657.442489041,635.442489041,657.442489041,0.457224946314,0.00451816600039,0.0595296755298,0.99999974865,5.58423515945e-06,-0.000704781974597,-7.71448348001e-05,1793254883742631680
+263,4.383333333,HOLD_POSE2,786,761,737.857780656,717,678,646.857780656,917,800,841,657.142219344,635,657.142219344,0.457225282997,0.00451707393779,0.0595299054528,0.99999974897,5.01649733973e-06,-0.000704370930068,-7.67842799861e-05,1793254883759298304
+264,4.400000000,HOLD_POSE2,786,761,737.278345968,717,678,646.278345968,917,800,841,657.721654032,635,657.721654032,0.457226164438,0.00451594051122,0.0595299430911,0.999999749616,1.34227724235e-06,-0.000703459309641,-7.6880795676e-05,1793254883775964672
+265,4.416666667,POSE2_TO_POSE3_RETREAT,786,761,738,717,678,646,917,800,841,658,636,658,0.4572274205,0.00451717616328,0.0595306537539,0.999999750076,1.07996621995e-06,-0.000702733432733,-7.75427106919e-05,1793254883812910336
+266,4.433333333,POSE2_TO_POSE3_RETREAT,786,761,737.423673631,717,678,646,917,800,841,657.423673631,636,657.423673631,0.457226720561,0.00451734909101,0.0595296965425,0.999999749158,1.98011154518e-06,-0.000704083810771,-7.71065730553e-05,1793254883829577984
+267,4.450000000,POSE2_TO_POSE3_RETREAT,786,761,737,717,678,646,917,800,841,657.155738572,636,657.155738572,0.457226422798,0.00451744637648,0.0595291336633,0.999999748653,2.94352917405e-06,-0.000704841157477,-7.67095300712e-05,1793254883846245376
+268,4.466666667,POSE2_TO_POSE3_RETREAT,786,761,737,717,678,646,917,800,841,657.743715354,636,657.743715354,0.457227241237,0.00451733372378,0.059529665217,0.999999749297,4.08255351888e-06,-0.000703952600076,-7.64209906339e-05,1793254883862911488
+269,4.483333333,POSE2_TO_POSE3_RETREAT,786,761,737,716.673057776,678,646.326942224,917,799.673057776,841,658,636,658,0.45722811319,0.0045174727835,0.0595310506936,0.999999750535,4.4780233695e-06,-0.000702183145223,-7.64744200554e-05,1793254883879577856
+270,4.500000000,POSE2_TO_POSE3_RETREAT,786,761,737,716.093501,678,646.906499,917,799.093501,841,658,636,658,0.457229026491,0.00451780633088,0.0595330959606,0.999999752229,4.29897976312e-06,-0.000699733057887,-7.67920744963e-05,1793254883896244992
+271,4.516666667,POSE2_TO_POSE3_RETREAT,786,761,737.451719975,716,678,647,917,799,841,658,635.548280025,657.548280025,0.457228822126,0.00451807466771,0.059532563271,0.999999751817,3.83431396318e-06,-0.000700325965343,-7.67792990849e-05,1793254883912911104
+272,4.533333333,POSE2_TO_POSE3_RETREAT,786,761,737.990335874,716,678,647,917,799,841,658,635.009664126,657.009664126,0.457228402759,0.0045183304602,0.0595315346682,0.999999750999,3.31470393877e-06,-0.000701504243987,-7.67029599376e-05,1793254883929576960
+273,4.550000000,POSE2_TO_POSE3_RETREAT,786,761.607537295,737.392462705,716.607537295,678,647,917,799.607537295,841,658,635,657.607537295,0.457226925649,0.00451768653299,0.0595300993356,0.999999749589,2.16459336056e-06,-0.000703523522956,-7.66292694525e-05,1793254883946243840
+274,4.566666667,POSE2_TO_POSE3_RETREAT,786,761.784144761,737.215855239,717,678,646.784144761,917,799.784144761,841,658,635,658,0.457223016148,0.00451626140398,0.0595277493156,0.999999747285,1.14468311166e-06,-0.00070682381923,-7.63409750096e-05,1793254883962910464
+275,4.583333333,POSE2_TO_POSE3_RETREAT,786,761.19373308,737.80626692,717,678,646.19373308,917,799.19373308,841,658,635,658,0.457214919448,0.00451350924149,0.059523825006,0.999999743436,3.70688068944e-07,-0.000712320300522,-7.5680211408e-05,1793254883979577088
+276,4.600000000,POSE2_TO_POSE3_RETREAT,786,761,738,716.610985959,678,646,917,799.389014041,841,658,635,658,0.457193715647,0.00451422733456,0.059513660316,0.999999731979,8.91125971399e-07,-0.000728185553639,-7.60707895603e-05,1793254883996243712
+277,4.616666667,POSE2_TO_POSE3_RETREAT,786,761,738,716.031982067,678,646,917,799.968017933,841,658,635,658,0.457166110492,0.00451664025912,0.0595004478976,0.999999716449,2.04374953056e-06,-0.000749114792391,-7.69748304926e-05,1793254884012910592
+278,4.633333333,POSE2_TO_POSE3_RETREAT,786,761,738,716,678,646.543383571,917,800,841,658,635,657.456616429,0.457111886406,0.00451679500694,0.0594788196251,0.999999690517,3.29955612958e-06,-0.000782972146136,-7.6875813507e-05,1793254884029577472
+279,4.650000000,POSE2_TO_POSE3_RETREAT,786,761,738,716,678,647,917,800,841,658,635,657,0.457055067262,0.00451706635858,0.0594585765674,0.99999966704,4.82681339417e-06,-0.000812392382224,-7.69134315693e-05,1793254884046244096
+280,4.666666667,POSE2_TO_POSE3_RETREAT,786,761,738,716,678,647,917,800,841,658,635,657,0.456994246668,0.00451829546205,0.0594455649092,0.999999659269,7.3764925002e-06,-0.000821808696384,-7.77032900983e-05,1793254884062910464
+281,4.683333333,POSE2_TO_POSE3_RETREAT,786,761,738,716,678,646.708741983,917,799.708741983,841,657.708741983,635,657,0.456919671514,0.00451953744093,0.0594335964737,0.999999648234,9.40419038813e-06,-0.000835083515525,-7.79736669824e-05,1793254884079577088
+282,4.700000000,POSE2_TO_POSE3_RETREAT,786,761,738,716,678,646.130018509,917,799.130018509,841,657.130018509,635,657,0.456831520905,0.00452079212749,0.0594226576775,0.999999633825,1.09167037816e-05,-0.000852166596175,-7.77313264927e-05,1793254884096243968
+283,4.716666667,POSE2_TO_POSE3_RETREAT,786,761,737.551217085,716.448782915,678,646,917,799.448782915,841,657.448782915,635,657,0.456737887803,0.00452189765298,0.0594227317832,0.999999633561,1.27665266136e-05,-0.000852506577906,-7.71193582949e-05,1793254884112910592
+284,4.733333333,POSE2_TO_POSE3_RETREAT,786,761,737,717,678,646.027267654,917,799.972732346,841,658,635,657.027267654,0.456642009151,0.00452300305459,0.0594263916587,0.999999637966,1.47969139871e-05,-0.000847354631514,-7.64103048323e-05,1793254884129577216
+285,4.750000000,POSE2_TO_POSE3_RETREAT,786,761,737,717,678,646.598978399,917,799.401021601,841,658,635,657.598978399,0.456533013979,0.00452496897043,0.0594379309303,0.999999652983,1.84810266049e-05,-0.000829416411138,-7.59013069087e-05,1793254884146243840
+286,4.766666667,POSE2_TO_POSE3_RETREAT,786,761,737.176233961,716.823766039,678,646.823766039,917,799.176233961,841,658,635,657.823766039,0.456414480807,0.00452590540592,0.0594485303566,0.999999665701,2.17860551155e-05,-0.000813952924685,-7.4857845816e-05,1793254884162910464
+287,4.783333333,POSE2_TO_POSE3_RETREAT,786,761,737.766516583,716.233483417,678,646.233483417,917,799.766516583,841,658,635,657.233483417,0.456273538824,0.00452442315316,0.0594569216846,0.999999673623,2.42004530403e-05,-0.000804303645614,-7.25587031473e-05,1793254884179577088
+288,4.800000000,POSE2_TO_POSE3_RETREAT,786,761,738,716,678,646.350530222,917,799.649469778,841,658,635,657.350530222,0.456112965076,0.00452476634634,0.0594666836654,0.999999684491,2.74861554755e-05,-0.000790715693038,-7.09336738408e-05,1793254884196243968
+289,4.816666667,POSE2_TO_POSE3_RETREAT,786,761,738,716,678,646.930441603,917,799.069558397,841,658,635,657.930441603,0.455939544614,0.00452630408089,0.0594773425795,0.999999697112,3.13420253531e-05,-0.000774550336806,-6.97497728872e-05,1793254884212910336
+290,4.833333333,POSE2_TO_POSE3_RETREAT,786.507954166,761,738,716.507954166,678,647,917,799.507954166,841,657.492045834,635,657.492045834,0.455733694501,0.00452836314848,0.0594877281696,0.999999706062,3.90386344152e-05,-0.000762713871276,-6.79593888168e-05,1793254884229576704
+291,4.850000000,POSE2_TO_POSE3_RETREAT,786.915196681,761,737.915196681,716.915196681,678,646.915196681,917,800,841,657.084803319,635.084803319,657.084803319,0.455517707888,0.00453025975605,0.0594980415353,0.999999714482,4.67097325387e-05,-0.000751333730449,-6.59708247568e-05,1793254884246243328
+292,4.866666667,POSE2_TO_POSE3_RETREAT,786.340291809,761,737.340291809,716.340291809,678,646.340291809,917,800,841,657.659708191,635.659708191,657.659708191,0.455268683912,0.0045308068178,0.0595081527947,0.99999972349,5.1208109772e-05,-0.000739181011959,-6.33146408467e-05,1793254884262910208
+293,4.883333333,POSE2_TO_POSE3_RETREAT,786,761,737,716,678.242345465,646.242345465,917,800,841,658,636,658,0.455005999384,0.00453222681533,0.0595174638648,0.999999731373,5.71323274868e-05,-0.000728211815964,-6.07983119622e-05,1793254884279576832
+294,4.900000000,POSE2_TO_POSE3_RETREAT,786,761,737,716,678.836198078,646.836198078,917,800,841,658,636,658,0.454723501082,0.00453491295235,0.0595256143092,0.999999737718,6.51246386015e-05,-0.000718959247143,-5.84848343311e-05,1793254884296243456
+295,4.916666667,POSE2_TO_POSE3_RETREAT,786,761,737,716,679,647,917,799.582012666,841,658,635.582012666,658,0.454398434883,0.00453723577523,0.0595306450303,0.999999739483,7.26287501332e-05,-0.000715984809866,-5.58965031679e-05,1793254884312910080
+296,4.933333333,POSE2_TO_POSE3_RETREAT,786,761,737,716,679,647,917,799.004818234,841,658,635.004818234,658,0.454057155015,0.00453942021541,0.0595344874806,0.999999739489,7.99469112553e-05,-0.000715401648853,-5.32034831588e-05,1793254884329576704
+297,4.950000000,POSE2_TO_POSE3_RETREAT,786,761,737,716,679,647,917,799.567901852,841,658,635,658,0.453681552274,0.00454164561305,0.059533420382,0.999999735669,9.09908234463e-05,-0.000719641262248,-4.99987110531e-05,1793254884346243584
+298,4.966666667,POSE2_TO_POSE3_RETREAT,786.144391383,761,737,716,679.144391383,647,917,800,841,658,635,657.855608617,0.453298441861,0.00454403785922,0.0595312972687,0.99999973216,0.000101456162716,-0.000723304781992,-4.70897572187e-05,1793254884362910208
+299,4.983333333,POSE2_TO_POSE3_RETREAT,786.732582291,761,737,716,679.732582291,647,917,800,841,658,635,657.267417709,0.452893144079,0.00454694186875,0.0595260554286,0.999999730062,0.00011004680807,-0.000725072845944,-4.51032680038e-05,1793254884379576832
+300,5.000000000,POSE2_TO_POSE3_RETREAT,786.683093744,761,737.316906256,716.316906256,680,647,917,800,841,658,635,657,0.452475311052,0.00454966337871,0.0595348756472,0.999999741877,0.000120925785817,-0.000707005946833,-4.20294782295e-05,1793254884396243456
+301,5.016666667,POSE2_TO_POSE3_RETREAT,786.101993454,761,737.898006546,716.898006546,680,647,917,800,841,658,635,657,0.452047027771,0.00455223274526,0.0595554189283,0.999999764273,0.000133712469754,-0.000672403308935,-3.80492424691e-05,1793254884412910080
+302,5.033333333,POSE2_TO_POSE3_RETREAT,785.52429191,761,737.52429191,717,680.47570809,647.47570809,917,799.52429191,841,657.52429191,635.47570809,657,0.451571945817,0.0045552777554,0.0595839109659,0.99999979017,0.00014491868767,-0.000630487504732,-3.38310958157e-05,1793254884429576704
+303,5.050000000,POSE2_TO_POSE3_RETREAT,785.052344928,760.947655072,737,717,681,648,916.947655072,799.052344928,840.947655072,657.052344928,635.947655072,657.052344928,0.451082321851,0.00455861022742,0.0596115367197,0.999999812939,0.000156161088325,-0.000590640654336,-2.96505328879e-05,1793254884446243584
+304,5.066666667,POSE2_TO_POSE3_RETREAT,785.625587059,760.374412941,737,717,681,648,916.374412941,799.625587059,840.374412941,657.625587059,635.374412941,657.625587059,0.4505471269,0.00456379568004,0.0596137028804,0.999999812802,0.000171111693263,-0.000586874997835,-2.63479738712e-05,1793254884462910464
+305,5.083333333,POSE2_TO_POSE3_RETREAT,785.795448736,760.204551264,737,717,681,648,916.204551264,800,840,658,635,658,0.44999031599,0.00456795159582,0.0596078822436,0.999999806286,0.000184795135114,-0.000593930876675,-2.29216491543e-05,1793254884479577088
+306,5.100000000,POSE2_TO_POSE3_RETREAT,785.205709394,760.794290606,737,717,681,648,916.794290606,800,840,658,635,658,0.449392800356,0.00457016880257,0.0595870217625,0.999999787541,0.000196092396131,-0.000621364661455,-1.9262262898e-05,1793254884496243712
+307,5.116666667,POSE2_TO_POSE3_RETREAT,785.378151898,761,737,716.621848102,681.378151898,648,917,799.621848102,840,658,635,657.621848102,0.448769258131,0.00457354666365,0.0595801786235,0.99999977699,0.000211989378285,-0.000633141812577,-1.45458618031e-05,1793254884512910848
+308,5.133333333,POSE2_TO_POSE3_RETREAT,785.958864536,761,737,716.041135464,681.958864536,648,917,799.041135464,840,658,635,657.041135464,0.448131774528,0.00457754624044,0.0595808440107,0.99999977084,0.000230350245424,-0.000636532334783,-9.26326055208e-06,1793254884529578496
+309,5.150000000,POSE2_TO_POSE3_RETREAT,785.468632549,761,737,716,682.531367451,648.531367451,917,799.531367451,840,658,635,657,0.447507476343,0.00457848580461,0.0596164230697,0.999999806248,0.000242332290425,-0.000573377957453,-4.17311360387e-06,1793254884546244352
+310,5.166666667,POSE2_TO_POSE3_RETREAT,785,761,737,716.106404019,683,649,917,800,840,658,635.106404019,657.106404019,0.446878658899,0.00457960243548,0.059655719793,0.99999983877,0.000254607153096,-0.00050757612408,1.25957544136e-06,1793254884562910464
+311,5.183333333,POSE2_TO_POSE3_RETREAT,785,761,737,716.695781712,683,649,917,800,840,658,635.695781712,657.695781712,0.446224765771,0.00458258167312,0.0596998096058,0.999999860895,0.00027041846955,-0.000452784673282,8.31367746876e-06,1793254884579577088
+312,5.200000000,POSE2_TO_POSE3_RETREAT,785,761,737,717,683.280110569,649,917,800,840,658,636,658,0.445509371618,0.00458640741825,0.0597093370316,0.999999859302,0.000287381663997,-0.000445653260714,1.41404524107e-05,1793254884596243968
+313,5.216666667,POSE2_TO_POSE3_RETREAT,785,761,737,717,683.859053219,649,917,800,840,658,636,658,0.444728365868,0.00459113624853,0.059681992059,0.999999833398,0.000305573725739,-0.000489367293367,1.8657871332e-05,1793254884612911104
+314,5.233333333,POSE2_TO_POSE3_RETREAT,785.438075135,761,737,717.438075135,684.438075135,649,917,800,840,658,635.561924865,658,0.443975288974,0.00459061000906,0.0596860504061,0.999999837093,0.000313468735815,-0.000476480078702,2.27446939302e-05,1793254884629577472
+315,5.250000000,POSE2_TO_POSE3_RETREAT,785.983014166,761,737,717.983014166,685,649.016985834,917,800,840,657.983014166,635,657.983014166,0.443229953163,0.0045884838446,0.0597009257976,0.999999850197,0.000318163423413,-0.000444595749212,2.67135042359e-05,1793254884646244096
+316,5.266666667,POSE2_TO_POSE3_RETREAT,785.408589317,761,737,717.408589317,685,649.591410683,917,800,840,657.408589317,635,657.408589317,0.442443711471,0.00458934912307,0.0597391503794,0.999999871291,0.000326575140447,-0.00038701920274,3.13568391564e-05,1793254884662910720
+317,5.283333333,POSE2_TO_POSE3_RETREAT,785,760.83055342,737,717.16944658,685,650,917,800,840,657.16944658,635,657,0.441642252813,0.00458996132304,0.0597655040426,0.999999886316,0.000319287900632,-0.000352772699511,3.12208478101e-05,1793254884679577344
+318,5.300000000,POSE2_TO_POSE3_RETREAT,785,760.243620574,737,717.756379426,685,650,917,800,840,657.756379426,635,657,0.440803302297,0.00458994998252,0.0597626098693,0.999999891771,0.000273321221855,-0.000376007283024,1.93094456433e-05,1793254884696243968
+319,5.316666667,POSE2_TO_POSE3_RETREAT,785,760,737,718,685,650,917,800,840,658,635,657,0.439956758122,0.00458735992242,0.0597701313263,0.999999897935,0.000258090401747,-0.000370404339691,1.7870244345e-05,1793254884712910848
+320,5.333333333,POSE2_TO_POSE3_RETREAT,785,760,737,718,685,650,917,800,840,658,635,657,0.439104825384,0.00458293995661,0.0597850439015,0.999999905406,0.000264670300658,-0.000344337769157,2.38623052205e-05,1793254884729577216
+321,5.350000000,POSE2_TO_POSE3_RETREAT,785,760.497263703,737,718,685.497263703,650,917,800,840,658,635,657.497263703,0.438223602679,0.00458421943334,0.0598007381201,0.999999910461,0.000273719404353,-0.000321487337817,2.83291936344e-05,1793254884746243840
+322,5.366666667,POSE2_TO_POSE3_RETREAT,785,761,737,718.073921912,686,650,917,800.073921912,840,658,635,657.926078088,0.437323766695,0.00458651497206,0.0598068227273,0.999999910087,0.000282151367053,-0.000314952543209,3.19710843314e-05,1793254884762910720
+323,5.383333333,POSE2_TO_POSE3_RETREAT,785,761,737,718.647233591,686,650,917,800.647233591,840,658,635,657.352766409,0.436329976498,0.00458948874828,0.0597471399,0.999999873071,0.000283734182665,-0.000415149665916,3.16949372638e-05,1793254884779577344
+324,5.400000000,POSE2_TO_POSE3_RETREAT,785,760.772769533,737,718.772769533,685.772769533,650,917,800.772769533,839.772769533,657.772769533,635,657,0.435380719363,0.0045865459388,0.0597121320071,0.999999855917,0.000275648168274,-0.00045964206779,3.02090672622e-05,1793254884796243968
+325,5.416666667,POSE2_TO_POSE3_RETREAT,785,760.182079466,737,718.182079466,685.182079466,650,917,800.182079466,839.182079466,657.182079466,635,657,0.434502693583,0.0045741394346,0.0597165921476,0.999999881738,0.000252096673527,-0.000415033693259,2.67882219434e-05,1793254884812910336
+326,5.433333333,POSE2_TO_POSE3_RETREAT,785,760,737,718.398879433,685.797758866,650.398879433,917,800,839.398879433,657,635,657.398879433,0.433600937868,0.00455784067021,0.0597388925658,0.999999902462,0.000229295934266,-0.00037642031776,2.83985188762e-05,1793254884829577216
+327,5.450000000,POSE2_TO_POSE3_RETREAT,785,760,737,718.975502027,686.951004053,650.975502027,917,800,839.975502027,657,635,657.975502027,0.432688607997,0.00453980749118,0.0597691427227,0.999999920128,0.000206829737567,-0.000340478353574,3.22507243217e-05,1793254884846243840
+328,5.466666667,POSE2_TO_POSE3_RETREAT,784.446146946,760,737,719,686.446146946,650.446146946,917,800,839.446146946,657.553853054,635,657.446146946,0.431753578657,0.00454282504836,0.0597836914829,0.999999928654,0.000202308489282,-0.000317404847085,3.18916055031e-05,1793254884862910464
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783.865828528,760,737.134171472,719,686.134171472,650.134171472,917,800,839.134171472,658,635,657,0.430818205613,0.0045464390049,0.059798982313,0.999999936305,0.000200268640755,-0.000293704639003,3.19380224894e-05,1793254884879577088
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783.279133325,760,737.720866675,719,686.720866675,650.720866675,917,800,839.720866675,658,635,657,0.42988507035,0.00454891422889,0.0598191256422,0.999999943264,0.000203912430223,-0.00026596498545,3.39824220863e-05,1793254884896243968
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783.30543003,760,737.69456997,719,686.69456997,650.69456997,917,800,839.69456997,658,635,657,0.428897252692,0.00455149601877,0.0597994276934,0.999999930557,0.000205546033088,-0.000308853446677,3.53119973297e-05,1793254884912910848
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783.888058558,760,737.111941442,719,686.111941442,650.111941442,917,800,839.111941442,658,635,657,0.427859807099,0.0045541745243,0.0597435710775,0.999999891805,0.000205355253191,-0.000415841718312,3.59928205206e-05,1793254884929577728
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783.536112968,760.463887032,737.463887032,719.463887032,686.463887032,650,917,800,839,657.536112968,635,657,0.426920058006,0.00455435159826,0.059728986767,0.999999890788,0.000196297260597,-0.000422776826113,3.39220185474e-05,1793254884946244096
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783,761,738,719.961786764,687.038213236,650.038213236,917,800,839.038213236,657.038213236,635,657,0.426003543057,0.00455400573765,0.0597273280316,0.999999900653,0.000185769196033,-0.000403959618025,3.16282812734e-05,1793254884962910720
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783,761,738,719.385843497,687.614156503,650.614156503,917,800,839.614156503,657.614156503,635,657,0.425087020829,0.00455467262579,0.0597694321762,0.999999918463,0.000184229916428,-0.000357602286433,3.54061400657e-05,1793254884979577088
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783,760.805833625,738,719,687.61166725,651,917,800,839.805833625,658,635,657,0.424175343067,0.00455497640077,0.0598044844427,0.999999933375,0.000181070098969,-0.000314669480682,3.80335580522e-05,1793254884996243712
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783,760.217569702,738,719,686.435139404,651,917,800,839.217569702,658,635,657,0.423273497906,0.00455454316871,0.0598252235902,0.999999945186,0.000174621092281,-0.000278687393339,3.83259386332e-05,1793254885012910336
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783,760,738,719,686.732480103,651,917,800,839,658,635,657,0.422368684112,0.0045553166972,0.0598357838909,0.999999951809,0.000168404449052,-0.000257994440814,3.82189549424e-05,1793254885029577472
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783,760,738,719,687.894871014,651,917,800,839,658,635,657,0.421462128007,0.0045567985035,0.0598403699718,0.999999955782,0.000162324186175,-0.000246275064382,3.78775744166e-05,1793254885046245120
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783,760.521417436,738,719.521417436,686.957165127,650.478582564,917,799.478582564,839,658,635,657,0.420483861393,0.00455772535552,0.0597756106306,0.999999920127,0.000156819799151,-0.00036565437073,3.80823421327e-05,1793254885062912000
+341,5.683333333,POSE2_TO_POSE3_RETREAT,782.903036995,760.903036995,738,720,686.096963005,649.903036995,916.903036995,799.096963005,839,657.903036995,635,657,0.419520533107,0.00455758667554,0.0597147580603,0.999999876379,0.000149582319197,-0.000472689673945,3.78287883805e-05,1793254885079578112
+342,5.700000000,POSE2_TO_POSE3_RETREAT,782.315962261,760.315962261,738,720,686.684037739,649.315962261,916.315962261,799.684037739,839,657.315962261,635,657,0.418668754745,0.00455234105393,0.0597085062837,0.999999888605,0.000133295275318,-0.000451439507812,3.49840957471e-05,1793254885096244480
+343,5.716666667,POSE2_TO_POSE3_RETREAT,782.259437846,760.259437846,738,720,687.259437846,649.259437846,916,800,839,657,635,657,0.417835839073,0.00455129818399,0.0597276142211,0.999999906799,0.000126215391512,-0.000411445888276,3.44201976092e-05,1793254885112910592
+344,5.733333333,POSE2_TO_POSE3_RETREAT,782.821231968,760.821231968,738,720,687.821231968,649.821231968,916,800,839,657,635,657,0.417024906578,0.00455515332126,0.0597762770937,0.999999929788,0.000129865795896,-0.000349608113376,3.65144026451e-05,1793254885129577216
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,760.593281065,738,720,687.593281065,650,916,800,839,657.406718935,635,657,0.416225778995,0.00455360060363,0.0598062712573,0.99999993173,0.000186473992597,-0.000316685837464,3.84314440609e-05,1793254885146244096
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783.003193325,760,738,720,687,650,916,799.996806675,839,658,635,657,0.41543245426,0.00454953636218,0.0598274604446,0.99999991928,0.000267261577252,-0.000297305978005,4.02501752581e-05,1793254885162910208
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783.586819971,760,738,720,687,650,916,799.413180029,839,658,635,657,0.414692434599,0.00454773693579,0.0598319606939,0.999999926864,0.000250374549238,-0.000286436293241,3.92291212889e-05,1793254885179577088
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783.830948014,760,738,720,687.169051986,650,916,799.169051986,839,658,634.830948014,657,0.413934263966,0.00454691720952,0.0598305228834,0.999999929988,0.000236707769276,-0.000287232883389,3.85979432586e-05,1793254885196244224
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783.252096611,760,738,720,687.747903389,650,916,799.747903389,839,658,634.252096611,657,0.413132093359,0.00454847237679,0.0598146906053,0.999999922572,0.000230847198698,-0.000316309722755,3.89118644413e-05,1793254885212910848
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783,760.328743122,738,720.328743122,687.671256878,650,916,800,839,658,634.328743122,657,0.412344427437,0.00454871451752,0.0597788501496,0.999999904135,0.000222682097842,-0.000375045331738,3.85256672643e-05,1793254885229577216
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783,760.911116849,738,720.911116849,687.088883151,650,916,800,839,658,634.911116849,657,0.411567952161,0.00454794363708,0.0597275730639,0.999999872394,0.000212739014093,-0.00045666315496,3.75993173089e-05,1793254885246243584
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783,761,738,721,687,650,916,800,839,658,635,657,0.4109101799,0.0045473130122,0.0597323956774,0.999999882906,0.000200751246829,-0.000438823595648,3.63517532033e-05,1793254885262910464
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783,760.938936375,738,721,687.122127251,650,916,800,839,658,634.938936375,657,0.410278623677,0.00454636704491,0.0597503629205,0.999999901314,0.00018887566984,-0.000400556690415,3.53820016464e-05,1793254885279577088
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783,760.363412185,738,721,688.273175629,650,916,800,839,658,634.363412185,657,0.409687813248,0.00454255149148,0.0597939459195,0.999999924739,0.000181047969412,-0.000341109665194,3.72402402626e-05,1793254885296243456
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,760,738,721,688.781868724,650,916,800,839,658,634,657,0.409096888324,0.00453970834451,0.0598270957042,0.999999940668,0.00017471744502,-0.000294329307747,3.88380585691e-05,1793254885312910336
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783,760,738,721,688.190012483,650,916,800,839,658,634,657,0.408505767298,0.0045385312248,0.059842370227,0.99999994834,0.000170952038413,-0.000269250797493,3.9989697965e-05,1793254885329577216
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783,760,738,721,688,650,916,800,839,658,634,657,0.407932550875,0.00453637330142,0.0598370477059,0.999999947976,0.000165071323031,-0.000274299115294,3.94884785188e-05,1793254885346244096
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783,760,738,721,688,650,916,800,839,658,634,657,0.407367800624,0.00453375160319,0.0598219858374,0.99999994366,0.000158190379777,-0.000293592955044,3.82057019263e-05,1793254885362910976
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783,760,738.542720038,721,687.457279962,650,916,800,839,658,634.542720038,657,0.406860393881,0.00453328164524,0.0598128080165,0.99999994168,0.000154899547395,-0.000302112966121,3.70551556437e-05,1793254885379577600
+360,6.000000000,POSE2_TO_POSE3_RETREAT,783,760,738.885386197,721,687.114613803,650,916,800,839,657.885386197,635,657,0.406366495998,0.00453311201868,0.0598065453246,0.99999994031,0.000153582247766,-0.000307381924641,3.61826644931e-05,1793254885396243968
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783,760,738.31296229,721,687.68703771,650,916,800,839,657.31296229,635,657,0.405914300787,0.00453368211516,0.0598106690848,0.999999941044,0.000159380621428,-0.000301967767361,3.6392565639e-05,1793254885412910592
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783,760,738,721.27098795,688,650,916,800,839,657.27098795,634.72901205,657,0.405469378707,0.00453246010319,0.0598109098074,0.9999999413,0.000161926172022,-0.000299797158314,3.60894708671e-05,1793254885429577216
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783,760,738,721.868841203,688,650,916,800,839,657.868841203,634.131158797,657,0.405033229494,0.00452907645237,0.0598064668151,0.999999941031,0.000160548171452,-0.000301538913139,3.51676010963e-05,1793254885446243840
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783,760,738,721.549947332,688,650,916,800,839,657.549947332,634,657,0.404619325977,0.00452751129888,0.0597887405981,0.999999931522,0.000162976549063,-0.000330450489703,3.45928785707e-05,1793254885462910464
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783,760,738,721,687.973500957,650,916,800,838.973500957,657.026499043,634.026499043,657,0.404214466442,0.00452653492778,0.0597676246525,0.999999918513,0.000166339100314,-0.000366254349521,3.40906682511e-05,1793254885479577088
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783,760,738,721,687.398877125,650,916,800,838.398877125,657.601122875,634.601122875,657,0.40386736054,0.00452716608534,0.059753611001,0.999999910765,0.000166897584071,-0.000386679886423,3.30703212828e-05,1793254885496243712
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783.180500431,760.180500431,738,721.180500431,687.361000862,650,916,800,838.180500431,658,635,657,0.403548451154,0.00452712159233,0.0597507217006,0.999999910459,0.000166249319322,-0.000387822318164,3.21990015212e-05,1793254885512910592
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783.770667026,760.770667026,738,721.770667026,688.541334052,650,916,800,838.770667026,658,635,657,0.403293537001,0.00452554363375,0.0597730803764,0.999999926655,0.000162862202071,-0.000345199556635,3.16659160043e-05,1793254885529577216
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783.64847499,760.64847499,738,722,688.64847499,650,916,800,839,658,635,657,0.4030471129,0.004523175416,0.05979424796,0.999999938968,0.000157622619594,-0.000310167420388,3.18752424698e-05,1793254885546243584
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783.073533171,760.073533171,738,722,688.073533171,650,916,800,839,658,635,657,0.402806084751,0.00452030493744,0.05981465853,0.99999994885,0.000151205675698,-0.000279959611786,3.25564195686e-05,1793254885562910208
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783,760,738,721.495474281,688,650,916,800,838.495474281,657.495474281,635,657,0.402585290358,0.00451800795368,0.0598230717587,0.999999952514,0.000147608912863,-0.000268528719284,3.27921347182e-05,1793254885579576832
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783,760,738,721,688,649.915561301,916,800,838.084438699,657,635,657,0.402370578289,0.00451609854125,0.0598279404692,0.999999954349,0.000144948699233,-0.00026306812086,3.29769949475e-05,1793254885596243456
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783,760,738,721,688,649.327313012,916,800,838.672686988,657,635,657,0.402174451874,0.00451599978257,0.0598221584338,0.999999950566,0.000145408766954,-0.00027679959281,3.32482123648e-05,1793254885612910336
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783,760.257053228,738,721,688,649.257053228,916,800,839,657.257053228,634.742946772,657,0.401994747208,0.00451550510672,0.059819147025,0.999999948131,0.000144938500732,-0.00028570319009,3.32272610841e-05,1793254885629577216
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783,760.836549853,738,721,688,649.836549853,916,800,839,657.836549853,634.163450147,657,0.401835641729,0.00451451379882,0.0598196110455,0.999999947562,0.000143301238704,-0.000288550778951,3.28398181188e-05,1793254885646244096
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783,761,738,721,688.414397515,650,916,800,839,658,634.414397515,657,0.401695216469,0.00451379653732,0.0598195326555,0.999999947101,0.00014107494505,-0.000291243370513,3.27599994083e-05,1793254885662910720
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783,761,738,721,688.991597344,650,916,800,839,658,634.991597344,657,0.40156213002,0.00451318693912,0.0598192411713,0.999999946673,0.000138617241475,-0.000293875068979,3.28010355348e-05,1793254885679577088
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783,760.433814683,738,721.566185317,688.433814683,649.433814683,915.433814683,799.433814683,839,657.433814683,634.433814683,657,0.40146346788,0.00451102241669,0.0598210122981,0.999999948469,0.000134364559703,-0.000289750683927,3.24387322335e-05,1793254885696243968
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783.144485199,760.144485199,737.855514801,721.855514801,688.144485199,649,915.144485199,799,839,657.144485199,634.144485199,657,0.401370862946,0.0045091241456,0.0598228319456,0.999999949984,0.000130956795284,-0.000286087850558,3.21822461721e-05,1793254885712910592
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783.734345862,760.734345862,737.265654138,721.265654138,688.734345862,649,915.734345862,799,839,657.734345862,634.734345862,657,0.401295361791,0.00450811740056,0.059824707233,0.999999950627,0.000130235225969,-0.00028415540067,3.22703084754e-05,1793254885729577216
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783.681598937,761,737.318401063,721,689,649,915.681598937,799,838.681598937,657.681598937,634.681598937,657,0.401226258323,0.00450743207821,0.0598247116794,0.999999950479,0.000129115923635,-0.000285197108753,3.21620256131e-05,1793254885746243840
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783.102300656,761,737.897699344,721,689,649,915.102300656,799,838.102300656,657.102300656,634.102300656,657,0.401162397101,0.00450701012889,0.0598231831623,0.999999949675,0.000127670719553,-0.000288675835929,3.189285791e-05,1793254885762910464
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783.473662757,761,738,721,688.526337243,649,915.473662757,799,838.473662757,657.473662757,634.473662757,657,0.401110459034,0.00450757802095,0.0598198327634,0.999999948053,0.000126818170162,-0.000294620222618,3.17712073636e-05,1793254885779577344
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783.951333409,760.951333409,738,721.048666591,688,649,916,799.048666591,839,658,634.951333409,657,0.401062757616,0.00450819938451,0.0598163641229,0.999999946337,0.000126150775902,-0.000300680235676,3.1677732167e-05,1793254885796244480
+385,6.416666667,POSE2_TO_POSE3_RETREAT,783.378958726,760.378958726,738,721.621041274,688,649,916,799.621041274,839,658,634.378958726,657,0.401033129662,0.00450711168931,0.0598158278215,0.99999994586,0.000126108062804,-0.000302293982766,3.15469982065e-05,1793254885812910848
+386,6.433333333,POSE2_TO_POSE3_RETREAT,783,760.200338264,738,721.799661736,688.200338264,649,916,800,838.799661736,657.799661736,634,657,0.401008742321,0.00450621347,0.0598162728267,0.999999946199,0.000124760898357,-0.000301749910581,3.1369902321e-05,1793254885829577216
+387,6.450000000,POSE2_TO_POSE3_RETREAT,783,760.793198058,738,721.206801942,688.793198058,649,916,800,838.206801942,657.206801942,634,657,0.400994622884,0.00450568648973,0.0598186405,0.999999948115,0.000120857930412,-0.000296978036264,3.11019698083e-05,1793254885846243584
+388,6.466666667,POSE2_TO_POSE3_RETREAT,783,760.623089293,738,721.376910707,688.623089293,649,916,800,838.376910707,657.376910707,634.376910707,657,0.400984289,0.00450517441758,0.0598209265138,0.999999949478,0.000119116729914,-0.000293105106774,3.07264694032e-05,1793254885862910208
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783,760.044276568,738,721.955723432,688.044276568,649,916,800,838.955723432,657.955723432,634.955723432,657,0.400975982946,0.00450467033138,0.0598231687845,0.999999950549,0.00011853353647,-0.000289713720602,3.02933474689e-05,1793254885879576832
+390,6.500000000,POSE2_TO_POSE3_RETREAT,783,760,738,721.468061906,688,649,916,800,839,658,634.468061906,657,0.400970244975,0.00450450628693,0.0598243741515,0.99999995089,0.000118705660225,-0.000288458836088,3.03351147318e-05,1793254885896243968
+391,6.516666667,POSE2_TO_POSE3_RETREAT,783,760,738,721,688,649,915.892420009,800,839,658,634,657,0.400965006419,0.00450444264114,0.0598251151222,0.999999951005,0.000119074144928,-0.000287908530536,3.03273841579e-05,1793254885912910592
+392,6.533333333,POSE2_TO_POSE3_RETREAT,783,760,738,721,688,649,915.318328817,800,839,658,634,657,0.400961011097,0.00450469222484,0.059824214727,0.999999950402,0.000120022827221,-0.000289646154512,2.99344338249e-05,1793254885929577216
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783.264245036,760,738,721.264245036,688,649.264245036,915.264245036,800,838.735754964,658,634,657,0.400958664932,0.00450485844886,0.0598241923151,0.999999950246,0.000121076278892,-0.000289751514446,2.98750136626e-05,1793254885946243840
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783.85737672,760,738,721.85737672,688,649.85737672,915.85737672,800,838.14262328,658,634,657,0.400958371352,0.00450492092117,0.0598252626653,0.999999950648,0.000122260129547,-0.000287825313835,3.02307142831e-05,1793254885962910464
+395,6.583333333,POSE2_TO_POSE3_RETREAT,784,760,738,721.561756422,688,650,916,800,838.438243578,658,634,657,0.40095859472,0.00450356066054,0.0598263314131,0.999999951532,0.00011954556897,-0.000285867641732,3.04129376969e-05,1793254885979576832
+396,6.600000000,POSE2_TO_POSE3_RETREAT,784,760,738,721.015184999,688.015184999,649.984815001,915.984815001,799.984815001,839,657.984815001,634,657,0.4009589639,0.00450186729398,0.0598273905128,0.999999952524,0.000115783711172,-0.000283928365414,3.05221485399e-05,1793254885996243200
+397,6.616666667,POSE2_TO_POSE3_RETREAT,784,760,738,721.590556137,688.590556137,649.409443863,915.409443863,799.409443863,839,657.409443863,634,657,0.400958674769,0.00450450146937,0.0598281124011,0.999999952426,0.000118915742417,-0.000283035274357,2.99639082816e-05,1793254886012909824
+398,6.633333333,POSE2_TO_POSE3_RETREAT,783.830087051,760.169912949,738,722,689,649,915,799.169912949,839,657.169912949,634,657,0.400958313583,0.00450600133357,0.0598285778959,0.999999952348,0.00012069569339,-0.000282600791011,2.9550414383e-05,1793254886029576704
+399,6.650000000,POSE2_TO_POSE3_RETREAT,783.240895182,760.759104818,738,722,689,649,915,799.759104818,839,657.759104818,634,657,0.400957774597,0.00450470215976,0.0598284107114,0.999999952339,0.000119139237163,-0.000283297972776,2.9494098107e-05,1793254886046243328
+400,6.666666667,POSE2_TO_POSE3_RETREAT,783.342483482,761,738,722,689,649.342483482,915.342483482,799.657516518,839,658,634,657.342483482,0.40095714245,0.00450411903417,0.0598283223581,0.999999952164,0.00011937064466,-0.00028378929975,2.97775248487e-05,1793254886062909952
+401,6.683333333,POSE2_TO_POSE3_RETREAT,783.921841489,761,738,722,689,649.921841489,915.921841489,799.078158511,839,658,634,657.921841489,0.400956445869,0.00450403115465,0.0598282885275,0.999999951873,0.000120838606376,-0.000284138249736,3.02959307102e-05,1793254886079576576
+402,6.700000000,POSE2_TO_POSE3_RETREAT,783.503140264,760.503140264,738,721.503140264,689,649.503140264,916,799.496859736,838.503140264,658,634,657.503140264,0.400957251875,0.0045043189499,0.05982883116,0.999999952383,0.000118496592827,-0.000283360778836,3.00009969377e-05,1793254886096244224
+403,6.716666667,POSE2_TO_POSE3_RETREAT,783,760,738,721,688.927101901,649,916,800,838.072898099,657.927101901,634,657,0.400958131852,0.00450472950747,0.0598293920566,0.999999952926,0.000116036168286,-0.000282499664335,2.96243618529e-05,1793254886112911872
+404,6.733333333,POSE2_TO_POSE3_RETREAT,783,760,738,721,688.339072966,649,916,800,838.660927034,657.339072966,634,657,0.400957878749,0.00450559357908,0.0598294467739,0.999999952882,0.000116937451329,-0.000282288761005,2.95666588103e-05,1793254886129577472
+405,6.750000000,POSE2_TO_POSE3_RETREAT,783,760,738.245238167,721.245238167,688,649.245238167,916,800,838.754761833,657,634.245238167,657,0.400957659402,0.00450540304744,0.0598294407425,0.999999952855,0.000117215797354,-0.00028226769709,2.95712449067e-05,1793254886146243840
+406,6.766666667,POSE2_TO_POSE3_RETREAT,783,760,738.824485812,721.824485812,688,649.824485812,916,800,838.175514188,657,634.824485812,657,0.400957486031,0.00450377616737,0.0598293519727,0.999999952852,0.000116645715746,-0.000282505190629,2.96606675559e-05,1793254886162910464
+407,6.783333333,POSE2_TO_POSE3_RETREAT,783,760,738.597452781,722,688.402547219,650,916,800,838,657,635,657,0.400958312023,0.00450299897655,0.0598301303263,0.99999995335,0.000116378899688,-0.000280849285712,2.9659042263e-05,1793254886179577344
+408,6.800000000,POSE2_TO_POSE3_RETREAT,783,760,738.019907099,722,688.980092901,650,916,800,838,657,635,657,0.400959572466,0.00450259116934,0.0598312856427,0.99999995406,0.000116243921624,-0.000278370267858,2.9617835894e-05,1793254886196243968
+409,6.816666667,POSE2_TO_POSE3_RETREAT,783,760,738,721.444585678,689,650,916,800,838.555414322,657.555414322,635,657,0.400957688869,0.00450391513811,0.0598296486987,0.999999953177,0.000117816963005,-0.000280911654164,2.92305800887e-05,1793254886212910848
+410,6.833333333,POSE2_TO_POSE3_RETREAT,783.133729613,760,738,721,688.866270387,649.866270387,916,800,839,658,635,657.133729613,0.400956254952,0.00450473179189,0.0598285211586,0.999999952512,0.000118817282246,-0.000282866213804,2.90625100176e-05,1793254886229577472
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..04f3bea81557b7b46b78119c48079cceff0e17d7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_01/simulation_data.csv
@@ -0,0 +1,415 @@
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+356,5.933333333,pose2_to_pose3_retreat,0.581493193013,0.0101818581534,1.0500203356,0.552064339393,0.0188560915382,1.04969204544
+357,5.950000000,pose2_to_pose3_retreat,0.581055272705,0.0101817256255,1.05002050799,0.551626420252,0.0188559629254,1.04969221659
+358,5.966666667,pose2_to_pose3_retreat,0.580632456228,0.0101816880189,1.05002072705,0.551203604555,0.0188559276491,1.04969242733
+359,5.983333333,pose2_to_pose3_retreat,0.580231246852,0.0101817960981,1.05002077387,0.550802394929,0.0188560347575,1.04969247094
+360,6.000000000,pose2_to_pose3_retreat,0.579849967318,0.0101819043274,1.05002064168,0.550421115136,0.0188561424973,1.04969234907
+361,6.016666667,pose2_to_pose3_retreat,0.579488474684,0.0101816953561,1.05002054204,0.550059622756,0.0188559343139,1.04969224799
+362,6.033333333,pose2_to_pose3_retreat,0.579141874482,0.0101818421016,1.05002067267,0.549713021748,0.0188560780014,1.04969237005
+363,6.050000000,pose2_to_pose3_retreat,0.578808954357,0.010181824549,1.0500205681,0.549380101756,0.0188560612209,1.04969227409
+364,6.066666667,pose2_to_pose3_retreat,0.578492404316,0.0101818204388,1.05002052407,0.549063550431,0.0188560528255,1.04969223191
+365,6.083333333,pose2_to_pose3_retreat,0.578195530551,0.0101818179169,1.05002054655,0.548766676711,0.0188560502706,1.04969224946
+366,6.100000000,pose2_to_pose3_retreat,0.577926757861,0.0101818152381,1.05002055334,0.548497905196,0.0188560514989,1.04969225423
+367,6.116666667,pose2_to_pose3_retreat,0.577683849177,0.0101818625048,1.05002053135,0.548254995626,0.0188560959148,1.04969223632
+368,6.133333333,pose2_to_pose3_retreat,0.57746644901,0.0101817517257,1.05002040525,0.548037597853,0.0188559935124,1.04969211686
+369,6.150000000,pose2_to_pose3_retreat,0.57726862911,0.0101817477769,1.05002048537,0.547839777108,0.0188559865567,1.04969219329
+370,6.166666667,pose2_to_pose3_retreat,0.577087019772,0.0101818028363,1.05002053599,0.547658166994,0.0188560389061,1.04969224183
+371,6.183333333,pose2_to_pose3_retreat,0.576914597429,0.0101818561946,1.05002050481,0.547485744452,0.0188560916415,1.04969221192
+372,6.200000000,pose2_to_pose3_retreat,0.576752530766,0.0101818183654,1.05002039669,0.547323677984,0.018856054591,1.04969210708
+373,6.216666667,pose2_to_pose3_retreat,0.576603164976,0.0101816739094,1.05002048257,0.547174314181,0.0188559169492,1.04969219485
+374,6.233333333,pose2_to_pose3_retreat,0.576466424621,0.0101817607142,1.05002041213,0.5470375723,0.0188559986599,1.04969212666
+375,6.250000000,pose2_to_pose3_retreat,0.576342297566,0.0101817299304,1.05002030448,0.546913444948,0.0188559669284,1.04969202056
+376,6.266666667,pose2_to_pose3_retreat,0.576233292128,0.0101816615478,1.05002032663,0.546804440523,0.0188559017227,1.04969203582
+377,6.283333333,pose2_to_pose3_retreat,0.576137849014,0.0101816393854,1.05002047005,0.546708998657,0.0188558833773,1.04969216856
+378,6.300000000,pose2_to_pose3_retreat,0.576055329375,0.0101816129449,1.05002055684,0.54662647984,0.0188558597637,1.04969225736
+379,6.316666667,pose2_to_pose3_retreat,0.575983845819,0.0101816851568,1.05002063638,0.546554993976,0.0188559243534,1.04969234183
+380,6.333333333,pose2_to_pose3_retreat,0.57592312208,0.0101816996558,1.05002068051,0.546494269545,0.0188559362801,1.04969237989
+381,6.350000000,pose2_to_pose3_retreat,0.575869672408,0.0101817327669,1.0500207524,0.546440820097,0.0188559700497,1.04969244901
+382,6.366666667,pose2_to_pose3_retreat,0.575823196909,0.0101817429063,1.05002076487,0.546394344838,0.0188559810967,1.0496924639
+383,6.383333333,pose2_to_pose3_retreat,0.57578381369,0.010181703005,1.05002060731,0.546354961504,0.0188559410605,1.04969231301
+384,6.400000000,pose2_to_pose3_retreat,0.575751331474,0.0101817342768,1.05002036571,0.54632247973,0.0188559742878,1.04969208347
+385,6.416666667,pose2_to_pose3_retreat,0.575726660723,0.0101817315719,1.05002044357,0.546297806278,0.0188559617374,1.04969214337
+386,6.433333333,pose2_to_pose3_retreat,0.575708164804,0.0101816913199,1.0500205518,0.546279312543,0.0188559287081,1.0496922466
+387,6.450000000,pose2_to_pose3_retreat,0.575695663071,0.0101817216303,1.0500206372,0.546266811862,0.018855962658,1.0496923339
+388,6.466666667,pose2_to_pose3_retreat,0.575686788711,0.0101817240439,1.05002063047,0.546257937819,0.0188559661922,1.04969232841
+389,6.483333333,pose2_to_pose3_retreat,0.575680822402,0.0101816525873,1.05002049479,0.54625197133,0.0188558940302,1.04969219031
+390,6.500000000,pose2_to_pose3_retreat,0.575676268112,0.0101816517699,1.05002044313,0.546247416956,0.0188558931001,1.04969214319
+391,6.516666667,pose2_to_pose3_retreat,0.575672815756,0.0101816730791,1.05002042752,0.546243964549,0.0188559144528,1.0496921333
+392,6.533333333,pose2_to_pose3_retreat,0.575670625291,0.0101817139791,1.05002049998,0.546241773851,0.0188559545371,1.049692205
+393,6.550000000,pose2_to_pose3_retreat,0.575669203152,0.010181733747,1.050020541,0.546240351575,0.0188559738455,1.04969224598
+394,6.566666667,pose2_to_pose3_retreat,0.57566858294,0.0101817121658,1.05002053206,0.546239731376,0.0188559523765,1.04969223904
+395,6.583333333,pose2_to_pose3_retreat,0.575668343137,0.0101817038214,1.0500205286,0.546239491577,0.0188559440755,1.04969223636
+396,6.600000000,pose2_to_pose3_retreat,0.575668307074,0.0101817025666,1.05002052808,0.546239455514,0.0188559428272,1.04969223595
+397,6.616666667,pose2_to_pose3_retreat,0.575668245822,0.0101817004352,1.0500205272,0.546239394264,0.0188559407069,1.04969223527
+398,6.633333333,pose2_to_pose3_retreat,0.575668096759,0.0101816952484,1.05002052505,0.546239245204,0.018855935547,1.0496922336
+399,6.650000000,pose2_to_pose3_retreat,0.575667838306,0.010181686255,1.05002052132,0.546238986755,0.0188559266005,1.04969223071
+400,6.666666667,pose2_to_pose3_retreat,0.575667692258,0.0101816811731,1.05002051922,0.54623884071,0.018855921545,1.04969222907
+401,6.683333333,pose2_to_pose3_retreat,0.575667675562,0.0101816811838,1.05002052337,0.546238824031,0.0188559215975,1.04969223283
+402,6.700000000,pose2_to_pose3_retreat,0.575667666121,0.010181681233,1.05002052604,0.5462388146,0.0188559216732,1.04969223524
+403,6.716666667,pose2_to_pose3_retreat,0.57566761926,0.0101816814772,1.0500205393,0.546238767793,0.0188559220487,1.0496922472
+404,6.733333333,pose2_to_pose3_retreat,0.575667524971,0.0101816819684,1.05002056597,0.546238673611,0.0188559228043,1.04969227127
+405,6.750000000,pose2_to_pose3_retreat,0.57566742887,0.0101816824691,1.05002059315,0.546238577619,0.0188559235744,1.04969229581
+406,6.766666667,pose2_to_pose3_retreat,0.575667298281,0.0101816831494,1.05002063009,0.546238447178,0.0188559246208,1.04969232915
+407,6.783333333,pose2_to_pose3_retreat,0.575667281068,0.0101816832391,1.05002063496,0.546238429985,0.0188559247588,1.04969233354
+408,6.800000000,pose2_to_pose3_retreat,0.575667153757,0.0101816839024,1.05002067097,0.546238302818,0.018855925779,1.04969236604
+409,6.816666667,pose2_to_pose3_retreat,0.575667085504,0.010181684258,1.05002069027,0.546238234642,0.0188559263259,1.04969238347
+410,6.833333333,pose2_to_pose3_retreat,0.575666970826,0.0101816951781,1.05002071229,0.546238120011,0.0188559373133,1.04969240304
+411,6.850000000,pose2_to_pose3_retreat,0.575666897368,0.010181846069,1.0500205812,0.54623804543,0.0188560847034,1.04969228019
+412,6.866666667,pose2_to_pose3_retreat,0.575666833423,0.0101818998864,1.05002048507,0.546237980481,0.0188561353516,1.04969219039
+413,6.883333333,pose2_to_pose3_retreat,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ccd9414646ebc643b7924740d46202bb35a881bc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4992869f654ba67a7619a735426b3b4af403615992cdf9af0dc258912987090
+size 26282812
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3f9922931fad197d66aeee0463b4b6c03b45fdda
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_02/franka_data.csv
@@ -0,0 +1,415 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,783,760.423633312,738,721,689,649,915.423633312,799.576366688,838.576366688,657.576366688,634,657,0.400957532448,0.00450432332722,0.0598314588904,0.999999953641,0.000118456202479,-0.000278970687642,2.93382855809e-05,1793254886414520576
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+25,0.416666667,BASELINE,783,760,738.507320841,722,689,650,915,799.492679159,838.492679159,657.507320841,635,657,0.400958756216,0.00450478744243,0.0598332177326,0.999999954622,0.000116820324311,-0.000276181949162,2.88412606517e-05,1793254886814520320
+26,0.433333333,BASELINE,783,760,738.915511256,722,689,650,915.084488744,799.084488744,838.084488744,658,635,657,0.400959026626,0.00450447415475,0.0598335080406,0.999999954774,0.000116750320965,-0.000275618858826,2.92463609921e-05,1793254886831187200
+27,0.450000000,BASELINE,783,760,738.343138952,722,689,650,915.656861048,799.656861048,838.656861048,658,635,657,0.400959494053,0.00450400067963,0.0598338278998,0.999999954911,0.000117962809544,-0.000274598563541,2.92989294431e-05,1793254886847853312
+28,0.466666667,BASELINE,783,760,738,722,689,649.763432033,916,800,839,658,635,657,0.400958613825,0.00450361206438,0.0598334968659,0.999999954788,0.000118152800765,-0.000274961425772,2.93357292056e-05,1793254886864519680
+29,0.483333333,BASELINE,783,760,738,722,689,649.172745978,916,800,839,658,635,657,0.400955716297,0.00450335047571,0.0598321915116,0.999999954273,0.000116812217785,-0.000277394733615,2.93489248485e-05,1793254886881186560
+30,0.500000000,BASELINE,783,760.408767514,738,721.591232486,689,649,915.591232486,800,838.591232486,657.591232486,635,657,0.400956909129,0.00450352646907,0.059832784387,0.999999954697,0.000115729349108,-0.000276344039114,2.90876119542e-05,1793254886897853184
+31,0.516666667,BASELINE,783,760.986489724,738,721.013510276,689,649,915.013510276,800,838.013510276,657.013510276,635,657,0.400959792618,0.00450388332695,0.0598341618523,0.999999955506,0.000114753000771,-0.000273853311935,2.87128372394e-05,1793254886914519808
+32,0.533333333,BASELINE,783,761,738,721.563628009,689,649.563628009,915.563628009,800,838.563628009,657.563628009,635,657,0.400958654237,0.00450265698161,0.0598330331606,0.999999955211,0.000113680782514,-0.000275370888914,2.87331204197e-05,1793254886931186944
+33,0.550000000,BASELINE,783,761,738,721.856891902,689,649.856891902,915.856891902,800,839,657.856891902,634.856891902,657.143108098,0.400958061433,0.00450162607538,0.0598325432594,0.999999955079,0.000112852039668,-0.000276180681865,2.88264533214e-05,1793254886947853568
+34,0.566666667,BASELINE,783,761,738,721.270108319,689,649.270108319,915.270108319,800,839,657.270108319,634.270108319,657.729891681,0.400959458644,0.00450131861882,0.0598342198397,0.999999955541,0.000112785256644,-0.000274498577946,2.91169328658e-05,1793254886964520704
+35,0.583333333,BASELINE,783.313049277,761,738.313049277,721.313049277,689,649,915.313049277,800,839,657.313049277,634.313049277,657.686950723,0.400959576218,0.00450233568332,0.0598344949887,0.999999955423,0.000114560557035,-0.000274175840315,2.92789409875e-05,1793254886981187328
+36,0.600000000,BASELINE,783.893114151,761,738.893114151,721.893114151,689,649,915.893114151,800,839,657.893114151,634.893114151,657.106885849,0.400958602325,0.00450448249894,0.0598335747863,0.999999954803,0.000117907063734,-0.000275012574907,2.93313693529e-05,1793254886997853184
+37,0.616666667,BASELINE,783.527781456,760.527781456,738.527781456,721.527781456,689,649.472218544,915.527781456,800,839,658,635,657,0.400957302321,0.00450588488754,0.0598328310197,0.999999954216,0.000120105213237,-0.000276247751507,2.88095818194e-05,1793254887014519808
+38,0.633333333,BASELINE,783.050519711,760,738,721.050519711,689,649.949480289,915.050519711,799.949480289,839,658,634.949480289,657,0.4009561736,0.00450689412653,0.0598322575782,0.999999953756,0.000121530713778,-0.000277348724492,2.82061651235e-05,1793254887031186688
+39,0.650000000,BASELINE,783.62276679,760,738,721.62276679,689,649.37723321,915.62276679,799.37723321,839,658,634.37723321,657,0.400957574502,0.00450557982938,0.0598330315286,0.999999954559,0.000117655799606,-0.00027613426478,2.80992777574e-05,1793254887047853312
+40,0.666666667,BASELINE,784,760.201146283,738,721.798853717,689,649.201146283,916,799.201146283,839,657.798853717,634,657,0.40095823148,0.00450448973243,0.0598334043083,0.999999954978,0.000115383968136,-0.000275569260605,2.81559254382e-05,1793254887064519936
+41,0.683333333,BASELINE,784,760.79138823,738,721.20861177,689,649.79138823,916,799.79138823,839,657.20861177,634,657,0.400957449417,0.00450383332651,0.0598330010665,0.99999995468,0.00011621312649,-0.000276260557795,2.85289139343e-05,1793254887081186816
+42,0.700000000,BASELINE,783.625405429,761,738,721.374594571,689,649.625405429,916,800,839,657,634.374594571,657,0.400956590196,0.0045040704592,0.0598324482838,0.999999954305,0.000117195096179,-0.000277192809218,2.86414983627e-05,1793254887097853440
+43,0.716666667,BASELINE,783.046045005,761,738,721.953954995,689,649.046045005,916,800,839,657,634.953954995,657,0.400955688797,0.00450479602985,0.059831813757,0.999999953884,0.000118260597598,-0.000278256774217,2.86117372527e-05,1793254887114519808
+44,0.733333333,BASELINE,783,761,738,722,689,649.530461802,916,800,839,657.530461802,634.469538198,657,0.400957670814,0.00450346625181,0.0598329177718,0.999999954903,0.00011464152493,-0.000276096207184,2.8665599263e-05,1793254887131186432
+45,0.750000000,BASELINE,783,760.891524238,738,722,689,650,916,800,839,657.891524238,634,657,0.400959535727,0.00450232869902,0.059834098359,0.999999955849,0.000111479169339,-0.000273951652524,2.8713924634e-05,1793254887147853056
+46,0.766666667,BASELINE,783,760.305795582,738,722,689,650,916,800,839,657.305795582,634,657,0.400959790152,0.00450281759401,0.0598349554483,0.999999956012,0.000112105643829,-0.000273102391514,2.87061264441e-05,1793254887164519680
+47,0.783333333,BASELINE,783,760.276824917,738,722,689,650,916,799.723175083,839,657,634.276824917,657,0.400959648522,0.0045027954119,0.0598349165851,0.999999955903,0.000112554896465,-0.000273314751617,2.87229273504e-05,1793254887181186304
+48,0.800000000,BASELINE,783,760.856050177,738,722,689,650,916,799.143949823,839,657,634.856050177,657,0.400959074247,0.00450221493513,0.0598338989941,0.999999955497,0.000112810554074,-0.000274686814255,2.8766600024e-05,1793254887197852928
+49,0.816666667,BASELINE,783,760.563855779,738,721.563855779,689,650,916,799,838.563855779,657.436144221,634.563855779,657,0.400959451496,0.00450349967559,0.0598343448081,0.99999995553,0.000114197742903,-0.000274006908407,2.86275282397e-05,1793254887214519552
+50,0.833333333,BASELINE,783.016250009,760.016250009,738,721,689,649.983749991,915.983749991,799.016250009,838.016250009,658,634,657,0.40096008167,0.00450532111329,0.059835206632,0.999999955684,0.000115887576095,-0.000272749872678,2.84362279914e-05,1793254887231186432
+51,0.850000000,BASELINE,783.58695443,760.58695443,738,721,689,649.41304557,915.41304557,799.58695443,838.58695443,658,634,657,0.400958604852,0.00450440787633,0.0598337499029,0.999999955165,0.000115135630454,-0.00027495522328,2.85249490562e-05,1793254887247853056
+52,0.866666667,BASELINE,783.83804262,760.83804262,738,721,689,649,915.16195738,800,839,657.83804262,634,657,0.400957587711,0.00450340647721,0.0598327235987,0.999999954817,0.000114592318174,-0.000276436943295,2.85738798876e-05,1793254887264519680
+53,0.883333333,BASELINE,783.251778123,760.251778123,738,721,689,649,915.748221877,800,839,657.251778123,634,657,0.400957774863,0.00450217410481,0.0598328249515,0.999999954933,0.00011459559802,-0.000276022845843,2.85185655155e-05,1793254887281186304
+54,0.900000000,BASELINE,783,760.332572787,738,721,689,649,916,800,839,657,634.332572787,657.332572787,0.400958122663,0.00450148445207,0.0598330786577,0.999999955223,0.000113317701235,-0.00027549144977,2.85754814442e-05,1793254887297852928
+55,0.916666667,BASELINE,783,760.915483254,738,721,689,649,916,800,839,657,634.915483254,657.915483254,0.400958591387,0.00450120332104,0.0598334470451,0.999999955642,0.000111075423723,-0.000274871759465,2.87168765457e-05,1793254887314519552
+56,0.933333333,BASELINE,783.491512971,760.508487029,738,721.491512971,689,649,915.508487029,800,839,657.491512971,634.508487029,657.508487029,0.400957246758,0.00450304655493,0.0598326500987,0.999999954959,0.000114162134148,-0.000276099583229,2.86165937152e-05,1793254887331186432
+57,0.950000000,BASELINE,783.93345637,760.06654363,738,721.93345637,689,649.06654363,915,800,839,658,634.06654363,657,0.400955919414,0.00450491046033,0.0598318630756,0.99999995422,0.000117541551402,-0.000277364400289,2.8499986831e-05,1793254887347853056
+58,0.966666667,BASELINE,783.357140802,760.642859198,738,721.357140802,689,649.642859198,915,800,839,658,634.642859198,657,0.400957080207,0.00450417297947,0.0598326659481,0.999999954606,0.000116240469405,-0.000276512522446,2.85722877421e-05,1793254887364520192
+59,0.983333333,BASELINE,783,761,738,721,689,650,915,800,839,657.775428846,634.775428846,657,0.400958019126,0.00450308881567,0.0598332513727,0.999999955009,0.000114693951507,-0.000275689975999,2.86685685568e-05,1793254887381187072
+60,1.000000000,BASELINE,783,761,738,721,689,650,915,800,839,657.184923492,634.184923492,657,0.400958596507,0.00450143973887,0.0598334824706,0.99999995544,0.000112747500514,-0.000274915224337,2.88039241558e-05,1793254887397853952
+61,1.016666667,BASELINE,783,760.601745731,738,721.398254269,689,649.601745731,915.398254269,800,839,657,634,657,0.400959348381,0.00450197991532,0.0598339285133,0.999999955522,0.000114129559766,-0.0002740562346,2.86988979904e-05,1793254887414520576
+62,1.033333333,BASELINE,783,760.021908993,738,721.978091007,689,649.021908993,915.978091007,800,839,657,634,657,0.400960179816,0.00450351827328,0.0598344725592,0.999999955439,0.000117029240298,-0.000273158836887,2.8484270696e-05,1793254887431186944
+63,1.050000000,BASELINE,783,760,738,721.446141914,689,649.553858086,916,800,838.446141914,657.553858086,634.553858086,657,0.400958624796,0.00450288402651,0.0598339359423,0.999999955418,0.00011396046934,-0.000274516952029,2.85980193394e-05,1793254887447853312
+64,1.066666667,BASELINE,783,760,738,721.131863124,689,649.868136876,915.868136876,800,838.131863124,658,634.868136876,656.868136876,0.400957563136,0.00450278990632,0.0598335428826,0.999999955359,0.000112233749505,-0.000275437806344,2.86380857605e-05,1793254887464519936
+65,1.083333333,BASELINE,783,760,738,721.718130921,689,649.281869079,915.281869079,800,838.718130921,658,634.281869079,656.281869079,0.400958524545,0.0045048510783,0.0598337907619,0.999999955188,0.00011593943666,-0.000274546628035,2.8379804782e-05,1793254887481186560
+66,1.100000000,BASELINE,783,760,738,721.699389426,689,649,915,800,839,658,634.300610574,656.300610574,0.400959073046,0.00450580294289,0.0598339463735,0.999999955111,0.000117754161663,-0.000274082282773,2.81112794986e-05,1793254887497853440
+67,1.116666667,BASELINE,783,760,738,721.120417574,689,649,915,800,839,658,634.879582426,656.879582426,0.400959239199,0.00450572760391,0.0598340165464,0.999999955131,0.000117817881391,-0.000274013179122,2.78332681433e-05,1793254887514520320
+68,1.133333333,BASELINE,783,760,738,721,689,649.457379773,915.457379773,800,839,657.542620227,635,657,0.400958654329,0.0045048707744,0.0598335560352,0.999999954947,0.000117614502494,-0.000274734709815,2.81834286994e-05,1793254887531187200
+69,1.150000000,BASELINE,783,760.034685055,738,721,689,650,916,800,838.965314945,657,634.965314945,657,0.400957975068,0.00450389399773,0.0598330076006,0.999999954757,0.000117277901895,-0.000275520894666,2.86272981205e-05,1793254887547854080
+70,1.166666667,BASELINE,783,760.60913192,738,721,689,650,916,800,838.39086808,657,634.39086808,657,0.400958896017,0.00450424424404,0.0598332595983,0.999999955325,0.000115959649521,-0.000274082231191,2.79623771627e-05,1793254887564520448
+71,1.183333333,BASELINE,783,760.816289052,738,721,688.816289052,650,915.816289052,800,838.183710948,657.183710948,634,657,0.400959129295,0.00450433977106,0.0598334037455,0.999999955571,0.000115253151909,-0.000273509701151,2.76981044801e-05,1793254887581186560
+72,1.200000000,BASELINE,783,760.241428519,738,721,688.241428519,650,915.241428519,800,838.758571481,657.758571481,634,657,0.40095789841,0.00450389296061,0.0598333182623,0.999999955137,0.000115849176433,-0.000274781305547,2.8286875047e-05,1793254887597853184
+73,1.216666667,BASELINE,783.345747427,760,738,721,688,650,915.345747427,799.654252573,838.654252573,657.654252573,634.345747427,657,0.400957979926,0.00450292647871,0.0598337325649,0.999999955296,0.000114766749248,-0.000274627030703,2.85915150972e-05,1793254887614519808
+74,1.233333333,BASELINE,783.941840572,760,738,721,688,650,915.941840572,799.058159428,838.058159428,657.058159428,634.941840572,657,0.400959011715,0.00450158371777,0.0598345087478,0.999999955879,0.000112469003654,-0.000273440317832,2.86904244163e-05,1793254887631186688
+75,1.250000000,BASELINE,784,760.50680146,738,721,688.50680146,650,916,799.50680146,838.50680146,657,634.49319854,657,0.400959495884,0.00450213671267,0.059835045535,0.999999955767,0.000115439953996,-0.000272597988825,2.87967656626e-05,1793254887647853312
+76,1.266666667,BASELINE,783.928742987,761,738,721,689,649.928742987,916,800,839,657,634,657,0.400959842734,0.00450277435629,0.0598354825997,0.999999955631,0.000118103979992,-0.000271947175576,2.88809327705e-05,1793254887664520192
+77,1.283333333,BASELINE,783.343660197,761,738,721,689,649.343660197,916,800,839,657,634,657,0.400959626326,0.00450254443379,0.0598353872135,0.999999955933,0.000114447262212,-0.000272408873047,2.87994107919e-05,1793254887681186816
+78,1.300000000,BASELINE,783,761,738,721,689,649.246304562,915.753695438,800,839,657.246304562,634.246304562,657,0.400959571652,0.00450315411575,0.0598352384229,0.99999995596,0.000113353909475,-0.000272789897152,2.85726642972e-05,1793254887697853440
+79,1.316666667,BASELINE,783,761,738,721,689,649.843218654,915.156781346,800,839,657.843218654,634.843218654,657,0.400959747203,0.00450495895761,0.0598350136122,0.999999955607,0.000115909455025,-0.000273056084326,2.81391936664e-05,1793254887714519808
+80,1.333333333,BASELINE,783,761,738,721,689,649.574295708,915.425704292,800,839,658,635,657,0.40095969478,0.00450518559112,0.0598346997008,0.999999955432,0.000116572364674,-0.000273414071457,2.81250728019e-05,1793254887731186432
+81,1.350000000,BASELINE,783.003026743,760.996973257,738,721.003026743,689,649.003026743,916,800,839,658,635,657.003026743,0.400959561154,0.00450484276396,0.0598343585958,0.999999955325,0.000116556425357,-0.000273800447745,2.82624059441e-05,1793254887747853056
+82,1.366666667,BASELINE,783.575902462,760.424097538,738,721.575902462,689,649.575902462,916,800,839,658,635,657.575902462,0.400959428713,0.00450312911349,0.0598348732314,0.99999995553,0.000115662013255,-0.000273375133166,2.87905591125e-05,1793254887764519680
+83,1.383333333,BASELINE,783.846578397,760,738,722,689,649.846578397,915.846578397,800,839,658,635,657.846578397,0.400959039162,0.00450221453743,0.0598351241985,0.999999955577,0.000115399446433,-0.000273281364936,2.90733962558e-05,1793254887781186304
+84,1.400000000,BASELINE,783.255822879,760,738,722,689,649.255822879,915.255822879,800,839,658,635,657.255822879,0.400957916709,0.00450357775193,0.0598346235687,0.999999955178,0.000116937977577,-0.000274132681652,2.8656951183e-05,1793254887797852928
+85,1.416666667,BASELINE,783,760,738,721.671347159,689,649,915.328652841,800,839,657.671347159,635,657,0.400958147719,0.0045044735793,0.0598343976964,0.999999955167,0.000117098393937,-0.000274141467531,2.83038155415e-05,1793254887814519552
+86,1.433333333,BASELINE,783,760,738,721.091668007,689,649,915.908331993,800,839,657.091668007,635,657,0.400959412509,0.00450501241449,0.059834381685,0.999999955453,0.000116206200806,-0.000273506725049,2.79990359132e-05,1793254887831186176
+87,1.450000000,BASELINE,783,760,738,721.48374743,689,649,915.51625257,800,839,657,634.51625257,657,0.400958390205,0.00450406551879,0.0598340403081,0.999999955529,0.000114105028622,-0.000274113701301,2.80048037139e-05,1793254887847853056
+88,1.466666667,BASELINE,783,760,738,721.94199922,689,649,915.05800078,800,838.94199922,657,634,657,0.400956962458,0.00450301057776,0.0598335973274,0.999999955493,0.000112144633733,-0.000275042010032,2.80865194184e-05,1793254887864519680
+89,1.483333333,BASELINE,783,760,738,721.370940841,689,649,915.629059159,800,838.370940841,657,634,657,0.40095574847,0.00450346855529,0.0598327962098,0.99999995487,0.000113438323859,-0.000276749519393,2.83240493221e-05,1793254887881187584
+90,1.500000000,BASELINE,783.208889671,760,738,721,688.791110329,649.208889671,915.791110329,800,838.208889671,657.208889671,634,657,0.40095612085,0.00450341719776,0.0598331057544,0.999999954905,0.000114051939472,-0.00027635183448,2.85011572421e-05,1793254887897854720
+91,1.516666667,BASELINE,783.804980273,760,738,721,688.195019727,649.804980273,915.195019727,800,838.804980273,657.804980273,634,657,0.400959433744,0.0045024217293,0.0598354740388,0.999999956156,0.000113404958937,-0.000272051930656,2.85662660672e-05,1793254887914520320
+92,1.533333333,BASELINE,783.610188405,760,738,721.389811595,688.389811595,649.610188405,915,799.610188405,838.610188405,658,634,657,0.40096018318,0.00450317812545,0.0598359248028,0.999999956087,0.000115867628313,-0.000271256489039,2.86295519639e-05,1793254887931186432
+93,1.550000000,BASELINE,783.030831827,760,738,721.969168173,688.969168173,649.030831827,915,799.030831827,838.030831827,658,634,657,0.400959686141,0.00450478636161,0.0598354431772,0.99999995537,0.000119842357676,-0.000272165083643,2.86919514714e-05,1793254887947853056
+94,1.566666667,BASELINE,783,760,738,722,689,649.542615453,915.542615453,799.542615453,838.542615453,658,634.542615453,657,0.400959293895,0.00450356309429,0.0598352334765,0.999999955577,0.000118087010777,-0.000272170096733,2.87038977527e-05,1793254887964520192
+95,1.583333333,BASELINE,783,760.118956787,738,722,689,649.881043213,916,799.881043213,839,657.881043213,634.881043213,657,0.40095916285,0.00450272635237,0.059835162617,0.99999995577,0.000116619962384,-0.000272092395663,2.87172421737e-05,1793254887981187072
+96,1.600000000,BASELINE,783,760.70804875,738,722,689,649.29195125,916,799.29195125,839,657.29195125,634.29195125,657,0.400960040828,0.00450404622109,0.0598355800721,0.999999955714,0.000117565220399,-0.000271888521861,2.87473201896e-05,1793254887997853696
+97,1.616666667,BASELINE,783,760.707806588,738,722,689,649.292193412,916,799.292193412,839,657.292193412,634,657,0.400959555758,0.00450439707283,0.0598351254139,0.99999995541,0.000117830202157,-0.000272898057955,2.86863443026e-05,1793254888014520320
+98,1.633333333,BASELINE,783,760.128522859,738,722,689,649.871477141,916,799.871477141,839,657.871477141,634,657,0.400957731444,0.00450379583118,0.0598338138735,0.999999954858,0.000117426788483,-0.00027509981201,2.85359047476e-05,1793254888031186688
+99,1.650000000,BASELINE,783,760,737.550746587,722,689,650,916,800,839,658,634.449253413,657,0.400958141733,0.00450280761823,0.0598342746376,0.999999955286,0.000115345051228,-0.000274416267825,2.86229880872e-05,1793254888047853312
+100,1.666666667,BASELINE,783,760,737.0262443,721.9737557,689,650,915.9737557,800,839,657.9737557,634.9737557,657,0.400959119953,0.00450180377412,0.0598351467379,0.999999955925,0.000113011367364,-0.000273041639736,2.87631342153e-05,1793254888064520192
+101,1.683333333,BASELINE,783,760,737.595873257,721.404126743,689,650,915.404126743,800,839,657.404126743,634.404126743,657,0.400958665241,0.00450276075785,0.0598340727747,0.999999955291,0.000115369076998,-0.00027439145296,2.85997315363e-05,1793254888081186816
+102,1.700000000,BASELINE,783,760,738,721,689,649.827642149,915,800,838.827642149,657,634.172357851,657,0.400958352379,0.00450349089529,0.0598335918356,0.999999954921,0.000117052371748,-0.000275039275,2.84734132839e-05,1793254888097853696
+103,1.716666667,BASELINE,783,760,738,721,689,649.234417404,915,800,838.234417404,657,634.765582596,657,0.400958385884,0.00450366711472,0.059834558955,0.99999995521,0.000117088866224,-0.000273972960548,2.84376485603e-05,1793254888114520576
+104,1.733333333,BASELINE,783,760,738,721,689,649.350717407,915.350717407,800,838.350717407,657.350717407,635,657,0.400957922118,0.00450279212393,0.0598341678115,0.99999995524,0.000115769904935,-0.000274408207493,2.85959434705e-05,1793254888131187200
+105,1.750000000,BASELINE,783,760,738,721,689,649.930566929,915.930566929,800,838.930566929,657.930566929,635,657,0.400957133471,0.00450123035225,0.0598328892824,0.999999955095,0.000113565391805,-0.000275824460493,2.88810222021e-05,1793254888147853568
+106,1.766666667,BASELINE,783,760,738,721.506341213,689,650,916,800,839,658,635,657,0.400956878442,0.00450273349963,0.0598328582453,0.99999995483,0.000116540777478,-0.000275550330906,2.88158775142e-05,1793254888164519936
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,761,738,721,689,650,916,800,839,657,634,657,0.400957139304,0.00450389640142,0.0598332539484,0.999999954844,0.000115630278671,-0.000275972676811,2.79503153728e-05,1793254888207745280
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,760.409145673,738,721,689,649.409145673,915.409145673,800,838.409145673,657,634,657,0.40095837111,0.00450389009067,0.0598342687653,0.999999955197,0.000116450824305,-0.000274290579629,2.84601884285e-05,1793254888224412160
+109,1.816666667,POSE1_TO_POSE2_PRESS,783,760,738,721,689,649,915.176313688,800,838,657,634.176313688,657,0.400959064237,0.0045038131208,0.0598349431019,0.999999955445,0.00011675110092,-0.000273231089844,2.87033445232e-05,1793254888241078784
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,760,738,721,689,649,915.749625544,800,838,657,634.749625544,657,0.400958544444,0.00450357705076,0.0598348507933,0.999999955463,0.000115879909662,-0.000273573498817,2.83459452724e-05,1793254888257745152
+111,1.850000000,POSE1_TO_POSE2_PRESS,783,760.325036649,738.325036649,721,689,649.325036649,916,800,838.325036649,657.325036649,635,657,0.400958079175,0.00450332720043,0.0598345039331,0.999999955573,0.000113925599774,-0.000274006281677,2.82040172128e-05,1793254888274411520
+112,1.866666667,POSE1_TO_POSE2_PRESS,783,760.902075272,738.902075272,721,689,649.902075272,916,800,838.902075272,657.902075272,635,657,0.40095765618,0.00450306666621,0.0598339597181,0.999999955749,0.000111131544526,-0.000274509131685,2.82291446927e-05,1793254888291077888
+113,1.883333333,POSE1_TO_POSE2_PRESS,783,761,738.50872884,721.49127116,689,649.50872884,915.50872884,800,838.50872884,658,634.50872884,657,0.400958135719,0.00450306731343,0.059833961395,0.999999955536,0.000114647381248,-0.000273800955147,2.85846008128e-05,1793254888307744512
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,760.918769183,738,721.918769183,689,649.081230817,915.081230817,800,838,658,634.081230817,657,0.400958751639,0.00450311628185,0.0598341341876,0.999999955268,0.000118431978441,-0.000273134722794,2.89054533374e-05,1793254888324410880
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,760.339364221,738,721.339364221,689,649.660635779,915.660635779,800,838,658,634.660635779,657,0.400959072668,0.00450313421249,0.0598346721428,0.999999955263,0.00011595557515,-0.000274243712196,2.86000311187e-05,1793254888341077760
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,760,738,721.238340657,689,650,916,800,838,657.761659343,635,657,0.400965049669,0.00450386654319,0.0598374871422,0.999999956328,0.000115570622843,-0.000270516722518,2.84208439021e-05,1793254888357744384
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,760,738,721.813641944,689,650,916,800,838,657.186358056,635,657,0.400979022956,0.00450560887657,0.0598435213751,0.99999995883,0.000118142516846,-0.000259952734857,2.84201249007e-05,1793254888374411008
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,760,738,721.612326036,689,650,915.612326036,800,838,657,634.612326036,657,0.401011372561,0.00450371748325,0.0598573767982,0.999999965009,0.000116124918742,-0.000235935938052,2.88140816049e-05,1793254888391077888
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,760,738,721.038902121,689,650,915.038902121,800,838,657,634.038902121,657,0.401052526988,0.0045000850277,0.0598749796638,0.999999972197,0.00011190831334,-0.00020547336646,2.93971430496e-05,1793254888407745024
+120,2.000000000,POSE1_TO_POSE2_PRESS,783,760,738,721,689,650,915.552350157,800,838.552350157,657.552350157,634.552350157,657,0.401111184002,0.00450139050759,0.0598934996081,0.999999977079,0.000114077633051,-0.000178702230439,2.98879150672e-05,1793254888424411648
+121,2.016666667,POSE1_TO_POSE2_PRESS,783,760,738,721,689,650,916,800,839,658,634.858771415,657,0.401176119257,0.00450249014067,0.0599112380598,0.999999981198,0.000115395572146,-0.000152883221539,3.02395058753e-05,1793254888441077760
+122,2.033333333,POSE1_TO_POSE2_PRESS,783,760,738,721,689,650,916,800,839,658,634.281235126,657,0.40125651503,0.00450184357961,0.0599263559967,0.999999984857,0.000112647453686,-0.000129175690627,3.0181864815e-05,1793254888457744640
+123,2.050000000,POSE1_TO_POSE2_PRESS,783,760,738,721,689,649.704238946,916,800,839,657.704238946,634,657,0.401345150087,0.0045002755983,0.0599377185465,0.999999987508,0.000108545373513,-0.000110966613012,2.98006803935e-05,1793254888474411008
+124,2.066666667,POSE1_TO_POSE2_PRESS,783,760,738,721,689,649.127755447,916,800,839,657.127755447,634,657,0.40144160548,0.00449783304837,0.0599455166591,0.999999989456,0.000103158176932,-9.79764093997e-05,2.91124038837e-05,1793254888491077632
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,760,738,721,688.547664232,649,915.547664232,800,839,657.452335768,634,657.452335768,0.401549744569,0.00449883514532,0.0599495559287,0.999999990254,0.000103744944281,-8.90877434509e-05,2.81319290198e-05,1793254888507744512
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,760,738,721,688.033726632,649.033726632,915.033726632,800,838.966273368,658,634.033726632,657.966273368,0.401662629446,0.00450057764322,0.059952386009,0.999999990715,0.000105664682853,-8.16805034969e-05,2.70813908803e-05,1793254888524410880
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,760,738,721,688.619578808,649.619578808,915.619578808,800,838.380421192,658,634.619578808,657.380421192,0.401798750332,0.00449838612427,0.0599529401609,0.999999991345,0.000101562484329,-7.94086358415e-05,2.624575393e-05,1793254888541077760
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,760,738.202190913,721,689,650,916,800,838.202190913,658,635,657,0.401943227556,0.00449767005048,0.059951760406,0.9999999918,9.80519822231e-05,-7.85626019532e-05,2.4773625538e-05,1793254888557744640
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,760,738.778802929,721,689,650,916,800,838.778802929,658,635,657,0.402103179193,0.00449968623524,0.0599473697686,0.999999991953,9.5637195614e-05,-8.0356955273e-05,2.21228298958e-05,1793254888574411008
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,760.354187844,738.645812156,721,689,650,916,800,839,657.645812156,635,657,0.402293199316,0.00450000704651,0.0599471388082,0.999999992768,9.18792755479e-05,-7.50214083973e-05,1.98434020346e-05,1793254888591077632
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,760.928809115,738.071190885,721,689,650,916,800,839,657.071190885,635,657,0.402501932969,0.00449927272017,0.0599494966767,0.999999993904,8.72854386068e-05,-6.52484752744e-05,1.77950994974e-05,1793254888607744512
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,761,738,721.516506463,689,649.483493537,916,800,839,657,635,657.516506463,0.402732063448,0.00449904428576,0.0599494138097,0.999999994751,8.09669463238e-05,-6.08946013084e-05,1.52836501888e-05,1793254888624410880
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,760.895605466,738,721.895605466,688.895605466,649.104394534,916,800,839,657.104394534,635,657.895605466,0.402972355556,0.00449891403799,0.0599493853626,0.9999999955,7.49284229554e-05,-5.67939855709e-05,1.26660671321e-05,1793254888641077504
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,760.31527776,738,721.31527776,688.31527776,649.68472224,916,800,839,657.68472224,635,657.31527776,0.403245180072,0.00449890527655,0.0599511785414,0.999999996143,7.12781454657e-05,-5.03543378997e-05,9.86320863187e-06,1793254888657744384
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,760.262971621,738,721.262971621,688.262971621,650,916,800,839,658,635,657,0.403530649486,0.00449810545011,0.0599490334027,0.999999996383,6.68258734352e-05,-5.21171684378e-05,7.21436301576e-06,1793254888674411008
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,760.838748794,738,721.838748794,688.838748794,650,916,800,839,658,635,657,0.403831160029,0.00449636464942,0.0599422036232,0.999999996078,6.14196266469e-05,-6.36368724128e-05,4.74871636658e-06,1793254888691077632
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,760.5803789,738,722,688.5803789,650,916,800,838.5803789,657.5803789,635,657,0.4041540511,0.00449474533264,0.0599327674758,0.999999995377,5.32100438818e-05,-8.00677794209e-05,1.6932534323e-06,1793254888707744256
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,760,738,721.997524623,688,650,916,800,838.002475377,657.002475377,635,657,0.404485839336,0.00449318846909,0.0599223118859,0.999999994191,4.39227302745e-05,-9.84235934901e-05,-1.59559367617e-06,1793254888724410880
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,760,738,721.414677099,688,650,916,800,838.585322901,657.585322901,635,657,0.4048624361,0.00449519438263,0.0599105522553,0.999999992055,3.76296208702e-05,-0.000120165538202,-5.80934388171e-06,1793254888741077760
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,760,738,721.166388377,688,649.833611623,916,800,839,657.833611623,635,657.166388377,0.405257793891,0.00449603162384,0.0599043983897,0.999999990672,3.00767033237e-05,-0.000132876028205,-9.78472070074e-06,1793254888757744384
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,760,738,721.743059566,688,649.256940434,916,800,839,657.256940434,635,657.743059566,0.405699412834,0.00449398713603,0.0599120673006,0.999999992121,1.94173340077e-05,-0.000123316626331,-1.31723124334e-05,1793254888774411008
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,760.318863238,738,721.681136762,688,649.318863238,916,799.681136762,839,657,635,657.681136762,0.406187102615,0.00449140743132,0.0599335776558,0.999999995988,8.70183258934e-06,-8.76167834108e-05,-1.64575646297e-05,1793254888791078144
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,760.893969821,738,721.106030179,688,649.893969821,916,799.106030179,839,657,635,657.106030179,0.40671181567,0.00448839761796,0.0599662112071,0.999999999327,-2.05877861883e-06,-3.09100833963e-05,-1.96605755461e-05,1793254888807746048
+144,2.400000000,POSE1_TO_POSE2_PRESS,783,760.519336576,738,721,688,650,916,799.480663424,838.519336576,657.480663424,635,657,0.407260437919,0.00448593664883,0.0599923261089,0.999999999591,-1.39005926646e-05,1.0438537515e-05,-2.27169194655e-05,1793254888824412672
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,760,738,721,688,650,916,800,838.068836753,658,635,657,0.40781230572,0.00448241313196,0.060012810733,0.999999998524,-2.66811253553e-05,3.99692502486e-05,-2.53682613781e-05,1793254888841078784
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,760,738,721,688,650,916,800,838.648554128,658,635,657,0.408348151315,0.00447008304848,0.0600024451546,0.999999998657,-4.46146713485e-05,7.55639807428e-06,-2.52598781985e-05,1793254888857745152
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,760,738,721,688,650,915.773457592,800,839,657.773457592,635,657,0.40890161818,0.00445762015352,0.059991016457,0.99999999732,-6.42576188099e-05,-2.37082115738e-05,-2.5879201544e-05,1793254888874411520
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,760,738,721,688,650,915.198131456,800,839,657.198131456,635,657,0.409482214647,0.0044449527833,0.0599779509866,0.999999994459,-8.65323524618e-05,-5.32049899407e-05,-2.76188987901e-05,1793254888891078144
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,760,738,721,687.61518786,650,915.38481214,800,839,657,635.38481214,657,0.410126273427,0.00444486324017,0.0599785975962,0.999999994958,-8.35033085103e-05,-4.73999004811e-05,-2.94094016642e-05,1793254888907744768
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,760,738,721,687.028243011,650,915.971756989,800,839,657,635.971756989,657,0.410803667439,0.00445138053228,0.0599864468372,0.99999999699,-6.7182788415e-05,-2.30515745241e-05,-3.12265914699e-05,1793254888924411136
+151,2.516666667,POSE1_TO_POSE2_PRESS,782.448467342,760.551532658,738,721,688.103065316,650,916,800,839,657,635.448467342,657,0.411500880288,0.0044529111876,0.0599905276066,0.999999999113,-3.17025741907e-05,-1.36915111427e-05,-2.41176993114e-05,1793254888941077760
+152,2.533333333,POSE1_TO_POSE2_PRESS,782.130889375,761,738,721,688.869110625,649.869110625,916,800,839,657.130889375,635,657,0.412195875202,0.00445361130854,0.0599880226579,0.999999999636,-5.34828834367e-06,-1.82354469805e-05,-1.91794456802e-05,1793254888957744896
+153,2.550000000,POSE1_TO_POSE2_PRESS,782.710052318,761,738,721,688.289947682,649.289947682,916,800,839,657.710052318,635,657,0.412879842703,0.00445233032309,0.0599636151894,0.99999999734,-1.35658409144e-05,-6.78032859734e-05,-2.32206198922e-05,1793254888974412032
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,761,738,721,687.713513996,649.286486004,916,800,839,658,635,657,0.413579947816,0.00445339071759,0.0599390563016,0.99999999292,-1.53695069995e-05,-0.000114922989643,-2.67637987768e-05,1793254888991078912
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,761,738,721,687.13981641,649.86018359,916,800,839,658,635,657,0.414296231495,0.00445679842186,0.059914345608,0.999999986764,-1.07430432486e-05,-0.000159588363587,-2.98077215619e-05,1793254889007745536
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,761,738,721,687.44516435,650,916,800,839,658,635,657,0.415143752384,0.00445595448778,0.0599487181732,0.999999995166,-8.52301075041e-06,-9.28806255025e-05,-3.11062919034e-05,1793254889024411904
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,761,738,721,688.03323462,650,916,800,839.03323462,658,635,657,0.416030776858,0.00445388425347,0.0600003980666,0.999999999456,-6.77241138347e-06,5.62834353487e-06,-3.17830305502e-05,1793254889041078016
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,761,738,721,688.612330411,650,916,800,839.612330411,658,635,657,0.416872026226,0.00445417540626,0.0600236307118,0.99999999882,4.55981409931e-09,3.69893504443e-05,-3.14841751403e-05,1793254889057744640
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,761,738,720.809496921,688.809496921,650,916,800,839.809496921,657.809496921,635,657,0.417712964737,0.00445413401663,0.060032544734,0.999999998269,5.58679628888e-06,4.91659846829e-05,-3.18431980251e-05,1793254889074411264
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,761,738,720.233193763,688.233193763,650,916,800,839.233193763,657.233193763,635,657,0.418553273663,0.00445341917386,0.0600124611876,0.999999999147,8.74949797273e-06,2.24911060226e-05,-3.35345327548e-05,1793254889091078400
+161,2.683333333,POSE1_TO_POSE2_PRESS,783,761,738,720,688,650,916,800,839.342606418,657.342606418,635.342606418,657,0.419396264403,0.00445166199745,0.0599888765235,0.999999999195,8.75476429019e-06,-1.6663759873e-05,-3.54393689501e-05,1793254889107745280
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,761,738,720,688,650,916,800,839.918064728,657.918064728,635.918064728,657,0.420241077799,0.0044491964007,0.0599629123313,0.999999997208,6.61408467714e-06,-6.43006275938e-05,-3.74893109466e-05,1793254889124411648
+163,2.716666667,POSE1_TO_POSE2_PRESS,783.505166269,761,738,720,687.494833731,650,916,800,840,658,635.494833731,657,0.421087350725,0.00445121685782,0.0599261027896,0.999999989077,-6.39976486266e-05,-0.000127426232046,-3.88865929704e-05,1793254889141078016
+164,2.733333333,POSE1_TO_POSE2_PRESS,783.90731857,761,738,720,687,650,916,800,840,658,635.09268143,657,0.42194772867,0.0044534150795,0.0598942736474,0.99999997417,-0.000131526492559,-0.000180967032086,-4.01484716699e-05,1793254889157744640
+165,2.750000000,POSE1_TO_POSE2_PRESS,783.327784995,761,738,720,687,650,916,800,840,658,635.672215005,657,0.422880926592,0.00445263478944,0.0598980646379,0.999999977005,-0.000123147186802,-0.000170651413508,-4.12682698605e-05,1793254889174411264
+166,2.766666667,POSE1_TO_POSE2_PRESS,783.250119636,761,738,720,687.250119636,650,916,800,840,658,635.749880364,657,0.423849548924,0.00445156661689,0.0599309341065,0.999999985688,-0.000116388370896,-0.000115509582188,-4.16669379053e-05,1793254889191077888
+167,2.783333333,POSE1_TO_POSE2_PRESS,783.825903408,761,738,720,687.825903408,650,916,800,840,658,635.174096592,657,0.424864295152,0.00445012361158,0.0600016647272,0.999999992909,-0.000111739484768,-2.00251922335e-06,-4.11266701468e-05,1793254889207744512
+168,2.800000000,POSE1_TO_POSE2_PRESS,784,761,738,720,687.599382883,650.400617117,916.400617117,800.400617117,840,657.599382883,635.400617117,657,0.425837615102,0.00444822377202,0.0600334147865,0.999999992041,-0.000106805406183,5.27070514841e-05,-4.16249495862e-05,1793254889224410880
+169,2.816666667,POSE1_TO_POSE2_PRESS,784,761,738,720,687.025132989,650.974867011,916.974867011,800.974867011,840,657.025132989,635.974867011,657,0.426792980292,0.00444612593452,0.0600482701485,0.999999990561,-0.000101747721999,8.19330016775e-05,-4.25733493212e-05,1793254889241077504
+170,2.833333333,POSE1_TO_POSE2_PRESS,784,760.433406097,738,719.433406097,687,650.433406097,917,800.433406097,840,657.566593903,636,657,0.427754651556,0.0044445752693,0.0600258768397,0.999999992485,-9.94843416979e-05,5.52948270005e-05,-4.55576747344e-05,1793254889257744640
+171,2.850000000,POSE1_TO_POSE2_PRESS,784,760.155257308,738,719.155257308,687,650,916.844742692,800,840,657.844742692,636,657,0.428695848176,0.00444382876487,0.0599983978876,0.999999994204,-9.48024669679e-05,1.74453883719e-05,-4.79615853885e-05,1793254889274411008
+172,2.866666667,POSE1_TO_POSE2_PRESS,784,760.733397703,738,719.733397703,687,650,916.266602297,800,840,657.266602297,636,657,0.429580490651,0.00444520438485,0.0599617105216,0.999999994396,-8.31848482766e-05,-4.39764505104e-05,-4.85307769765e-05,1793254889291077888
+173,2.883333333,POSE1_TO_POSE2_PRESS,784,761,738,719.6898606,687,650,916,800.3101394,840,657.3101394,636,657.3101394,0.430498178528,0.00444374672929,0.05993985344,0.999999992699,-7.70315308941e-05,-7.90106434566e-05,-4.92467491782e-05,1793254889307744512
+174,2.900000000,POSE1_TO_POSE2_PRESS,784,761,738,719.114315886,687,650,916,800.885684114,840,657.885684114,636,657.885684114,0.431444145335,0.00443986446593,0.0599306875447,0.999999991709,-7.55543522109e-05,-9.14633056278e-05,-5.00883306411e-05,1793254889324411136
+175,2.916666667,POSE1_TO_POSE2_PRESS,784,761,738,719,687.471046388,650,916,801,840,658,636,657.528953612,0.432432206022,0.00443779994929,0.0599710954851,0.999999995517,-7.62837650458e-05,-2.405329342e-05,-5.06682181509e-05,1793254889341077504
+176,2.933333333,POSE1_TO_POSE2_PRESS,784.058022151,761,738,719,687.941977849,650,916.058022151,800.941977849,840,658,636,657,0.433428021001,0.00443606275219,0.0600184671457,0.999999994231,-7.75594124516e-05,5.38973793283e-05,-5.11592367623e-05,1793254889357744128
+177,2.950000000,POSE1_TO_POSE2_PRESS,784.637628019,761,738,719,687.362371981,650,916.637628019,800.362371981,840,658,636,657,0.434399755395,0.00443321797131,0.060017986548,0.999999994386,-7.88290344865e-05,4.86659452118e-05,-5.14344418699e-05,1793254889374411008
+178,2.966666667,POSE1_TO_POSE2_PRESS,784.784364123,761.215635877,738,719.215635877,687,650,917,800,840,657.784364123,636,657,0.43534215997,0.0044300763328,0.0600052938721,0.999999995178,-8.00734157764e-05,2.31246680888e-05,-5.19301408218e-05,1793254889391077888
+179,2.983333333,POSE1_TO_POSE2_PRESS,784.209021845,761.790978155,738,719.790978155,687,650,917,800,840,657.209021845,636,657,0.436235639059,0.00442643949983,0.059972229991,0.999999994645,-8.12756925017e-05,-3.62958542798e-05,-5.27936497666e-05,1793254889407744512
+180,3.000000000,POSE1_TO_POSE2_PRESS,784,761.633418655,738,719.633418655,687,650,917,800,840,657.366581345,636,657,0.437099820632,0.004425251041,0.0599411614253,0.999999991263,-7.76790046066e-05,-9.29367009479e-05,-5.2933669617e-05,1793254889424411648
+181,3.016666667,POSE1_TO_POSE2_PRESS,784,761.057666623,738,719.057666623,687,650,917,800,840,657.942333377,636,657,0.437947285039,0.00442545962046,0.0599112313851,0.999999985118,-7.13440355686e-05,-0.000147991465722,-5.26608677186e-05,1793254889441079296
+182,3.033333333,POSE1_TO_POSE2_PRESS,784.531638648,761,738,718.468361352,686.468361352,650.531638648,917,800.531638648,840,658,636,657.531638648,0.438815324188,0.00442304582447,0.0599034928831,0.999999982942,-6.94471761401e-05,-0.000162983094184,-5.2243505062e-05,1793254889457745408
+183,3.050000000,POSE1_TO_POSE2_PRESS,785,761,738,718.119732911,686.119732911,650.880267089,917,801,840,657.880267089,636,658,0.439707706906,0.00442027791165,0.0599126713031,0.999999985075,-6.91224133712e-05,-0.000149575441784,-5.19615419292e-05,1793254889474411264
+184,3.066666667,POSE1_TO_POSE2_PRESS,785,761,738,718.697425188,686.697425188,650.302574812,917,801,840,657.302574812,636,658,0.440684440548,0.00441727198815,0.0599771066092,0.999999994981,-7.29212237518e-05,-4.46012185813e-05,-5.2259004301e-05,1793254889491077632
+185,3.083333333,POSE1_TO_POSE2_PRESS,785,761,738,718.725455978,687,650,917,800.725455978,840.274544022,657.274544022,636,658,0.441587811893,0.00441723511209,0.0600071428296,0.999999996158,-7.0043556012e-05,5.11329976358e-06,-5.24492712074e-05,1793254889507744256
+186,3.100000000,POSE1_TO_POSE2_PRESS,785,761,738,718.148967859,687,650,917,800.148967859,840.851032141,657.851032141,636,658,0.442410499163,0.00442046360092,0.0599993468582,0.999999996814,-5.98230838798e-05,-5.94692975256e-06,-5.25216447687e-05,1793254889524411136
+187,3.116666667,POSE1_TO_POSE2_PRESS,785,761,738,718,686.564566397,650,917,800.435433603,841,657.564566397,636,657.564566397,0.443173680973,0.00441968441479,0.0599661181365,0.999999995227,-5.70803832979e-05,-5.86533468678e-05,-5.33651450144e-05,1793254889541078016
+188,3.133333333,POSE1_TO_POSE2_PRESS,785,761,738,718,686,650,917,801,840.977714642,657.022285358,636,657,0.443916842622,0.00441770527988,0.0599250119536,0.999999989186,-5.69449922934e-05,-0.000124155112992,-5.45113600147e-05,1793254889557744896
+189,3.150000000,POSE1_TO_POSE2_PRESS,785,761,738,718,686,650,917,801,840.398537792,657.601462208,636,657,0.44467785244,0.00442063678097,0.0599085073171,0.999999986016,-5.68522793431e-05,-0.000146772629751,-5.65076702866e-05,1793254889574411776
+190,3.166666667,POSE1_TO_POSE2_PRESS,785,761,738,718,686,650,917,801,840,658,636,657.179012523,0.445416775714,0.00442533113172,0.0598865119785,0.999999979709,-5.65629885662e-05,-0.000184832767584,-5.67451005344e-05,1793254889591078400
+191,3.183333333,POSE1_TO_POSE2_PRESS,785,761,738,718,686,650,917,801,840,658,636,657.752974376,0.446106970331,0.00443391479918,0.0598524026846,0.999999964016,-5.58399945591e-05,-0.000256963446837,-5.31019729573e-05,1793254889607744768
+192,3.200000000,POSE1_TO_POSE2_PRESS,785.328365661,761,738,718,685.671634339,649.671634339,917,801,840.328365661,658,636,657.671634339,0.446799401431,0.00445276271791,0.059828138811,0.999999952184,-7.0615468238e-05,-0.000296246167478,-5.36920839018e-05,1793254889624411392
+193,3.216666667,POSE1_TO_POSE2_PRESS,785.904836956,761,738,718,685.095163044,649.095163044,917,801,840.904836956,658,636,657.095163044,0.447493522326,0.00447936607125,0.0598113139154,0.999999945363,-9.71012322036e-05,-0.000310709712983,-5.74807340416e-05,1793254889641078016
+194,3.233333333,POSE1_TO_POSE2_PRESS,786.493878828,761,738,717.506121172,684.506121172,649,916.506121172,800.506121172,841,658,636,657,0.44817944189,0.00448902081061,0.0598266036025,0.999999953992,-9.07886902261e-05,-0.000283472000805,-5.84631702372e-05,1793254889657744640
+195,3.250000000,POSE1_TO_POSE2_PRESS,786.916435926,761,738,717.083564074,683.916435926,649,916.083564074,800,841,658,636,657.083564074,0.448849258672,0.00449329949019,0.0598405374493,0.999999961003,-8.05493678049e-05,-0.000260879612647,-5.8711141485e-05,1793254889674411264
+196,3.266666667,POSE1_TO_POSE2_PRESS,786.337666752,761,738,717.662333248,683.337666752,649,916.662333248,800,841,658,636,657.662333248,0.449433258891,0.00448557777752,0.0598088083714,0.999999945161,-8.54689902241e-05,-0.000314676358701,-5.7894631222e-05,1793254889691078144
+197,3.283333333,POSE1_TO_POSE2_PRESS,786,761,738,717.760941015,683,649,916.760941015,800,841,658,636,658,0.450003018967,0.00448221077911,0.0597716431995,0.99999992513,-8.64230469058e-05,-0.000372601381868,-5.86424664192e-05,1793254889707744768
+198,3.300000000,POSE1_TO_POSE2_PRESS,786,761,738,717.187077184,683,649,916.187077184,800,841,658,636,658,0.45055283551,0.00448494260855,0.0597268647185,0.999999899574,-8.18232829655e-05,-0.000436308099915,-6.15811854381e-05,1793254889724411392
+199,3.316666667,POSE1_TO_POSE2_PRESS,786,761,738,717,683,648.603880981,916.396119019,800.396119019,841,658,636,657.603880981,0.451079500624,0.00448226636392,0.0597048662267,0.999999886328,-8.48883596743e-05,-0.000464936635666,-6.30155339877e-05,1793254889741077760
+200,3.333333333,POSE1_TO_POSE2_PRESS,786,761,738,717,683,648.016170936,916.983829064,800.983829064,841,658,636,657.016170936,0.451594968127,0.00447697439442,0.0596938857362,0.999999880196,-9.16606922518e-05,-0.00047659890079,-6.37222634748e-05,1793254889757744640
+201,3.350000000,POSE1_TO_POSE2_PRESS,786,761,738,717,682.435233058,648,917,800.435233058,841,658,636,657.564766942,0.452119936497,0.00447679899243,0.0597144037679,0.9999998954,-9.26948232898e-05,-0.000443167380603,-6.48834979072e-05,1793254889774411008
+202,3.366666667,POSE1_TO_POSE2_PRESS,786,761.144614685,738,717,682,648,917,800,841,658,636,657.855385315,0.452627712323,0.00447656522859,0.0597306231005,0.999999906358,-9.34404977455e-05,-0.000417371076675,-6.59855311204e-05,1793254889791077888
+203,3.383333333,POSE1_TO_POSE2_PRESS,786,761.721775058,738,717,682,648,917,800,841,658,636,657.278224942,0.45308326097,0.00447572390354,0.0597313193104,0.999999905907,-9.380899935e-05,-0.00041822801502,-6.68720292976e-05,1793254889807744512
+204,3.400000000,POSE1_TO_POSE2_PRESS,786.295991192,761.704008808,738,717,681.704008808,648,917,800,841,657.704008808,635.704008808,657.295991192,0.453489960877,0.00447383988538,0.0597141079054,0.99999989046,-9.6304485673e-05,-0.000453050915688,-6.74615466858e-05,1793254889824410880
+205,3.416666667,POSE1_TO_POSE2_PRESS,786.867467032,761.132532968,738,717,681.132532968,648,917,800,841,657.132532968,635.132532968,657.867467032,0.453851196304,0.0044709854129,0.0596802295415,0.999999857692,-0.000100779596909,-0.000519486583962,-6.77746581082e-05,1793254889841077760
+206,3.433333333,POSE1_TO_POSE2_PRESS,787,761.454673291,738,717,681,647.545326709,917,800,841,657.454673291,635.454673291,657.545326709,0.454210251783,0.0044710573157,0.0596604720245,0.999999845382,-9.72103025526e-05,-0.000543264672974,-6.81920648451e-05,1793254889857744640
+207,3.450000000,POSE1_TO_POSE2_PRESS,786.954457829,761.954457829,737.954457829,717,680.954457829,647,916.954457829,800,841.045542171,658,636,657.045542171,0.454567531052,0.0044721364572,0.0596469379778,0.999999841578,-8.87601384083e-05,-0.000551696805295,-6.7800193679e-05,1793254889874411008
+208,3.466666667,POSE1_TO_POSE2_PRESS,786.376300948,761.376300948,737.376300948,717,680.376300948,647,916.376300948,800,841.623699052,658,636,657.623699052,0.454911735342,0.00447466178301,0.0596563245449,0.999999855876,-5.16342544878e-05,-0.000531288328011,-5.75755525714e-05,1793254889891077888
+209,3.483333333,POSE1_TO_POSE2_PRESS,786,761,737.202110168,717,680,647,916.202110168,800,841.797889832,658,636,658,0.455243706916,0.00447589252755,0.0596660308191,0.999999866955,-2.9106666608e-05,-0.000512456766197,-5.12914009582e-05,1793254889907744512
+210,3.500000000,POSE1_TO_POSE2_PRESS,786,761,737.780995167,717,680,647,916.780995167,800,841.219004833,658,636,658,0.455552874155,0.00447470990663,0.0596763330918,0.99999987477,-3.37933027885e-05,-0.00049656490218,-5.23531317542e-05,1793254889924411136
+211,3.516666667,POSE1_TO_POSE2_PRESS,786.356428083,761,738,716.643571917,680,647,917,800,841,658,636,657.643571917,0.455826749555,0.00447270425423,0.0596743463859,0.999999873983,-3.96662570213e-05,-0.000497539836072,-5.39875369471e-05,1793254889941077760
+212,3.533333333,POSE1_TO_POSE2_PRESS,786.929760293,761,738,716.070239707,680,647,917,800,841,658,636,657.070239707,0.456079148154,0.00447019774635,0.0596648812292,0.999999867936,-4.62611449453e-05,-0.000508779049604,-5.59704429506e-05,1793254889957744640
+213,3.550000000,POSE1_TO_POSE2_PRESS,786.478768942,761,738,716.521231058,679.478768942,647,916.478768942,800,841,658,636,657.521231058,0.456279224145,0.00447238008785,0.0596450517823,0.999999852797,-4.67227503808e-05,-0.000537448867667,-5.8072085045e-05,1793254889974411520
+214,3.566666667,POSE1_TO_POSE2_PRESS,786,761,738,716.888549552,679,647,916.111450448,800,841,658,636,657.888549552,0.456464646191,0.00447476959922,0.0596238342572,0.999999835476,-4.65631788973e-05,-0.000568576536908,-6.00026586502e-05,1793254889991077888
+215,3.583333333,POSE1_TO_POSE2_PRESS,786,761,738,716.314050729,679,647,916.685949271,800,841,658,636,657.314050729,0.456619535578,0.0044752999953,0.0596028616128,0.999999817125,-4.73804995868e-05,-0.000599805018953,-6.11536117582e-05,1793254890007744768
+216,3.600000000,POSE1_TO_POSE2_PRESS,786,761,738,716.259992058,679,647,917,800,841,658,636,657.259992058,0.456765893229,0.00447488186856,0.0595847203356,0.999999800852,-4.98417459955e-05,-0.000626064986221,-6.20890710081e-05,1793254890024411392
+217,3.616666667,POSE1_TO_POSE2_PRESS,786,761,738,716.833484919,679,647,917,800,841,658,636,657.833484919,0.456901963224,0.00447332000428,0.059569993148,0.999999787683,-5.42852530552e-05,-0.0006463338714,-6.276468576e-05,1793254890041078016
+218,3.633333333,POSE1_TO_POSE2_PRESS,786.421487142,761,738,717,679,646.578512858,917,800,841,658,636,658,0.457022909171,0.00447553124271,0.0595576297083,0.999999775832,-5.27773205557e-05,-0.000664434745889,-6.38479639356e-05,1793254890057744640
+219,3.650000000,POSE1_TO_POSE2_PRESS,786.984964605,761,738,716.984964605,678.984964605,646,917,800,841,658,635.984964605,658,0.457137285965,0.0044791518627,0.0595464881804,0.999999764659,-4.89677456192e-05,-0.000681213468047,-6.50634666897e-05,1793254890074411264
+220,3.666666667,POSE1_TO_POSE2_PRESS,786.406059896,761,738,716.406059896,678.406059896,646,917,800,841,658,635.406059896,658,0.457237368942,0.00447773268948,0.0595449017374,0.999999764291,-5.01606971453e-05,-0.000681674364131,-6.49824605145e-05,1793254890091077632
+221,3.683333333,POSE1_TO_POSE2_PRESS,786,761,738,716,678,646,917,800,841,658,635.171448067,658,0.457329416977,0.00447676952133,0.0595431406124,0.999999763083,-5.16299917485e-05,-0.000683328991052,-6.50411708329e-05,1793254890107744000
+222,3.700000000,POSE1_TO_POSE2_PRESS,786,761,738,716,678,646,917,800,841,658,635.74567461,658,0.457402588718,0.00447687763419,0.0595409691116,0.999999759889,-5.37484917713e-05,-0.000687788018643,-6.54281134791e-05,1793254890124410880
+223,3.716666667,POSE1_TO_POSE2_PRESS,786,761,738,716.318241904,678,646,916.681758096,800,841,657.681758096,636,658,0.457464541008,0.00447725541536,0.0595386895377,0.999999756961,-5.41264587001e-05,-0.000692000152929,-6.54599068514e-05,1793254890141077760
+224,3.733333333,POSE1_TO_POSE2_PRESS,786,761,738,716.889490135,678,646,916.110509865,800,841,657.110509865,636,658,0.457517573702,0.00447784758625,0.0595363240443,0.999999754244,-5.31206800907e-05,-0.000696016004404,-6.52093521122e-05,1793254890157744896
+225,3.750000000,POSE1_TO_POSE2_PRESS,786,761,738,716.518829064,678,646,916.481170936,800,841,657.481170936,635.518829064,657.518829064,0.45756124295,0.00448076763429,0.0595362776698,0.999999753458,-5.09936731548e-05,-0.00069722255784,-6.60693926521e-05,1793254890174411520
+226,3.766666667,POSE1_TO_POSE2_PRESS,786,761,738,716.075526026,678,646,917,800,841,658,635,657.075526026,0.45760072946,0.00448452589299,0.059536429315,0.999999752893,-4.8283347739e-05,-0.000698111254086,-6.72499931198e-05,1793254890191077888
+227,3.783333333,POSE1_TO_POSE2_PRESS,786,761,738,716.655024076,678,646,917,800,841,658,635,657.655024076,0.457627291534,0.00449015161294,0.059534190555,0.999999750725,-4.34751677205e-05,-0.000701375234535,-6.87921237451e-05,1793254890207744512
+228,3.800000000,POSE1_TO_POSE2_PRESS,786.232254872,761,738,716.767745128,678,646,916.767745128,800,841,658,635,658,0.457648779939,0.00450136341723,0.0595318544921,0.999999748398,-3.31477830624e-05,-0.000704953199949,-7.17345624531e-05,1793254890224411392
+229,3.816666667,POSE1_TO_POSE2_PRESS,786.806150562,761,738,716.193849438,678,646,916.193849438,800,841,658,635,658,0.457662805107,0.00452079220455,0.0595293752992,0.999999745612,-1.47017935817e-05,-0.000708993028649,-7.67368174732e-05,1793254890241078016
+230,3.833333333,POSE1_TO_POSE2_PRESS,786.611294612,761,738,716,678,646,916.388705388,800,841,657.611294612,635,658,0.457674262016,0.00452860392394,0.0595279508516,0.999999744005,-4.88249951615e-06,-0.000711254954451,-7.79870932956e-05,1793254890257744640
+231,3.850000000,POSE1_TO_POSE2_PRESS,786.024323056,761,738,716,678,646,916.975676944,800,841,657.024323056,635,658,0.457684408939,0.00453049014847,0.0595270643959,0.999999743104,5.36592963647e-07,-0.000712610028882,-7.73236045593e-05,1793254890274411264
+232,3.866666667,POSE1_TO_POSE2_PRESS,786.556117752,761,738,716.556117752,678,646,916.443882248,800,841,657.556117752,635,658,0.457687092727,0.00452802120806,0.0595239466143,0.999999740086,-4.22751663165e-06,-0.000716863530586,-7.69215042662e-05,1793254890291078400
+233,3.883333333,POSE1_TO_POSE2_PRESS,786.864761727,761,738,716.864761727,678,646,916.135238273,800,841,658,635.135238273,657.864761727,0.457689748248,0.00452701406756,0.0595215306492,0.999999737638,-6.83352991294e-06,-0.000720268630292,-7.67423928679e-05,1793254890307745280
+234,3.900000000,POSE1_TO_POSE2_PRESS,786.28902221,761,738,716.28902221,678,646,916.71097779,800,841,658,635.71097779,657.28902221,0.457693362567,0.00453138157986,0.0595217148471,0.999999737454,-9.76260568405e-07,-0.000720502171664,-7.72528004779e-05,1793254890324411904
+235,3.916666667,POSE1_TO_POSE2_PRESS,786,761,738,716,678,646,917,800,841,658,635.717650597,657,0.457696656338,0.00453085895978,0.0595223317889,0.999999738077,-1.40155492486e-06,-0.000719646772603,-7.7151354003e-05,1793254890341078272
+236,3.933333333,POSE1_TO_POSE2_PRESS,786,761,738,716,678,646,917,800,841,658,635.150681932,657,0.457699626985,0.00452540689517,0.0595233849536,0.999999739504,-8.15991896669e-06,-0.000717693678938,-7.64331346958e-05,1793254890357744384
+237,3.950000000,POSE1_TO_POSE2_PRESS,786,761,738,716,677.559720148,646,916.559720148,800,841,657.559720148,635,657.440279852,0.457700221496,0.00452656728627,0.0595231862367,0.999999739027,-5.71544035763e-06,-0.000718395301184,-7.62941772317e-05,1793254890374411264
+238,3.966666667,POSE1_TO_POSE2_PRESS,786,761,738,716,677.038585825,646,916,800,841,657.038585825,635.038585825,658,0.457699986144,0.00453004165423,0.0595225099903,0.999999737892,-2.28133303643e-07,-0.000719985144102,-7.63962356708e-05,1793254890391077888
+239,3.983333333,POSE1_TO_POSE2_PRESS,786,761,738,716,677.618099814,646,916,800,841,657.618099814,635.618099814,658,0.457700174423,0.00453240136169,0.0595214918251,0.999999737439,1.21763292281e-06,-0.000720555846772,-7.6937678122e-05,1793254890407744512
+240,4.000000000,POSE1_TO_POSE2_PRESS,786,761,738,716,677.804353322,646,916,800,841,658,635.804353322,657.804353322,0.457700350881,0.00453233270263,0.0595205079561,0.999999736964,5.06819931793e-07,-0.000721222387204,-7.68709691639e-05,1793254890424411392
+241,4.016666667,POSE1_TO_POSE2_PRESS,786,761,738,716,677.230608075,646,916,800,841,658,635.230608075,657.230608075,0.457700504493,0.00452757108409,0.0595195903664,0.999999736435,-4.37170774273e-06,-0.000722074139632,-7.56289722511e-05,1793254890441078272
+242,4.033333333,POSE1_TO_POSE2_PRESS,786,761,737.648245635,716.351754365,677.351754365,646,916.351754365,800,841,657.648245635,635,657.351754365,0.457701345146,0.00452809504241,0.0595195833419,0.999999736571,-4.07764950944e-06,-0.000721891854464,-7.55823964404e-05,1793254890457744640
+243,4.050000000,POSE1_TO_POSE2_PRESS,786,761,737.060091965,716.939908035,677.939908035,646,916.939908035,800,841,657.060091965,635,657.939908035,0.457702647529,0.00453217121468,0.0595201882699,0.999999737155,-3.07313772162e-07,-0.000721014636113,-7.6339212895e-05,1793254890474411008
+244,4.066666667,POSE1_TO_POSE2_PRESS,786,761,737.518306813,717,677.481693187,646,917,800,841,657.518306813,635.518306813,657.481693187,0.457702647458,0.00453109545787,0.0595208085239,0.999999737395,-1.34419660321e-06,-0.000720705631257,-7.60992110387e-05,1793254890491077888
+245,4.083333333,POSE1_TO_POSE2_PRESS,786,761,738,717,677,646,917,800,841,657.904461207,635.904461207,657.095538793,0.457702601553,0.00452934269855,0.0595212390247,0.99999973751,-3.03421883827e-06,-0.000720579148682,-7.57428425935e-05,1793254890507744512
+246,4.100000000,POSE1_TO_POSE2_PRESS,786,761,738,717,677,646,917,800,841,657.327515214,635.327515214,657.672484786,0.457703071534,0.00452713277758,0.0595207045965,0.999999737192,-5.25881987813e-06,-0.000721046552773,-7.53717032565e-05,1793254890524411136
+247,4.116666667,POSE1_TO_POSE2_PRESS,786,761,738,716.751969275,677,646,916.751969275,800,841,657.248030725,635.248030725,658,0.457703031265,0.00452712046545,0.0595203715518,0.999999736699,-5.06107155652e-06,-0.000721733850684,-7.53421940892e-05,1793254890541077760
+248,4.133333333,POSE1_TO_POSE2_PRESS,786,761,738,716.178261597,677,646,916.178261597,800,841,657.821738403,635.821738403,658,0.457702321012,0.00452999372515,0.0595203029339,0.999999735974,-1.68265568318e-06,-0.000722709880419,-7.57612626508e-05,1793254890557744640
+249,4.150000000,HOLD_POSE2,787,761,738,716,677,646,917,800,842,658,636,657,0.457702367964,0.00452906846106,0.0595203446406,0.999999736044,-1.61374696582e-06,-0.000722601328732,-7.58711931633e-05,1793254890591056640
+250,4.166666667,HOLD_POSE2,786.420977963,761,737.420977963,716,677,646,917,800,841.420977963,658,635.420977963,657.579022037,0.457703957615,0.00452876778789,0.0595210923785,0.999999737171,-1.73089959921e-06,-0.000721051229693,-7.57695978736e-05,1793254890607723776
+251,4.183333333,HOLD_POSE2,786,761,737.156979162,716.156979162,677.156979162,646,917,800,841,658,635,657.843020838,0.457704942197,0.00452899087018,0.0595212620769,0.999999737715,-1.60785541425e-06,-0.000720302336186,-7.57127923862e-05,1793254890624390656
+252,4.200000000,HOLD_POSE2,786,761,737.732099835,716.732099835,677.732099835,646,917,800,841,658,635,657.267900165,0.45770431507,0.00453060906688,0.0595198920658,0.999999736712,-8.45004928735e-07,-0.000721687593711,-7.57752923659e-05,1793254890641056512
+253,4.216666667,HOLD_POSE2,786,761,738,716.686361485,677.686361485,646,917,800,841,658,635.313638515,657.313638515,0.457703961909,0.00453171869309,0.0595196396252,0.999999736388,-6.79525439531e-07,-0.000722139738977,-7.57447961438e-05,1793254890657722624
+254,4.233333333,HOLD_POSE2,786,761,738,716.099226257,677.099226257,646,917,800,841,658,635.900773743,657.900773743,0.45770384765,0.00453238483937,0.0595203617202,0.999999736657,-1.03496098434e-06,-0.000721778198589,-7.56332060659e-05,1793254890674389248
+255,4.250000000,HOLD_POSE2,786,761,738,716,677,645.51819752,916.51819752,800,841,658,635.51819752,657.51819752,0.457705459559,0.00453267776955,0.0595215917751,0.999999737481,4.99809942588e-07,-0.000720617452975,-7.58164948335e-05,1793254890691056128
+256,4.266666667,HOLD_POSE2,786,761,738,716.061445656,677,645.061445656,916.061445656,800,841,658,635,657,0.457706951257,0.00453275225661,0.0595225623799,0.999999738129,2.10398948583e-06,-0.000719692592351,-7.6025138376e-05,1793254890707722752
+257,4.283333333,HOLD_POSE2,786,761,738,716.639879963,677,645.639879963,916.639879963,800,841,658,635,657,0.457704477861,0.00453162743023,0.0595204808615,0.999999736387,1.05780719246e-06,-0.000722119937158,-7.59425409852e-05,1793254890724389632
+258,4.300000000,HOLD_POSE2,786,761.216917719,737.783082281,717,677.216917719,645.783082281,916.783082281,800,841,658,635,657,0.457703894952,0.00453047335985,0.0595198365232,0.999999736105,3.80782242052e-07,-0.000722532405543,-7.57423202895e-05,1793254890741056512
+259,4.316666667,HOLD_POSE2,786,761.791651738,737.208348262,717,677.791651738,645.208348262,916.208348262,800,841,658,635,657,0.457706430493,0.00452927105018,0.0595215628836,0.999999738234,3.12700342799e-07,-0.000719621237282,-7.53480742543e-05,1793254890757723136
+260,4.333333333,HOLD_POSE2,786,761.624914611,737.375085389,716.624914611,677.624914611,645.375085389,916.375085389,800,841,658,635,657.375085389,0.457705700411,0.00452903660935,0.0595207861396,0.999999737289,-1.40221097406e-06,-0.000720937075134,-7.53027787396e-05,1793254890774389504
+261,4.350000000,HOLD_POSE2,786,761.036533788,737.963466212,716.036533788,677.036533788,645.963466212,916.963466212,800,841,658,635,657.963466212,0.457703113306,0.00452935255509,0.0595185859846,0.999999734581,-4.05360557818e-06,-0.000724656634975,-7.54559168102e-05,1793254890791056128
+262,4.366666667,HOLD_POSE2,786,761,738,716,677,645.456555746,916.456555746,800,841,658,635,657.456555746,0.457703733667,0.00453170509065,0.0595188713279,0.999999734886,-3.63489184732e-07,-0.000724234708434,-7.55783621744e-05,1793254890807722752
+263,4.383333333,HOLD_POSE2,786,761.122107346,738,716,677,645.122107346,916.122107346,800,841,658,635,657.122107346,0.457704838782,0.00453318444207,0.0595195880821,0.999999735718,2.45564692385e-06,-0.000723081768211,-7.55720554648e-05,1793254890824389120
+264,4.400000000,HOLD_POSE2,786,761.697951496,738,716,677,645.697951496,916.697951496,800,841,658,635,657.697951496,0.457706956144,0.004530918138,0.0595212964726,0.999999737814,4.7829915271e-07,-0.000720231278299,-7.50948714086e-05,1793254890841055744
+265,4.416666667,HOLD_POSE2,786,761.726913899,738,716.273086101,677,646,917,800,841,658,635,658,0.457707264031,0.00453011899797,0.0595214152009,0.999999738055,-5.23811157065e-07,-0.000719901843889,-7.50338698321e-05,1793254890857722624
+266,4.433333333,HOLD_POSE2,786,761.15256209,738,716.84743791,677,646,917,800,841,658,635,658,0.457705575723,0.00453093841797,0.0595197802307,0.999999736258,-4.50049658155e-07,-0.000722353611515,-7.54319964103e-05,1793254890874389760
+267,4.450000000,POSE2_TO_POSE3_RETREAT,786,761,738,716,677,646,918,800,841,658,636,658,0.457706289147,0.00452946325341,0.0595194767171,0.999999736324,-1.09250354574e-06,-0.000722317213905,-7.48860961277e-05,1793254890907033856
+268,4.466666667,POSE2_TO_POSE3_RETREAT,786,761,738,716.581434175,677,646,917.418565825,800,841,658,636,657.418565825,0.457705813821,0.00453060839094,0.059519635813,0.999999736056,-4.55983917012e-07,-0.000722639070402,-7.53640293454e-05,1793254890923700224
+269,4.483333333,POSE2_TO_POSE3_RETREAT,786,761,738,717,677,646,917,800,841,658,636,657.159746392,0.457705858332,0.00453055097005,0.0595200115233,0.999999736143,-1.01631418423e-06,-0.000722500032557,-7.55354870951e-05,1793254890940366592
+270,4.500000000,POSE2_TO_POSE3_RETREAT,786,761,738,717,677,646,917,800,841,658,636,657.730035414,0.457707238809,0.00452740301638,0.0595209439252,0.999999737135,-4.65250660676e-06,-0.000721176512471,-7.49193137328e-05,1793254890957032704
+271,4.516666667,POSE2_TO_POSE3_RETREAT,786,761,738,717,677,646,917,800,841,658,636,658,0.45770738525,0.00452759572834,0.0595212086553,0.999999737291,-5.2460999453e-06,-0.000720944149483,-7.50379087272e-05,1793254890973699072
+272,4.533333333,POSE2_TO_POSE3_RETREAT,786,761,738,717,677,646,917,800,841,658,636,658,0.457706422406,0.00453079139727,0.0595208732086,0.999999736701,-3.1046711922e-06,-0.000721692638294,-7.58169941729e-05,1793254890990365696
+273,4.550000000,POSE2_TO_POSE3_RETREAT,786,761,738,716.529236582,677,646,917,800,841,658,636,658,0.45770529929,0.00453081625407,0.0595200821745,0.999999735964,-2.93681050567e-06,-0.000722739104817,-7.55738140708e-05,1793254891007032576
+274,4.566666667,POSE2_TO_POSE3_RETREAT,786.062932842,761,737.937067158,716,677,646,916.937067158,800,841,658,635.937067158,658,0.457704121934,0.00453018507744,0.0595191546259,0.999999735225,-3.01224070915e-06,-0.000723805271319,-7.51489228406e-05,1793254891023699200
+275,4.583333333,POSE2_TO_POSE3_RETREAT,786.64016828,761,737.35983172,716,677,646,916.35983172,800,841,658,635.35983172,658,0.457702844184,0.00453097588242,0.0595180860752,0.999999734781,-8.53893660362e-07,-0.000724394973918,-7.54259535539e-05,1793254891040365824
+276,4.600000000,POSE2_TO_POSE3_RETREAT,787,761,737,716,677,646,916,800,841,657.783826731,635.216173269,658,0.457697765766,0.00453084051161,0.0595152892401,0.99999973215,-2.89570943961e-08,-0.00072802623388,-7.53497704857e-05,1793254891057032448
+277,4.616666667,POSE2_TO_POSE3_RETREAT,787,761,737,716,677,646,916,800,841,657.209858354,635.790141646,658,0.457686396743,0.00452917219834,0.0595096318677,0.999999725852,-1.41098994344e-06,-0.000736691670028,-7.46889722607e-05,1793254891073698816
+278,4.633333333,POSE2_TO_POSE3_RETREAT,786.624187723,761,737.375812277,716,677,646,916.375812277,800,841,657.375812277,635.624187723,658,0.4576569917,0.00452970029679,0.059496231136,0.999999709524,-9.05242815951e-07,-0.000758534627011,-7.46684226411e-05,1793254891090365696
+279,4.650000000,POSE2_TO_POSE3_RETREAT,786.031772327,761,737.968227673,716,677,646,916.968227673,800,841,657.968227673,635.031772327,658,0.457617191416,0.00453149431867,0.059478367442,0.999999686736,6.88544822069e-07,-0.000787972578625,-7.50168865174e-05,1793254891107032576
+280,4.666666667,POSE2_TO_POSE3_RETREAT,786.546731063,761,738,716.546731063,677,646,916.453268937,800,841,658,635,658,0.457558907724,0.00453083948481,0.0594575259819,0.999999663098,7.92457162891e-07,-0.000817364554354,-7.56221032275e-05,1793254891123699200
+281,4.683333333,POSE2_TO_POSE3_RETREAT,786.875787495,761,738,717,677,646,916.124212505,800,841,658,635,658,0.457496771255,0.00453066081611,0.0594379704429,0.999999641249,1.21467901562e-06,-0.000843622692371,-7.61634140917e-05,1793254891140365568
+282,4.700000000,POSE2_TO_POSE3_RETREAT,786.299156508,761,738,717,677,646,916.700843492,800,841,658,635,658,0.457424417044,0.00453272195711,0.0594237132518,0.999999628585,3.10380776293e-06,-0.000858475971862,-7.641896424e-05,1793254891157032448
+283,4.716666667,POSE2_TO_POSE3_RETREAT,786,761,738,716.717875852,677,646,917,800,841,658,635,657.717875852,0.457346100315,0.00453510063599,0.0594145328482,0.999999620327,6.72133419704e-06,-0.00086801359158,-7.6499086987e-05,1793254891173699072
+284,4.733333333,POSE2_TO_POSE3_RETREAT,786,761,738,716.131582234,677,646,917,800,841,658,635,657.131582234,0.457261355158,0.00453782166519,0.0594108259356,0.999999616973,1.22023160584e-05,-0.000871820182472,-7.63900743448e-05,1793254891190365696
+285,4.750000000,POSE2_TO_POSE3_RETREAT,786,761,737.55024256,716,677.44975744,646,916.55024256,800,841,658,635,657,0.457161283313,0.00453840890305,0.0594104337809,0.999999617112,1.2799899854e-05,-0.000871686663878,-7.59938980554e-05,1793254891207032320
+286,4.766666667,POSE2_TO_POSE3_RETREAT,785.970542502,761,737,716,677.970542502,645.970542502,916,800,841,658,635,657.029457498,0.457055736635,0.00453835366629,0.0594112595628,0.999999618596,1.22015048616e-05,-0.000870037008083,-7.54668019157e-05,1793254891223698944
+287,4.783333333,POSE2_TO_POSE3_RETREAT,785.394664702,761,737,716,677.394664702,645.394664702,916,800,841,658,635,657.605335298,0.45693090466,0.00453783454186,0.0594168845983,0.999999626119,1.56312313307e-05,-0.000861413373423,-7.4052637883e-05,1793254891240365568
+288,4.800000000,POSE2_TO_POSE3_RETREAT,785.180909708,761,737.180909708,716,677,645.180909708,916,800,841,658,635,657.819090292,0.456795653373,0.00453796154432,0.0594220673033,0.999999632762,1.98459605476e-05,-0.000853698930444,-7.26670401607e-05,1793254891257032448
+289,4.816666667,POSE2_TO_POSE3_RETREAT,785.755823285,761,737.755823285,716,677,645.755823285,916,800,841,658,635,657.244176715,0.456637709846,0.00453949574884,0.0594262866546,0.999999637601,2.57703494838e-05,-0.000847964620357,-7.13436572967e-05,1793254891273699072
+290,4.833333333,POSE2_TO_POSE3_RETREAT,786,761,737.660328853,716,677,646,916,800,841,658,635.339671147,657,0.456464197545,0.00454031888383,0.059433768444,0.999999645025,2.87915602772e-05,-0.000839204912533,-6.9691672912e-05,1793254891290365696
+291,4.850000000,POSE2_TO_POSE3_RETREAT,786,761,737.069884919,716,677,646,916,800,841,658,635.930115081,657,0.456279191097,0.00454061704979,0.0594436588301,0.999999654294,2.9669410134e-05,-0.000828211610089,-6.77970880928e-05,1793254891307032320
+292,4.866666667,POSE2_TO_POSE3_RETREAT,786,761,737.510427161,716,677.510427161,646,916,799.489572839,841,658,635.489572839,657,0.456074993657,0.00454229555549,0.0594604684201,0.999999674696,3.59838058312e-05,-0.000803104133736,-6.5851597686e-05,1793254891323699456
+293,4.883333333,POSE2_TO_POSE3_RETREAT,786,761,738,716.088808883,677.911191117,646,916.088808883,799.088808883,841,658,635.088808883,657,0.455861619083,0.00454412144446,0.0594779408726,0.999999695108,4.27241302766e-05,-0.000777096386956,-6.38719474164e-05,1793254891340366336
+294,4.900000000,POSE2_TO_POSE3_RETREAT,786,761,738,716.664067797,677.335932203,646,916.664067797,799.664067797,841,658,635.664067797,657,0.455612088883,0.0045457395893,0.0594939561056,0.999999710778,4.77997040483e-05,-0.000756536294505,-6.17426197346e-05,1793254891357032960
+295,4.916666667,POSE2_TO_POSE3_RETREAT,786,761,737.755590011,716.755590011,677.244409989,646,917,800,841,658,635.755590011,657,0.455342843159,0.00454760937162,0.0595093397491,0.999999726028,5.45287219134e-05,-0.000735839792993,-5.92523398065e-05,1793254891373699584
+296,4.933333333,POSE2_TO_POSE3_RETREAT,786,761,737.168112683,716.168112683,677.831887317,646,917,800,841,658,635.168112683,657,0.455045923651,0.00454983236608,0.0595238368577,0.999999740818,6.35786047989e-05,-0.000714951821535,-5.62554075347e-05,1793254891390365952
+297,4.950000000,POSE2_TO_POSE3_RETREAT,786,761,737,716.413607351,678,646,917,800,841,658,635,657.413607351,0.454718014431,0.00455171025726,0.05953468436,0.999999748598,7.25441706509e-05,-0.000703342773249,-5.337940768e-05,1793254891407032320
+298,4.966666667,POSE2_TO_POSE3_RETREAT,786,761,737,716.993019417,678,646,917,800,841,658,635,657.993019417,0.454377682226,0.00455344980522,0.0595440688271,0.999999753575,8.14759357209e-05,-0.000695453410863,-5.05518866424e-05,1793254891423699200
+299,4.983333333,POSE2_TO_POSE3_RETREAT,786,761,737,717,678,646,917,799.429441164,841,658,635,657.429441164,0.453987064502,0.0045560708759,0.0595462069522,0.999999751601,9.07094430684e-05,-0.000697378910651,-4.72397123238e-05,1793254891440365824
+300,5.000000000,POSE2_TO_POSE3_RETREAT,786,761,737,716.852697908,678.147302092,646.147302092,916.852697908,799.147302092,840.852697908,657.852697908,635.147302092,657,0.453583090439,0.00455917727115,0.0595442851281,0.999999746371,0.000100952478832,-0.000703644697639,-4.41776415436e-05,1793254891457032704
+301,5.016666667,POSE2_TO_POSE3_RETREAT,786,761,737,716.278197521,678.721802479,646.721802479,916.278197521,799.721802479,840.278197521,657.278197521,635.721802479,657,0.453142159456,0.0045636600043,0.0595308451142,0.999999731862,0.00011411262623,-0.000722150857425,-4.18580497093e-05,1793254891473699584
+302,5.033333333,POSE2_TO_POSE3_RETREAT,786,761,737.30347154,716,679,647,916,800,840.30347154,657.30347154,635.69652846,657.30347154,0.452697841261,0.00456683715152,0.0595309154849,0.99999973442,0.000125680734172,-0.000716824788273,-3.90635427054e-05,1793254891490366208
+303,5.050000000,POSE2_TO_POSE3_RETREAT,786,761,737.891871307,716,679,647,916,800,840.891871307,657.891871307,635.108128693,657.891871307,0.452250342775,0.00456878848981,0.0595436707006,0.999999752699,0.00013575408406,-0.000689122735645,-3.58231394472e-05,1793254891507032320
+304,5.066666667,POSE2_TO_POSE3_RETREAT,786,761,737.526612375,716,679.473387625,647,916,800,840.526612375,657.526612375,635,658,0.451777492129,0.00457149124782,0.0595733123425,0.999999780015,0.000147971618088,-0.000645829273446,-3.13031603428e-05,1793254891523698944
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,786,761,737,716.62788686,680.62788686,647,916.62788686,800,840.62788686,657.62788686,635,658,0.450752125806,0.00457798238936,0.0596187899595,0.9999998165,0.000174638500367,-0.000579664536851,-2.21297323585e-05,1793254891557032448
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,786,761,737,716.223530224,681,647,916.223530224,800,840.223530224,658,635,658,0.449571747605,0.00458599622633,0.059603822244,0.999999800137,0.000206185870727,-0.000597496021758,-1.45688804752e-05,1793254891590365952
+309,5.150000000,POSE2_TO_POSE3_RETREAT,786,761,737.361480742,716.361480742,681.361480742,647.361480742,916.361480742,800,840,658,635.361480742,657.638519258,0.448928272694,0.00458989622664,0.05959162209,0.999999786388,0.000220788917593,-0.000615117540517,-1.03566760451e-05,1793254891607032576
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,785,761,737,717.59594061,684.59594061,649.59594061,916.40405939,800,840,658,635,657.40405939,0.442496486347,0.00460374242105,0.0597442927133,0.999999873415,0.000330611428489,-0.000377622475331,3.55985075085e-05,1793254891757032704
+319,5.316666667,POSE2_TO_POSE3_RETREAT,785.171446719,761,737,718,685,650,916.171446719,800,840,657.828553281,635,657,0.441694375835,0.0046051253921,0.0597707209555,0.999999881453,0.000343331026167,-0.000342795719675,4.13452653023e-05,1793254891773699584
+320,5.333333333,POSE2_TO_POSE3_RETREAT,785.744542262,761,737,718,685,650,916.744542262,800,840,657.255457738,635,657,0.44083651257,0.00460814537775,0.0597729601956,0.99999987162,0.000356460376853,-0.000357044002053,4.70625253615e-05,1793254891790365952
+321,5.350000000,POSE2_TO_POSE3_RETREAT,785.671472241,760.671472241,737,718,685,650,916.671472241,800,840,657.328527759,635,657,0.439982621707,0.00461056296273,0.0597810163708,0.99999988496,0.000325247446814,-0.000350495608659,3.80437255316e-05,1793254891807032320
+322,5.366666667,POSE2_TO_POSE3_RETREAT,785.07872861,760.07872861,737,718,685,650,916.07872861,800,840,657.92127139,635,657,0.439131925659,0.00461249607158,0.0597937507702,0.999999912937,0.000258372583693,-0.000327221649964,1.7173564799e-05,1793254891823698944
+323,5.383333333,POSE2_TO_POSE3_RETREAT,785.501033441,760,737,718,685,650,916,800,840,657.498966559,635,657,0.438223253168,0.00460528847562,0.0598079946025,0.999999923708,0.00023718172841,-0.00030993911968,1.63224179461e-05,1793254891840365568
+324,5.400000000,POSE2_TO_POSE3_RETREAT,785.921677185,760,737,718,685,650,916,800,840,657,635,657.078322815,0.43729751733,0.00459901524746,0.0598123013281,0.999999926091,0.000227766931259,-0.000309176718798,1.87069535402e-05,1793254891857032192
+325,5.416666667,POSE2_TO_POSE3_RETREAT,785.347454816,760,737,718,685,650,916,800,840,657,635,657.652545184,0.436319968583,0.00460752220446,0.0597522276482,0.999999885945,0.00024860973472,-0.000407201017373,2.21646089554e-05,1793254891873699072
+326,5.433333333,POSE2_TO_POSE3_RETREAT,785,760.232432117,737,718.232432117,685.232432117,650,916,800,840,657,635,657.767567883,0.435381502504,0.00461401940859,0.0597171811678,0.999999863665,0.00026406438966,-0.000449820457239,2.45092737024e-05,1793254891890365696
+327,5.450000000,POSE2_TO_POSE3_RETREAT,785,760.820998426,737,718.820998426,685.820998426,650,916,800,840,657,635,657.179001574,0.434502919027,0.00461743725596,0.0597204815367,0.999999879844,0.000271263289928,-0.000407548186441,2.51486067729e-05,1793254891907032576
+328,5.466666667,POSE2_TO_POSE3_RETREAT,785,760.596586364,737,719,686,650,916,800,840,657.403413636,635.403413636,657.403413636,0.433582987112,0.00461714028146,0.0597414729256,0.999999894074,0.000269558728018,-0.000372114177465,2.68551894162e-05,1793254891923699200
+329,5.483333333,POSE2_TO_POSE3_RETREAT,785,760.016859546,737,719,686,650,916,800,840,657.983140454,635.983140454,657.983140454,0.432644983788,0.00461521973234,0.0597701962296,0.999999907053,0.000263962879781,-0.000339668854451,2.90282167494e-05,1793254891940365824
+330,5.500000000,POSE2_TO_POSE3_RETREAT,784.440468628,760,737,719,686,650,916,800,839.440468628,657.440468628,636,657.440468628,0.431693432266,0.00461826027433,0.0597888763531,0.999999917789,0.000260876294615,-0.000309071300039,2.90044173365e-05,1793254891957032448
+331,5.516666667,POSE2_TO_POSE3_RETREAT,784,760.13572058,737,719,686.13572058,650,916.13572058,800,839,657.13572058,635.86427942,657,0.430744930855,0.00462067617809,0.0598066677016,0.999999926637,0.000258827345593,-0.000280831925547,2.94440378179e-05,1793254891973699072
+332,5.533333333,POSE2_TO_POSE3_RETREAT,784,760.711579657,737,719,686.711579657,650,916.711579657,800,839,657.711579657,635.288420343,657,0.429807636958,0.00462058449106,0.0598225523358,0.999999931911,0.000259899684136,-0.000260060586561,3.15999102615e-05,1793254891990365696
+333,5.550000000,POSE2_TO_POSE3_RETREAT,784.293869903,760.706130097,737,719,686.706130097,650,917,800,839.293869903,657.706130097,635,657,0.428837685314,0.00461176305686,0.0598035454869,0.999999923182,0.000249457642351,-0.000300576974587,3.25725469856e-05,1793254892007032064
+334,5.566666667,POSE2_TO_POSE3_RETREAT,784.882613246,760.117386754,737,719,686.117386754,650,917,800,839.882613246,657.117386754,635,657,0.427834964457,0.00459418206428,0.0597495280029,0.999999892568,0.000227461897718,-0.000402590380178,3.23579069722e-05,1793254892023698688
+335,5.583333333,POSE2_TO_POSE3_RETREAT,784.536468594,760.463531406,737,719.463531406,686,650,917,800,839.536468594,657.463531406,635,657,0.426890161936,0.00456587251975,0.0597392314274,0.999999902051,0.000182208315161,-0.000402121687285,3.15625295645e-05,1793254892040365824
+336,5.600000000,POSE2_TO_POSE3_RETREAT,784.04225849,760.95774151,737.04225849,720,686,650.04225849,917,800,839,658,635,657,0.425958531911,0.00453793562019,0.0597423667487,0.999999919751,0.000135813800778,-0.000375634546242,3.0830403108e-05,1793254892057032704
+337,5.616666667,POSE2_TO_POSE3_RETREAT,784.617926694,760.382073306,737.617926694,720,686,650.617926694,917,800,839,658,635,657,0.425011105654,0.00454842791374,0.0597776091758,0.999999929709,0.000148129390718,-0.000342883084244,3.27222266125e-05,1793254892073699584
+338,5.633333333,POSE2_TO_POSE3_RETREAT,784.807421366,760.192578634,737.807421366,720,686,651,917,800.192578634,839,658,635,657,0.42408262788,0.00455472958027,0.0598078408061,0.999999939974,0.000154032875629,-0.000308435565957,3.45350252435e-05,1793254892090366464
+339,5.650000000,POSE2_TO_POSE3_RETREAT,784.234774997,760.765225003,737.234774997,720,686,651,917,800.765225003,839,658,635,657,0.42319154613,0.00455276074592,0.0598281832762,0.999999951876,0.000147281614065,-0.000270640753551,3.61918629938e-05,1793254892107032576
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783.650014507,760.650014507,737.349985493,720,686.699970986,650.650014507,917,800.650014507,839,658,635,657,0.422299045465,0.00455179363647,0.0598377817716,0.999999957507,0.000139421229248,-0.000253427824761,3.63681493945e-05,1793254892123698944
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783.056836374,760.056836374,737.943163626,720,687.886327253,650.056836374,917,800.056836374,839,658,635,657,0.421405558898,0.00455152259062,0.0598399146548,0.999999959437,0.000130790154098,-0.000250516527217,3.55156525323e-05,1793254892140365568
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783,760,738,720,686.954809846,650,916.477404923,799.477404923,839.522595077,658,635,657,0.420423669796,0.00455693054514,0.0597783819728,0.999999924761,0.000135727751165,-0.000361673696544,3.5330867799e-05,1793254892157032192
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,760,738,720,686,649.899961448,916,799.100038552,839.899961448,657.899961448,635,657,0.419454014255,0.00456045253763,0.0597209737833,0.999999884234,0.000137227005775,-0.000459878487862,3.48208623866e-05,1793254892173699072
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,760,738,720,686,649.325039754,916,799.674960246,839.325039754,657.325039754,635,657,0.418586901648,0.00455216509087,0.0597151710093,0.999999896339,0.000115578842543,-0.000439217131139,3.24311490281e-05,1793254892190365952
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,760,738,720,686.511096254,649,916,799.744451873,839,657.255548127,635,657,0.417756668212,0.00455022198755,0.0597327998132,0.999999913212,0.000106309609395,-0.000401577338935,3.17824338326e-05,1793254892207033088
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783,760,738,720,687.687012774,649,916,799.156493613,839,657.843506387,635,657,0.416974406276,0.00455653143623,0.059780907784,0.99999993461,0.000113142557211,-0.000341852455255,3.33983623755e-05,1793254892223699712
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783,760,738,720.426951276,687.573048724,649.426951276,916,799.426951276,839,658,635,657,0.416178907477,0.00455435782352,0.0598098013113,0.999999933682,0.000184078094221,-0.000312193692652,3.58586912411e-05,1793254892240366080
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783,760,738,720.99135107,687,650,916,800,839,658,635,657,0.415379189077,0.00454915316688,0.0598314621391,0.999999917936,0.000276592251616,-0.000293493064827,3.85637072044e-05,1793254892257032448
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783,760,738,720.416867535,687,650,916,800,839,658,635,657,0.414617515009,0.00454694421387,0.0598358801549,0.999999926857,0.000259746098825,-0.000278263744597,3.72400330481e-05,1793254892273699072
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783.157101048,760.157101048,738,720,687.314202096,650,916,800,839,657.842898952,635,657,0.413846664093,0.00454545868187,0.0598340765486,0.999999931012,0.000245248824473,-0.000276596892006,3.63888654421e-05,1793254892290365952
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783.729707794,760.729707794,738,720,688.459415587,650,916,800,839,657.270292206,635,657,0.413051541799,0.00454588647561,0.0598158178052,0.999999922949,0.000236963932705,-0.000310800469017,3.67873974624e-05,1793254892307032576
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783.685926911,760.685926911,738,720,688.371853822,649.685926911,916,800,839,657.314073089,635,657,0.41227387202,0.00454597638935,0.0597799230752,0.999999904575,0.000227119216379,-0.000371408475,3.63644754909e-05,1793254892323699200
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783.091048614,760.091048614,738,720,687.182097227,649.091048614,916,800,839,657.908951386,635,657,0.411511806163,0.00454576421268,0.0597282604341,0.999999872282,0.000215879897789,-0.000455624043269,3.52071110304e-05,1793254892340366336
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783,760,738,720.488988973,687,649,916,799.511011027,839,657.511011027,634.511011027,657,0.410857417208,0.00454583529917,0.0597343716782,0.999999883148,0.000204705128193,-0.000436624375036,3.40409688983e-05,1793254892357032960
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,760.066064088,738,720.933935912,687.066064088,649.066064088,916,799.066064088,839,657.066064088,634.066064088,657,0.410228004647,0.00454551233527,0.0597543432093,0.999999902445,0.000193269023355,-0.000395791451016,3.32587748184e-05,1793254892373699584
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783,760.640978226,738,720.359021774,687.640978226,649.640978226,916,799.640978226,839,657.640978226,634.640978226,657,0.409641091965,0.00454175997011,0.0598006552304,0.999999928619,0.000179730170932,-0.000330457961002,3.54461085708e-05,1793254892390365696
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783.220855512,760.779144488,738,720.220855512,688,649.779144488,916,800,838.779144488,658,635,657,0.40905432119,0.00453873072557,0.0598336038353,0.999999944726,0.000170163770972,-0.000283198893259,3.72862081536e-05,1793254892407032064
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783.80898629,760.19101371,738,720.80898629,688,649.19101371,916,800,838.19101371,658,635,657,0.40846778646,0.00453690400662,0.059844329525,0.999999949901,0.000167203427828,-0.000265996988363,3.85488690165e-05,1793254892423698944
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783.608545733,760,738,721.391454267,687.608545733,649.391454267,915.608545733,799.608545733,838.391454267,658,635,657,0.407896064688,0.00453717112887,0.0598384597978,0.999999949544,0.000160533865051,-0.000271519355633,3.76468246629e-05,1793254892440365568
+360,6.000000000,POSE2_TO_POSE3_RETREAT,783.028801518,760,738,721.971198482,687.028801518,649.971198482,915.028801518,799.028801518,838.971198482,658,635,657,0.407331467914,0.00453844539094,0.0598246076571,0.999999946334,0.000152080163107,-0.000287972122143,3.57035547372e-05,1793254892457032192
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783.54894583,760,738,721.45105417,687.54894583,649.45105417,915.54894583,799.54894583,839,657.45105417,634.45105417,657,0.406827542507,0.00453434073259,0.0598187457399,0.999999946865,0.000138854699442,-0.00029286218749,3.4934536713e-05,1793254892473699328
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783.875199709,760,738,721,688.124800291,649.124800291,916,800,838.875199709,657.124800291,634,657,0.406337403127,0.00453065234757,0.0598152052404,0.999999947915,0.000126704523283,-0.00029485432628,3.42949174075e-05,1793254892490366464
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783.305717765,760,738,721,688.694282235,649.694282235,916,800,838.305717765,657.694282235,634,657,0.405885083993,0.00452944913466,0.0598184479519,0.999999950646,0.000119274585162,-0.000288674513712,3.38976367232e-05,1793254892507033088
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783,760.275107615,738,721,688.724892385,650,916,800,838.275107615,658,634,657,0.405442125512,0.00452836520086,0.0598172889588,0.999999951518,0.000113387344535,-0.000288058055403,3.36098953116e-05,1793254892523699712
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783,760.869080652,738,721,688.130919348,650,916,800,838.869080652,658,634,657,0.405010016592,0.00452741951842,0.0598110281389,0.999999950283,0.000109288178764,-0.000293889842442,3.34491161915e-05,1793254892540365824
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783.451168181,761,738,721,688,649.548831819,916,800,839,658,634,657,0.404591118058,0.00452728642172,0.059789350137,0.999999938642,0.000109997741113,-0.000330875474841,3.37473137801e-05,1793254892557032192
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783.970231486,760.970231486,738,721,688,649,916,799.970231486,839,657.970231486,634,657,0.40418020534,0.00452729926696,0.0597642496141,0.999999922994,0.000111748465858,-0.000374643724592,3.4137764708e-05,1793254892573698560
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783.393958895,760.393958895,738,721,688,649,916,799.393958895,839,657.393958895,634,657,0.403847331346,0.00452577365962,0.0597563396653,0.999999920966,0.000107653656124,-0.000381226543389,3.38395300221e-05,1793254892590365184
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783,760,738.181244549,721,688,649.181244549,916,799.181244549,839,657,634,657,0.403537216717,0.00452388129884,0.0597571885905,0.999999923965,0.000104397239332,-0.000374193086252,3.3928159768e-05,1793254892607032064
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783,760,738.754137617,721,688,649.754137617,916,799.754137617,839,657,634,657,0.40327628249,0.00452119642648,0.059776964431,0.99999993706,0.000102952493219,-0.000337736429736,3.48527588413e-05,1793254892623699200
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783,760,738.661807384,721,688,649.661807384,915.661807384,800,838.661807384,657.338192616,634,657,0.403031319788,0.00452001279571,0.0597990822441,0.999999942478,0.000149418057461,-0.00030237243997,3.59102858606e-05,1793254892640366080
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783,760,738.069360758,721,688,649.069360758,915.069360758,800,838.069360758,657.930639242,634,657,0.402798364489,0.00451995780166,0.05982296076,0.999999936557,0.000231902705528,-0.000267829914128,3.70677483221e-05,1793254892657032960
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783,760.510800727,738,721,688,649,915,800,838,658,634.510800727,657,0.402576697353,0.00451860549425,0.0598297177196,0.999999939927,0.000226423516952,-0.000260076759519,3.51946725258e-05,1793254892673699328
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783,761,738,721,688,649,915,800,838,657.910980092,635,657,0.402359765852,0.00451655735023,0.0598323609511,0.999999944583,0.000206558168058,-0.000259080236734,3.23146301122e-05,1793254892690365440
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783,761,738,721,688,649,915,800,838,657.334476379,635,657,0.402160570504,0.00451164073713,0.0598249093731,0.999999946917,0.000171785564159,-0.000275631301843,2.61208777873e-05,1793254892707032064
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+377,6.283333333,POSE2_TO_POSE3_RETREAT,783,761,738,721,688,649.831804452,915.831804452,800,838.831804452,657.831804452,634.168195548,657,0.401821335942,0.00450917834113,0.0598206264627,0.999999946293,0.000153273592089,-0.000288687880537,2.40792420479e-05,1793254892740365312
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783,760.585189463,738,721,688,649.585189463,915.585189463,799.585189463,839,658,634,657,0.401686424141,0.00450946147048,0.0598222344413,0.999999946011,0.000155248519883,-0.000288529095139,2.50288774808e-05,1793254892757032192
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783,760.003329623,738,721,688,649.003329623,915.003329623,799.003329623,839,658,634,657,0.401560621289,0.0045097479649,0.0598244785272,0.999999945975,0.000157547251312,-0.000287326693847,2.59207787921e-05,1793254892773699328
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,783.277846073,760,738,721,688,649,915,799.277846073,838.722153927,657.277846073,634.277846073,657,0.401290735043,0.00450892461712,0.0598274713057,0.999999947718,0.000154819594867,-0.000282575315845,2.73129510457e-05,1793254892823698944
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,783,760.655176386,738.655176386,721,688,649,915,800,839,658,635,657,0.400961078316,0.00450483285949,0.0598300875087,0.999999950471,0.00014060481879,-0.000280272236457,2.71330036637e-05,1793254893157031936
+403,6.716666667,POSE2_TO_POSE3_RETREAT,783,760.076190254,738.076190254,721,688,649,915,800,839,658,635,657,0.400959984429,0.00450527682772,0.0598301674266,0.999999950223,0.000141766265037,-0.000280555715768,2.73061992244e-05,1793254893173698560
+404,6.733333333,POSE2_TO_POSE3_RETREAT,783,760,738,721,688,649,915,799.499975609,839,657.499975609,635,657,0.400958121631,0.00450448851844,0.0598287811355,0.999999949945,0.000140192375347,-0.000282351788641,2.70966523433e-05,1793254893190365952
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,783,760.650660063,738,721.650660063,688.650660063,649,915,799.650660063,839,657.650660063,634.349339937,657,0.400959022792,0.00450332839689,0.0598293674906,0.999999950569,0.000137403757178,-0.000281506958614,2.71246649159e-05,1793254893223700224
+407,6.783333333,POSE2_TO_POSE3_RETREAT,783,760.768774709,738,722,688.768774709,649,915,800,839,658,634,657,0.400960020601,0.00450367432323,0.0598301491751,0.999999950786,0.000137631519122,-0.000280614331915,2.7220355369e-05,1793254893240366592
+408,6.800000000,POSE2_TO_POSE3_RETREAT,783,760.179517708,738,722,688.179517708,649,915,800,839,658,634,657,0.400958978843,0.00450498479171,0.0598294279645,0.999999950145,0.000139665106162,-0.000281901676236,2.71080217153e-05,1793254893257032448
+409,6.816666667,POSE2_TO_POSE3_RETREAT,783,760,738,721.596547102,688.403452898,649,915,800,838.596547102,658,634.403452898,657,0.400958154854,0.00450442398669,0.0598289595919,0.999999950029,0.000139177231475,-0.000282553790523,2.71243245373e-05,1793254893273699072
+410,6.833333333,POSE2_TO_POSE3_RETREAT,783,760,738,721.01633077,688.98366923,649,915,800,838.01633077,658,634.98366923,657,0.400957426276,0.00450304332695,0.0598286019946,0.999999950141,0.000137584637284,-0.000282927593577,2.71969864241e-05,1793254893290365696
+411,6.850000000,POSE2_TO_POSE3_RETREAT,783,760,738,721,688.441060481,649,915,800,838,658,635,657,0.400956832122,0.00450264024572,0.0598287699679,0.999999950254,0.000137424091301,-0.000282610434207,2.71721052152e-05,1793254893307032320
+412,6.866666667,POSE2_TO_POSE3_RETREAT,783,760.134584763,738,721,688,649,915,800,838.134584763,657.865415237,634.865415237,657,0.400956499737,0.00450227008782,0.0598290395308,0.999999950394,0.00013701301833,-0.000282309762562,2.7205265466e-05,1793254893323698944
+413,6.883333333,POSE2_TO_POSE3_RETREAT,783,760.711934778,738,721,688,649,915,800,838.711934778,657.288065222,634.288065222,657,0.400957015724,0.00450191510128,0.0598295932343,0.999999950626,0.000135641303327,-0.000282129166892,2.74386678177e-05,1793254893340365824
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fa1c51b1d1943aa42b2f29a8484c2257e2295b42
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,415 @@
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+398,6.633333333,pose2_to_pose3_retreat,0.575669571045,0.010181792006,1.05002045554,0.546240718516,0.0188560289634,1.04969216321
+399,6.650000000,pose2_to_pose3_retreat,0.575669252052,0.0101817888997,1.05002048837,0.546240399429,0.0188560255549,1.04969219643
+400,6.666666667,pose2_to_pose3_retreat,0.575669021203,0.0101817866517,1.05002051212,0.546240168512,0.0188560230882,1.04969222047
+401,6.683333333,pose2_to_pose3_retreat,0.575668935873,0.0101817858207,1.0500205209,0.546240083157,0.0188560221765,1.04969222935
+402,6.700000000,pose2_to_pose3_retreat,0.575668511565,0.0101817816888,1.05002056456,0.546239658725,0.0188560176427,1.04969227354
+403,6.716666667,pose2_to_pose3_retreat,0.575667849391,0.0101817752405,1.05002063269,0.546238996357,0.0188560105672,1.0496923425
+404,6.733333333,pose2_to_pose3_retreat,0.575667585658,0.0101817706503,1.0500205644,0.546238733202,0.0188560078826,1.04969227271
+405,6.750000000,pose2_to_pose3_retreat,0.575667488595,0.0101817689372,1.05002053814,0.54623863636,0.0188560068961,1.04969224589
+406,6.766666667,pose2_to_pose3_retreat,0.575667396317,0.0101817673085,1.05002051318,0.546238544291,0.0188560059583,1.04969222039
+407,6.783333333,pose2_to_pose3_retreat,0.575667393268,0.0101817672547,1.05002051236,0.546238541249,0.0188560059273,1.04969221955
+408,6.800000000,pose2_to_pose3_retreat,0.575667327335,0.0101817660911,1.05002049452,0.546238475466,0.0188560052572,1.04969220133
+409,6.816666667,pose2_to_pose3_retreat,0.575667126306,0.010181762543,1.05002044015,0.546238274894,0.0188560032142,1.04969214577
+410,6.833333333,pose2_to_pose3_retreat,0.575666922957,0.010181826859,1.05002054109,0.546238071664,0.0188560679779,1.04969224796
+411,6.850000000,pose2_to_pose3_retreat,0.575666845987,0.0101818882418,1.05002062093,0.546237994268,0.018856127991,1.04969232976
+412,6.866666667,pose2_to_pose3_retreat,0.575666775057,0.0101819357825,1.05002040873,0.546237921266,0.0188561685956,1.04969212003
+413,6.883333333,pose2_to_pose3_retreat,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717184,1.0496921039
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..75fa42d9f828b1b3cc57e998cbdf6080c87783fc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ae04c71abab8e67bfc40de4d335ab12d7c18777dc48729cd8753af22db3409b
+size 26344501
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..44fd43957c12ed20d5d5bf43f59526dbde33d919
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_03/franka_data.csv
@@ -0,0 +1,416 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,783,760,738,721,688,649,915,800,838,658,635,657,0.400959729001,0.00450251038948,0.0598318391658,0.999999951798,0.000136403618885,-0.000277594362316,2.72069916164e-05,1793254893491955968
+1,0.016666667,BASELINE,783,760,738.577889373,721,688,649,915,800,838,657.422110627,634.422110627,657,0.400960084334,0.00450320710031,0.0598320012276,0.999999951894,0.000136501438621,-0.000277228155836,2.68992965671e-05,1793254893508622592
+2,0.033333333,BASELINE,783,760,738.84475375,721.15524625,688,649,915,800,838.15524625,657,634,657,0.400960175154,0.0045035485908,0.0598320748128,0.999999951943,0.000136450258143,-0.000277097902751,2.6699996274e-05,1793254893525289216
+3,0.050000000,BASELINE,783,760,738.268839639,721.731160361,688,649,915,800,838.731160361,657,634,657,0.400959549228,0.0045029275475,0.0598319086544,0.999999951861,0.000135995334589,-0.000277607008087,2.67944111578e-05,1793254893541955328
+4,0.066666667,BASELINE,783,760,738,721.686854722,688.313145278,649,915,799.686854722,839,657.313145278,634,657,0.400959476837,0.00450281141639,0.0598318679015,0.999999951894,0.000135633629658,-0.00027766175768,2.68091812607e-05,1793254893558621696
+5,0.083333333,BASELINE,783,760,738,721.09955493,688.90044507,649,915,799.09955493,839,657.90044507,634,657,0.400959889058,0.00450313732922,0.0598319369394,0.999999952029,0.000135353536417,-0.000277318724851,2.67542234146e-05,1793254893575288320
+6,0.100000000,BASELINE,783,760.48360273,738,721,688.51639727,649,915,799.48360273,839,657.51639727,634,657,0.400960514931,0.00450302952576,0.0598322016169,0.999999952066,0.000135539576278,-0.000277066625154,2.70384656062e-05,1793254893591954688
+7,0.116666667,BASELINE,783,760.935022678,738,721.064977322,688.064977322,649,915,800,838.935022678,657,634.064977322,657,0.400961055347,0.00450280416781,0.0598324778811,0.999999952108,0.000135765521337,-0.000276775222915,2.73258342281e-05,1793254893608621312
+8,0.133333333,BASELINE,783,760.360993548,738,721.639006452,688.639006452,649,915,800,838.360993548,657,634.639006452,657,0.400960584632,0.00450235139983,0.0598325320749,0.999999952348,0.000135558711473,-0.000276030503416,2.70952881898e-05,1793254893625288192
+9,0.150000000,BASELINE,783,760,738,721.787607416,688.787607416,649,915,799.787607416,838.212392584,657,634.787607416,657,0.400960280644,0.00450221050755,0.0598326268381,0.999999952449,0.000135675138176,-0.0002756194617,2.69673618229e-05,1793254893641954816
+10,0.166666667,BASELINE,783,760,738,721.215310918,688.215310918,649,915,799.215310918,838.784689082,657,634.215310918,657,0.400960259178,0.00450259809558,0.059832790347,0.999999952315,0.000136339296388,-0.000275773844416,2.70133267741e-05,1793254893658621696
+11,0.183333333,BASELINE,783,760,738,721,688.371581693,649,915,799.371581693,838.628418307,657.371581693,634,657,0.400960683494,0.00450373354813,0.0598327690922,0.999999952227,0.000137086157,-0.000275751528016,2.67114264468e-05,1793254893675288576
+12,0.200000000,BASELINE,783,760,738,721,688.967277806,649,915,799.967277806,838.032722194,657.967277806,634,657,0.400961376676,0.004505320065,0.0598326363998,0.999999952167,0.000137882898496,-0.000275622637974,2.61997159361e-05,1793254893691955200
+13,0.216666667,BASELINE,783,760,738,721,688.455156119,649,915.544843881,800,838.544843881,658,634,657,0.40096085898,0.00450489470994,0.0598325227588,0.999999952127,0.000138042925441,-0.000275679548821,2.62857341279e-05,1793254893708621568
+14,0.233333333,BASELINE,783,760,738,721,688.120023299,649,915.879976701,800,838.879976701,658,634.120023299,657,0.400960177213,0.0045045012935,0.0598323151635,0.999999952024,0.000138031045574,-0.000276049064821,2.63696429377e-05,1793254893725288192
+15,0.250000000,BASELINE,783,760,738,721,688.690203845,649,915.309796155,800,838.309796155,658,634.690203845,657,0.400959144056,0.00450466624974,0.0598317510319,0.999999951682,0.000137513217721,-0.000277550527918,2.63153366132e-05,1793254893741955072
+16,0.266666667,BASELINE,783,760.271602232,738.271602232,721.271602232,688.728397768,649.271602232,915,799.728397768,838.271602232,657.728397768,634.728397768,657,0.400959644554,0.00450487256602,0.0598323828222,0.99999995194,0.000137410897027,-0.000276677315596,2.62338275694e-05,1793254893758621440
+17,0.283333333,BASELINE,783,760.866347174,738.866347174,721.866347174,688.133652826,649.866347174,915,799.133652826,838.866347174,657.133652826,634.133652826,657,0.400961969737,0.00450512809101,0.0598344374782,0.999999952905,0.000137802932058,-0.000272978798513,2.61199536968e-05,1793254893775288064
+18,0.300000000,BASELINE,783,760.551214653,738.551214653,721.551214653,688.448785347,649.551214653,915,799.448785347,839,657.448785347,634.448785347,657,0.40096101443,0.00450481192056,0.0598333301412,0.999999952691,0.000136889674565,-0.000274212146425,2.62161755868e-05,1793254893791955200
+19,0.316666667,BASELINE,783,760.027574757,738,721.027574757,688.972425243,649,915,800,839,658,635,657,0.400959200514,0.00450435127842,0.0598314130995,0.999999952153,0.000135676719366,-0.000276750469695,2.63636486403e-05,1793254893808622080
+20,0.333333333,BASELINE,783,760.604739872,738,721.604739872,688.395260128,649,915,800,839,658,635,657,0.400959225825,0.00450431398405,0.0598316253804,0.999999952091,0.000136031455763,-0.000276805756818,2.63188382263e-05,1793254893825288704
+21,0.350000000,BASELINE,783,761,738,722,688.179401641,649,915.179401641,800,839,658,634.820598359,657.179401641,0.400959309814,0.00450403644406,0.0598317544231,0.999999952074,0.00013612550517,-0.000276824884703,2.62770451098e-05,1793254893841955072
+22,0.366666667,BASELINE,783,761,738,722,688.748623834,649,915.748623834,800,839,658,634.251376166,657.748623834,0.400959521308,0.00450323687607,0.0598317025978,0.999999952155,0.000135653109623,-0.00027676544243,2.62418082636e-05,1793254893858621440
+23,0.383333333,BASELINE,783,761,738,721.667778303,689,649,916,800,839,657.667778303,634.332221697,657.667778303,0.400959410843,0.00450294493476,0.0598321128981,0.999999952198,0.000135589588083,-0.000276617473427,2.65029537466e-05,1793254893875288064
+24,0.400000000,BASELINE,783,761,738,721.072811034,689,649,916,800,839,657.072811034,634.927188966,657.072811034,0.40095904575,0.00450305446221,0.0598328886814,0.99999995221,0.0001358494344,-0.000276399490909,2.69985003672e-05,1793254893891954944
+25,0.416666667,BASELINE,783,761,738.507336437,721.507336437,689,649.507336437,915.492663563,800,839,657.507336437,635,657,0.400959754116,0.00450305986026,0.0598327756316,0.999999952392,0.000135414032518,-0.000275956122845,2.69615629909e-05,1793254893908621568
+26,0.433333333,BASELINE,783,761,738.915128268,722,689,650,915,800,838.915128268,657.915128268,634.915128268,657,0.400960340298,0.00450308606248,0.0598325912629,0.999999952546,0.000134895183097,-0.000275666598239,2.68057962818e-05,1793254893925288192
+27,0.450000000,BASELINE,783,761,738.340739944,722,689,650,915,800,838.340739944,657.340739944,634.340739944,657,0.400959358409,0.00450331600542,0.0598327104073,0.999999952402,0.000134454197468,-0.000276445670317,2.63929150471e-05,1793254893941955840
+28,0.466666667,BASELINE,783,761,738,721.760545705,689,649.760545705,915,800,838.239454295,657.239454295,634.239454295,657,0.400959128224,0.00450409449571,0.059833069096,0.999999952337,0.000135654905671,-0.000276121158324,2.61093579158e-05,1793254893958622720
+29,0.483333333,BASELINE,783,761,738,721.171884472,689,649.171884472,915,800,838.828115528,657.828115528,634.828115528,657,0.400959994281,0.00450567295719,0.0598337771231,0.999999952377,0.000139249769632,-0.000274187240142,2.60143999483e-05,1793254893975289088
+30,0.500000000,BASELINE,783,760.589422221,738,721,688.589422221,649,915,800,838.589422221,658,634.589422221,657,0.400959915388,0.00450540036325,0.0598334882826,0.999999952362,0.000139230602616,-0.000274230428721,2.62243038241e-05,1793254893991955456
+31,0.516666667,BASELINE,783,760.009516531,738,721,688.009516531,649,915,800,838.009516531,658,634.009516531,657,0.400959446783,0.00450436436861,0.0598327883202,0.999999952327,0.000137720959528,-0.000275089003315,2.65599369113e-05,1793254894008621568
+32,0.533333333,BASELINE,783.567030776,760,738,721.567030776,688.567030776,649,915,800,838.567030776,657.432969224,634,657,0.400958989647,0.00450348129345,0.0598327740542,0.999999952474,0.000135910998837,-0.000275469202553,2.6414901252e-05,1793254894025288192
+33,0.550000000,BASELINE,783.857219573,760,738,722,689,649,915,800,839,657.142780427,634.142780427,657,0.400958615479,0.00450281957559,0.0598326805404,0.999999952499,0.000134672001046,-0.000275992941819,2.63283318471e-05,1793254894041954816
+34,0.566666667,BASELINE,783.283707319,760,738,722,689,649,915,800,839,657.716292681,634.716292681,657,0.400958491028,0.0045028179392,0.0598323134434,0.999999952158,0.000135170567461,-0.000276973782035,2.64423332261e-05,1793254894058621696
+35,0.583333333,BASELINE,783,760.297983163,738.297983163,722,689,649.297983163,915.297983163,800,839,657.702016837,635,657,0.40095907317,0.00450333148516,0.0598325688745,0.9999999521,0.00013665972542,-0.000276446377803,2.64704649725e-05,1793254894075288576
+36,0.600000000,BASELINE,783,760.887679869,738.887679869,722,689,649.887679869,915.887679869,800,839,657.112320131,635,657,0.400960347036,0.00450434937394,0.0598334337354,0.999999952315,0.000139118632752,-0.000274442462973,2.64145338124e-05,1793254894091955200
+37,0.616666667,BASELINE,783,760.528276621,738.528276621,722,688.528276621,650,915.528276621,800,839,657,635,657,0.400960656458,0.00450392373025,0.0598336103955,0.999999952547,0.000138243675805,-0.000274016713454,2.66206446543e-05,1793254894108621824
+38,0.633333333,BASELINE,783,760,738,721.946378499,688.053621501,649.946378499,915,800,839,657.053621501,635,657,0.400960722545,0.00450322572056,0.0598336748633,0.999999952796,0.000136604744464,-0.000273911963738,2.68346685419e-05,1793254894125288448
+39,0.650000000,BASELINE,783,760,738,721.372391699,688.627608301,649.372391699,915,800,839,657.627608301,635,657,0.400960629336,0.00450318059721,0.0598342219496,0.999999953162,0.000135164150308,-0.00027331888054,2.65271596133e-05,1793254894141955072
+40,0.666666667,BASELINE,783,760.201263843,738,721.201263843,689,649.201263843,915.201263843,800,838.798736157,658,634.798736157,657,0.40096062679,0.00450350825044,0.0598344008047,0.999999953283,0.000134813616333,-0.00027307855863,2.62212266059e-05,1793254894158621696
+41,0.683333333,BASELINE,783,760.774307445,738,721.774307445,689,649.774307445,915.774307445,800,838.225692555,658,634.225692555,657,0.400960791717,0.00450452450618,0.0598338994533,0.999999952953,0.000136476669704,-0.000273489866502,2.5918204699e-05,1793254894175288320
+42,0.700000000,BASELINE,783,761,738,721.641220499,689,649.641220499,916,800,838.358779501,658,634.358779501,657,0.40095968993,0.00450543987555,0.0598330134275,0.999999952383,0.000137757717523,-0.000274939477319,2.57949521631e-05,1793254894191954944
+43,0.716666667,BASELINE,783,761,738,721.049322788,689,649.049322788,916,800,838.950677212,658,634.950677212,657,0.400957765093,0.00450628969362,0.0598318774581,0.999999951654,0.00013879055586,-0.000277063729017,2.57885054039e-05,1793254894208621568
+44,0.733333333,BASELINE,783.531377471,761,738,721.531377471,689,649,916,800,839,658,635,657,0.400959460729,0.00450429467755,0.059833230602,0.999999952845,0.000135500624814,-0.000274337865397,2.62307913517e-05,1793254894225288448
+45,0.750000000,BASELINE,783.890055812,761,738,721.890055812,689,649,915.890055812,800,839,658,635,657,0.400960859246,0.00450254647408,0.059834269683,0.999999953776,0.000132764013538,-0.000272245240222,2.65468046711e-05,1793254894241955072
+46,0.766666667,BASELINE,783.316196743,761,738,721.316196743,689,649,915.316196743,800,839,658,635,657,0.400959615321,0.00450293092545,0.0598330287907,0.999999952951,0.000134020283291,-0.000274684995097,2.61578802359e-05,1793254894258621696
+47,0.783333333,BASELINE,783,761,738,721.258749028,689,649,915.258749028,800,839,658,635,657,0.400959729112,0.00450390473932,0.0598331328208,0.999999952734,0.000135340124889,-0.000274856660983,2.58438423366e-05,1793254894275288320
+48,0.800000000,BASELINE,783,761,738,721.835028448,689,649,915.835028448,800,839,658,635,657,0.400961509059,0.00450560180432,0.0598348873062,0.999999953264,0.00013673798045,-0.000272244984619,2.56217032858e-05,1793254894291954688
+49,0.816666667,BASELINE,783,761,738,721.577023117,689,649,915.577023117,800,839,658,634.577023117,657,0.400961182001,0.00450446105416,0.0598346383291,0.999999953352,0.000135358007916,-0.000272593040997,2.58260848648e-05,1793254894308621056
+50,0.833333333,BASELINE,783.015167261,760.984832739,738,721,689,649,915,800,839,658,634,657,0.400960033647,0.00450228419578,0.0598336027666,0.999999953248,0.00013299650656,-0.000274099297383,2.61896082268e-05,1793254894325287680
+51,0.850000000,BASELINE,783.59114958,760.40885042,738,721,689,649,915,800,839,658,634,657,0.400959765406,0.00450388294611,0.0598331951844,0.999999952789,0.000135539071529,-0.000274536238136,2.61119623703e-05,1793254894341954304
+52,0.866666667,BASELINE,783.833333684,760.166666316,738,721.166666316,689,649,915,800,839,658,634.166666316,657,0.400959864325,0.00450486058213,0.0598331694127,0.999999952534,0.000137425937038,-0.000274521506193,2.61494242868e-05,1793254894358620928
+53,0.883333333,BASELINE,783.258955925,760.741044075,738,721.741044075,689,649,915,800,839,658,634.741044075,657,0.400960861419,0.00450431880234,0.0598340776539,0.999999952794,0.000137708781988,-0.000273401859147,2.6468471337e-05,1793254894375288064
+54,0.900000000,BASELINE,783,761,738,721.674045419,689,649.325954581,915,800,838.674045419,658,634.674045419,657,0.400961753652,0.00450324037871,0.0598347618606,0.999999953174,0.000136874422743,-0.000272407347008,2.66624741332e-05,1793254894391954688
+55,0.916666667,BASELINE,783,761,738,721.080487738,689,649.919512262,915,800,838.080487738,658,634.080487738,657,0.400962559794,0.00450172137973,0.059835262139,0.999999953653,0.000135122858064,-0.000271515568528,2.67538177329e-05,1793254894408621056
+56,0.933333333,BASELINE,783,760.501096995,738,721,689,650,915,800,838.498903005,658,634,657,0.400961428578,0.00450276273941,0.0598342524036,0.999999953601,0.000133590564777,-0.000272529086341,2.60770630907e-05,1793254894425288704
+57,0.950000000,BASELINE,783,760,738,721,689,649.924284129,915,800,838.924284129,658,634.075715871,657,0.400960098495,0.00450396879271,0.0598331147303,0.999999953414,0.000132433506322,-0.000273834642309,2.54379673027e-05,1793254894441955840
+58,0.966666667,BASELINE,783,760,738,721,689,649.349812891,915,800,838.349812891,658,634.650187109,657,0.400959460443,0.00450361392933,0.0598326947004,0.999999952913,0.000133521606963,-0.000275095043811,2.58406641276e-05,1793254894458621696
+59,0.983333333,BASELINE,783,760,738,721.225376995,688.774623005,649,915,800,838,658,634.774623005,657,0.400959414367,0.00450332060667,0.0598328902258,0.999999952748,0.000134416510508,-0.000275226628183,2.61875951241e-05,1793254894475287808
+60,1.000000000,BASELINE,783,760,738,721.801685967,688.198314033,649,915,800,838,658,634.198314033,657,0.400960290051,0.00450312310828,0.0598340442253,0.999999953108,0.0001350105892,-0.000273600544329,2.64476938402e-05,1793254894491954432
+61,1.016666667,BASELINE,783,760,738.38806076,721.61193924,688.38806076,649,915,800,838.38806076,658,634.38806076,657,0.400959747741,0.00450423517506,0.0598338236039,0.999999952796,0.000135905125759,-0.000274299407502,2.64106409599e-05,1793254894508621056
+62,1.033333333,BASELINE,783,760,738.979716525,721.020283475,688.979716525,649,915,800,838.979716525,658,634.979716525,657,0.400958461485,0.00450603430158,0.0598328817913,0.999999952129,0.000136957296671,-0.000276218047802,2.62176883007e-05,1793254894525288192
+63,1.050000000,BASELINE,783,760.558535937,738.441464063,721,689,649,915.558535937,800,839,658,635,657,0.400960241245,0.00450523621181,0.059833977051,0.9999999528,0.000136606402908,-0.000273972027069,2.60400999868e-05,1793254894541954816
+64,1.066666667,BASELINE,783,761,738,721,689,649,915.865226243,800,839,658,635,657,0.400961885487,0.0045042276362,0.0598350424836,0.99999995349,0.000135688818299,-0.000271906665836,2.59843898288e-05,1793254894558621440
+65,1.083333333,BASELINE,783,761,738,721,689,649,915.295843925,800,839,658,635,657,0.400962741736,0.00450283762138,0.059835778535,0.999999954102,0.00013310442834,-0.000270900637873,2.63199445959e-05,1793254894575288064
+66,1.100000000,BASELINE,783,760.714639736,738,721.285360264,689,649,915.285360264,800,839,658,635,657,0.400963036329,0.00450169789702,0.0598362241464,0.999999954379,0.000131962715094,-0.000270413836035,2.6547125024e-05,1793254894591954688
+67,1.116666667,BASELINE,783,760.120649708,738,721.879350292,689,649,915.879350292,800,839,658,635,657,0.400962723465,0.00450082887294,0.0598363556342,0.9999999543,0.000132381320772,-0.000270488600312,2.66570937831e-05,1793254894608621312
+68,1.133333333,BASELINE,783,760,738,721.537887957,689,649.462112043,915.537887957,800,839,658,635,657,0.400961710262,0.00450138481742,0.0598354823959,0.999999953986,0.000132352896601,-0.000271695294304,2.63194223445e-05,1793254894625287936
+69,1.150000000,BASELINE,783,760.041736246,738.041736246,721,689,650,915.041736246,800,839,658,634.958263754,657,0.400960601703,0.00450220313882,0.0598343938709,0.999999953621,0.00013221147321,-0.000273141233981,2.59246803625e-05,1793254894641954560
+70,1.166666667,BASELINE,783,760.617831669,738.617831669,721,689,650,915.617831669,800,839,658,634.382168331,657,0.400960557788,0.00450173046642,0.0598338278202,0.999999953406,0.000132082138938,-0.000273956332727,2.62600878856e-05,1793254894658621696
+71,1.183333333,BASELINE,783,760.803058664,738.803058664,721.196941336,689,649.803058664,916,800,839,657.803058664,634,657,0.400960302289,0.00450209090608,0.0598333351926,0.999999953172,0.000132379270944,-0.000274664308445,2.62914458321e-05,1793254894675288576
+72,1.200000000,BASELINE,783,760.218008783,738.218008783,721.781991217,689,649.218008783,916,800,839,657.218008783,634,657,0.400959629827,0.00450409314372,0.0598329872582,0.999999952899,0.000133516831909,-0.000275161178993,2.57236191202e-05,1793254894691955456
+73,1.216666667,BASELINE,783,760.365405039,738,722,689,649,915.634594961,800,839,657.365405039,634.365405039,657,0.400959963828,0.00450429113438,0.0598333340534,0.999999953032,0.000133433486683,-0.000274727371491,2.56366115245e-05,1793254894708621824
+74,1.233333333,BASELINE,783,760.947847067,738,722,689,649,915.052152933,800,839,657.947847067,634.947847067,657,0.400960895631,0.0045034174694,0.0598340934921,0.999999953405,0.000132624968566,-0.000273740775846,2.58351926171e-05,1793254894725287936
+75,1.250000000,BASELINE,783,760.47211913,738,721.47211913,689,649,915,800,838.47211913,658,635,657,0.400961028999,0.00450364480824,0.059834149833,0.999999953421,0.000133204106058,-0.000273405943961,2.57661208359e-05,1793254894741954560
+76,1.266666667,BASELINE,782.894187132,760,738,721.105812868,689,649,915,800,838.105812868,658,635,657,0.400961154713,0.00450392764985,0.059834200366,0.999999953424,0.000134092389303,-0.000272965313366,2.57135637422e-05,1793254894758620928
+77,1.283333333,BASELINE,782.324432165,760,738,721.675567835,689,649,915,800,838.675567835,658,635,657,0.400961591168,0.00450397907971,0.0598345286186,0.999999953521,0.000135737763941,-0.000271779754084,2.58488314335e-05,1793254894775287552
+78,1.300000000,BASELINE,782.254970079,760.254970079,738.254970079,721.745029921,689,649,915,800,839,658,635,657,0.400961573451,0.00450350570131,0.0598348110971,0.999999953551,0.000135935098794,-0.0002715594497,2.59914899005e-05,1793254894791954432
+79,1.316666667,BASELINE,782.847130517,760.847130517,738.847130517,721.152869483,689,649,915,800,839,658,635,657,0.400960955104,0.00450233827957,0.0598350330409,0.999999953491,0.0001342174439,-0.000272615666351,2.6143922438e-05,1793254894808621312
+80,1.333333333,BASELINE,783,761,738.572134895,721,689,649,915,799.572134895,838.572134895,657.572134895,635,657,0.400960846529,0.00450301708709,0.0598346745855,0.999999953514,0.000133491190726,-0.000272899791508,2.60431242852e-05,1793254894825288192
+81,1.350000000,BASELINE,783,761,738,721.004614603,689,649,915,799.004614603,838.004614603,657.004614603,635,657,0.400960910366,0.00450431795926,0.0598341188363,0.999999953563,0.000133114369072,-0.000272921872071,2.58583714284e-05,1793254894841955072
+82,1.366666667,BASELINE,783,761,738,721.580245548,689,649,915,799.580245548,838.580245548,657.580245548,635,657,0.400960357393,0.00450309359642,0.0598341422221,0.999999953301,0.000133286000397,-0.000273765175467,2.61892997802e-05,1793254894858621440
+83,1.383333333,BASELINE,783,760.844965529,738,722,689,649,915,800,839,657.844965529,634.844965529,657,0.400960204889,0.00450239735793,0.0598341976012,0.999999953182,0.000133354070266,-0.000274144346328,2.64250854324e-05,1793254894875288064
+84,1.400000000,BASELINE,783,760.272443934,738,722,689,649,915,800,839,657.272443934,634.272443934,657,0.400961130795,0.00450312328751,0.0598343391337,0.999999953449,0.000133143262998,-0.000273273670441,2.64046645751e-05,1793254894891954688
+85,1.416666667,BASELINE,783,760,738,722,689,649,915.312150207,799.687849793,839,657.312150207,634,657,0.400961356427,0.00450339442529,0.0598344654621,0.999999953496,0.00013355896979,-0.000272909403391,2.62948553074e-05,1793254894908621312
+86,1.433333333,BASELINE,783,760,738,722,689,649,915.907705113,799.092294887,839,657.907705113,634,657,0.400960946272,0.00450325265243,0.0598345779865,0.999999953342,0.00013454349579,-0.000273004910697,2.61038892932e-05,1793254894925287936
+87,1.450000000,BASELINE,783,760.488884121,738,722,689,649.488884121,915.511115879,799.488884121,839,658,634.488884121,657,0.400959474511,0.0045043940105,0.0598339664568,0.999999952797,0.000135818526847,-0.000274395742501,2.58083781357e-05,1793254894941954816
+88,1.466666667,BASELINE,783,760.933559548,738,721.933559548,689,649.933559548,915,800,839,658,635,657,0.400958414869,0.00450546449972,0.0598335303537,0.999999952396,0.000136761008877,-0.000275410853909,2.55628701049e-05,1793254894958621696
+89,1.483333333,BASELINE,783,760.363479087,738,721.363479087,689,649.363479087,915,800,839,658,635,657,0.400961955037,0.00450421398986,0.0598354306103,0.999999953652,0.000134778806273,-0.000271777142056,2.58417390389e-05,1793254894975288320
+90,1.500000000,BASELINE,783,760.214974404,738,721.214974404,689,649,915,800,839,658,635,657,0.400963679729,0.00450332827663,0.059836292714,0.999999954334,0.000133249594252,-0.000269996701372,2.60263067976e-05,1793254894991954688
+91,1.516666667,BASELINE,783,760.808158716,738,721.808158716,689,649,915,800,839,658,635,657,0.400962210406,0.00450308435948,0.0598353283685,0.999999954031,0.000132517340245,-0.000271476767948,2.60449680837e-05,1793254895008621056
+92,1.533333333,BASELINE,783,761,738,721.608357146,689,649.391642854,915,800,839,658,635,657,0.400961234249,0.00450247465804,0.059834995777,0.999999953837,0.000132217570089,-0.00027231524555,2.6262175844e-05,1793254895025287680
+93,1.550000000,BASELINE,783,761,738,721.029509623,689,649.970490377,915,800,839,658,635,657,0.400960493826,0.00450169011227,0.0598349651627,0.999999953696,0.000132124526468,-0.000272847044764,2.65742885084e-05,1793254895041954304
+94,1.566666667,BASELINE,783,761,738,721.544763493,689,649.455236507,915,800,839,658,634.455236507,657,0.400960833459,0.00450307361418,0.0598348891689,0.99999995367,0.000132850983717,-0.000272649020012,2.5946175031e-05,1793254895058621184
+95,1.583333333,BASELINE,783,760.881313137,738.118686863,721.881313137,689,649,915,800,839,657.881313137,634.118686863,657,0.400960932295,0.0045040260907,0.0598348074933,0.999999953618,0.000133348880371,-0.000272633982066,2.55472221146e-05,1793254895075287552
+96,1.600000000,BASELINE,783,760.307788213,738.692211787,721.307788213,689,649,915,800,839,657.307788213,634.692211787,657,0.400959885993,0.00450288044867,0.0598347133854,0.999999953445,0.000132802170379,-0.000273470439483,2.62200279536e-05,1793254895091954176
+97,1.616666667,BASELINE,783,760,738.725558095,721,689,649,915,800,838.725558095,657.274441905,635,657,0.400959441446,0.00450271239651,0.0598348442744,0.999999953271,0.000133604048998,-0.000273689269987,2.6510529267e-05,1793254895108621312
+98,1.633333333,BASELINE,783,760,738.133245266,721,689,649,915,800,838.133245266,657.866754734,635,657,0.400959693877,0.00450367663286,0.0598352357651,0.999999953092,0.00013596792346,-0.000273192737244,2.63582282922e-05,1793254895125288448
+99,1.650000000,BASELINE,783,760,738,721.447416118,689,649,915,800,838,658,634.552583882,657,0.400960696215,0.00450323083211,0.0598354520626,0.999999953434,0.00013499054211,-0.000272427518142,2.63274222155e-05,1793254895141955328
+100,1.666666667,BASELINE,783,760,738,722,689,649.024721502,915,800,838.024721502,657.975278498,634,657,0.400961741972,0.00450243410371,0.0598355238951,0.999999953865,0.000133145731074,-0.000271751805811,2.63146747387e-05,1793254895158621696
+101,1.683333333,BASELINE,783,760,738,722,689,649.60260561,915,800,838.60260561,657.39739439,634,657,0.40095888892,0.00450294274164,0.0598335010207,0.999999952977,0.000133591670195,-0.000274823889459,2.59169402163e-05,1793254895175288064
+102,1.700000000,BASELINE,783,760,738,721.815733195,689,650,915,800,839,657.184266805,634.184266805,657,0.400957836467,0.00450340191563,0.0598327557696,0.999999952717,0.000133476175092,-0.000275853385991,2.5592937186e-05,1793254895191954688
+103,1.716666667,BASELINE,783,760,738,721.225755852,689,650,915,800,839,657.774244148,634.774244148,657,0.400960748492,0.00450375218203,0.0598348235336,0.999999953851,0.000132124538777,-0.000272385603768,2.54312729609e-05,1793254895208621312
+104,1.733333333,BASELINE,783,760.35769588,738,721,689,649.64230412,915.35769588,800,839,657.64230412,634.64230412,657,0.400960366314,0.00450366269623,0.0598347283522,0.999999953669,0.000132653531846,-0.000272779352978,2.56029943182e-05,1793254895225287936
+105,1.750000000,BASELINE,783,760.93710289,738,721,689,649.06289711,915.93710289,800,839,657.06289711,634.06289711,657,0.400957942286,0.00450330063826,0.0598332925095,0.999999952669,0.000134348197893,-0.000275566600212,2.59813585059e-05,1793254895241954560
+106,1.766666667,BASELINE,783,761,738,721.510808618,689,649,915.489191382,800,839,657.510808618,634,657,0.400958284353,0.00450295966655,0.0598334034822,0.99999995297,0.000132823596871,-0.000275212946831,2.60057024358e-05,1793254895258621440
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,760,738,721,689,649,915,800,839,658,635,657,0.400961592177,0.00450338637708,0.0598354658699,0.999999953859,0.000133459590453,-0.000271646225348,2.60384796482e-05,1793254895301742080
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,760.591440195,738,721.591440195,689,649.591440195,915,800,838.408559805,657.408559805,635,657,0.400961742008,0.00450260885884,0.0598349226075,0.999999954045,0.000131290855305,-0.000272028040546,2.59431254938e-05,1793254895318408704
+109,1.816666667,POSE1_TO_POSE2_PRESS,783,761,738,721.821359187,689,649.821359187,915,800,838.178640813,657.178640813,634.821359187,657,0.400961208741,0.00450187922648,0.0598344382922,0.999999953989,0.000130240772359,-0.000272740486434,2.59405776538e-05,1793254895335075328
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,761,738,721.243629788,689,649.243629788,915,800,838.756370212,657.756370212,634.243629788,657,0.400959149417,0.00450125657236,0.0598340856663,0.999999953397,0.000131689789381,-0.00027419157063,2.61453617041e-05,1793254895351741440
+111,1.850000000,POSE1_TO_POSE2_PRESS,783,760.668024071,738,721.331975929,689,649,915,800,839,657.668024071,634,657,0.400959109658,0.00450197148841,0.0598342541641,0.999999953229,0.000133058294051,-0.000274133651859,2.62521274582e-05,1793254895368407808
+112,1.866666667,POSE1_TO_POSE2_PRESS,783,760.093967003,738,721.906032997,689,649,915,800,839,657.093967003,634,657,0.400960542592,0.00450366177794,0.0598348026719,0.999999953369,0.000134368087989,-0.000272975348537,2.62874169919e-05,1793254895385074176
+113,1.883333333,POSE1_TO_POSE2_PRESS,783,760,738,721.518794995,689,649,915,800,839,657.481205005,634,657,0.400960755242,0.00450320367028,0.0598350485343,0.9999999535,0.000134529657162,-0.000272424388946,2.62143316069e-05,1793254895401741056
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,760,738,721.058344351,689,649.058344351,915.058344351,800,839,658,634.058344351,657,0.40096080253,0.0045024912379,0.0598352200366,0.999999953608,0.000134367352347,-0.000272116261824,2.61210390909e-05,1793254895418408192
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,760,738,721.651517417,689,649.651517417,915.651517417,800,839,658,634.651517417,657,0.40096152341,0.00450330210559,0.0598352529014,0.999999953528,0.000133296306143,-0.000272944431504,2.60369578863e-05,1793254895435074560
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,760,738,722,689,649.761903523,916,800,839,658,634.761903523,657,0.400967069392,0.00450405971629,0.0598376403362,0.999999954304,0.000134067959131,-0.000269706178113,2.60029025561e-05,1793254895451741184
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,760,738,722,689,649.184715548,916,800,839,658,634.184715548,657,0.400979487175,0.00450474147954,0.0598433810948,0.999999956237,0.000137463941802,-0.000260676618882,2.60400929254e-05,1793254895468407808
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,760,738,722,688.609770173,649,915.609770173,800,839,657.609770173,634.390229827,657,0.401011709878,0.00450411997115,0.0598564385911,0.999999962125,0.000137302375751,-0.000237065117485,2.64331485757e-05,1793254895485074432
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,760,738,722,688.035880219,649,915.035880219,800,839,657.035880219,634.964119781,657,0.401053253689,0.00450288508317,0.0598729396816,0.99999996912,0.000135466463632,-0.000206590681597,2.69936907991e-05,1793254895501741056
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.552779629,760,738,721.447220371,688.552779629,649,915.552779629,800,838.447220371,657.552779629,635,657,0.401113308303,0.00450143097564,0.0598923932324,0.999999974996,0.000133001941061,-0.000177684144601,2.73456151899e-05,1793254895518407424
+121,2.016666667,POSE1_TO_POSE2_PRESS,783.860054227,760,738,721,689,649,916,800,838.139945773,658,635,657,0.401179058738,0.00450047492103,0.0599106640088,0.999999979594,0.000131356739769,-0.000150970968836,2.76578201841e-05,1793254895535074304
+122,2.033333333,POSE1_TO_POSE2_PRESS,783.280671245,760,738,721,689,649,916,800,838.719328755,658,635,657,0.401258817984,0.00450112868611,0.0599246025338,0.999999982288,0.00013241588942,-0.000130816720592,2.78889914056e-05,1793254895551741184
+123,2.050000000,POSE1_TO_POSE2_PRESS,783,760.296580367,738,721.296580367,689,649,915.703419633,800,839,658,635,657,0.401345266363,0.0045013203769,0.0599346636681,0.999999984356,0.00013096813709,-0.000115668127053,2.75173463861e-05,1793254895568408064
+124,2.066666667,POSE1_TO_POSE2_PRESS,783,760.871829298,738,721.871829298,689,649,915.128170702,800,839,658,635,657,0.401437999885,0.00450107790006,0.0599410815837,0.999999986025,0.000127164885665,-0.000105222875782,2.65792918617e-05,1793254895585074432
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,761,738,722,689,649,915,800,839,658,635,657,0.401550776894,0.00450214490531,0.0599463065868,0.999999987258,0.0001264093544,-9.41386041037e-05,2.53628750013e-05,1793254895601741056
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,761,738,721.974689376,689,649.025310624,915,800,839,658,635,657,0.401669925679,0.00450347405297,0.0599509920664,0.999999988268,0.000126346589989,-8.31998081406e-05,2.40665133595e-05,1793254895618407424
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,761,738,721.384998381,689,649.615001619,915,800,839,658,635,657,0.401803024373,0.00450227756212,0.0599512729222,0.999999989101,0.000122248542207,-7.95898211511e-05,2.27669755161e-05,1793254895635074048
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,761,738,721.200916931,689,649.799083069,915.200916931,800,839,658,634.799083069,657,0.401948300675,0.00450153647258,0.0599512605256,0.999999989804,0.000118962048314,-7.60873203975e-05,2.12394147703e-05,1793254895651740672
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,761,738,721.779730641,689,649.220269359,915.779730641,800,839,658,634.220269359,657,0.402116481346,0.00450165192963,0.059950696562,0.999999990297,0.000117201974781,-7.27869867013e-05,1.92829748349e-05,1793254895668407552
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,760.644465583,738,721.644465583,689,649,915.644465583,800,839,658,634.355534417,657,0.402305864186,0.00450117448815,0.0599513442838,0.999999991223,0.000113247662128,-6.65568312743e-05,1.72787848991e-05,1793254895685074432
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,760.070510884,738,721.070510884,689,649,915.070510884,800,839,658,634.929489116,657,0.40250827246,0.00450033280328,0.0599527363965,0.999999992345,0.000107945332613,-5.8526758396e-05,1.52452598671e-05,1793254895701741312
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,760.5158756,738,721,688.4841244,649,915,800,839,658,635,657,0.402735991028,0.00450043802333,0.0599521782125,0.999999993027,0.000103860760964,-5.46873122037e-05,1.29462400983e-05,1793254895718407936
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,760.897330628,738,721,688.102669372,649.102669372,915,800,839,658,635,657,0.402975057006,0.00450034575691,0.0599518198036,0.999999993701,9.9407968966e-05,-5.10504821091e-05,1.05246621285e-05,1793254895735074560
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,760.316745697,738,721,688.683254303,649.683254303,915,800,839,658,635,657,0.403250443018,0.00449871687471,0.0599536628268,0.999999994656,9.24472277961e-05,-4.56247222215e-05,7.70567705576e-06,1793254895751740928
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,760,738,721,689,650,915.261801832,800,839,658,635,657,0.403539621468,0.00449819449203,0.0599509431396,0.999999995111,8.57270806867e-05,-4.90605356469e-05,4.72425338992e-06,1793254895768407552
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,760,738,721,689,650,915.837903374,800,839,658,635,657,0.403845358071,0.00449900049006,0.0599427458033,0.999999994862,7.92957732306e-05,-6.31348918908e-05,1.54781826042e-06,1793254895785073920
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,760,738,721,688.587746942,649.587746942,916,800,838.587746942,658,635,657,0.404166000846,0.00449901285849,0.0599306199247,0.999999993783,7.29680360828e-05,-8.42921639006e-05,-1.87505467517e-06,1793254895801740544
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,760,738,721,688.014083181,649.014083181,916,800,838.014083181,658,635,657,0.404492479873,0.00449871449467,0.0599169558922,0.999999991906,6.66808502515e-05,-0.000108222631233,-5.39441608387e-06,1793254895818407168
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,760.575689657,738,721,688,649,916,800,838.575689657,657.424310343,635,657,0.404855778959,0.00449900900316,0.0599058494127,0.99999998978,6.04041786882e-05,-0.000129257780951,-9.11735961847e-06,1793254895835074048
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,760.837259447,738,721,688,649.162740553,916,800,839,657,635,657,0.405244279297,0.00449921319333,0.0599000070967,0.999999988516,5.3302144379e-05,-0.000141294563506,-1.2771018003e-05,1793254895851741184
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,760.258208824,738,721,688,649.741791176,916,800,839,657,635,657,0.405694876916,0.00449914816841,0.0599074664927,0.999999990381,4.40880561958e-05,-0.000130498832551,-1.62343291254e-05,1793254895868408064
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,760,738,721,688,649.680615933,916,800,839,657.319384067,635,657,0.40619370252,0.00449797183936,0.0599304716071,0.999999995065,3.32481814426e-05,-9.14686123176e-05,-1.99393336604e-05,1793254895885075200
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,760,738,721,688,649.104196141,916,800,839,657.895803859,635,657,0.406731341366,0.00449590114865,0.0599659876939,0.999999999052,2.10998958286e-05,-2.9715677815e-05,-2.38388499118e-05,1793254895901742336
+144,2.400000000,POSE1_TO_POSE2_PRESS,783,760,738,721,688,649,916,800,839,657.53124656,635,657,0.407275462306,0.00449277986725,0.0599923757877,0.999999999534,9.64907473671e-06,1.04509169532e-05,-2.6996918197e-05,1793254895918408960
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,760.042675215,738,721,688,649.042675215,916,800,839,657.042675215,635,657,0.407819430569,0.00448949834387,0.0600141028199,0.999999998719,-1.51099633758e-06,4.0777162091e-05,-2.9953722793e-05,1793254895935075584
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,760.639150305,738,721,688,649.639150305,916,800,839,657.639150305,635,657,0.408342857191,0.00448714559867,0.0600014799165,0.999999999401,-1.08951046514e-05,5.21457270232e-06,-3.242177151e-05,1793254895951741952
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,761,738,721,688,649.773260975,916,800,839,657.773260975,635,657,0.408892147601,0.00447879556188,0.0599897679358,0.999999998708,-2.75648895893e-05,-2.62023447916e-05,-3.37433135958e-05,1793254895968408832
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,761,738,721,688,649.199281366,916,800,839,657.199281366,635,657,0.409481047203,0.00446126094379,0.0599794509929,0.999999996597,-5.53923589296e-05,-5.12703507083e-05,-3.33090323884e-05,1793254895985075712
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,761,738,721,688,649,916,800,839,657.377445422,635,657,0.410135622177,0.0044470163498,0.0599794844363,0.999999995058,-8.06329198471e-05,-4.61325332864e-05,-3.54162759046e-05,1793254896001742336
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,761,738,721,688,649,916,800,839,657.955633266,635,657,0.410825126242,0.00443452153889,0.0599850226803,0.999999993474,-0.000104497645805,-2.49299021181e-05,-3.88752163707e-05,1793254896018408960
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,761,738,721,688,649.544224738,916,800,839,658,635,657,0.411511037178,0.00444202342867,0.0599899007104,0.999999994227,-9.74610188652e-05,-1.32975927306e-05,-4.32393392812e-05,1793254896035074816
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,761,738,721,688,650,916,800,839,658,635,657,0.412194906146,0.00444936900303,0.0599885771691,0.999999996403,-7.19825610131e-05,-1.53058462082e-05,-4.21586986785e-05,1793254896051740928
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,761,738,721,688,650,916,800,839,658,635,657,0.412872831181,0.00445051530525,0.0599662969041,0.999999997856,7.61566608232e-06,-6.11087257815e-05,-2.22580399407e-05,1793254896068407296
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,761,738,721,687.713410776,650,916,800,839,658,635,657,0.413572193417,0.00445175267767,0.059940161227,0.999999992914,4.02449317054e-05,-0.00011086346764,-1.6154517384e-05,1793254896085073920
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,761,738,721,687.139185045,650,916,800,839,658,635,657,0.414293071273,0.00445308145325,0.0599101560463,0.999999985839,2.57336065949e-05,-0.000164584518843,-2.38985476401e-05,1793254896101740544
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,760.555785203,738,720.555785203,687.444214797,649.555785203,916,800,839,658,635,657,0.4151341558,0.00445247407753,0.0599445110693,0.999999994468,1.83817659135e-05,-9.96100526366e-05,-2.83373394294e-05,1793254896118407680
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,760.030276181,738,720,688,649.030276181,916,800,839,658,635,657,0.416012106422,0.00445132576755,0.0599978230044,0.999999999404,1.41290428027e-05,-3.58548365437e-07,-3.1486829651e-05,1793254896135074816
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,760.611361012,738,720,688,649.611361012,916,800,839,658,635,657,0.416861089502,0.00445160576651,0.0600214040559,0.999999998735,2.45859804906e-05,3.16179802826e-05,-3.04185482962e-05,1793254896151740928
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,760.808179849,738,720,688,650,916,800,839,657.808179849,635,657,0.417707928592,0.00445152409396,0.0600313815549,0.999999997967,3.23346395334e-05,4.58860177428e-05,-3.02558225231e-05,1793254896168407296
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,760.228984315,738,720,688,650,916,800,839,657.228984315,635,657,0.418550437904,0.004450712036,0.0600138870619,0.999999998594,3.4614005666e-05,2.43922549465e-05,-3.19218408143e-05,1793254896185073920
+161,2.683333333,POSE1_TO_POSE2_PRESS,783,760.345433166,738,720.345433166,688,649.654566834,916,800,839.345433166,657.345433166,635.345433166,657,0.419400040014,0.00445007343378,0.0599920030645,0.999999998949,2.83652143925e-05,-1.05508340579e-05,-3.44295247824e-05,1793254896201740544
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,760.916726512,738,720.916726512,688,649.083273488,916,800,839.916726512,657.916726512,635.916726512,657,0.42025427969,0.00444954824499,0.0599672490068,0.999999997687,1.65403192543e-05,-5.42877137044e-05,-3.74875285819e-05,1793254896218407168
+163,2.716666667,POSE1_TO_POSE2_PRESS,783,761,738,721,687.49547029,649.50452971,916,800,840,658,635.49547029,657,0.421092479753,0.00445166681138,0.0599279730764,0.999999989553,-6.60971583324e-05,-0.000122766471562,-3.81358949127e-05,1793254896235074304
+164,2.733333333,POSE1_TO_POSE2_PRESS,783,761,738,720.906712435,686.906712435,650,916,800,839.906712435,658,635,657,0.421944392717,0.00445349584936,0.0598935688981,0.999999972276,-0.000144277949492,-0.000182056551493,-3.85531015364e-05,1793254896251741696
+165,2.750000000,POSE1_TO_POSE2_PRESS,783,761,738,720.327653343,686.327653343,650,916,800,839.327653343,658,635,657,0.422881963716,0.00445146815467,0.0598974364407,0.999999975202,-0.000136331741018,-0.000171514705655,-3.9907666511e-05,1793254896268408320
+166,2.766666667,POSE1_TO_POSE2_PRESS,783.250194292,761,738,720,686.500388584,650,916,800.250194292,839.250194292,658,635.250194292,657,0.423851079084,0.00445024326124,0.0599299392681,0.999999983884,-0.000129764403971,-0.000117143047513,-4.08678166832e-05,1793254896285074944
+167,2.783333333,POSE1_TO_POSE2_PRESS,783.826463131,761,738,720,687.652926263,650,916,800.826463131,839.826463131,658,635.826463131,657,0.424861305896,0.00445006464663,0.0599997620424,0.999999991319,-0.000124994127564,-5.64863570988e-06,-4.13139316652e-05,1793254896301741824
+168,2.800000000,POSE1_TO_POSE2_PRESS,784,761,738,720,687.597916428,650,916,800.597916428,840,658,635.597916428,657.402083572,0.425845228787,0.00444626538655,0.0600317886736,0.999999990606,-0.000121545210554,4.79718960054e-05,-4.1399300216e-05,1793254896318407936
+169,2.816666667,POSE1_TO_POSE2_PRESS,784,761,738,720,687.022575416,650,916,800.022575416,840,658,635.022575416,657.977424584,0.426817817281,0.00444090599369,0.0600475289774,0.999999989167,-0.000118665666716,7.66546196764e-05,-4.13292235521e-05,1793254896335074048
+170,2.833333333,POSE1_TO_POSE2_PRESS,784,761,738,719.433503255,687,650,916,800,840,658,635,657.433503255,0.42777209733,0.00443995823854,0.0600242515537,0.999999991152,-0.000114752486319,5.08081319788e-05,-4.41143092955e-05,1793254896351740672
+171,2.850000000,POSE1_TO_POSE2_PRESS,783.846643641,761,738,719,687,650,916,800,840,657.846643641,635.153356359,657,0.428709199599,0.0044400226739,0.0599960917068,0.999999992952,-0.000108406675795,1.3522014114e-05,-4.64975437221e-05,1793254896368407296
+172,2.866666667,POSE1_TO_POSE2_PRESS,783.267484396,761,738,719,687,650,916,800,840,657.267484396,635.732515604,657,0.429600682835,0.00444239724884,0.0599588000215,0.999999993104,-9.54237370612e-05,-4.93434545912e-05,-4.74412474567e-05,1793254896385073920
+173,2.883333333,POSE1_TO_POSE2_PRESS,783.309426732,761,738,719,687,650,916,800,840,657.309426732,636,657,0.430520203845,0.00444227910356,0.0599372688478,0.999999991442,-8.79224751959e-05,-8.39015682124e-05,-4.84426344248e-05,1793254896401740544
+174,2.900000000,POSE1_TO_POSE2_PRESS,783.884408459,761,738,719,687,650,916,800,840,657.884408459,636,657,0.431463787279,0.0044400216656,0.0599292636005,0.999999990718,-8.51256774218e-05,-9.41658516575e-05,-4.94935261414e-05,1793254896418407680
+175,2.916666667,POSE1_TO_POSE2_PRESS,784,761,738,719,687.938063986,650,916,800.469031993,840,658,636,657,0.432482250484,0.00443555460363,0.0599728404991,0.999999994772,-8.67430343359e-05,-2.1739394901e-05,-4.95946413681e-05,1793254896435074560
+176,2.933333333,POSE1_TO_POSE2_PRESS,784.055370715,761,738,719,688.889258571,650,916.055370715,800.944629285,840,658,636,657,0.433511185166,0.00443109344741,0.0600236952782,0.999999992941,-8.86352177125e-05,6.16993177093e-05,-4.95517299339e-05,1793254896451741184
+177,2.950000000,POSE1_TO_POSE2_PRESS,784.634978578,761,738,719,687.730042844,650,916.634978578,800.365021422,840,658,636,657,0.434460876394,0.00443195214251,0.0600205724202,0.999999993944,-8.26136656863e-05,5.240732594e-05,-5.04078402477e-05,1793254896468407552
+178,2.966666667,POSE1_TO_POSE2_PRESS,784.786354567,761,738,719,687,650,916.786354567,800,840,657.786354567,635.786354567,657,0.435392476618,0.00442988098547,0.0600056107928,0.999999995262,-7.98196700108e-05,2.28114777927e-05,-5.08312225637e-05,1793254896485074176
+179,2.983333333,POSE1_TO_POSE2_PRESS,784.209288317,761,738,719,687,650,916.209288317,800,840,657.209288317,635.209288317,657,0.436293303357,0.00442282601383,0.0599705108678,0.999999994466,-8.25158965987e-05,-4.13221758963e-05,-5.05185144354e-05,1793254896501741056
+180,3.000000000,POSE1_TO_POSE2_PRESS,784,761,738,719,687,650,916.366810869,800,840,657.366810869,635.366810869,657,0.437161987549,0.00442140350418,0.0599399432436,0.999999990825,-7.94179976103e-05,-9.71595547207e-05,-5.10123028704e-05,1793254896518407424
+181,3.016666667,POSE1_TO_POSE2_PRESS,784,761,738,719,687,650,916.942359703,800,840,657.942359703,635.942359703,657,0.4380123806,0.00442318621254,0.0599119547797,0.999999984991,-7.3022884299e-05,-0.000148275838511,-5.19650374841e-05,1793254896535074048
+182,3.033333333,POSE1_TO_POSE2_PRESS,784.529805278,761,738,718.470194722,687,650,916.470194722,800.529805278,840,658,636,657,0.438916790239,0.00442151676411,0.0599072732885,0.999999983976,-6.97255629065e-05,-0.000156586040408,-5.16379554574e-05,1793254896551740672
+183,3.050000000,POSE1_TO_POSE2_PRESS,785,761,738,718.117168909,687,650,916,800.882831091,840.117168909,658,636,657.117168909,0.439837554859,0.0044189694428,0.0599184779011,0.999999986752,-6.79537124201e-05,-0.000138759426134,-5.12330139351e-05,1793254896568407552
+184,3.066666667,POSE1_TO_POSE2_PRESS,785,761,738,718.69895726,687,650,916,800.30104274,840.69895726,658,636,657.69895726,0.440799334335,0.00441446454224,0.0599823910381,0.99999999553,-7.08638041464e-05,-3.61817359379e-05,-5.10841440231e-05,1793254896585074432
+185,3.083333333,POSE1_TO_POSE2_PRESS,785,761,738,718.723241759,687,650,916.276758241,800,840.723241759,657.723241759,636,657.723241759,0.441696256102,0.00441330139188,0.0600102747468,0.999999996292,-6.85112696394e-05,1.01892904602e-05,-5.11660153853e-05,1793254896601741056
+186,3.100000000,POSE1_TO_POSE2_PRESS,785,761,738,718.149716459,687,650,916.850283541,800,840.149716459,657.149716459,636,657.149716459,0.442523631073,0.00441572159084,0.0599995242002,0.999999996836,-6.0515636707e-05,-3.70993234259e-06,-5.14953103837e-05,1793254896618407424
+187,3.116666667,POSE1_TO_POSE2_PRESS,785,761,738,718,686.574392382,650,917,800,840.425607618,657.425607618,636,657,0.443306059276,0.00441539556713,0.0599648641834,0.999999995083,-6.09032515241e-05,-5.74209753017e-05,-5.3167311652e-05,1793254896635074048
+188,3.133333333,POSE1_TO_POSE2_PRESS,785.001611154,761,738,718,686,650,917,800,841,658,636,657,0.444072628291,0.00441411187211,0.0599218316566,0.999999988585,-6.42285615441e-05,-0.000125079498492,-5.53111310007e-05,1793254896651740672
+189,3.150000000,POSE1_TO_POSE2_PRESS,785.593729643,761,738,718,686,650,917,800,841,658,636,657,0.444846098812,0.00441739884886,0.0599058665524,0.999999985422,-5.88288654738e-05,-0.000149998005509,-5.65343307056e-05,1793254896668407296
+190,3.166666667,POSE1_TO_POSE2_PRESS,785.819171109,761,738,717.819171109,685.819171109,650,917,800,841,658,635.819171109,657,0.445590611364,0.0044208293089,0.0598836265594,0.999999979088,-5.01666409713e-05,-0.000190104700728,-5.62733766087e-05,1793254896685074176
+191,3.183333333,POSE1_TO_POSE2_PRESS,785.243043982,761,738,717.243043982,685.243043982,650,917,800,841,658,635.243043982,657,0.446271820939,0.004424573429,0.0598476694385,0.999999963324,-3.43724148348e-05,-0.000263413307207,-5.27680108436e-05,1793254896701740800
+192,3.200000000,POSE1_TO_POSE2_PRESS,785.333287111,761,738,717.333287111,685,649.666712889,917,800,841,658,635.333287111,657.333287111,0.446973868632,0.00443824856411,0.059827059765,0.999999954853,-2.26517238552e-05,-0.000295085003624,-5.20173537079e-05,1793254896718407680
+193,3.216666667,POSE1_TO_POSE2_PRESS,785.909767001,761,738,717.909767001,685,649.090232999,917,800,841,658,635.909767001,657.909767001,0.447691121434,0.00445917015722,0.0598176488117,0.999999954565,-1.39034090723e-05,-0.000296375096053,-5.32767513918e-05,1793254896735074304
+194,3.233333333,POSE1_TO_POSE2_PRESS,786,761,738,717.503802908,684.503802908,649,917,800.496197092,841,658,635.503802908,657.503802908,0.448376125866,0.00448500814242,0.0598272161506,0.999999957964,-5.28646963357e-05,-0.00027933678108,-5.69882004991e-05,1793254896751741184
+195,3.250000000,POSE1_TO_POSE2_PRESS,786,761,737.91698584,717,683.91698584,648.91698584,916.91698584,800.91698584,840.91698584,657.91698584,635,657,0.449044367096,0.00450653065573,0.0598332797966,0.999999957018,-9.49587482516e-05,-0.000270724832104,-6.04598461694e-05,1793254896768408064
+196,3.266666667,POSE1_TO_POSE2_PRESS,786,761,737.338873179,717,683.338873179,648.338873179,916.338873179,800.338873179,840.338873179,657.338873179,635,657,0.449648322928,0.0044968743908,0.0597974431816,0.999999937586,-0.000102934271997,-0.000332652834029,-5.97875006115e-05,1793254896785074432
+197,3.283333333,POSE1_TO_POSE2_PRESS,786,761,737.238770679,717,683,648,916,800,840.238770679,657.238770679,635.238770679,657,0.450230110192,0.00449104650326,0.0597589288974,0.999999915251,-0.000107912159901,-0.0003926570532,-6.06010698133e-05,1793254896801740800
+198,3.300000000,POSE1_TO_POSE2_PRESS,786,761,737.815750446,717,683,648,916,800,840.815750446,657.815750446,635.815750446,657,0.450780496515,0.00449064135957,0.059716621805,0.99999989086,-0.000108644016397,-0.000449936306623,-6.35193778522e-05,1793254896818407168
+199,3.316666667,POSE1_TO_POSE2_PRESS,786,761,738,716.601043101,682.601043101,648,916,800,841,658,635.601043101,657,0.451316579033,0.00449071376159,0.0597001472116,0.99999988126,-0.000109158762961,-0.000470387299573,-6.55679004254e-05,1793254896835074048
+200,3.333333333,POSE1_TO_POSE2_PRESS,786,761,738,716.014915345,682.014915345,648,916,800,841,658,635.014915345,657,0.45184595096,0.00449101020442,0.059695791946,0.999999879609,-0.000109571652452,-0.000473560298609,-6.72083629728e-05,1793254896851741184
+201,3.350000000,POSE1_TO_POSE2_PRESS,786,761,737.436137028,716.563862972,682,648,916,800,841,658,635.563862972,657,0.452382704243,0.00448524091398,0.0597133952943,0.999999893281,-0.00011821767399,-0.000441407739163,-6.7981777381e-05,1793254896868408064
+202,3.366666667,POSE1_TO_POSE2_PRESS,786,761,737.141513783,717,681.858486217,647.858486217,916,800,841,658,635.858486217,657.141513783,0.452899089979,0.00448082550528,0.0597248455624,0.999999900698,-0.00012497901202,-0.000422170509416,-6.89634058574e-05,1793254896885074688
+203,3.383333333,POSE1_TO_POSE2_PRESS,786,761,737.716300209,717,681.283699791,647.283699791,916,800,841,658,635.283699791,657.716300209,0.453352526435,0.00448104020653,0.0597157014449,0.999999890506,-0.000125311810283,-0.000445300274564,-7.06518408223e-05,1793254896901741824
+204,3.400000000,POSE1_TO_POSE2_PRESS,786,761,737.707421436,717,681,647,916,800,841,658,635.292578564,657.707421436,0.453768307367,0.00448002728168,0.0596942096499,0.999999872106,-0.000128383918671,-0.000483785218223,-7.25057464623e-05,1793254896918408704
+205,3.416666667,POSE1_TO_POSE2_PRESS,786,761,737.129689048,717,681,647,916,800,841,658,635.870310952,657.129689048,0.454147388329,0.00447781788407,0.0596606835238,0.999999843917,-0.000134125821711,-0.000537235671184,-7.45209234125e-05,1793254896935074816
+206,3.433333333,POSE1_TO_POSE2_PRESS,786.456074279,761,737.456074279,717,680.543925721,647,916,800.456074279,841,658,635.543925721,657,0.454520870767,0.00447585268928,0.0596496958838,0.99999983722,-0.000139456628502,-0.000547972038392,-7.64136469971e-05,1793254896951741184
+207,3.450000000,POSE1_TO_POSE2_PRESS,786.956469173,761,738,717,680,647,916,800.956469173,841,658,635.043530827,657.043530827,0.454892567452,0.00447423916131,0.0596466331384,0.999999838399,-0.00014365501592,-0.000544484159587,-7.81124889853e-05,1793254896968407808
+208,3.466666667,POSE1_TO_POSE2_PRESS,786.376789034,761,738,717,680,647,916,800.376789034,841,658,635.623210966,657.623210966,0.455262229207,0.00447608634465,0.0596608256682,0.999999853601,-0.000135371511589,-0.000518082861827,-7.78599385964e-05,1793254896985074176
+209,3.483333333,POSE1_TO_POSE2_PRESS,786.202381897,761,738,716.797618103,680,647,916,800,841,658,635.797618103,657.797618103,0.45561223629,0.0044771716796,0.059670427781,0.999999866439,-0.000110298211885,-0.000499927493804,-7.09202630803e-05,1793254897001740800
+210,3.500000000,POSE1_TO_POSE2_PRESS,786.780607111,761,738,716.219392889,680,647,916,800,841,658,635.219392889,657.219392889,0.455925742651,0.00447684218608,0.0596715050313,0.999999873663,-5.40445925797e-05,-0.000497085640006,-5.1561930858e-05,1793254897018407680
+211,3.516666667,POSE1_TO_POSE2_PRESS,786.644045826,761,738,716,680,646.644045826,916,800,841,658,635,657.355954174,0.456194376081,0.00447792519499,0.0596593266683,0.999999866157,-3.47144063864e-05,-0.000514154058439,-4.61093488844e-05,1793254897035074304
+212,3.533333333,POSE1_TO_POSE2_PRESS,786.07045843,761,738,716,680,646.07045843,916,800,841,658,635,657.92954157,0.456435573874,0.0044798718191,0.0596390437178,0.999999850432,-3.7959496266e-05,-0.000543395776213,-4.91588516802e-05,1793254897051740928
+213,3.550000000,POSE1_TO_POSE2_PRESS,786,761,737.480041436,716,679.480041436,646,916,800,841,658,635,657.480041436,0.456629096106,0.00447936825814,0.059612373806,0.999999827759,-4.2310479264e-05,-0.000583127253335,-5.15170221524e-05,1793254897068407552
+214,3.566666667,POSE1_TO_POSE2_PRESS,786,761,737.106083839,716,678.893916161,646,916,800,841,658,635.106083839,657.106083839,0.456812754743,0.00447874859143,0.0595862437869,0.999999803937,-4.66326267023e-05,-0.000622141898728,-5.37640368032e-05,1793254897085074176
+215,3.583333333,POSE1_TO_POSE2_PRESS,786,761,737.663898201,716,678.336101799,646,916,800,841,658,635.663898201,657.663898201,0.456982842058,0.00447909562762,0.0595662214639,0.999999784723,-5.01725140529e-05,-0.000651848800425,-5.59499837387e-05,1793254897101740800
+216,3.600000000,POSE1_TO_POSE2_PRESS,786,761,737.76261962,716,678,646,916,800,841,658,635.76261962,657.76261962,0.457147612312,0.0044790130522,0.0595501710757,0.999999769683,-5.37974629878e-05,-0.000674084107202,-5.78872100497e-05,1793254897118407424
+217,3.616666667,POSE1_TO_POSE2_PRESS,786,761,737.165386084,716,678,646,916,800,841,658,635.165386084,657.165386084,0.45730432224,0.00447827921361,0.0595401418823,0.999999761969,-5.75513595679e-05,-0.000684992962862,-5.94473920604e-05,1793254897135074048
+218,3.633333333,POSE1_TO_POSE2_PRESS,786,761,737.42432482,716.42432482,678,646,916.42432482,800,841.42432482,658,635.42432482,657.42432482,0.457439434181,0.00447715577634,0.0595372729712,0.999999758472,-6.0044123564e-05,-0.00068984327994,-5.97302209581e-05,1793254897151741696
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+226,3.766666667,POSE1_TO_POSE2_PRESS,786.071620268,761.071620268,738,717,678,645,916,800,841,658,636,657.071620268,0.458059567757,0.00447693473859,0.059520653313,0.999999735643,-6.30625278876e-05,-0.000721776415644,-6.14408095008e-05,1793254897285073664
+227,3.783333333,POSE1_TO_POSE2_PRESS,786.650669483,761.650669483,738,717,678,645,916,800,841,658,636,657.650669483,0.458094142352,0.00447847996319,0.0595214502316,0.999999737071,-6.1387747595e-05,-0.000719942341744,-6.14151942204e-05,1793254897301740544
+228,3.800000000,POSE1_TO_POSE2_PRESS,786.771664493,761.771664493,737.771664493,716.771664493,678,645.228335507,916.228335507,800,841.228335507,658,635.771664493,658,0.458122999691,0.00447875407667,0.0595222528574,0.999999738107,-6.04211604228e-05,-0.000718597448975,-6.12537386566e-05,1793254897318407168
+229,3.816666667,POSE1_TO_POSE2_PRESS,786.196101906,761.196101906,737.196101906,716.196101906,678,645.803898094,916.803898094,800,841.803898094,658,635.196101906,658,0.458143162868,0.00447709522657,0.059523064162,0.999999738555,-6.05315141805e-05,-0.000717996448231,-6.08857123965e-05,1793254897335073792
+230,3.833333333,POSE1_TO_POSE2_PRESS,786,761,737.377942157,716,677.622057843,645.622057843,916.622057843,800,841.622057843,658,635.377942157,658,0.458157136601,0.00447791603976,0.0595222897559,0.999999737196,-5.99752483636e-05,-0.000719911364353,-6.11483570562e-05,1793254897351740416
+231,3.850000000,POSE1_TO_POSE2_PRESS,786,761,737.951201442,716,677.048798558,645.048798558,916.048798558,800,841.048798558,658,635.951201442,658,0.458167911685,0.00448001832081,0.0595206958687,0.999999734893,-5.90744795069e-05,-0.000723126483828,-6.17369268189e-05,1793254897368407296
+232,3.866666667,POSE1_TO_POSE2_PRESS,786,761,737.458071202,716,677,645.541928798,916,800,841,658,636,658,0.458172561954,0.00448139524463,0.0595186631117,0.999999732083,-5.77719189516e-05,-0.000727097813313,-6.18437352489e-05,1793254897385073664
+233,3.883333333,POSE1_TO_POSE2_PRESS,786,761,737.131314853,716,677,646,916,800,841,658,636,658,0.458176476819,0.00448238002819,0.059516751656,0.999999729856,-5.62873277188e-05,-0.000730270369977,-6.18397812361e-05,1793254897401740544
+234,3.900000000,POSE1_TO_POSE2_PRESS,786,761,737.710580819,716,677,646,916,800,841,658,636,658,0.458179827051,0.00448225734354,0.0595153932908,0.999999729828,-5.43093098588e-05,-0.00073047806861,-6.16108984365e-05,1793254897418407168
+235,3.916666667,POSE1_TO_POSE2_PRESS,786,761,738,716.286739904,677,646,916.286739904,800,841,658,635.713260096,657.713260096,0.458182680555,0.00448179746009,0.0595147506309,0.999999729705,-5.47248974298e-05,-0.000730625726123,-6.14929316359e-05,1793254897435073792
+236,3.933333333,POSE1_TO_POSE2_PRESS,786,761,738,716.85979676,677,646,916.85979676,800,841,658,635.14020324,657.14020324,0.458185038065,0.00448100087518,0.0595148226205,0.999999729484,-5.75305595515e-05,-0.000730713431104,-6.14857172021e-05,1793254897451740416
+237,3.950000000,POSE1_TO_POSE2_PRESS,785.557272145,761.442727855,737.557272145,717,677,645.557272145,916.557272145,800,841.442727855,658,635.442727855,657.442727855,0.458184365653,0.00448016070543,0.059513470542,0.999999727833,-5.78268476124e-05,-0.000732970711486,-6.11870936953e-05,1793254897468407040
+238,3.966666667,POSE1_TO_POSE2_PRESS,785.028643682,761.971356318,737.028643682,717,677,645,916.028643682,800,842,658,635.971356318,658,0.458182824298,0.00447943555242,0.0595117038625,0.999999725804,-5.72589509403e-05,-0.000735806793382,-6.08448085755e-05,1793254897485073664
+239,3.983333333,POSE1_TO_POSE2_PRESS,785.610435744,761.389564256,737.610435744,717,677,645,916.610435744,800,842,658,635.389564256,658,0.458183454728,0.00448120415225,0.0595108382701,0.999999725527,-5.56986979908e-05,-0.000736249550136,-6.14821321529e-05,1793254897501741312
+240,4.000000000,POSE1_TO_POSE2_PRESS,786,761,738,717,677,645.190354357,916.809645643,800,841.809645643,658,635,658,0.458184634589,0.00448193951902,0.0595107908298,0.999999725877,-5.46265234885e-05,-0.000735837623757,-6.16759950873e-05,1793254897518408448
+241,4.016666667,POSE1_TO_POSE2_PRESS,786,761,738,717,677,645.766476251,916.233523749,800,841.233523749,658,635,658,0.458186927915,0.00448058096051,0.0595124014364,0.999999727501,-5.45434770583e-05,-0.00073369361718,-6.09711513684e-05,1793254897535074304
+242,4.033333333,POSE1_TO_POSE2_PRESS,786,761,738,717,677,645.658868661,916,800,841.341131339,658,635.341131339,657.658868661,0.45818674879,0.00447983517596,0.0595118815397,0.999999727051,-5.48862737019e-05,-0.000734306749335,-6.06468423474e-05,1793254897551740672
+243,4.050000000,POSE1_TO_POSE2_PRESS,786,761,738,717,677,645.085213411,916,800,841.914786589,658,635.914786589,657.085213411,0.45818488438,0.00447950707397,0.0595099094369,0.999999725187,-5.55193359618e-05,-0.000736799218387,-6.05819156116e-05,1793254897568407296
+244,4.066666667,POSE1_TO_POSE2_PRESS,786,761,738,716.493637283,677,645.506362717,916,800.506362717,841.493637283,658,636,657.506362717,0.458186906998,0.0044804073371,0.0595112471886,0.999999726933,-5.34904133521e-05,-0.000734584753822,-6.04850461625e-05,1793254897585074176
+245,4.083333333,POSE1_TO_POSE2_PRESS,786,761.097898383,738,716.097898383,677,646,916,800.902101617,841,658,636,658,0.458188916957,0.00448140424369,0.0595127091347,0.999999728672,-5.14624881647e-05,-0.000732358882164,-6.04886910475e-05,1793254897601740800
+246,4.100000000,POSE1_TO_POSE2_PRESS,786,761.673965471,738,716.673965471,677,646,916,800.326034529,841,658,636,658,0.458187552877,0.00448182647472,0.0595119572941,0.999999727359,-5.17077659462e-05,-0.000734088167456,-6.10105008867e-05,1793254897618407936
+247,4.116666667,POSE1_TO_POSE2_PRESS,786,762,738,717,677,645.74928664,916.25071336,800,841,658,636,658,0.458187143001,0.00448209845657,0.0595116615989,0.999999726591,-5.2094593437e-05,-0.000735089506608,-6.1221777485e-05,1793254897635074816
+248,4.133333333,POSE1_TO_POSE2_PRESS,786,762,738,717,677,645.171650929,916.828349071,800,841,658,636,658,0.458187977377,0.00448217451825,0.0595119607027,0.999999726534,-5.26659973394e-05,-0.000735141627083,-6.10281285575e-05,1793254897651741184
+249,4.150000000,POSE1_TO_POSE2_PRESS,786,762,738.413275779,716.586724221,677,645,917,800,841,658,636,658,0.458187008164,0.00448187443244,0.059510409781,0.999999725237,-5.22473759413e-05,-0.000736972869811,-6.05638604654e-05,1793254897668407552
+250,4.166666667,HOLD_POSE2,786,761,738,716,677,646,917,800,841,658,635,657,0.458188283045,0.00448226273452,0.0595106724025,0.999999726673,-5.19104676601e-05,-0.000734991031912,-6.12138407488e-05,1793254897713895680
+251,4.183333333,HOLD_POSE2,786,761,737.425677528,716,677,646,916.425677528,800,841,658,635.574322472,657.574322472,0.458188670456,0.00448309297147,0.0595109692435,0.999999726722,-5.0129549778e-05,-0.000735076660404,-6.08710457529e-05,1793254897730562304
+252,4.200000000,HOLD_POSE2,786.148105056,761,737.148105056,716.148105056,677,645.851894944,916,800,841,658,636,658,0.45818870725,0.00448316983295,0.0595108738819,0.999999726475,-4.93391740222e-05,-0.000735496906729,-6.04907722548e-05,1793254897747228672
+253,4.216666667,HOLD_POSE2,786.720341683,761,737.720341683,716.720341683,677,645.279658317,916,800,841,658,636,658,0.458187739978,0.00448108923744,0.0595096553617,0.999999725387,-5.13854342163e-05,-0.000736875405222,-6.00031707009e-05,1793254897763894528
+254,4.233333333,HOLD_POSE2,786.695172015,761,738,716.695172015,677,645,916,800,841,658,636,658,0.458188083817,0.00448063531333,0.0595098114704,0.99999972549,-5.21347691351e-05,-0.000736691757503,-5.98964969057e-05,1793254897780560640
+255,4.250000000,HOLD_POSE2,786.098977008,761,738,716.098977008,677,645,916,800,841,658,636,658,0.45818968087,0.00448173622821,0.0595112815055,0.999999726734,-5.16444498516e-05,-0.000735014946632,-6.01539294301e-05,1793254897797227008
+256,4.266666667,HOLD_POSE2,786,761,738,716,677,645,916,800,841,657.516872814,636,657.516872814,0.458189012033,0.00448144911124,0.0595104309575,0.999999725949,-5.23198346814e-05,-0.000736032646198,-6.01717006278e-05,1793254897813893376
+257,4.283333333,HOLD_POSE2,786,761,738,716.06278731,677,645.06278731,916,800,841,657.06278731,636,657.06278731,0.45818819957,0.00448086870289,0.0595094007814,0.999999725042,-5.33733973081e-05,-0.000737190459691,-6.01408113275e-05,1793254897830559744
+258,4.300000000,HOLD_POSE2,786,761,738,716.645435356,677,645.645435356,916,800,841,657.645435356,636,657.645435356,0.458189932507,0.00448014764251,0.0595107080579,0.999999726484,-5.56368812998e-05,-0.00073506735839,-6.01020303688e-05,1793254897847226368
+259,4.316666667,HOLD_POSE2,786,761,738,717,677,645.773256319,916,800,841,657.773256319,636,658,0.458190521542,0.0044804821656,0.0595111591813,0.999999726959,-5.5635842044e-05,-0.000734420304692,-6.010382199e-05,1793254897863892992
+260,4.333333333,HOLD_POSE2,786,761,738,717,677,645.194030698,916,800,841,657.194030698,636,658,0.458189332336,0.00448245763464,0.0595102793809,0.999999725934,-5.21145124045e-05,-0.000736067825065,-6.01686852809e-05,1793254897880559616
+261,4.350000000,HOLD_POSE2,786,761,738,717,677,645,916,800,841,657.386512433,636,658,0.45819034776,0.00448308781715,0.0595111450042,0.999999726508,-5.00140743219e-05,-0.000735418701987,-6.03464886415e-05,1793254897897226240
+262,4.366666667,HOLD_POSE2,786,761,738,717,677,645,916,800,841,657.967719273,636,658,0.458192473702,0.00448304035083,0.0595128898339,0.999999727889,-4.86293687557e-05,-0.000733612711653,-6.05811822861e-05,1793254897913893120
+263,4.383333333,HOLD_POSE2,786,761,738,716.454909258,677,645,916,800,841,658,635.454909258,657.454909258,0.458193254316,0.0044837354211,0.0595132809824,0.999999728788,-4.8712805612e-05,-0.00073238085487,-6.05683487095e-05,1793254897930559488
+264,4.400000000,HOLD_POSE2,786,761,738,716.121844343,677,645.121844343,916,800,841,658,635,657,0.458193585681,0.00448412084315,0.059513242807,0.999999729257,-4.88035280133e-05,-0.000731742103036,-6.04708253311e-05,1793254897947226368
+265,4.416666667,HOLD_POSE2,786,761,738,716.697138065,677,645.697138065,916,800,841,658,635,657,0.458192539569,0.00448319138875,0.0595119031404,0.999999728232,-4.86000563224e-05,-0.000733184967515,-6.01122970355e-05,1793254897963892992
+266,4.433333333,POSE2_TO_POSE3_RETREAT,786,761,738,716,677,645,916,800,841,658,636,658,0.458194982974,0.00448310986371,0.0595148429716,0.99999973003,-4.67754859285e-05,-0.0007308664771,-5.98924604602e-05,1793254898001136128
+267,4.450000000,POSE2_TO_POSE3_RETREAT,786,761.580783748,738,716.580783748,677,645,916,800,841,658,636,658,0.458192419256,0.00448411768934,0.0595119931524,0.999999727408,-4.6676139592e-05,-0.000734418530542,-6.02902514026e-05,1793254898017804032
+268,4.466666667,POSE2_TO_POSE3_RETREAT,786,761.840011371,738,716.840011371,677,645.159988629,916,800,841,658,636,657.840011371,0.458191377596,0.00448410596649,0.0595106188859,0.999999726167,-4.79921681134e-05,-0.000736003149419,-6.05143714341e-05,1793254898034471424
+269,4.483333333,POSE2_TO_POSE3_RETREAT,786,761.264903021,738,716.264903021,677,645.735096979,916,800,841,658,636,657.264903021,0.458194285194,0.00448144883912,0.0595130732096,0.999999728514,-5.29806451938e-05,-0.000732482900735,-6.02878706528e-05,1793254898051138048
+270,4.500000000,POSE2_TO_POSE3_RETREAT,785.689980854,761.310019146,738,716.310019146,676.689980854,645.689980854,916,800,841,658,635.689980854,657.310019146,0.458193946215,0.00448072637879,0.0595129513327,0.999999728158,-5.38111679364e-05,-0.000732923927142,-6.00816632913e-05,1793254898067804672
+271,4.516666667,POSE2_TO_POSE3_RETREAT,785.115217713,761.884782287,738,716.884782287,676.115217713,645.115217713,916,800,841,658,635.115217713,657.884782287,0.45819083479,0.00448165604717,0.0595106294828,0.999999725503,-5.10909631016e-05,-0.000736747724804,-5.98927857154e-05,1793254898084471040
+272,4.533333333,POSE2_TO_POSE3_RETREAT,785.47493045,761.52506955,737.52506955,716.52506955,676.47493045,645,916,800,841,658,635.47493045,658,0.45819088942,0.00448120731942,0.0595103142956,0.99999972547,-5.1237915385e-05,-0.000736799189105,-5.96800811592e-05,1793254898101136896
+273,4.550000000,POSE2_TO_POSE3_RETREAT,786,761.066851695,737.066851695,716,677,645,916,800,841,658,635.933148305,658,0.458191694507,0.00448060927076,0.0595105568393,0.999999726119,-5.18558018154e-05,-0.00073588907051,-5.94917706733e-05,1793254898117803008
+274,4.566666667,POSE2_TO_POSE3_RETREAT,786,761.642897584,737.642897584,716,677,645,916,800,841,658,635.357102416,658,0.458192169485,0.00448150618152,0.0595112153987,0.99999972694,-5.05853188124e-05,-0.000734858762985,-5.95347663107e-05,1793254898134469632
+275,4.583333333,POSE2_TO_POSE3_RETREAT,786,762,738,716.209230985,676.790769015,645,916.209230985,800,841,658,635,658,0.458190500319,0.00448196356627,0.0595106632461,0.999999726408,-4.96882516658e-05,-0.000735636752644,-5.96186545614e-05,1793254898151136256
+276,4.600000000,POSE2_TO_POSE3_RETREAT,786,762,738,716.759723016,676.240276984,645,916.759723016,800,841,658,635,658,0.458185334,0.00448170407286,0.0595081363914,0.999999723664,-4.9400235381e-05,-0.000739364120997,-5.97692396979e-05,1793254898167803136
+277,4.616666667,POSE2_TO_POSE3_RETREAT,786,762,738,716.652235239,676,645,917,800,841.347764761,657.652235239,635,658,0.458169199532,0.00448355934362,0.0594999410721,0.999999713819,-4.83143446657e-05,-0.000752586884218,-6.03372340547e-05,1793254898184470016
+278,4.633333333,POSE2_TO_POSE3_RETREAT,786,762,738,716.035109306,676,645,917,800,841.964890694,657.035109306,635,658,0.458144569683,0.00448705260478,0.0594873552437,0.999999698148,-4.6610460319e-05,-0.000773164305028,-6.12285326908e-05,1793254898201136896
+279,4.650000000,POSE2_TO_POSE3_RETREAT,786,762,738,716.546350718,676.546350718,645.546350718,917,800,841.453649282,657.546350718,635.546350718,658,0.458096891686,0.00448752685325,0.0594673750946,0.99999967246,-4.4092582814e-05,-0.000805821184531,-6.15402174774e-05,1793254898217803776
+280,4.666666667,POSE2_TO_POSE3_RETREAT,786,761.874610861,737.874610861,716.874610861,677,645.874610861,916.874610861,800,841,658,635.874610861,658,0.458043871339,0.00448767428611,0.0594470955769,0.999999646634,-4.24597113065e-05,-0.000837324338161,-6.17740132367e-05,1793254898234470656
+281,4.683333333,POSE2_TO_POSE3_RETREAT,786,761.296547411,737.296547411,716.296547411,677,645.296547411,916.296547411,800,841,658,635.296547411,658,0.457976583632,0.00448729933647,0.0594273456026,0.999999625561,-4.41991179339e-05,-0.000862031740589,-6.18528445373e-05,1793254898251137024
+282,4.700000000,POSE2_TO_POSE3_RETREAT,785.720625651,761,737.279374349,716,677,645.279374349,916.279374349,800,841,658,635,658,0.457902777462,0.00448708116502,0.0594112865455,0.999999607515,-4.42188901711e-05,-0.000882726334019,-6.17171029883e-05,1793254898267803392
+283,4.716666667,POSE2_TO_POSE3_RETREAT,785.14695997,761,737.85304003,716,677,645.85304003,916.85304003,800,841,658,635,658,0.457822104784,0.00448702814285,0.0593991154806,0.999999592943,-4.24272093403e-05,-0.00089919385629,-6.13553316465e-05,1793254898284469760
+284,4.733333333,POSE2_TO_POSE3_RETREAT,785.437971514,761,738,716,677,645.562028486,917,800,841,658,635,658,0.457735110737,0.00448826717142,0.059394584914,0.999999589436,-3.99530968727e-05,-0.000903215929371,-6.1094612808e-05,1793254898301136128
+285,4.750000000,POSE2_TO_POSE3_RETREAT,786,761,738,716.026366689,677,645,916.973633311,800,841,658,635.026366689,658,0.457645114765,0.00448988041009,0.0593930389473,0.999999590263,-3.71827172918e-05,-0.000902436521531,-6.0824861717e-05,1793254898317802752
+286,4.766666667,POSE2_TO_POSE3_RETREAT,786,761,738,716.606025821,677,645,916.393974179,800,841,658,635.606025821,658,0.457537810582,0.00449000836892,0.0593989040245,0.99999960087,-3.31273782162e-05,-0.000890845998575,-5.96352468561e-05,1793254898334470144
+287,4.783333333,POSE2_TO_POSE3_RETREAT,786,761,737.815619949,716.815619949,677,645.184380051,916,800,841,658,636,658,0.457419226252,0.00449038768384,0.059404113515,0.999999609777,-2.96159565037e-05,-0.000880989745865,-5.85371238276e-05,1793254898351137280
+288,4.800000000,POSE2_TO_POSE3_RETREAT,786,761,737.240034448,716.240034448,677,645.759965552,916,800,841,658,636,658,0.457276708465,0.00449130030954,0.059407932024,0.999999615319,-2.72585833557e-05,-0.000874813155246,-5.76331223099e-05,1793254898367803904
+289,4.816666667,POSE2_TO_POSE3_RETREAT,786,761,737.334136628,716.334136628,677,646,916.334136628,800,841.334136628,658,636,658,0.457116765966,0.00449262776434,0.0594097112044,0.99999961709,-2.28921705732e-05,-0.000872976972962,-5.66355087591e-05,1793254898384470272
+290,4.833333333,POSE2_TO_POSE3_RETREAT,786,761,737.907295962,716.907295962,677,646,916.907295962,800,841.907295962,658,636,658,0.456944358784,0.00449425196483,0.0594100315634,0.999999616157,-1.70886026502e-05,-0.000874245676064,-5.55709302877e-05,1793254898401136384
+291,4.850000000,POSE2_TO_POSE3_RETREAT,786.498630734,761,738,717,677.498630734,646,917,800,841.501369266,658,636,658,0.456746070728,0.00449773139677,0.0594108101561,0.999999616904,-1.20619540791e-05,-0.000873537608846,-5.45681246784e-05,1793254898417803008
+292,4.866666667,POSE2_TO_POSE3_RETREAT,786.909376332,761,738,716.909376332,677.909376332,646,917,800,841,658,636,657.909376332,0.456539341114,0.0045009328953,0.0594141696308,0.999999621002,-7.14436631589e-06,-0.000868962997212,-5.33693157141e-05,1793254898434469376
+293,4.883333333,POSE2_TO_POSE3_RETREAT,786.332663597,761,738,716.332663597,677.332663597,646,917,800,841,658,636,657.332663597,0.456314117862,0.00450072353632,0.0594308982434,0.999999641095,-2.00768562126e-06,-0.000845694796646,-5.1055247699e-05,1793254898451136256
+294,4.900000000,POSE2_TO_POSE3_RETREAT,786,761,737.756607916,716,677.243392084,646,917,800,841,658,635.756607916,657.243392084,0.456075008183,0.00450128617938,0.0594500479798,0.999999665025,4.02509078325e-06,-0.000817045948911,-4.86799106665e-05,1793254898467803136
+295,4.916666667,POSE2_TO_POSE3_RETREAT,786,761,737.1814479,716,677.8185521,646,917,800,841,658,635.1814479,657.8185521,0.455816969921,0.00450290113902,0.0594724979511,0.999999693839,1.12793356091e-05,-0.000781062738116,-4.62210579127e-05,1793254898484470272
+296,4.933333333,POSE2_TO_POSE3_RETREAT,786,761,737.403119406,716,678,646,917,800,841,658,635,657.596880594,0.455532581085,0.00450621603516,0.0594942501545,0.999999716355,2.12471786905e-05,-0.000751626867214,-4.353586388e-05,1793254898501136896
+297,4.950000000,POSE2_TO_POSE3_RETREAT,786,761,737.992022181,716,678,646,917,800,841,658,635,657.007977819,0.455236048214,0.00451031437143,0.0595156807808,0.999999735679,3.24656222988e-05,-0.000725208432735,-4.07463572737e-05,1793254898517803520
+298,4.966666667,POSE2_TO_POSE3_RETREAT,786.572177354,761,738,716.572177354,678,646,917,800,841,658,635,657.572177354,0.454887887208,0.00451191898544,0.0595316691415,0.999999748943,4.11912522697e-05,-0.000706421405879,-3.72210298206e-05,1793254898534469888
+299,4.983333333,POSE2_TO_POSE3_RETREAT,786.848753798,761,737.848753798,717,678.151246202,646,916.848753798,800,840.848753798,658,635.151246202,658,0.454524089773,0.00451360294321,0.0595445518305,0.999999758287,4.98482980116e-05,-0.000692676132874,-3.37786113564e-05,1793254898551136256
+300,5.000000000,POSE2_TO_POSE3_RETREAT,786.272400723,761,737.272400723,717,678.727599277,646,916.272400723,800,840.272400723,658,635.727599277,658,0.454118335978,0.00451560616738,0.0595489154891,0.999999757835,5.84087934852e-05,-0.000692807127872,-3.05976274369e-05,1793254898567802880
+301,5.016666667,POSE2_TO_POSE3_RETREAT,786,761,737.30273522,717,679,646,916,800,840.30273522,658,635.69726478,658,0.453678939139,0.00452291332388,0.0595450823323,0.999999750778,7.32700097145e-05,-0.000701596854793,-2.89218563374e-05,1793254898584469504
+302,5.033333333,POSE2_TO_POSE3_RETREAT,786,761,737.876780439,717,679,646,916,800,840.876780439,658,635.123219561,658,0.453209391505,0.00453497384191,0.0595339032256,0.999999737327,9.37779056647e-05,-0.00071814649962,-2.8595050103e-05,1793254898601136128
+303,5.050000000,POSE2_TO_POSE3_RETREAT,786,761,738,717,679,646,916,800,841,658,635,658,0.452742607879,0.00455987114086,0.0595340376858,0.999999737591,0.000125390430549,-0.000712819479692,-3.13559720889e-05,1793254898617803008
+304,5.066666667,POSE2_TO_POSE3_RETREAT,786,761,738,717,679.056821292,646.056821292,916,800,841,658,635,658,0.452274612115,0.00458555300825,0.0595401174004,0.999999743471,0.000157744783897,-0.000697860524078,-3.41260915602e-05,1793254898634469888
+305,5.083333333,POSE2_TO_POSE3_RETREAT,786,761,738,717,679.634545064,646.634545064,916,800,841,658,635,658,0.451788578346,0.0045862631517,0.0595723519588,0.999999774408,0.000169075730464,-0.000649416688925,-2.92438363777e-05,1793254898651137024
+306,5.100000000,POSE2_TO_POSE3_RETREAT,786,761,738,716.790014961,680,647,916,799.790014961,840.790014961,658,635,658,0.451281408886,0.00458574904567,0.059601665323,0.999999800295,0.000179198103553,-0.000605573823618,-2.40369467542e-05,1793254898667803904
+307,5.116666667,POSE2_TO_POSE3_RETREAT,786,761,738,716.218506944,680,647,916,799.218506944,840.218506944,658,635,658,0.450737850965,0.00458312719742,0.0596259493804,0.999999820052,0.000187239722989,-0.000569652271646,-1.82711471561e-05,1793254898684470528
+308,5.133333333,POSE2_TO_POSE3_RETREAT,785.634746317,761,737.634746317,716.365253683,680.365253683,647,916,799.365253683,840,658,635,658,0.450136121309,0.00459014832865,0.0596250444066,0.999999817649,0.000203776042477,-0.000568286689234,-1.50632521993e-05,1793254898701137152
+309,5.150000000,POSE2_TO_POSE3_RETREAT,785.043401371,761,737.043401371,716.956598629,680.956598629,647,916,799.956598629,840,658,635,658,0.449498383492,0.004603138444,0.0596085474746,0.999999801414,0.000225570563109,-0.000588311180582,-1.34386950499e-05,1793254898717803520
+310,5.166666667,POSE2_TO_POSE3_RETREAT,785,761,737.536521111,716.463478889,681.536521111,647.536521111,916,799.463478889,840,658,635.536521111,658,0.448826188789,0.00460293275974,0.0595952312056,0.99999978722,0.000237701265969,-0.000607446878724,-8.14380924542e-06,1793254898734469888
+311,5.183333333,POSE2_TO_POSE3_RETREAT,785.114692839,761,738,716,682,648,916,799.114692839,840,658,635.885307161,657.885307161,0.448156162791,0.00460260721741,0.0595897933982,0.999999780346,0.000249659487942,-0.000613979302922,-2.69679435929e-06,1793254898751136768
+312,5.200000000,POSE2_TO_POSE3_RETREAT,785.689470702,761,738,716,682,648,916,799.689470702,840,658,635.310529298,657.310529298,0.447505784896,0.00460599367964,0.0596149490608,0.999999802566,0.000263996371817,-0.000570236675026,2.19427430188e-06,1793254898767803904
+313,5.216666667,POSE2_TO_POSE3_RETREAT,785.738348163,761,737.738348163,716.261651837,682.261651837,648,916.261651837,800,840.261651837,658,635.261651837,657,0.44684081892,0.00460881148763,0.0596512182042,0.999999827068,0.000278588175827,-0.000517867389592,8.07009826759e-06,1793254898784471040
+314,5.233333333,POSE2_TO_POSE3_RETREAT,785.169218473,761,737.169218473,716.830781527,682.830781527,648,916.830781527,800,840.830781527,658,635.830781527,657,0.446158709804,0.00461096104704,0.05970054726,0.999999853144,0.000293479548543,-0.000455360557292,1.51031493805e-05,1793254898801137408
+315,5.250000000,POSE2_TO_POSE3_RETREAT,785,761,737.420233531,717.420233531,683.420233531,648.420233531,916.579766469,800,840.579766469,658,636,657,0.445391870099,0.00461230730928,0.0597061113808,0.999999851329,0.000305139749508,-0.00045147087158,2.01538486865e-05,1793254898817803776
+316,5.266666667,POSE2_TO_POSE3_RETREAT,785,761,737.982316037,717.982316037,684,649,916,800,840,658,636,657,0.444590047965,0.00461329181573,0.0596937894977,0.999999838992,0.000315437460333,-0.000471084643397,2.43782813588e-05,1793254898834470144
+317,5.283333333,POSE2_TO_POSE3_RETREAT,785,761,737.403913111,717.403913111,684,649,916,800,840,658,636,657,0.443815825325,0.00461358355602,0.0597015289441,0.999999845461,0.000325885740015,-0.000449484441339,2.90005248858e-05,1793254898851136768
+318,5.300000000,POSE2_TO_POSE3_RETREAT,785,761,737,717.173300485,684.173300485,649,916.173300485,800,840,658,636,657.173300485,0.443038521421,0.00461461278104,0.0597179445578,0.99999985529,0.000337128842179,-0.000417879137837,3.37948423934e-05,1793254898867803136
+319,5.316666667,POSE2_TO_POSE3_RETREAT,785,761,737,717.747760957,684.747760957,649,916.747760957,800,840,658,636,657.747760957,0.442254084986,0.00461734915279,0.0597544439642,0.99999987199,0.00035021181695,-0.000363113794028,3.89874804393e-05,1793254898884470016
+320,5.333333333,POSE2_TO_POSE3_RETREAT,785.329455622,761,737,718,685,649.329455622,916.670544378,800,840,658,635.670544378,657.670544378,0.441417539988,0.0046188943969,0.0597731066577,0.999999874127,0.000362178953078,-0.000344368113804,4.45313638296e-05,1793254898901136640
+321,5.350000000,POSE2_TO_POSE3_RETREAT,785.916813277,761,737,718,685,649.916813277,916.083186723,800,840,658,635.083186723,657.083186723,0.440540203786,0.00461950721107,0.0597778065447,0.999999866472,0.000373272596536,-0.00035381908561,5.03502063454e-05,1793254898917803776
+322,5.366666667,POSE2_TO_POSE3_RETREAT,785.50275867,760.50275867,737,718,685,650,916,800,840,658,635,657.49724133,0.439665040792,0.00461977266947,0.0597899430051,0.999999900861,0.000289788114131,-0.000337120563971,2.55140485394e-05,1793254898934471168
+323,5.383333333,POSE2_TO_POSE3_RETREAT,785,760,737,718.07647208,685.07647208,650,916,800,840,658,635.07647208,658,0.438785251646,0.00461905311086,0.059802660755,0.999999928518,0.000205230101365,-0.000317558408177,7.74693116091e-07,1793254898951138048
+324,5.400000000,POSE2_TO_POSE3_RETREAT,785,760,737,718.655348192,685.655348192,650,916,800,840,658,635.655348192,658,0.437872714395,0.00461223874731,0.0598111362457,0.999999929305,0.000216141318392,-0.000307528727921,9.90112436575e-06,1793254898967803904
+325,5.416666667,POSE2_TO_POSE3_RETREAT,785,760.232059229,737,719,685.767940771,650,916,800,840,658,636,658,0.436935066176,0.00461130253749,0.0597929203119,0.999999915586,0.000231565698799,-0.000338988883023,1.70567718459e-05,1793254898984469760
+326,5.433333333,POSE2_TO_POSE3_RETREAT,785,760.805584528,737,719,685.194415472,650,916,800,840,658,636,658,0.435960468016,0.00461901579974,0.059735428993,0.999999874513,0.000253631022725,-0.000431499703428,2.13124894119e-05,1793254899001136128
+327,5.450000000,POSE2_TO_POSE3_RETREAT,784.610622298,761,737,719,685.389377702,650,916,800,840,657.610622298,635.610622298,658,0.435022124516,0.00462420519509,0.0597214232899,0.999999871422,0.000265669030159,-0.000431323796772,2.31611199458e-05,1793254899017803008
+328,5.466666667,POSE2_TO_POSE3_RETREAT,784.021563579,761,737,719,685.978436421,650,916,800,840,657.021563579,635.021563579,658,0.434102373223,0.00462810029831,0.0597297179224,0.999999888991,0.000272564819256,-0.000383616195768,2.3775345749e-05,1793254899034469888
+329,5.483333333,POSE2_TO_POSE3_RETREAT,784,761,737.560876789,719,686,650,916,800,840,657.560876789,635,658,0.433157807012,0.0046272671721,0.0597546022013,0.999999900367,0.000267660065525,-0.000356368692895,2.49889874766e-05,1793254899051136512
+330,5.500000000,POSE2_TO_POSE3_RETREAT,784,760.859374944,737.859374944,719,685.859374944,650,916,800,840,657.859374944,635,657.859374944,0.432218626263,0.00462656763386,0.0597793256398,0.99999991185,0.000262465766703,-0.000326693753644,2.61489615728e-05,1793254899067803136
+331,5.516666667,POSE2_TO_POSE3_RETREAT,784,760.287117898,737.287117898,719,685.287117898,650,916,800,840,657.287117898,635,657.287117898,0.431298869762,0.00462682958073,0.0598016205484,0.999999925177,0.000257759039166,-0.000287181829376,2.7074299398e-05,1793254899084470272
+332,5.533333333,POSE2_TO_POSE3_RETREAT,784,760,737,719,685.588047263,650,916,800,839.705976368,657.294023632,635,657,0.430369212491,0.00462628898311,0.0598177204273,0.999999932737,0.000254279978441,-0.000262778377478,2.85520316461e-05,1793254899101137408
+333,5.550000000,POSE2_TO_POSE3_RETREAT,784,760,737,719,686.768222528,650,916,800,839.115888736,657.884111264,635,657,0.429429585799,0.00462494027175,0.0598275822849,0.999999935617,0.000252037104465,-0.000253588245514,3.05859916194e-05,1793254899117803776
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,783.055013743,761,738,719.944986257,686.944986257,650,916,800.055013743,839.055013743,658,635,657,0.422814414916,0.00456482303273,0.059840121456,0.999999959306,0.000137872077061,-0.000247542807953,3.3198844259e-05,1793254899234470656
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783,761,738,720,687.522648522,650,916,800,839,657.477351478,635,657,0.421871470592,0.00456145623705,0.0598362469898,0.99999995847,0.000126091281305,-0.000256934421174,3.38334423472e-05,1793254899251137024
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783,760.900633415,738,720,687.900633415,650,916,800,839,657.099366585,635,657,0.420916958008,0.00455923637067,0.0598183369906,0.999999950445,0.000115735157485,-0.000290773112431,3.41652793846e-05,1793254899267803392
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,760.322584254,738,720,687.322584254,650,916,800,839,657.677415746,635,657,0.419939104687,0.00456496562897,0.0597453000063,0.999999905536,0.000115924157,-0.000417617532929,3.29338484901e-05,1793254899284470016
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,760,738,720.259245938,687,650,916,800,839,658,635,657,0.41903422112,0.00456463697385,0.059707471618,0.999999882807,0.00010666981071,-0.00047118585044,3.15007679524e-05,1793254899301136640
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,760,738,720.845850525,687,650,916,800,839,658,635,657,0.418221479013,0.00455665878532,0.0597141023247,0.999999902492,8.54910326958e-05,-0.000432225941377,2.98130581295e-05,1793254899317803264
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783,760,738,720.573015601,687.426984399,650,916,800,839,658,635,657.426984399,0.417414829991,0.00455846545938,0.0597535643016,0.999999925536,9.03785478979e-05,-0.000373932332411,3.05693641466e-05,1793254899334469888
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783,760,738,720.006157738,687.993842262,650,916,800,839,658,635,657.993842262,0.416610202318,0.0045636681946,0.0598043903441,0.999999946076,0.000105580397632,-0.00030929383395,3.22064594576e-05,1793254899351136512
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783,760,738,720.584352381,687.415647619,650,916,800,839,658,635,657.415647619,0.415791595671,0.00456034548814,0.0598237512051,0.999999932468,0.000215811686283,-0.000295437838658,3.47367625632e-05,1793254899367803648
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783,760.161856554,737.838143446,721,687,649.838143446,916,800,839,658,635,657,0.414990399908,0.00455723499249,0.0598380320937,0.999999917678,0.000289635852971,-0.000281852374465,3.62624520596e-05,1793254899384470272
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783,760.737595255,737.262404745,721,687,649.262404745,916,800,839,658,635,657,0.414233725203,0.00455466713876,0.0598393230279,0.999999926662,0.000270363678074,-0.000268958688218,3.52192533122e-05,1793254899401136896
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783,761,737.313566951,721,687.313566951,649.313566951,916,800,839,658,634.686433049,657.313566951,0.413459452563,0.00455404758112,0.0598265542005,0.99999992412,0.000258277415035,-0.00028952570098,3.50369044406e-05,1793254899417803264
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783,761,737.889733738,721,687.889733738,649.889733738,916,800,839,658,634.110266262,657.889733738,0.4126704424,0.00455505964403,0.0598020108824,0.999999910402,0.000252209067776,-0.000338114717004,3.55754830681e-05,1793254899434469888
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783,761,738,721,687.520580644,650,916,800,839,658,634.479419356,657.520580644,0.411918162237,0.00455433478917,0.0597599001198,0.99999988858,0.000241620587538,-0.000404086722473,3.42612764999e-05,1793254899451136512
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783,760.930036447,738,721,687,650,916,800,839,658,635,657,0.411187983998,0.00455327642906,0.0597226982167,0.99999986772,0.00022983525799,-0.000458988345042,3.26559991064e-05,1793254899467803136
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,760.356346814,738,721,687,650,916,800,839,658,635,657,0.410554347666,0.0045527766104,0.0597507743867,0.999999894074,0.000217135166025,-0.000404564263929,3.21122241953e-05,1793254899484470272
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783,760.217574023,738,721,687.217574023,650,916,800,839,658,635,657.217574023,0.409940166083,0.00455155908691,0.0597839298948,0.999999917546,0.000205880550139,-0.000348500372861,3.26858642613e-05,1793254899501137152
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783,760.791873875,738,721,687.791873875,650,916,800,839,658,635,657.791873875,0.409357881804,0.00454916484281,0.0598254132839,0.999999938004,0.000196995881733,-0.000289747919852,3.50915741789e-05,1793254899517803264
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783,761,738,721,688,650,916,800,839,658,635,657.621327705,0.408778580543,0.0045475186549,0.0598439984586,0.999999946557,0.00018988759715,-0.000263617502145,3.65341140412e-05,1793254899534469632
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783,761,738,721,688,650,916,800,839,658,635,657.027425285,0.408200974718,0.00454629764766,0.059849568728,0.999999949635,0.00018378897474,-0.000256028823317,3.74292066462e-05,1793254899551136000
+360,6.000000000,POSE2_TO_POSE3_RETREAT,783,761,738,721,688,650,916,800,839,658,634.447601146,657,0.407636481591,0.00454350712967,0.059834651993,0.99999994672,0.000169361666901,-0.000276720027996,3.61002142549e-05,1793254899567802880
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783,760.869703487,738,721,688,650,915.869703487,800,839,658,634.130296513,657,0.407086085315,0.00454080449646,0.0598212293183,0.999999944223,0.000154953788481,-0.000293842813304,3.46488710616e-05,1793254899584469760
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783,760.296041741,738,721,688,650,915.296041741,800,839,658,634.703958259,657,0.406581496637,0.00453865947197,0.0598162655565,0.999999946105,0.000141984082787,-0.00029416438714,3.31475940508e-05,1793254899601137664
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783,760.284343331,738,721,688,649.715656669,915,800,839,658,635,657,0.406110444333,0.00453714775597,0.0598178901153,0.999999949137,0.000134390480971,-0.000287413618796,3.25443266821e-05,1793254899617804544
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783,760.871897827,738,721,688,649.128102173,915,800,839,658,635,657,0.405675153765,0.00453631137229,0.0598265401683,0.999999953379,0.000132529719551,-0.000273121217239,3.28986572046e-05,1793254899634470912
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783,760.546781952,738,721,688,649.453218048,915.453218048,800,839,658,635,657,0.405247390504,0.0045357668605,0.059820536187,0.999999951636,0.000129405662339,-0.000280854543831,3.32159850034e-05,1793254899651137536
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783.032576698,760.032576698,738,721,688,649.967423302,916,800,839,657.967423302,635,657,0.404822466793,0.00453527536667,0.0598094639173,0.999999947474,0.000126112892654,-0.000296689556239,3.35080519773e-05,1793254899667804416
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783.608211962,760.608211962,738,721,688,649.391788038,916,800,839,657.391788038,635,657,0.404409892625,0.00453431110266,0.0597820128067,0.99999993193,0.000125879316875,-0.000345207803744,3.35510017303e-05,1793254899684470528
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783.815488405,760.815488405,738,721.184511595,687.815488405,649.184511595,916,800,839,657.184511595,635,657,0.404023066376,0.00453351039612,0.0597620884198,0.99999992017,0.000125809065132,-0.000377753640999,3.36854414478e-05,1793254899701136896
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783.237773045,760.237773045,738,721.762226955,687.237773045,649.762226955,916,800,839,657.762226955,635,657,0.403691110329,0.00453305823918,0.0597582038744,0.999999920686,0.000126086865929,-0.000376261439928,3.4014851155e-05,1793254899717803264
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783,760.345778913,738,721.654221087,687.345778913,650,915.654221087,800,839,658,635,657,0.403408224638,0.0045318529728,0.0597703097536,0.999999929764,0.000125633711016,-0.000351383511615,3.48850627603e-05,1793254899734469632
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783,760.933413346,738,721.066586654,687.933413346,650,915.066586654,800,839,658,635,657,0.403159661239,0.00453012094298,0.059793600156,0.99999994348,0.000124669288024,-0.000310148404758,3.61335389566e-05,1793254899751136256
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783,761,738,721.513846575,688,649.486153425,915.513846575,800,839,658,635,657,0.402925527504,0.00452959295863,0.0598118895957,0.999999950942,0.000129591812627,-0.000282615564277,3.80972647895e-05,1793254899767803136
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783,761,738,722,688.092969235,649.092969235,915.907030765,800,839,658,634.907030765,657,0.40269580354,0.00452906798677,0.0598274984125,0.999999954939,0.000143759720696,-0.000260493842105,3.99849849537e-05,1793254899784470016
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783,761,738,722,688.670059681,649.670059681,915.329940319,800,839,658,634.329940319,657,0.402479440187,0.00452775745296,0.0598324763161,0.999999945591,0.000202153815529,-0.000257431209737,4.10009467092e-05,1793254899801137152
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783,761,738,721.755181347,688.755181347,649.755181347,915.244818653,800,839,658,634.244818653,657,0.4022704323,0.00452606415569,0.059831563993,0.999999935187,0.000242590802393,-0.000262785152811,4.14652683516e-05,1793254899817804032
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783,761,738,721.18353488,688.18353488,649.18353488,915.81646512,800,839,658,634.81646512,657,0.40207124382,0.00452385987724,0.0598227883393,0.999999926571,0.000259055420544,-0.000279375050155,4.11931619804e-05,1793254899834470656
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783,761,738,721.402225977,688,649,915.597774023,800,839,658,635,657,0.401902315644,0.00452182537565,0.0598176814329,0.99999993293,0.000220161698638,-0.000291138941691,3.01234459719e-05,1793254899851136768
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783,761,738,721.994661399,688,649,915.005338601,800,839,658,635,657,0.40174769733,0.00451987116024,0.059814309448,0.99999994269,0.000155089459438,-0.000300620652156,1.39476266692e-05,1793254899867802880
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783.57456699,761,738,721.42543301,688,649.57456699,915.57456699,800,839,657.42543301,634.42543301,657.57456699,0.401628324468,0.00451522361858,0.0598188387493,0.999999944714,0.000152432352655,-0.000295056367692,1.66561205889e-05,1793254899884470016
+380,6.333333333,POSE2_TO_POSE3_RETREAT,784,761,738,721.152827411,688,650,916,800,839,657.152827411,634.152827411,657.847172589,0.401514982969,0.00451245747176,0.059822458097,0.99999994602,0.000152495170564,-0.000290429553727,1.88608489377e-05,1793254899901136640
+381,6.350000000,POSE2_TO_POSE3_RETREAT,784,761,738,721.72686745,688,650,916,800,839,657.72686745,634.72686745,657.27313255,0.401417381403,0.00451494420004,0.0598233714674,0.999999945564,0.000158490206401,-0.000288763618433,1.92038510204e-05,1793254899917803264
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783.690239683,761,738,721.690239683,688.309760317,650,916,800,839,658,635,657,0.401331782495,0.00451469883622,0.0598245715876,0.999999945587,0.000160327164947,-0.000287595722283,2.02530595799e-05,1793254899934470400
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783.099311071,761,738,721.099311071,688.900688929,650,916,800,839,658,635,657,0.401257078344,0.00451197356278,0.0598260319897,0.999999946066,0.000158389852784,-0.000286879894241,2.19432891901e-05,1793254899951137280
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783,761,738,721.481402456,688.518597544,650,915.518597544,800,839,658,635,657,0.401192515086,0.00451384977634,0.0598235213046,0.999999944412,0.000162117009178,-0.000290526116616,2.21003130033e-05,1793254899967803904
+385,6.416666667,POSE2_TO_POSE3_RETREAT,783,760.940397072,738,722,688.059602928,650,915.059602928,800,839,658,635,657,0.401131927454,0.00451608093184,0.0598203777056,0.999999942448,0.000166139822945,-0.000294984358562,2.2059259925e-05,1793254899984470784
+386,6.433333333,POSE2_TO_POSE3_RETREAT,783,760.366078182,738,722,688.633921818,650,915.633921818,800,839,658,635,657,0.401087981532,0.00451334999643,0.0598186959697,0.999999941824,0.000162834211767,-0.000298845415147,2.29823379001e-05,1793254900001136896
+387,6.450000000,POSE2_TO_POSE3_RETREAT,783,760.208763245,738.208763245,722,688.791236755,650,916,800,839,658,635,657,0.401050794466,0.00451152165351,0.0598175682192,0.999999941678,0.00016017880924,-0.000300723896895,2.34999869458e-05,1793254900017803264
+388,6.466666667,POSE2_TO_POSE3_RETREAT,783,760.784523232,738.784523232,722,688.215476768,650,916,800,839,658,635,657,0.401025489181,0.00451128002922,0.0598174143512,0.999999942405,0.000158666445563,-0.000299117097716,2.33049094378e-05,1793254900034469888
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783,761,739,722,688,650,915.629861677,800,839,657.629861677,634.629861677,657,0.401005078748,0.00451168831836,0.0598179321206,0.999999942466,0.000159382785719,-0.000298523595406,2.34390232526e-05,1793254900051136256
+390,6.500000000,POSE2_TO_POSE3_RETREAT,783,761,739,722,688,650,915.038352507,800,839,657.038352507,634.038352507,657,0.400987595811,0.00451248530514,0.0598188515802,0.999999942125,0.000161432060201,-0.000298536121689,2.37700185037e-05,1793254900067802880
+391,6.516666667,POSE2_TO_POSE3_RETREAT,783,761,738.460836884,721.460836884,688,650,915,800,839,657,634.539163116,657,0.400978888149,0.00451170067631,0.0598206595968,0.999999943137,0.000160783590848,-0.000295465012503,2.39789661472e-05,1793254900084470016
+392,6.533333333,POSE2_TO_POSE3_RETREAT,783,761,738,721,688.115858925,650,915,800,839,657.115858925,634.884141075,657,0.400971656992,0.00451151940077,0.0598227100058,0.999999944088,0.000160721291051,-0.000292254342562,2.40958352648e-05,1793254900101136896
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783,761,738,721,688.69315364,650,915,800,839,657.69315364,634.30684636,657,0.400967883171,0.0045141778691,0.0598254804348,0.999999944451,0.000163738503158,-0.00028933935082,2.38796817277e-05,1793254900117803520
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783.275325394,761,738,721.275325394,688.724674606,650,915,800,839,658,634.275325394,657,0.400965608668,0.00451442006615,0.059826894752,0.999999944956,0.000163721510406,-0.00028760327993,2.38362342039e-05,1793254900134470144
+395,6.583333333,POSE2_TO_POSE3_RETREAT,783.863030631,761,738,721.863030631,688.136969369,650,915,800,839,658,634.863030631,657,0.400965035264,0.00451192080028,0.0598267704463,0.999999945627,0.000160261957123,-0.000287204793654,2.39887361676e-05,1793254900151136512
+396,6.600000000,POSE2_TO_POSE3_RETREAT,783.555736889,761,738.444263111,721.555736889,688.444263111,649.555736889,915.444263111,800,839,658,635,657.444263111,0.400964400672,0.00451200328974,0.0598279341852,0.999999946509,0.000159029566134,-0.000284848670876,2.35244493412e-05,1793254900167803136
+397,6.616666667,POSE2_TO_POSE3_RETREAT,783,761,738.976624796,721,688.976624796,649,915.976624796,800,838.976624796,658,635,658,0.400963746874,0.00451279467078,0.0598294106257,0.999999947405,0.00015848723479,-0.00028204058583,2.29256323768e-05,1793254900184469760
+398,6.633333333,POSE2_TO_POSE3_RETREAT,783,761,738.401136263,721,688.401136263,649,915.401136263,800,838.401136263,658,635,658,0.400963078625,0.00451179921014,0.0598290280012,0.999999947266,0.000158258353503,-0.00028260828843,2.35762756118e-05,1793254900201136384
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,783,761,738,721.749154754,688,649,915.749154754,800,838.749154754,658,635,658,0.400963516229,0.00451179547803,0.0598306212306,0.99999994798,0.000158096931378,-0.000280146638725,2.37486576722e-05,1793254900234470144
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c9bf432a3481d4f965875cb94327e914b3cdb6ee
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,416 @@
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+350,5.833333333,pose2_to_pose3_retreat,0.586205815909,0.0101819412115,1.05002061734,0.556776960867,0.0188561693717,1.04969231662
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+352,5.866666667,pose2_to_pose3_retreat,0.5849822348,0.0101817537137,1.0500206261,0.555553382294,0.0188559906572,1.0496923301
+353,5.883333333,pose2_to_pose3_retreat,0.584395747266,0.0101817126765,1.0500205466,0.55496689583,0.0188559534168,1.049692255
+354,5.900000000,pose2_to_pose3_retreat,0.583834868281,0.0101818483901,1.05002067702,0.554406015004,0.0188560826216,1.04969237848
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+356,5.933333333,pose2_to_pose3_retreat,0.582806642356,0.0101818020727,1.05002071729,0.553377790126,0.0188560398871,1.04969241944
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+358,5.966666667,pose2_to_pose3_retreat,0.581865944195,0.0101818512835,1.05002054768,0.552437092146,0.0188560900486,1.04969225878
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+365,6.083333333,pose2_to_pose3_retreat,0.579056158412,0.0101817340973,1.05002030053,0.549627306596,0.0188559734131,1.04969200608
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+367,6.116666667,pose2_to_pose3_retreat,0.57840871468,0.0101817459464,1.05002044959,0.548979863798,0.0188559882525,1.04969215041
+368,6.133333333,pose2_to_pose3_retreat,0.57811644296,0.0101816556894,1.05002054527,0.548687593325,0.0188559022643,1.04969224714
+369,6.150000000,pose2_to_pose3_retreat,0.577852208613,0.0101817353209,1.05002055469,0.548423355897,0.0188559714405,1.0496922564
+370,6.166666667,pose2_to_pose3_retreat,0.577616432118,0.010181713371,1.05002043816,0.548187579456,0.0188559500605,1.04969215001
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+372,6.200000000,pose2_to_pose3_retreat,0.577213555586,0.0101817629225,1.05002051939,0.547784704463,0.018856005069,1.04969223735
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+374,6.233333333,pose2_to_pose3_retreat,0.576860744464,0.01018171099,1.05002046037,0.54743189197,0.0188559483337,1.04969217442
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+376,6.266666667,pose2_to_pose3_retreat,0.576548824589,0.0101817101676,1.05002044162,0.547119972205,0.0188559474336,1.0496921438
+377,6.283333333,pose2_to_pose3_retreat,0.57641438289,0.0101817331555,1.05002037956,0.546985530792,0.0188559715421,1.04969208574
+378,6.300000000,pose2_to_pose3_retreat,0.576295230077,0.0101817651918,1.05002050315,0.546866378653,0.0188560059308,1.04969221111
+379,6.316666667,pose2_to_pose3_retreat,0.5761921952,0.0101818420482,1.05002042894,0.546763341668,0.0188560755227,1.04969213394
+380,6.333333333,pose2_to_pose3_retreat,0.576102480066,0.0101817069029,1.05002064835,0.546673628293,0.0188559461929,1.0496923493
+381,6.350000000,pose2_to_pose3_retreat,0.576025492492,0.0101816277686,1.05002058841,0.546596640996,0.0188558679933,1.04969228972
+382,6.366666667,pose2_to_pose3_retreat,0.575957240709,0.0101816144357,1.05002046311,0.546528390351,0.0188558587443,1.04969217051
+383,6.383333333,pose2_to_pose3_retreat,0.575897451457,0.0101816379002,1.05002048688,0.546468601517,0.0188558837369,1.04969219709
+384,6.400000000,pose2_to_pose3_retreat,0.575846247088,0.0101816329906,1.05002063648,0.546417396281,0.0188558756563,1.04969234051
+385,6.416666667,pose2_to_pose3_retreat,0.575802670216,0.0101815697984,1.0500205695,0.546373819949,0.0188558140266,1.04969226645
+386,6.433333333,pose2_to_pose3_retreat,0.575766950234,0.010181772822,1.05002056528,0.546338098833,0.0188560133241,1.04969226546
+387,6.450000000,pose2_to_pose3_retreat,0.575738398245,0.0101818629968,1.05002040358,0.546309545316,0.0188560987901,1.04969211637
+388,6.466666667,pose2_to_pose3_retreat,0.575716655038,0.0101817378741,1.0500204849,0.546287803225,0.0188559774416,1.04969219737
+389,6.483333333,pose2_to_pose3_retreat,0.575700375684,0.0101816969914,1.05002062052,0.546271524828,0.0188559394405,1.04969232349
+390,6.500000000,pose2_to_pose3_retreat,0.575688763486,0.0101817382047,1.05002067146,0.546259911862,0.0188559779691,1.0496923722
+391,6.516666667,pose2_to_pose3_retreat,0.575680488514,0.0101817849515,1.050020665,0.546251635851,0.0188560213109,1.04969236868
+392,6.533333333,pose2_to_pose3_retreat,0.575674936788,0.0101817885171,1.05002066432,0.546246084422,0.0188560258878,1.04969236821
+393,6.550000000,pose2_to_pose3_retreat,0.575671962826,0.010181802688,1.05002058056,0.54624310939,0.0188560364329,1.04969228463
+394,6.566666667,pose2_to_pose3_retreat,0.575670107768,0.0101817817934,1.05002054456,0.546241254475,0.0188560159908,1.0496922478
+395,6.583333333,pose2_to_pose3_retreat,0.575669178652,0.0101817244676,1.05002055213,0.546240326707,0.018855963169,1.04969225348
+396,6.600000000,pose2_to_pose3_retreat,0.575668614314,0.0101816896483,1.05002055673,0.546239763188,0.0188559310855,1.04969225693
+397,6.616666667,pose2_to_pose3_retreat,0.575668287099,0.0101816694593,1.0500205594,0.546239436448,0.0188559124827,1.04969225893
+398,6.633333333,pose2_to_pose3_retreat,0.575668123098,0.0101816800089,1.05002056873,0.546239272229,0.0188559223162,1.04969226889
+399,6.650000000,pose2_to_pose3_retreat,0.575667995016,0.0101816977505,1.0500205797,0.546239143767,0.0188559388038,1.04969228079
+400,6.666666667,pose2_to_pose3_retreat,0.575667813494,0.0101817228944,1.05002059525,0.546238961707,0.0188559621704,1.04969229766
+401,6.683333333,pose2_to_pose3_retreat,0.575667721258,0.0101817356706,1.05002060315,0.546238869197,0.0188559740436,1.04969230622
+402,6.700000000,pose2_to_pose3_retreat,0.575667668726,0.0101817429472,1.05002060765,0.546238816509,0.0188559808058,1.0496923111
+403,6.716666667,pose2_to_pose3_retreat,0.575667389071,0.0101817816841,1.0500206316,0.546238536025,0.0188560168046,1.04969233708
+404,6.733333333,pose2_to_pose3_retreat,0.575667129653,0.0101818199955,1.05002065142,0.54623827613,0.0188560535682,1.04969235871
+405,6.750000000,pose2_to_pose3_retreat,0.57566712523,0.0101818209894,1.05002065142,0.546238271741,0.018856054678,1.04969235873
+406,6.766666667,pose2_to_pose3_retreat,0.575667125048,0.0101818210302,1.05002065142,0.546238271561,0.0188560547236,1.04969235873
+407,6.783333333,pose2_to_pose3_retreat,0.575667094651,0.0101818278614,1.05002065138,0.546238241397,0.0188560623507,1.04969235883
+408,6.800000000,pose2_to_pose3_retreat,0.575667081591,0.0101818307963,1.05002065137,0.546238228437,0.0188560656276,1.04969235887
+409,6.816666667,pose2_to_pose3_retreat,0.575667079962,0.0101818311624,1.05002065137,0.546238226821,0.0188560660364,1.04969235888
+410,6.833333333,pose2_to_pose3_retreat,0.575667010254,0.0101818468279,1.05002065129,0.546238157647,0.0188560835272,1.04969235911
+411,6.850000000,pose2_to_pose3_retreat,0.575666915306,0.0101818681655,1.05002065119,0.546238063427,0.0188561073512,1.04969235942
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+413,6.883333333,pose2_to_pose3_retreat,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+414,6.900000000,pose2_to_pose3_retreat,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717184,1.0496921039
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..048c3090875da66acaf3469be58ca985ce7d3c79
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f1e15850520e03e9ddd9f2068cad0f797bb8d9cfad4c2f5ca4d4f8833a2bb6a
+size 26472472
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..653d9a6f418ad236c328b7f618231222a495b70a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_04/franka_data.csv
@@ -0,0 +1,418 @@
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+12,0.200000000,BASELINE,783,761,738.063840924,721.936159076,689,650,915.063840924,800,838.936159076,658,635,657.936159076,0.400959990238,0.00451129076565,0.059833437057,0.999999949937,0.000153125648854,-0.000275942274027,2.31116179036e-05,1793254900815022080
+13,0.216666667,BASELINE,783,761,738.530827567,721.469172433,689,649.469172433,915,800,839,658,635,657.469172433,0.400959688361,0.00451193398725,0.0598333318231,0.999999949441,0.000155812634983,-0.000276239281162,2.30518845857e-05,1793254900831689216
+14,0.233333333,BASELINE,783.128199498,760.871800502,738.871800502,721.128199498,689,649,915,800,839,657.871800502,635,657,0.400959457279,0.00451283351112,0.0598331599103,0.999999948894,0.000158701769145,-0.000276585506973,2.29429565437e-05,1793254900848356096
+15,0.250000000,BASELINE,783.716764726,760.283235274,738.283235274,721.716764726,689,649,915,800,839,657.283235274,635,657,0.400959351388,0.00451436365661,0.0598325748232,0.999999948446,0.000160525425887,-0.000277174587583,2.2663470013e-05,1793254900865022464
+16,0.266666667,BASELINE,783.699681626,760.300318374,738,722,689,649.300318374,915,800,839,657.300318374,635,657,0.400958932802,0.00451406183677,0.0598323511143,0.999999948389,0.000160185333072,-0.000277579354309,2.26460523691e-05,1793254900881689088
+17,0.283333333,BASELINE,783.120776936,760.879223064,738,722,689,649.879223064,915,800,839,657.879223064,635,657,0.400958224148,0.00451206061876,0.0598324626329,0.999999948692,0.000157838066871,-0.000277813144697,2.28717394322e-05,1793254900898355456
+18,0.300000000,BASELINE,783,761,738,721.544962296,689,650,915,800,839,658,635,657,0.400959066412,0.00451154344543,0.0598333659093,0.999999949278,0.000156468369777,-0.000276478756284,2.2843454049e-05,1793254900915022080
+19,0.316666667,BASELINE,783,761,738.03008839,721.03008839,689,649.96991161,915,800,839,658,635,657.03008839,0.400960175219,0.00451147552098,0.0598343637553,0.999999949864,0.000155399891431,-0.000274963251528,2.27544763786e-05,1793254900931688704
+20,0.333333333,BASELINE,783,761,738.606058692,721.606058692,689,649.393941308,915,800,839,658,635,657.606058692,0.400958701811,0.00451246001001,0.0598332903943,0.999999949161,0.000155120628568,-0.000277662366875,2.27791234257e-05,1793254900948355584
+21,0.350000000,BASELINE,783,761,739,722,689,649.186497186,915,800,838.813502814,658,635,657.813502814,0.400958005815,0.00451251019143,0.0598328112432,0.999999948839,0.000155063844106,-0.000278839971288,2.29050797999e-05,1793254900965022464
+22,0.366666667,BASELINE,783,761,739,722,689,649.776605524,915,800,838.223394476,658,635,657.223394476,0.400958992272,0.00451053837453,0.0598336180619,0.999999949353,0.000155488540206,-0.000276724770825,2.32502865251e-05,1793254900981689088
+23,0.383333333,BASELINE,783,761,738.640223071,722,688.640223071,649.640223071,915,800,838,658,635,657,0.400960442934,0.00450953955037,0.0598344282854,0.999999950074,0.000154389954015,-0.000274706202421,2.35049491462e-05,1793254900998355968
+24,0.400000000,BASELINE,783,761,738.061277445,722,688.061277445,649.061277445,915,800,838,658,635,657,0.400962176381,0.00450913345317,0.059835240583,0.999999950916,0.000152363415658,-0.000272746500072,2.37044541966e-05,1793254901015022592
+25,0.416666667,BASELINE,783,760.485734518,738,722,688.514265482,649,915,800,838,658,635,657,0.400960749835,0.00450963617627,0.0598343639223,0.999999950525,0.000152058611119,-0.000274358076024,2.35669198375e-05,1793254901031689216
+26,0.433333333,BASELINE,783,760,738.091181947,722,689,649.091181947,915,800,838.091181947,658,635,657,0.4009593675,0.00451034493719,0.0598335622214,0.999999950102,0.000152140002035,-0.000275869472231,2.3349274003e-05,1793254901048355584
+27,0.450000000,BASELINE,783,760,738.677749269,722,689,649.677749269,915,800,838.677749269,658,635,657,0.400960257576,0.00451158861891,0.0598342539522,0.999999950314,0.000153212307075,-0.00027453988399,2.29131403854e-05,1793254901065022208
+28,0.466666667,BASELINE,783,760.261225871,738.738774129,721.738774129,689,649.738774129,915,800,839,658,635,657,0.400961013928,0.0045117043934,0.0598347851795,0.999999950394,0.000154130282843,-0.00027374080259,2.28560443475e-05,1793254901081688832
+29,0.483333333,BASELINE,783,760.840934279,738.159065721,721.159065721,689,649.159065721,915,800,839,658,635,657,0.400961607246,0.00451044504081,0.0598351207235,0.999999950313,0.000154860102693,-0.000273588506998,2.32610650831e-05,1793254901098355456
+30,0.500000000,BASELINE,783,761,738,721.418737421,688.581262579,649.418737421,915,800,839,657.581262579,634.581262579,657,0.400961418985,0.00450992304461,0.0598347949707,0.999999950434,0.000154067004867,-0.000273606961158,2.31325444726e-05,1793254901115022592
+31,0.516666667,BASELINE,783,761,738,721.995820075,688.004179925,649.995820075,915,800,839,657.004179925,634.004179925,657,0.400960935171,0.00450967987918,0.059834219149,0.999999950629,0.000152698016879,-0.000273689984206,2.28022656041e-05,1793254901131689984
+32,0.533333333,BASELINE,783,760.427847381,738,721.427847381,688.572152619,649.427847381,915,800,839,657.572152619,634.572152619,657,0.400958711286,0.00451154249341,0.0598329664559,0.999999949528,0.000154800821756,-0.000276486762054,2.31256373058e-05,1793254901148356352
+33,0.550000000,BASELINE,783,760,738.151636667,721.151636667,689,649.151636667,915,800,838.848363333,658,635,657,0.400957433028,0.00451286646908,0.0598323805836,0.999999948806,0.000156460058757,-0.000278146981232,2.32900171369e-05,1793254901165022976
+34,0.566666667,BASELINE,783,760,738.740217504,721.740217504,689,649.740217504,915,800,838.259782496,658,635,657,0.400958916199,0.00451259407505,0.0598337303998,0.999999949229,0.000156768155489,-0.000276475129577,2.29825164109e-05,1793254901181689344
+35,0.583333333,BASELINE,783,760.323498437,738.676501563,721.676501563,688.676501563,650,915,800,838.323498437,658,634.676501563,657,0.400959599973,0.00451189279995,0.0598339606698,0.999999949425,0.0001564003892,-0.000275973949636,2.29594061452e-05,1793254901198355968
+36,0.600000000,BASELINE,783,760.902591995,738.097408005,721.097408005,688.097408005,650,915,800,838.902591995,658,634.097408005,657,0.400959652146,0.00451085266719,0.0598333063899,0.999999949444,0.000155498625651,-0.000276397713638,2.31609918752e-05,1793254901215023104
+37,0.616666667,BASELINE,783,760.520387585,738,721,688.479612415,650,915,800,839,658,634,657,0.40096120856,0.00451072867733,0.0598344740164,0.999999950039,0.000155514957089,-0.000274212238625,2.33492829991e-05,1793254901231689472
+38,0.633333333,BASELINE,783.055931333,760.055931333,738,721,689,650,915,800,839,658,634.055931333,657,0.400962725726,0.00451075454763,0.0598357478128,0.999999950668,0.000155504419375,-0.000271902078514,2.34827416931e-05,1793254901248355584
+39,0.650000000,BASELINE,783.629637589,760.629637589,738,721,689,650,915,800,839,658,634.629637589,657,0.400961063543,0.00451045266021,0.0598345937647,0.999999950595,0.000153526427702,-0.000273322284836,2.31334866268e-05,1793254901265022464
+40,0.666666667,BASELINE,784,760.790665803,738,721,689,649.790665803,915,800,839,658,634.790665803,657,0.400960156556,0.00451026739896,0.0598342409745,0.99999995063,0.000152304531141,-0.00027389216807,2.29507777664e-05,1793254901281689088
+41,0.683333333,BASELINE,784,760.20005864,738,721,689,649.20005864,915,800,839,658,634.20005864,657,0.400960625054,0.00451029455602,0.0598353475635,0.999999950871,0.00015245975621,-0.000272913306629,2.30714095505e-05,1793254901298355712
+42,0.700000000,BASELINE,783.616621683,760.383378317,738.383378317,721.383378317,688.616621683,649.383378317,915.383378317,800,839,658,634.383378317,657,0.400960475598,0.00451132321678,0.0598354079403,0.999999950394,0.000154684194185,-0.000273402257354,2.31593737295e-05,1793254901315022592
+43,0.716666667,BASELINE,783.036857684,760.963142316,738.963142316,721.963142316,688.036857684,649.963142316,915.963142316,800,839,658,634.963142316,657,0.400960009595,0.00451286489817,0.0598349323945,0.999999949539,0.000157968587213,-0.000274643095421,2.3230603912e-05,1793254901331688960
+44,0.733333333,BASELINE,783,761,738.461035109,722,688.538964891,650,916,800,839,657.461035109,635,657,0.400959805055,0.00451426460069,0.0598345048694,0.99999994938,0.000159294225468,-0.000274491973792,2.27961932345e-05,1793254901348355584
+45,0.750000000,BASELINE,783,760.886275632,738,722,689,650,915.886275632,800,839,657,635,657,0.400959681785,0.00451516906569,0.0598340700821,0.999999949293,0.00015994065955,-0.00027445863827,2.24805359044e-05,1793254901365021952
+46,0.766666667,BASELINE,783,760.314718897,738,722,689,650,915.314718897,800,839,657,635,657,0.400959814231,0.00451411860388,0.0598335929339,0.999999949308,0.000158388096324,-0.000275279923986,2.27811536557e-05,1793254901381688576
+47,0.783333333,BASELINE,783,760,738,722,689,649.733092894,915,800,839,657.266907106,635,657,0.400960301706,0.00451344175533,0.059833968574,0.99999994944,0.000158056810184,-0.000274971985593,2.29693209854e-05,1793254901398355456
+48,0.800000000,BASELINE,783,760,738,722,689,649.139128332,915,800,839,657.860871668,635,657,0.400961224221,0.00451322271762,0.0598353891874,0.999999949718,0.000159222028686,-0.000273280340554,2.30196960368e-05,1793254901415022592
+49,0.816666667,BASELINE,783.442638818,760,738,721.557361182,689,649.442638818,915,800,839,658,635,657,0.400961671566,0.00451315749493,0.0598361442571,0.999999949915,0.00015937466143,-0.000272458095028,2.31630919155e-05,1793254901431689472
+50,0.833333333,BASELINE,783.979391803,760.020608197,738,721.020608197,689,649.979391803,915.020608197,800,839,658,634.979391803,657,0.400961977883,0.00451308635354,0.0598366702008,0.999999950106,0.000159069663853,-0.000271920266313,2.33189068997e-05,1793254901448356352
+51,0.850000000,BASELINE,783.40322078,760.59677922,738,721.59677922,689,649.40322078,915.59677922,800,839,658,634.40322078,657,0.400962400654,0.00451158726497,0.059836507491,0.999999950797,0.000154777692797,-0.000271880602757,2.30424525884e-05,1793254901465022464
+52,0.866666667,BASELINE,783,760.823647521,738,722,688.823647521,649.176352479,915.823647521,800,838.823647521,658,634.176352479,657,0.400962647524,0.00451007255195,0.0598362596377,0.999999951246,0.000151816495286,-0.000271907288456,2.29469450005e-05,1793254901481689088
+53,0.883333333,BASELINE,783,760.236142236,738,722,688.236142236,649.763857764,915.236142236,800,838.236142236,658,634.763857764,657,0.400962484293,0.00450852141174,0.0598358132788,0.999999951167,0.000151957898463,-0.000272088662567,2.3273301378e-05,1793254901498355712
+54,0.900000000,BASELINE,783,760.347441811,738,722,688,649.652558189,915,800,838,658,635,657,0.400961880532,0.00450833730945,0.0598352026558,0.999999950941,0.000152149464141,-0.000272805997784,2.3369245333e-05,1793254901515022336
+55,0.916666667,BASELINE,783,760.928390469,738,722,688,649.071609531,915,800,838,658,635,657,0.400960980704,0.00450907195881,0.0598344816349,0.999999950613,0.000152374742762,-0.00027388353889,2.33103349171e-05,1793254901531688960
+56,0.933333333,BASELINE,783,760.496798003,738,722,688.503201997,649.503201997,915,800,838,657.496798003,635,657,0.400961216712,0.00451116594157,0.0598352127729,0.999999950493,0.000154146258689,-0.000273358859959,2.29614302284e-05,1793254901548355840
+57,0.950000000,BASELINE,783,760.077168435,738,722,689,650,915,800,838.077168435,657.077168435,635,657,0.400961449511,0.00451302527554,0.0598358397272,0.999999950381,0.000155808877482,-0.000272852887554,2.26362427319e-05,1793254901565022464
+58,0.966666667,BASELINE,783,760.651248909,738,722,689,650,915,800,838.651248909,657.651248909,635,657,0.40096063335,0.00451214299457,0.0598344811359,0.999999950156,0.000155370427812,-0.000273917899601,2.27263164553e-05,1793254901581689088
+59,0.983333333,BASELINE,783,760.767640364,738,721.767640364,688.767640364,650,915,800,839,658,635,657,0.400960345135,0.00451155130328,0.0598340536859,0.999999950143,0.000154606608348,-0.000274386347301,2.28632157933e-05,1793254901598355712
+60,1.000000000,BASELINE,783,760.17564855,738,721.17564855,688.17564855,650,915,800,839,658,635,657,0.400960874045,0.00451140936898,0.0598350673999,0.999999950458,0.000153339201143,-0.000273931468983,2.30725889972e-05,1793254901615022080
+61,1.016666667,BASELINE,783,760,738,721.408304635,688.408304635,650,915,800,839,658,635,657,0.400960668773,0.00451198380547,0.0598355479373,0.999999950534,0.000153626481518,-0.000273497789484,2.30337157541e-05,1793254901631688704
+62,1.033333333,BASELINE,783,760,738,721.988866415,688.988866415,650,915,800,839,658,635,657,0.400960153761,0.00451286046726,0.0598358035361,0.999999950508,0.000154569659605,-0.000273073053451,2.28901113225e-05,1793254901648355584
+63,1.050000000,BASELINE,783,760.562094293,738.562094293,721.437905707,689,650,915,800,839,658,635,657,0.400961980103,0.00451292481091,0.0598364192618,0.999999950713,0.000156735371589,-0.000271068945019,2.3017954743e-05,1793254901665021952
+64,1.066666667,BASELINE,783,761,738.864184809,721.135815191,689,650,915,800,839,658,634.864184809,657,0.400963001828,0.00451238397273,0.0598365554409,0.99999995086,0.00015727758243,-0.000270201465403,2.31177597254e-05,1793254901681688576
+65,1.083333333,BASELINE,783,761,738.288402305,721.711597695,689,650,915,800,839,658,634.288402305,657,0.400961268734,0.00450993412573,0.0598351153399,0.999999950811,0.000152483099369,-0.000273116079916,2.31095423059e-05,1793254901698355456
+66,1.100000000,BASELINE,783,760.703128119,738.296871881,722,689,650,915.296871881,800,839,658,634.296871881,657,0.400961131904,0.00450938295454,0.0598354880125,0.999999950941,0.000151877727524,-0.000272962102686,2.32794765602e-05,1793254901715022336
+67,1.116666667,BASELINE,783,760.108328528,738.891671472,722,689,650,915.891671472,800,839,658,634.891671472,657,0.400962597014,0.00451073721199,0.0598376799059,0.999999951258,0.000155476365814,-0.000269728620051,2.36281960874e-05,1793254901731688960
+68,1.133333333,BASELINE,783,760,738.531846889,722,689,650,916,800,839,658,635,657,0.400963086973,0.00451157973846,0.059837111958,0.999999951129,0.000156101408506,-0.000269889749789,2.31157050828e-05,1793254901748355840
+69,1.150000000,BASELINE,783,760,738,722,689,650,915.959159427,800,839,658,635,657,0.400963345741,0.00451214359524,0.0598360350939,0.999999950938,0.000155876828397,-0.000270776165123,2.24895089314e-05,1793254901765022464
+70,1.166666667,BASELINE,783,760,738,722,689,650,915.382736246,800,839,658,635,657,0.400963420341,0.00451054736555,0.0598363437463,0.999999951213,0.000153193959992,-0.000271260836327,2.28871385884e-05,1793254901781688832
+71,1.183333333,BASELINE,783,760,738,722,689,650,915.199037265,800,839,658,634.800962735,657,0.400963492909,0.00450929045565,0.0598364011821,0.999999951446,0.000151341064781,-0.000271413456109,2.32278994585e-05,1793254901798355456
+72,1.200000000,BASELINE,783,760,738,722,689,650,915.791383432,800,839,658,634.208616568,657,0.40096356146,0.00450870406056,0.0598359621996,0.999999951609,0.000151128243113,-0.000270909923572,2.34562844572e-05,1793254901815022080
+73,1.216666667,BASELINE,783,760,738,722,689,650,916,800,839,658,634,657,0.400962619495,0.00450999158361,0.0598359508123,0.9999999511,0.000153494839001,-0.000271477305042,2.32249121035e-05,1793254901831688704
+74,1.233333333,BASELINE,783,760,738,722,689,650,916,800,839,658,634,657,0.400961128157,0.00451229787176,0.0598361718892,0.999999950213,0.000157263748265,-0.00027262689434,2.27435903317e-05,1793254901848355584
+75,1.250000000,BASELINE,783,760.522913018,738.522913018,721.477086982,689,650,915.477086982,800,838.477086982,658,634.522913018,657.522913018,0.400961630802,0.00451251325383,0.0598361652971,0.9999999504,0.000157136209481,-0.000272017002211,2.26957413336e-05,1793254901865022208
+76,1.266666667,BASELINE,783,760.903729552,738.903729552,721.096270448,688.903729552,650,915,800,838.096270448,658,635,657.903729552,0.400961956375,0.00451222491585,0.05983598475,0.999999950639,0.000156109619353,-0.000271726890592,2.27224564711e-05,1793254901881689088
+77,1.283333333,BASELINE,783,760.326654345,738.326654345,721.673345655,688.326654345,650,915,800,838.673345655,658,635,657.326654345,0.400960451079,0.00451041335768,0.059835043488,0.999999950616,0.000152442459088,-0.000273869057129,2.29158065253e-05,1793254901898355712
+78,1.300000000,BASELINE,783,760,738,721.742017247,688.257982753,650,915,800,839,658,635,657,0.400960040457,0.00450971686346,0.0598349649642,0.99999995072,0.000150514517395,-0.000274543946296,2.30400345955e-05,1793254901915022336
+79,1.316666667,BASELINE,783,760,738,721.147516299,688.852483701,650,915,800,839,658,635,657,0.400961057752,0.00451047488252,0.0598360118146,0.999999951007,0.00015085524971,-0.000273304887473,2.30740984639e-05,1793254901931688960
+80,1.333333333,BASELINE,783,760.43061871,738.43061871,721.43061871,689,650,915.43061871,800,839,658,634.56938129,657,0.400962037164,0.00451006084148,0.0598361620565,0.999999951235,0.000151580353719,-0.000272059529173,2.31528201124e-05,1793254901948355328
+81,1.350000000,BASELINE,783,761,738.996611311,721.996611311,689,649.996611311,915.996611311,800,838.996611311,658,634.003388689,657,0.400962989239,0.0045092644375,0.0598360154675,0.999999951441,0.000152413996354,-0.000270828503355,2.32449360957e-05,1793254901965022208
+82,1.366666667,BASELINE,783,761,738.417710428,721.417710428,689,649.417710428,915.417710428,800,838.417710428,658,634.582289572,657,0.400961422134,0.00450922324214,0.0598357113723,0.999999951366,0.000150137333183,-0.000272384708335,2.31088172823e-05,1793254901981689088
+83,1.383333333,BASELINE,783,761,738,721.164198344,689,649.164198344,915,800,838.164198344,658,635,657,0.400960106429,0.00450944061252,0.0598353003664,0.999999951155,0.00014910369107,-0.000273732739839,2.29967066717e-05,1793254901998355712
+84,1.400000000,BASELINE,783,761,738,721.753901915,689,649.753901915,915,800,838.753901915,658,635,657,0.400959442206,0.00451032803271,0.0598346123109,0.999999950606,0.000151291225627,-0.000274541308858,2.29468111276e-05,1793254902015022592
+85,1.416666667,BASELINE,783.337676608,760.662323392,738,722,689,650,915,800,839,657.662323392,635,657,0.400961217677,0.00450984647979,0.0598360089764,0.999999951259,0.000151344117569,-0.000272110598716,2.30788239305e-05,1793254902031689216
+86,1.433333333,BASELINE,783.917204869,760.082795131,738,722,689,650,915,800,839,657.082795131,635,657,0.400964740512,0.00450838443718,0.0598388987666,0.999999952757,0.000149868129873,-0.000267359843248,2.33411236238e-05,1793254902048355840
+87,1.450000000,BASELINE,783.507968294,760,738,721.507968294,689,650,915,800,839,657.492031706,635,657,0.400962624892,0.00450877276719,0.0598372477553,0.999999952091,0.000150154992711,-0.000269707170176,2.2999516113e-05,1793254902065022208
+88,1.466666667,BASELINE,783,760,738,721.065849589,689,650,915,800,838.934150411,658,635,657,0.400960107547,0.00450936112304,0.0598352000842,0.999999951204,0.00015069967379,-0.000272704041652,2.26661003757e-05,1793254902081688832
+89,1.483333333,BASELINE,783,760,738,721.637935232,689,650,915,800,838.362064768,658,635,657,0.400961726894,0.00450911617933,0.0598359215281,0.999999951453,0.000150967499648,-0.000271599038874,2.31695023191e-05,1793254902098355456
+90,1.500000000,BASELINE,783,760.218395515,738,722,689,650,915.218395515,800,838.218395515,658,635,657,0.40096207434,0.00450899962361,0.0598359681711,0.999999951453,0.000151059594685,-0.000271519878734,2.34789335011e-05,1793254902115022080
+91,1.516666667,BASELINE,783,760.813293171,738,722,689,650,915.813293171,800,838.813293171,658,635,657,0.400960229093,0.00450910440191,0.0598348514935,0.999999951026,0.000150848739194,-0.000273209216329,2.34539694547e-05,1793254902131688448
+92,1.533333333,BASELINE,783,760.604707424,738,722,689,650,916,800,839,658,635,657,0.400960832794,0.00450971193714,0.0598354728304,0.999999951206,0.000151500696748,-0.000272193319984,2.33741504259e-05,1793254902148355584
+93,1.550000000,BASELINE,783,760.02860764,738,722,689,650,916,800,839,658,635,657,0.400962556647,0.00451054943389,0.0598368891366,0.99999995166,0.000152547305808,-0.000269940047151,2.32692406725e-05,1793254902165022976
+94,1.566666667,BASELINE,783.548505537,760.548505537,738,722,689,649.451494463,916,800,839,658,635,657,0.400962780653,0.00450853520454,0.0598364057222,0.999999951697,0.000151445090802,-0.000270418957183,2.33404731095e-05,1793254902181689344
+95,1.583333333,BASELINE,783.871887089,761,738,722,688.871887089,649.128112911,916,800,839,658,635,657,0.400962831223,0.00450747162503,0.0598360120109,0.999999951645,0.000151082293915,-0.000270812092277,2.33289605722e-05,1793254902198355968
+96,1.600000000,BASELINE,783.283509008,761,738,722,688.283509008,649.716490992,916,800,839,658,635,657,0.40096254025,0.00451035873636,0.0598362971946,0.999999951358,0.000153779354469,-0.000270384172234,2.29871080373e-05,1793254902215022336
+97,1.616666667,BASELINE,783,760.699948932,738,722,688,650,915.699948932,800,839,658,635,657,0.400962669613,0.0045118251741,0.059836918441,0.999999951324,0.000155239788518,-0.000269676121934,2.29535351436e-05,1793254902231688960
+98,1.633333333,BASELINE,783,760.120869332,738,722,688,650,915.120869332,800,839,658,635,657,0.400963189861,0.00451197047501,0.0598378522044,0.999999951531,0.000155550237902,-0.000268707568226,2.32066428558e-05,1793254902248355584
+99,1.650000000,BASELINE,783,760.456059788,738.456059788,722,688.456059788,649.543940212,915,800,839,658,634.543940212,657,0.400961701337,0.00451107454934,0.0598366782024,0.999999951301,0.000153989316698,-0.000270466281067,2.30851783715e-05,1793254902265022208
+100,1.666666667,BASELINE,783,761,738.967716237,721.967716237,689,649.032283763,915,800,839,658,634,657,0.400959930015,0.00451001886031,0.0598351301801,0.999999950999,0.00015210534545,-0.000272661125073,2.28637670717e-05,1793254902281688832
+101,1.683333333,BASELINE,783,761,738.39380535,721.39380535,689,649.60619465,915,800,839,658,634,657,0.400962304104,0.00451089081273,0.0598366352198,0.999999951549,0.000153083388892,-0.000270103311872,2.2623229646e-05,1793254902298355456
+102,1.700000000,BASELINE,783.185629861,760.814370139,738,721.185629861,689,650,915.185629861,800.185629861,838.814370139,658,634.185629861,657,0.40096306175,0.00451088347228,0.0598372398078,0.999999951724,0.000153506936444,-0.000269209738156,2.26642993478e-05,1793254902315022080
+103,1.716666667,BASELINE,783.777144069,760.222855931,738,721.777144069,689,650,915.777144069,800.777144069,838.222855931,658,634.777144069,657,0.400960285004,0.00450895353577,0.0598358755356,0.999999951087,0.00015271806469,-0.000271955066167,2.33211101313e-05,1793254902331688448
+104,1.733333333,BASELINE,783.639323692,760.360676308,738.360676308,722,689,649.639323692,915.639323692,800.639323692,838,658,635,657,0.400959768622,0.00450979077134,0.059835407556,0.999999950837,0.000152948077799,-0.000272752011529,2.32213707374e-05,1793254902348355072
+105,1.750000000,BASELINE,783.06061654,760.93938346,738.93938346,722,689,649.06061654,915.06061654,800.06061654,838,658,635,657,0.400960618643,0.0045123007777,0.0598354813902,0.999999950824,0.000153794012426,-0.000272371148959,2.26642925979e-05,1793254902365021696
+106,1.766666667,BASELINE,783,761,738.485012867,722,689,649,915,800,838,658,635,657.514987133,0.400961143192,0.00451278929867,0.059836226691,0.999999950831,0.00015516139214,-0.000271584934773,2.24794923204e-05,1793254902381688576
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,760,738,722,689,650,915,800,839,658,635,657,0.400959080378,0.00450983557667,0.059835269018,0.999999951144,0.00014994181635,-0.000273309449567,2.30538336173e-05,1793254902424797696
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,760.592312001,738.592312001,722,689,650,915.592312001,800,839,658,635,657,0.400960228886,0.00451077561219,0.0598356567318,0.999999951124,0.000151721602526,-0.000272409684855,2.29195551868e-05,1793254902441464576
+109,1.816666667,POSE1_TO_POSE2_PRESS,783,760.820673583,738.820673583,721.820673583,689,649.820673583,915.820673583,800,838.820673583,657.820673583,635,657,0.400960905832,0.00451212239449,0.0598359272808,0.999999950919,0.00015417547678,-0.000271790423964,2.28420792542e-05,1793254902458131200
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,760.245357223,738.245357223,721.245357223,689,649.245357223,915.245357223,800,838.245357223,657.245357223,635,657,0.400960541472,0.00451436735824,0.0598359391054,0.999999950302,0.000158117877744,-0.000271790573549,2.28900349994e-05,1793254902474797568
+111,1.850000000,POSE1_TO_POSE2_PRESS,783,760,738,721.331778391,689,649.331778391,915,800,838.331778391,657.331778391,635,657.331778391,0.400959909359,0.00451263805707,0.0598353627844,0.999999950274,0.00015599583244,-0.000273097361353,2.31334736074e-05,1793254902491463936
+112,1.866666667,POSE1_TO_POSE2_PRESS,783,760,738,721.910266766,689,649.910266766,915,800,838.910266766,657.910266766,635,657.910266766,0.400959078146,0.0045079534975,0.0598343491189,0.999999950653,0.000149364272483,-0.00027537576364,2.35222730159e-05,1793254902508130304
+113,1.883333333,POSE1_TO_POSE2_PRESS,783,760.496779051,738,722,689,650,915.496779051,800,839,658,635,657.503220949,0.400959096649,0.00450860696662,0.0598343641767,0.999999950707,0.00014978985841,-0.000274957553805,2.33811549246e-05,1793254902524796928
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,761,738.083748562,722,689,650,916,800,839,658,635,657.083748562,0.400959643507,0.00451000010451,0.0598347951998,0.999999950775,0.000151376027993,-0.000273856984191,2.32030419715e-05,1793254902541463552
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,761,738.664686817,722,689,650,916,800,839,658,635,657.664686817,0.400962400901,0.00450996624393,0.059836574425,0.999999951255,0.000152160289985,-0.000271644625984,2.33828855965e-05,1793254902558130176
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,761,738.757301657,722,689,650,915.757301657,800,839,658,635,658,0.400968029329,0.0045101600704,0.0598392287294,0.999999952157,0.000152836851241,-0.000267914470535,2.34128480505e-05,1793254902574796800
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,761,738.18328558,722,689,650,915.18328558,800,839,658,635,658,0.400977577124,0.00451066472208,0.0598430776409,0.999999953618,0.000153366385616,-0.000262112306302,2.32382013883e-05,1793254902591463680
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,761,738,722,688.610154944,650,915,800,839,658,635,658,0.401009249687,0.00451013407395,0.0598558629691,0.999999959714,0.000151395997293,-0.000238966347361,2.33733155552e-05,1793254902608130304
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,761,738,722,688.037439604,650,915,800,839,658,635,658,0.401051300637,0.00450911778273,0.0598728402325,0.999999967164,0.000148252933834,-0.000207684681972,2.36537336994e-05,1793254902624796928
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.554230104,761,738,722,688.554230104,650,915,800,839,658,635,657.445769896,0.401116331818,0.0045087821896,0.05989352086,0.999999973045,0.000149597183523,-0.000175926738049,2.41131178867e-05,1793254902641463808
+121,2.016666667,POSE1_TO_POSE2_PRESS,784,761,738.142967295,722,689,650,915.142967295,800,839,658,635,657.142967295,0.401185656694,0.00450861158259,0.0599129418994,0.999999977593,0.000150687693199,-0.000146657531543,2.44541691587e-05,1793254902658130432
+122,2.033333333,POSE1_TO_POSE2_PRESS,784,761,738.718811425,722,689,650,915.718811425,800,839,658,635,657.718811425,0.401263115337,0.00450879636397,0.0599277648671,0.999999980628,0.000150059613508,-0.000125024590284,2.43990307046e-05,1793254902674796800
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.704933854,761,738.704933854,721.704933854,689,650,916,800,839,658,635,657.704933854,0.401347609481,0.00450859398277,0.0599373333645,0.999999982624,0.000148113372406,-0.000110652288772,2.39012425345e-05,1793254902691463424
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.128287339,761,738.128287339,721.128287339,689,650,916,800,839,658,635,657.128287339,0.401438817568,0.00450802213397,0.0599418875422,0.999999983911,0.000144909215559,-0.000103208786199,2.29810356345e-05,1793254902708130304
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,761,738,721,689,649.553296697,916,800,839,657.553296697,635,657,0.401550340882,0.00450690008145,0.0599458271991,0.999999985324,0.000141694634524,-9.37510409648e-05,2.20165907368e-05,1793254902724796672
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,761,738,721,689,649.021959364,915.978040636,800,839,657.021959364,635,657.021959364,0.401668472233,0.00450571378047,0.0599495297555,0.999999986657,0.000138544770557,-8.39593561951e-05,2.10254384039e-05,1793254902741463552
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,761,738,721,689,649.616489816,915.383510184,800,839,657.616489816,635,657.616489816,0.401807340806,0.00450695704693,0.0599516347577,0.999999987161,0.000137160115766,-8.04877270211e-05,1.96679500364e-05,1793254902758130432
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,761,738,721,689,649.797308434,915,800,839,658,635,657.797308434,0.401954235648,0.00450818117794,0.0599525748251,0.999999987637,0.000135946834205,-7.69073153655e-05,1.81657451226e-05,1793254902774797056
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,761,738,721,689,649.226243407,915,800,839,658,635,657.226243407,0.402115717487,0.00450937053188,0.0599513977295,0.999999988073,0.000135045008033,-7.31292018376e-05,1.64005312158e-05,1793254902791463424
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,761,738,721,689,649.348744424,915.348744424,800,838.651255576,658,635,657,0.402300125561,0.00450835489934,0.0599508117897,0.999999989013,0.000130458459986,-6.88877754403e-05,1.44251173191e-05,1793254902808129792
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,761,738,721,689,649.926306131,915.926306131,800,838.073693869,658,635,657,0.402499575952,0.00450589253692,0.0599506137174,0.999999990234,0.000123454301713,-6.43423610296e-05,1.23117873757e-05,1793254902824796416
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,761,738.519300636,721.519300636,689,650,916,800.519300636,838,658,635,657,0.402729857893,0.00450595351526,0.0599509564709,0.999999991075,0.000119948559239,-5.79950986469e-05,9.90367848827e-06,1793254902841463040
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,761,738.889288335,722,688.889288335,650,916,800.889288335,838.110711665,658,635,657,0.402974080439,0.00450612529754,0.059951970633,0.99999999194,0.000115941715426,-5.12110731564e-05,7.37569619539e-06,1793254902858129920
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,761,738.31399364,722,688.31399364,650,916,800.31399364,838.68600636,658,635,657,0.403257879914,0.00450521337416,0.0599554703228,0.999999993237,0.000107684963581,-4.37001089154e-05,4.52560212758e-06,1793254902874796544
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,761,738,722,688.261938771,649.738061229,916,800,839,657.738061229,635,657,0.403546222962,0.00450502261452,0.0599521353893,0.999999993648,0.000101654122186,-4.86539378916e-05,1.561427136e-06,1793254902891463168
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,761,738,722,688.838637462,649.161362538,916,800,839,657.161362538,635,657,0.403840025799,0.00450569844465,0.0599405875992,0.999999992816,9.82980567312e-05,-6.8586143043e-05,-1.5398335482e-06,1793254902908130048
+137,2.283333333,POSE1_TO_POSE2_PRESS,782.575537767,760.575537767,738,722,688.575537767,649.424462233,916,800,838.575537767,657.424462233,635,657,0.40416120958,0.0045054597901,0.059931924515,0.999999992317,9.29508348213e-05,-8.18748767375e-05,-4.79193224999e-06,1793254902924796672
+138,2.300000000,POSE1_TO_POSE2_PRESS,782.01358815,760.01358815,738,722,688,650,916,800,838.01358815,658,635,657,0.404494103438,0.00450484580653,0.0599242324977,0.999999991884,8.67198999342e-05,-9.29810148263e-05,-8.10833611691e-06,1793254902941463296
+139,2.316666667,POSE1_TO_POSE2_PRESS,782.5925444,760.5925444,738,722,688,650,916,800,838.5925444,658,635,657,0.404871612765,0.00450339792819,0.0599103129989,0.999999989771,7.5906840765e-05,-0.000120666233243,-1.16620294738e-05,1793254902958130176
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,761,738.170257294,722,688,650,916,800,839,658,635,657,0.405269556419,0.00450240237857,0.059902925956,0.999999988437,6.54826145054e-05,-0.000136396787053,-1.52898979095e-05,1793254902974796544
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,761,738.745016108,722,688,650,916,800,839,658,635,657,0.405716048401,0.00450248148298,0.0599110588867,0.999999990597,5.59821888233e-05,-0.000123725147171,-1.90939928575e-05,1793254902991463168
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,761,738.680466126,721.680466126,688,650,916,800,839,658,635,657,0.406202164277,0.00450165037851,0.0599324171174,0.999999994857,4.46946167354e-05,-8.81526610815e-05,-2.27553791219e-05,1793254903008130048
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,761,738.106140507,721.106140507,688,650,916,800,839,658,635,657,0.406719875726,0.00450009348648,0.0599643210142,0.999999998554,3.19819985135e-05,-3.43193659043e-05,-2.63029718818e-05,1793254903024796672
+144,2.400000000,POSE1_TO_POSE2_PRESS,783,761,738,721,688,650,916,800,839,658,635,657,0.407260071104,0.00449655954716,0.0599908421853,0.999999999328,2.10747178762e-05,7.4736207083e-06,-2.90390223446e-05,1793254903041463552
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,761,738,721,688,650,916,800.073371795,839,658,635,657,0.40780569318,0.0044900220208,0.0600115757047,0.999999998795,7.78840924813e-06,3.73395189726e-05,-3.0893277249e-05,1793254903058130176
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,761,738,721,688,650,916,800.652084191,839,658,635,657,0.408353584568,0.00446588459263,0.0600008520604,0.999999999297,-2.47020947665e-05,3.85878581123e-06,-2.7941413465e-05,1793254903074796800
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,761,738,721.228225666,687.771774334,650,916,800.771774334,839,658,635.228225666,657,0.408914793938,0.00444883091906,0.0599894194788,0.999999997922,-5.17310440948e-05,-2.68677321523e-05,-2.75473992823e-05,1793254903091463424
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,761,738,721.800491554,687.199508446,650,916,800.199508446,839,658,635.800491554,657,0.409496079552,0.00444245569759,0.0599769182061,0.999999995604,-7.05269363713e-05,-5.34423889802e-05,-3.1009231884e-05,1793254903108130048
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,761,738,721.623699596,687,650,916,800,839,658,635.623699596,657,0.410137145342,0.00444781613999,0.0599784607209,0.999999995479,-7.41713581364e-05,-4.6392556194e-05,-3.72516421836e-05,1793254903124796928
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,761,738,721.045994488,687,650,916,800,839,658,635.045994488,657,0.410810206851,0.00445945778208,0.0599875197968,0.999999996331,-6.9706360858e-05,-2.13461158552e-05,-4.49822820371e-05,1793254903141463296
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,761,738,721,687.544612157,650,916,800,839,658,635,657,0.411498927785,0.00445025201283,0.0599915642469,0.999999994903,-8.79707289417e-05,-1.00150522846e-05,-4.85335945634e-05,1793254903158129920
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,761,738,721,687.866583994,650,916,800,839,658,635,657,0.412184903549,0.00444438736434,0.059988746946,0.999999996022,-7.60346084504e-05,-1.26280868428e-05,-4.48886907398e-05,1793254903174796800
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,761,738,721,687.28752975,650,916,800,839,658,635,657,0.412857185102,0.00445570639581,0.0599644588329,0.999999997217,4.33450458149e-05,-5.78545228987e-05,-1.8414438177e-05,1793254903191464192
+154,2.566666667,POSE1_TO_POSE2_PRESS,782.710977103,761,738,721,686.710977103,650,916,800,839,658,635,657,0.413566812198,0.00446432480134,0.0599395633088,0.999999989432,9.84323819884e-05,-0.000106587147616,-9.25130318559e-06,1793254903208131328
+155,2.583333333,POSE1_TO_POSE2_PRESS,782.136891705,761,738,721,686.136891705,650,916,800,839,658,635,657,0.414313273181,0.00447027958817,0.059914068694,0.999999983188,9.01083939565e-05,-0.000158777922754,-1.71620735263e-05,1793254903224797952
+156,2.600000000,POSE1_TO_POSE2_PRESS,782.448065257,761,738,721,686.448065257,650,916,800,839,658,635,656.551934743,0.41514329821,0.0044628873114,0.0599475991055,0.999999992793,6.81073259668e-05,-9.62945673703e-05,-2.24074435547e-05,1793254903241464064
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,761,738,720.964164971,687.071670058,650,916,800,839.035835029,657.964164971,635,656.035835029,0.41599939503,0.00445241325387,0.0599980297949,0.999999998676,4.39534107015e-05,-1.62505709572e-06,-2.66965733195e-05,1793254903258130432
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,761,738,720.385353111,688.229293779,650,916,800,839.614646889,657.385353111,635,656.614646889,0.416854078597,0.00445856680891,0.0600245002282,0.999999997547,5.20681318261e-05,3.66788811969e-05,-2.91422321664e-05,1793254903274797056
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,761,738,720.191527769,688.808472231,650,916,800,840,657.191527769,635,657,0.417710483232,0.00446127759194,0.0600355809306,0.999999996442,5.71910363674e-05,5.36279948111e-05,-3.11228745619e-05,1793254903291463680
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,761,738,720.764562268,688.235437732,650,916,800,840,657.764562268,635,657,0.418570316034,0.00445713067089,0.0600160066205,0.999999997501,5.63545009994e-05,2.80401448462e-05,-3.21772443724e-05,1793254903308130048
+161,2.683333333,POSE1_TO_POSE2_PRESS,783,761,738,720.659074166,687.659074166,650,916,800,839.659074166,658,635,657,0.419424344445,0.00445527172941,0.0599902557241,0.999999999095,-2.08010428705e-05,-1.41030371365e-05,-3.433498497e-05,1793254903324796928
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,761,738,720.080388957,687.080388957,650,916,800,839.080388957,658,635,657,0.420274324877,0.00445500840963,0.059960197319,0.99999998558,-0.000151180948184,-6.77917947732e-05,-3.72622083396e-05,1793254903341463552
+163,2.716666667,POSE1_TO_POSE2_PRESS,783.507930325,761,738,720.507930325,687,650,916,800,839.507930325,657.492069675,635,657.507930325,0.421094715056,0.00445832106265,0.059921662507,0.999999978875,-0.00015090232773,-0.000134189262531,-3.83676943698e-05,1793254903358130432
+164,2.733333333,POSE1_TO_POSE2_PRESS,783.903910303,761,738,720.903910303,687,650,916,800,840,657.096089697,635.096089697,657.903910303,0.421932112721,0.00446095379972,0.0598894399008,0.999999972625,-0.000132560537635,-0.000188805952353,-3.91183749802e-05,1793254903374797056
+165,2.750000000,POSE1_TO_POSE2_PRESS,783.324375358,761,738,720.324375358,687,650,916,800,840,657.675624642,635.675624642,657.324375358,0.422879095449,0.00445726324287,0.0598958552388,0.999999975737,-0.000129391114079,-0.000173836048808,-3.95626120132e-05,1793254903391463424
+166,2.766666667,POSE1_TO_POSE2_PRESS,783.253619354,761,738,720,687.507238708,650,916,800,840,658,636,657,0.423870323251,0.00445469393903,0.0599323180993,0.999999984959,-0.000124943016667,-0.000113434543153,-4.00514480388e-05,1793254903408130048
+167,2.783333333,POSE1_TO_POSE2_PRESS,783.829656099,761,738,720,688.659312198,650,916,800,840,658,636,657,0.424917798395,0.00445355004434,0.0600069793223,0.9999999921,-0.000118869384338,4.72256862521e-06,-4.05969808672e-05,1793254903424796672
+168,2.800000000,POSE1_TO_POSE2_PRESS,784,761,738,720,688.595686763,650,916.404313237,800,840,658,635.595686763,657.404313237,0.425906115857,0.00445265059067,0.060037510319,0.999999991266,-0.000111797677217,5.73839255291e-05,-4.09549833154e-05,1793254903441463552
+169,2.816666667,POSE1_TO_POSE2_PRESS,784,761,738,720,688.021608933,650,916.978391067,800,840,658,635.021608933,657.978391067,0.426869593903,0.00445185377392,0.0600495117427,0.999999990303,-0.000104306895367,8.25446669585e-05,-4.12342448877e-05,1793254903458130176
+170,2.833333333,POSE1_TO_POSE2_PRESS,784,761,738,720,687.431587802,650,916.431587802,800,840,657.431587802,635.568412198,657.431587802,0.427797693667,0.004448862334,0.0600248439859,0.99999999225,-0.000103017419426,5.40363369901e-05,-4.43489592422e-05,1793254903474797056
+171,2.850000000,POSE1_TO_POSE2_PRESS,784,761,738,720,687,650,916.156203025,800,840,657.156203025,636,657,0.428717349572,0.00444727590952,0.0599955804658,0.999999993864,-9.92946061264e-05,1.42915402517e-05,-4.69832010272e-05,1793254903491463936
+172,2.866666667,POSE1_TO_POSE2_PRESS,784,761,738,720,687,650,916.736249998,800,840,657.736249998,636,657,0.429617848447,0.00444973479546,0.0599577384599,0.999999993686,-8.83109833138e-05,-5.02465257071e-05,-4.80127908639e-05,1793254903508130304
+173,2.883333333,POSE1_TO_POSE2_PRESS,784,761,738,720,687,650,916.686683089,800,840,658,636,657,0.430564083981,0.00444877045076,0.0599380888916,0.999999992129,-8.19837524008e-05,-8.13291687806e-05,-4.90515649271e-05,1793254903524796928
+174,2.900000000,POSE1_TO_POSE2_PRESS,784,761,738,720,687,650,916.112101181,800,840,658,636,657,0.431548457814,0.00444495158288,0.0599336094199,0.999999992011,-7.95393392161e-05,-8.45143967882e-05,-5.00979974981e-05,1793254903541463552
+175,2.916666667,POSE1_TO_POSE2_PRESS,784,761,738,720,687.917510303,650,916,800,840,658,636,657,0.432556897908,0.00444058857296,0.059975905702,0.999999995497,-7.9493807041e-05,-1.44505469674e-05,-4.97750634447e-05,1793254903558129920
+176,2.933333333,POSE1_TO_POSE2_PRESS,784.030217015,761,738,719.969782985,688.93956597,650,916.030217015,800,840,658,636,657.030217015,0.433565989811,0.00443636214107,0.0600266069863,0.999999993266,-7.98391106617e-05,6.83408710189e-05,-4.9222924616e-05,1793254903574796544
+177,2.950000000,POSE1_TO_POSE2_PRESS,784.630119493,761,738,719.369880507,687.739761015,650,916.630119493,800,840,658,636,657.630119493,0.434477390201,0.00443719727634,0.0600220115522,0.999999994199,-7.65904232575e-05,5.63508295599e-05,-5.06073383128e-05,1793254903591463168
+178,2.966666667,POSE1_TO_POSE2_PRESS,785,761,738,719,687,650,916.779993634,800,840,657.779993634,636,657.779993634,0.435399267093,0.00443455840956,0.0600060851212,0.999999995455,-7.65494867533e-05,2.47525807342e-05,-5.11562838897e-05,1793254903608130048
+179,2.983333333,POSE1_TO_POSE2_PRESS,785,761,738,719,687,650,916.206211989,800,840,657.206211989,636,657.206211989,0.436337990581,0.00442633326796,0.0599719381866,0.999999994661,-8.16666865337e-05,-3.83761170552e-05,-5.03617776607e-05,1793254903624796928
+180,3.000000000,POSE1_TO_POSE2_PRESS,784.63101523,761,738,719,687,650,916,800,840.36898477,657.36898477,636,657,0.437238074477,0.00442640221525,0.0599386461887,0.999999990871,-7.62283276917e-05,-9.93018638399e-05,-5.08624950579e-05,1793254903641463808
+181,3.016666667,POSE1_TO_POSE2_PRESS,784.055024605,761,738,719,687,650,916,800,840.944975395,657.944975395,636,657,0.43811648094,0.00443112426825,0.0599058338249,0.9999999839,-6.48681455997e-05,-0.000158991718901,-5.2089851832e-05,1793254903658130432
+182,3.033333333,POSE1_TO_POSE2_PRESS,784,761,738,718.465316384,687,650,916.534683616,800.534683616,840.465316384,658,636,657,0.439016849346,0.00442709851827,0.0599068774134,0.9999999842,-6.56431193538e-05,-0.000156898317515,-5.17054527343e-05,1793254903674797056
+183,3.050000000,POSE1_TO_POSE2_PRESS,784.123048251,761,738,718,687,650,916.876951749,801,840,658,636,657,0.439930847794,0.00442249673949,0.0599233967194,0.999999987975,-6.81793924086e-05,-0.000129499917073,-5.13036183164e-05,1793254903691463680
+184,3.066666667,POSE1_TO_POSE2_PRESS,784.701087347,761,738,718,687,650,916.298912653,801,840,658,636,657,0.440886668296,0.00441918144064,0.0599839176133,0.999999995515,-7.24889900186e-05,-3.26615275417e-05,-5.14667821959e-05,1793254903708130048
+185,3.083333333,POSE1_TO_POSE2_PRESS,785,761.277248192,738,718,686.722751808,650,916.277248192,800.722751808,840,657.722751808,636,657,0.441787566043,0.00441890934136,0.0600096937536,0.999999996075,-7.11679242834e-05,1.0233849295e-05,-5.1768019897e-05,1793254903724796672
+186,3.100000000,POSE1_TO_POSE2_PRESS,785,761.851397607,738,718,686.148602393,650,916.851397607,800.148602393,840,657.148602393,636,657,0.442629647716,0.00442189616227,0.059998262218,0.99999999659,-6.38170599569e-05,-4.6376002707e-06,-5.22171193004e-05,1793254903741463808
+187,3.116666667,POSE1_TO_POSE2_PRESS,784.563441974,762,738,718.873116051,686,649.563441974,917,800,840.436558026,657.436558026,636,657,0.443429823079,0.00442004434283,0.0599633237024,0.999999994689,-6.65755306597e-05,-5.76721925332e-05,-5.35135777548e-05,1793254903758130688
+188,3.133333333,POSE1_TO_POSE2_PRESS,784.02515512,761.97484488,738,719.949689759,686,649,916.97484488,800.02515512,841,658,636,657.02515512,0.444214590011,0.00441673411439,0.0599212368414,0.999999988286,-7.34008626722e-05,-0.000122505214614,-5.50660212194e-05,1793254903774797312
+189,3.150000000,POSE1_TO_POSE2_PRESS,784.60474964,761.39525036,738,718.79050072,686,649,916.39525036,800.60474964,841,658,636,657.60474964,0.444982282449,0.00441852104823,0.0599025214325,0.999999982405,-9.20543686261e-05,-0.000153653962501,-5.57386958347e-05,1793254903791463936
+190,3.166666667,POSE1_TO_POSE2_PRESS,785,761,738,718,685.816570797,649,916.183429203,801,841,658,636,658,0.445722563151,0.00442281310442,0.0598765492388,0.999999972049,-0.000112406378543,-0.000200595483116,-5.50360680368e-05,1793254903808130560
+191,3.183333333,POSE1_TO_POSE2_PRESS,785,761,738,718,685.239852873,649,916.760147127,801,841,658,636,658,0.44640407077,0.00443247636872,0.0598350178419,0.999999949785,-0.000136400137075,-0.000281398135184,-5.13846680897e-05,1793254903824796928
+192,3.200000000,POSE1_TO_POSE2_PRESS,785,761,738,718,684.66450497,649,916.66450497,800.66450497,841.33549503,658,636,657.66450497,0.447119350962,0.00445620989234,0.0598156738156,0.999999943171,-0.000124309973987,-0.000308951355825,-5.24808329262e-05,1793254903841463552
+193,3.216666667,POSE1_TO_POSE2_PRESS,785,761,738,718,684.090132576,649,916.090132576,800.090132576,841.909867424,658,636,657.090132576,0.447858677677,0.00448996164564,0.0598121275241,0.999999950056,-8.65275302819e-05,-0.000298590198958,-5.69573336065e-05,1793254903858130176
+194,3.233333333,POSE1_TO_POSE2_PRESS,785,761,738,718,684,649,916,800.497628228,841.502371772,658,636,657.497628228,0.448565616426,0.00450369180134,0.0598215427135,0.99999995526,-7.0883919151e-05,-0.000284542847874,-5.90768765097e-05,1793254903874796800
+195,3.250000000,POSE1_TO_POSE2_PRESS,785.086211285,761,738.086211285,717.913788715,684,648.913788715,916.086211285,800.913788715,841,658,636,657.913788715,0.449251147341,0.0045100058414,0.0598256320602,0.999999956391,-6.31446627618e-05,-0.000282111817756,-6.03554306646e-05,1793254903891463680
+196,3.266666667,POSE1_TO_POSE2_PRESS,785.665249159,761,738.665249159,717.334750841,684,648.334750841,916.665249159,800.334750841,841,658,636,657.334750841,0.449848761989,0.0044952291296,0.0597854849185,0.99999993402,-7.70343874803e-05,-0.000350007654146,-5.93343335949e-05,1793254903908130560
+197,3.283333333,POSE1_TO_POSE2_PRESS,785.757349041,761,738.757349041,717.242650959,683.514698082,648,917,800,841,658,636,657,0.450432197477,0.00448929580134,0.0597468919127,0.999999911025,-8.35724800315e-05,-0.000409016720515,-6.05907901723e-05,1793254903924797440
+198,3.300000000,POSE1_TO_POSE2_PRESS,785.182189229,761,738.182189229,717.817810771,682.364378458,648,917,800,841,658,636,657,0.450996202964,0.00449548071745,0.0597104285696,0.999999890788,-8.00365015699e-05,-0.000455848086148,-6.49682186472e-05,1793254903941464320
+199,3.316666667,POSE1_TO_POSE2_PRESS,785.391361961,761,738,717.608638039,682,648,916.608638039,800,841,658,635.608638039,657.391361961,0.451560134423,0.00449300893622,0.0597019764922,0.999999885939,-8.32225769285e-05,-0.00046560925259,-6.63696786425e-05,1793254903958130944
+200,3.333333333,POSE1_TO_POSE2_PRESS,785.964167411,761,738,717.035832589,682,648,916.035832589,800,841,658,635.035832589,657.964167411,0.452124031611,0.00448652373183,0.0597065110128,0.999999888822,-8.95251350223e-05,-0.000458183913382,-6.6391418605e-05,1793254903974797568
+201,3.350000000,POSE1_TO_POSE2_PRESS,786,761,738,717,681.44366938,648,916,800,841,658,635.55633062,658,0.452671067544,0.00448660278914,0.0597225896952,0.999999901715,-9.35786481063e-05,-0.000427886073367,-6.87547308928e-05,1793254903991463936
+202,3.366666667,POSE1_TO_POSE2_PRESS,786,761.145968859,738,717,681,647.854031141,916,800,841,658,635.854031141,658,0.453189151192,0.00448645796218,0.0597295326358,0.999999906153,-9.70542177081e-05,-0.000416236372008,-7.08711571254e-05,1793254904008130304
+203,3.383333333,POSE1_TO_POSE2_PRESS,786,761.724301979,738,717,681,647.275698021,916,800,841,658,635.275698021,658,0.45362481018,0.00448435250131,0.0597071334306,0.999999884689,-9.92624447171e-05,-0.00046434396868,-7.17934683272e-05,1793254904024796928
+204,3.400000000,POSE1_TO_POSE2_PRESS,785.699665314,761.699665314,738,717,681,647,916,800,841,658,635.300334686,658,0.454041026332,0.00448100610922,0.0596810578701,0.99999986332,-0.000103986887105,-0.000507144753502,-7.31470582321e-05,1793254904041463552
+205,3.416666667,POSE1_TO_POSE2_PRESS,785.1257283,761.1257283,738,717,681,647,916,800,841,658,635.8742717,658,0.4544395302,0.00447652923952,0.0596516331828,0.999999842462,-0.000111003580077,-0.000545111075432,-7.48935393193e-05,1793254904058130176
+206,3.433333333,POSE1_TO_POSE2_PRESS,785,761,738,717,680.539873321,647,916,800,841,658,636,658,0.454845870578,0.00447737749726,0.05964846366,0.999999843636,-0.000111767157257,-0.000542545352581,-7.66843261738e-05,1793254904074797056
+207,3.450000000,POSE1_TO_POSE2_PRESS,785,761,738,717,680,646.951360872,916,800,841,658,635.951360872,658,0.455251489194,0.00447947554306,0.059653378904,0.99999985158,-0.000109502812652,-0.00052800041209,-7.78779207515e-05,1793254904091463936
+208,3.466666667,POSE1_TO_POSE2_PRESS,785,761,738,717,680,646.370353214,916,800,841,658,635.370353214,658,0.455625147622,0.00447890317696,0.0596661731674,0.999999864612,-9.32959138738e-05,-0.00050678477887,-7.23990514253e-05,1793254904108130304
+209,3.483333333,POSE1_TO_POSE2_PRESS,785,761,738,716.791918586,679.791918586,646,916,800,841,658,635.208081414,657.791918586,0.455973691285,0.00447820718136,0.0596706160488,0.999999871803,-6.70555298273e-05,-0.000497858662424,-6.35086452679e-05,1793254904124796928
+210,3.500000000,POSE1_TO_POSE2_PRESS,785,761,738,716.218007685,679.218007685,646,916,800,841,658,635.781992315,657.218007685,0.456278080452,0.00447729383188,0.0596603763016,0.999999868225,-2.31752020509e-05,-0.000510538839231,-4.86203912673e-05,1793254904141463552
+211,3.516666667,POSE1_TO_POSE2_PRESS,785.358125395,761,738,716.358125395,679,646,916,800.358125395,841,658,636,657.358125395,0.456535058832,0.00447925336679,0.0596361240823,0.999999850038,-8.28626555829e-06,-0.000545731662026,-4.50742744852e-05,1793254904158129920
+212,3.533333333,POSE1_TO_POSE2_PRESS,785.935619721,761,738,716.935619721,679,646,916,800.935619721,841,658,636,657.935619721,0.456762995868,0.00448297268068,0.0596032885527,0.99999982192,-1.11559383794e-05,-0.000594714557743,-4.84757576592e-05,1793254904174796544
+213,3.550000000,POSE1_TO_POSE2_PRESS,786,761,738,716.474339711,679,646,916,800.474339711,841,658,636,657.474339711,0.456971919713,0.00448160966685,0.059573747195,0.999999794223,-1.61464446035e-05,-0.000639335102058,-5.04463370373e-05,1793254904191463424
+214,3.566666667,POSE1_TO_POSE2_PRESS,786,761,738,716.114332167,678.885667833,646,916,800,841,658,636,657.114332167,0.457176025494,0.00448023989369,0.059548473593,0.999999769459,-2.11998775397e-05,-0.000676666066068,-5.24842272261e-05,1793254904208130048
+215,3.583333333,POSE1_TO_POSE2_PRESS,786,761,738,716.691101282,678.308898718,646,916,800,841,658,636,657.691101282,0.457370292718,0.00448142198476,0.0595387899438,0.999999762338,-2.54315398091e-05,-0.000686726859648,-5.55205308353e-05,1793254904224796672
+216,3.600000000,POSE1_TO_POSE2_PRESS,786,761,738,717,678,646,916,800,841,658,635.733090092,657.733090092,0.457550288815,0.00448084772471,0.0595326355324,0.999999756422,-3.08486398602e-05,-0.000694923321618,-5.7320779191e-05,1793254904241463552
+217,3.616666667,POSE1_TO_POSE2_PRESS,786,761,738,717,678,646,916,800,841,658,635.158389104,657.158389104,0.457713827937,0.00447824810251,0.0595305509142,0.999999751948,-3.76327446472e-05,-0.00070096990164,-5.76956520976e-05,1793254904258130176
+218,3.633333333,POSE1_TO_POSE2_PRESS,785.58355113,761.41644887,738,717,678,646,916,800,841.41644887,658,635.41644887,657.41644887,0.457855470231,0.00447812376108,0.0595288574099,0.999999748604,-3.97488806103e-05,-0.000705537251788,-5.8558401512e-05,1793254904274796800
+219,3.650000000,POSE1_TO_POSE2_PRESS,785.008661052,761.991338948,738,717,678,646,916,800,841.991338948,658,635.991338948,657.991338948,0.457988781703,0.00447894115951,0.0595273127081,0.999999745695,-4.00890514056e-05,-0.000709541817302,-5.96067673266e-05,1793254904291463168
+220,3.666666667,POSE1_TO_POSE2_PRESS,785,761.416792624,738,716.416792624,678,645.416792624,916,800,841.416792624,658,636,657.416792624,0.45810339514,0.00448001357602,0.0595254863588,0.999999743752,-4.06962452106e-05,-0.000712198976364,-6.01008028776e-05,1793254904308129792
+221,3.683333333,POSE1_TO_POSE2_PRESS,785.170689081,761,738,716.170689081,678,645.170689081,916,800,841,658,636,657.170689081,0.458210228478,0.004480133453,0.0595243567713,0.999999742386,-4.13604852683e-05,-0.000714054168763,-6.03578690451e-05,1793254904324796672
+222,3.700000000,POSE1_TO_POSE2_PRESS,785.747125619,761,738,716.747125619,678,645.747125619,916,800,841,658,636,657.747125619,0.458299247485,0.00447797976194,0.0595248937071,0.999999742372,-4.21506216392e-05,-0.000714051986593,-6.00717874983e-05,1793254904341463552
+223,3.716666667,POSE1_TO_POSE2_PRESS,786,761,738,717,678,645.676770081,916.323229919,800,841,658,636,657.676770081,0.458374255517,0.00447780834122,0.0595236816293,0.999999740691,-4.27284267624e-05,-0.000716351655722,-6.02639800947e-05,1793254904358130432
+224,3.733333333,POSE1_TO_POSE2_PRESS,786,761,738,717,678,645.100925374,916.899074626,800,841,658,636,657.100925374,0.458438313522,0.00447918612958,0.0595211026401,0.999999737695,-4.31402881329e-05,-0.000720450297157,-6.08299595946e-05,1793254904374797312
+225,3.750000000,POSE1_TO_POSE2_PRESS,786,761.487862813,737.512137187,716.512137187,677.512137187,645,916.512137187,800,841.487862813,658,636,657.487862813,0.458487516568,0.0044801499591,0.059517541284,0.999999734112,-4.24839809562e-05,-0.000725389412011,-6.14920356481e-05,1793254904391463936
+226,3.766666667,POSE1_TO_POSE2_PRESS,785.922303436,761.922303436,737.077696564,716,677,645,916,800,841.922303436,658,636,658,0.458531805987,0.00448073912987,0.0595139881398,0.999999730562,-4.20415554372e-05,-0.000730245676794,-6.20453868275e-05,1793254904408130048
+227,3.783333333,POSE1_TO_POSE2_PRESS,785.343467011,761.343467011,737.656532989,716,677,645,916,800,841.343467011,658,636,658,0.458564764194,0.00447947917364,0.059511834476,0.999999728156,-4.4442780639e-05,-0.000733415539861,-6.17657489381e-05,1793254904424796928
+228,3.800000000,POSE1_TO_POSE2_PRESS,785.233269195,761,738,716,677,645,916,800,841,658,636,657.766730805,0.458594362387,0.00447835773616,0.0595112130049,0.999999727226,-4.58960723619e-05,-0.000734619470111,-6.14537338592e-05,1793254904441463808
+229,3.816666667,POSE1_TO_POSE2_PRESS,785.806940582,761,738,716,677,645,916,800,841,658,636,657.193059418,0.45861905742,0.00447743843468,0.0595128274133,0.999999728466,-4.59660752676e-05,-0.000732954577994,-6.10944718124e-05,1793254904458130176
+230,3.833333333,POSE1_TO_POSE2_PRESS,785.617928497,761,738,716.382071503,677,645,916,800,841,658,635.617928497,657.382071503,0.458637762725,0.00447893414234,0.059514541581,0.999999729986,-4.23559018665e-05,-0.00073112743797,-6.07157419372e-05,1793254904474796800
+231,3.850000000,POSE1_TO_POSE2_PRESS,785.042057269,761,738,716.957942731,677,645,916,800,841,658,635.042057269,657.957942731,0.458653429836,0.0044816548252,0.0595163063498,0.999999731621,-3.68790172459e-05,-0.00072921800029,-6.03271373232e-05,1793254904491463936
+232,3.866666667,POSE1_TO_POSE2_PRESS,785.549398661,761.549398661,737.450601339,717,677,645,916,800,841,658,635.549398661,658,0.458660953102,0.00448099316905,0.0595148893616,0.999999730131,-3.98638175633e-05,-0.000731077399085,-6.06262809786e-05,1793254904508130560
+233,3.883333333,POSE1_TO_POSE2_PRESS,786,761.861867612,737.138132388,716.861867612,677,645,916.138132388,800,841.138132388,658,635.861867612,658,0.458666538573,0.0044802535773,0.0595131594012,0.999999728131,-4.23994619884e-05,-0.000733648067711,-6.08344545771e-05,1793254904524797184
+234,3.900000000,POSE1_TO_POSE2_PRESS,786,761.285661271,737.714338729,716.285661271,677,645,916.714338729,800,841.714338729,658,635.285661271,658,0.458668013359,0.00448011194379,0.0595112318843,0.999999725331,-4.13963824026e-05,-0.000737532766507,-6.05822817933e-05,1793254904541463808
+235,3.916666667,POSE1_TO_POSE2_PRESS,786,761,738,716.289718134,677,645,916.710281866,800,841.710281866,658,635,658,0.458669934719,0.00448022299799,0.0595097185076,0.99999972387,-4.08304276667e-05,-0.000739548800456,-6.0509011676e-05,1793254904558130176
+236,3.933333333,POSE1_TO_POSE2_PRESS,786,761,738,716.864284572,677,645,916.135715428,800,841.135715428,658,635,658,0.458672295148,0.00448058249251,0.0595086123096,0.999999723737,-4.06942500941e-05,-0.000739727580143,-6.06116370472e-05,1793254904574797056
+237,3.950000000,POSE1_TO_POSE2_PRESS,786,761.450744211,738,717,676.549255789,645,916,800,841,658,635.450744211,657.549255789,0.458672864125,0.00448176896469,0.0595080931095,0.999999722999,-3.9092926017e-05,-0.000740784482498,-6.09272667537e-05,1793254904591463680
+238,3.966666667,POSE1_TO_POSE2_PRESS,785.959858176,761.959858176,738,717,676.040141824,645,916,800,841,658,635.959858176,657.040141824,0.458672910065,0.00448306383361,0.0595077182807,0.999999722093,-3.72200397716e-05,-0.000742076677804,-6.12507381262e-05,1793254904608130048
+239,3.983333333,POSE1_TO_POSE2_PRESS,785.380402355,761.380402355,738,717,676.619597645,645,916,800,841,658,635.380402355,657.619597645,0.458673372124,0.00448237905816,0.0595068442157,0.999999721502,-3.77861388856e-05,-0.000742881606084,-6.07945604676e-05,1793254904624796928
+240,4.000000000,POSE1_TO_POSE2_PRESS,785,761,738,716.803462632,676.803462632,645,916,800,841,658,635,657.803462632,0.458673968675,0.00448160912283,0.0595063300947,0.999999721217,-3.87391125273e-05,-0.000743247192002,-6.04019239124e-05,1793254904641463808
+241,4.016666667,POSE1_TO_POSE2_PRESS,785,761,738,716.23133135,676.23133135,645,916,800,841,658,635,657.23133135,0.458674822249,0.00448067644225,0.059506503847,0.999999721519,-4.0431425022e-05,-0.000742773170007,-6.01307179908e-05,1793254904658130432
+242,4.033333333,POSE1_TO_POSE2_PRESS,785.351678445,761,738,716.351678445,676.351678445,645,916.351678445,800,841,658,635.351678445,657.351678445,0.458674974949,0.00448077180183,0.0595064786261,0.999999721412,-3.90860094338e-05,-0.000743015917741,-5.98019367433e-05,1793254904674797056
+243,4.050000000,POSE1_TO_POSE2_PRESS,785.942072432,761,738,716.942072432,676.942072432,645,916.942072432,800,841,658,635.942072432,657.942072432,0.458674651904,0.00448156498406,0.0595063183442,0.999999721019,-3.56786166485e-05,-0.000743745201066,-5.94340739948e-05,1793254904691463424
+244,4.066666667,POSE1_TO_POSE2_PRESS,785.478263631,761,738,716.478263631,677,645,916.478263631,800,841.521736369,658,635.478263631,658,0.458675888172,0.00448053548425,0.0595068278743,0.999999721982,-3.87628600418e-05,-0.000742268465183,-5.97626838914e-05,1793254904708130048
+245,4.083333333,POSE1_TO_POSE2_PRESS,785,761,738,716,677,645,916.100245944,800,841.899754056,658,635.100245944,658,0.458676954553,0.00447955837351,0.0595070853631,0.999999722551,-4.19437603243e-05,-0.000741309542254,-5.99955473358e-05,1793254904724796672
+246,4.100000000,POSE1_TO_POSE2_PRESS,785,761,738,716,677,645,916.67881723,800,841.32118277,658,635.67881723,658,0.458676400876,0.00447977738988,0.0595057925334,0.999999720601,-4.22160618542e-05,-0.00074396651477,-5.94100169136e-05,1793254904741463296
+247,4.116666667,POSE1_TO_POSE2_PRESS,785,761,738,716,676.744612262,645,916.744612262,800,841,658,635.744612262,658,0.458675844066,0.0044804892046,0.0595049490187,0.999999719504,-4.09434493448e-05,-0.000745507805128,-5.94472365025e-05,1793254904758130176
+248,4.133333333,POSE1_TO_POSE2_PRESS,785,761,738,716,676.170538353,645,916.170538353,800,841,658,635.170538353,658,0.458675283349,0.00448181595889,0.0595046661827,0.99999971947,-3.77430123686e-05,-0.000745656889321,-6.02615560328e-05,1793254904774797056
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+250,4.166666667,POSE1_TO_POSE2_PRESS,786,761,738,716,676.002989665,645,916,800,841,658,635.002989665,658,0.458678267786,0.0044808381871,0.0595072161408,0.999999722539,-3.82698227734e-05,-0.00074153506531,-5.98599407409e-05,1793254904808130048
+251,4.183333333,POSE1_TO_POSE2_PRESS,786,761,738,716,676.582402295,645,916,800,841,658,635.582402295,658,0.458676309289,0.00448215174309,0.0595046870882,0.999999719848,-3.84595677215e-05,-0.000745105802656,-6.03472096584e-05,1793254904824796672
+252,4.200000000,HOLD_POSE2,785,761,738,717,677,645,916,800,841,658,635,658,0.458678177397,0.00447992468126,0.0595051246687,0.999999720741,-3.68509063149e-05,-0.000744096784516,-5.89872894285e-05,1793254904865740288
+253,4.216666667,HOLD_POSE2,785,761.57524156,738,717,677,645,916,800,841.57524156,658,635,658,0.458678000444,0.00448084684548,0.0595054966874,0.999999720911,-3.62876453032e-05,-0.00074389197137,-5.90328584069e-05,1793254904882406912
+254,4.233333333,HOLD_POSE2,785,761.845579999,738,717,677,645,916,800,841.845579999,658,635.154420001,658,0.45867798728,0.00448134444875,0.0595058492256,0.999999721051,-3.63761858152e-05,-0.000743694221287,-5.90986514881e-05,1793254904899073536
+255,4.250000000,HOLD_POSE2,785,761.255289057,738,717,677,645,916,800,841.255289057,658,635.744710943,658,0.458678436429,0.00448064367264,0.059506146778,0.999999721104,-3.83045224771e-05,-0.000743516407587,-5.9221529793e-05,1793254904915740416
+256,4.266666667,HOLD_POSE2,785,761,738,716.671674829,676.671674829,645,916,800,841,658,636,658,0.458679285693,0.00448038398967,0.0595065223481,0.999999721353,-3.91172568494e-05,-0.000743135390663,-5.92829955625e-05,1793254904932407040
+257,4.283333333,HOLD_POSE2,785,761,738,716.093148644,676.093148644,645,916,800,841,658,636,658,0.458680439865,0.00448046044287,0.059506957372,0.999999721751,-3.90798436008e-05,-0.000742599522227,-5.9297661749e-05,1793254904949073664
+258,4.300000000,HOLD_POSE2,785.482718096,761,738,716.482718096,676,645,916,800,841,658,635.517281904,658,0.458679425853,0.00448241718297,0.0595061072728,0.999999720959,-3.67389444374e-05,-0.000743775346776,-5.94135763516e-05,1793254904965740544
+259,4.316666667,HOLD_POSE2,785.94071064,761.05928936,738,716.94071064,676,645,916,800,841,658,635,658,0.458678068075,0.0044841657159,0.0595050875502,0.999999719975,-3.45011849575e-05,-0.000745198034613,-5.94960625355e-05,1793254904982407168
+260,4.333333333,HOLD_POSE2,785.353317994,761.646682006,738,716.353317994,676,645,916,800,841,658,635,658,0.458677354557,0.00448084557483,0.0595047537206,0.999999719385,-3.71196489435e-05,-0.000745893651735,-5.91077223445e-05,1793254904999074048
+261,4.350000000,HOLD_POSE2,785,761.767848067,737.767848067,716.232151933,676,645,916.232151933,800,841,658,635.232151933,658,0.458677529731,0.00447910478345,0.0595050034236,0.999999719416,-3.80733574208e-05,-0.000745831539203,-5.87670919731e-05,1793254905015740416
+262,4.366666667,HOLD_POSE2,785,761.185280391,737.185280391,716.814719609,676,645,916.814719609,800,841,658,635.814719609,658,0.458679046319,0.00447974790101,0.0595061339251,0.999999720389,-3.65142434216e-05,-0.000744625691143,-5.84984759932e-05,1793254905032406784
+263,4.383333333,HOLD_POSE2,785,761,737,717,676,645,916.607920913,800,840.607920913,658,635.607920913,658,0.458678937552,0.00448045763069,0.0595059191345,0.999999720758,-3.67340881099e-05,-0.00074409513661,-5.88017382593e-05,1793254905049073664
+264,4.400000000,HOLD_POSE2,785,761,737,717,676,645,916.0329903,800,840.0329903,658,635.0329903,658,0.458678070777,0.00448119842593,0.0595050769483,0.999999720845,-3.77835747476e-05,-0.000743879514485,-5.93717038627e-05,1793254905065740288
+265,4.416666667,HOLD_POSE2,785,761,737.539932456,716.460067544,676,645,916,800,841.079864912,658,635,658,0.458679005265,0.00448043293657,0.059505707041,0.999999720862,-3.85454611838e-05,-0.000743823554831,-5.93089675359e-05,1793254905082407168
+266,4.433333333,HOLD_POSE2,785.112923513,761.112923513,738,716.112923513,676.112923513,645,916,800,842,658,635.112923513,658,0.45867970186,0.00447984436426,0.0595061469855,0.999999720666,-3.88055144197e-05,-0.000744081522234,-5.91925125621e-05,1793254905099073792
+267,4.450000000,HOLD_POSE2,785.686692299,761.686692299,738,716.686692299,676.686692299,645,916,800,842,658,635.686692299,658,0.458678980113,0.00448035200469,0.0595054451687,0.999999719625,-3.70890157301e-05,-0.000745580973146,-5.90140123495e-05,1793254905115740416
+268,4.466666667,POSE2_TO_POSE3_RETREAT,786,761,738,716,676,645,916,800,841,658,635,658,0.458679291802,0.00447789126335,0.0595047509021,0.99999972026,-3.84025352915e-05,-0.000744748820532,-5.79231962522e-05,1793254905152848640
+269,4.483333333,POSE2_TO_POSE3_RETREAT,786,761.572418147,738,716.572418147,676,645,916,800,841,658,635,658,0.458679298111,0.00447923861647,0.0595050956288,0.999999720156,-3.78510428377e-05,-0.000744901454431,-5.81068199676e-05,1793254905169515520
+270,4.500000000,POSE2_TO_POSE3_RETREAT,785.854159874,761.854159874,738,716.854159874,676,645,916,800,841,658,635,658,0.458679324559,0.00448043338709,0.0595053718319,0.999999720127,-3.71831109848e-05,-0.000744954484775,-5.83602782943e-05,1793254905186182144
+271,4.516666667,POSE2_TO_POSE3_RETREAT,785.27777427,761.27777427,738,716.27777427,676,645,916,800,841,658,635,658,0.458679410461,0.00448117770788,0.059505445741,0.999999720317,-3.61714295946e-05,-0.000744713468091,-5.88199006126e-05,1793254905202848512
+272,4.533333333,POSE2_TO_POSE3_RETREAT,785,761,738,716,676,645,916,800,841,658,635.307296454,658,0.45867990576,0.0044812628278,0.0595055352635,0.999999720623,-3.61860343296e-05,-0.000744287523626,-5.89883694785e-05,1793254905219515136
+273,4.550000000,POSE2_TO_POSE3_RETREAT,785,761,738,716,676,645,916,800,841,658,635.900446215,658,0.458680781887,0.00448073474585,0.0595056393099,0.999999721039,-3.71553110012e-05,-0.000743689555656,-5.88860015536e-05,1793254905236181760
+274,4.566666667,POSE2_TO_POSE3_RETREAT,785,761,738,716,676,645,916,800,841,658,635.520267375,658,0.458680747075,0.00448033372902,0.0595056009373,0.999999720781,-3.77101178691e-05,-0.000744022436006,-5.87077107921e-05,1793254905252848640
+275,4.583333333,POSE2_TO_POSE3_RETREAT,785.056007745,761,738,716.056007745,676,645,916,800,841,658,635,658,0.458680552456,0.00448016991643,0.0595055012667,0.999999720487,-3.78196090662e-05,-0.000744423039457,-5.8574155164e-05,1793254905269515264
+276,4.600000000,POSE2_TO_POSE3_RETREAT,785.630291692,761,738,716.630291692,676,645,916,800,841,658,635,658,0.458680579188,0.00448196395794,0.0595051001727,0.999999721107,-3.45818607279e-05,-0.000743713015172,-5.89962635277e-05,1793254905286181888
+277,4.616666667,POSE2_TO_POSE3_RETREAT,785.788149363,761,738,717,676,645,916,800,841,658,635,658,0.458677667821,0.00448323177133,0.0595034960251,0.999999719847,-3.2532190437e-05,-0.000745470855294,-5.93439740186e-05,1793254905302848512
+278,4.633333333,POSE2_TO_POSE3_RETREAT,785.193443136,761,738,717,676,645,916,800,841,658,635,658,0.458669446737,0.00448354858725,0.0594997177238,0.999999715176,-3.26296102043e-05,-0.000751688609779,-5.95572329366e-05,1793254905319515392
+279,4.650000000,POSE2_TO_POSE3_RETREAT,785.388764971,761,738,717,676,645,916,800,841,658,635,658,0.458647522585,0.00448305519916,0.0594890818994,0.999999702196,-3.3441850173e-05,-0.000768744847477,-5.93367883119e-05,1793254905336182016
+280,4.666666667,POSE2_TO_POSE3_RETREAT,785.964947966,761,738,717,676,645,916,800,841,658,635,658,0.458618992379,0.00448217122335,0.0594751401609,0.999999684805,-3.4598694716e-05,-0.000791026162914,-5.89072614168e-05,1793254905352848640
+281,4.683333333,POSE2_TO_POSE3_RETREAT,785.460813177,761,738,717,676,645,916,800,841,658,635.539186823,658,0.45856503725,0.00448209429495,0.0594546247158,0.999999656517,-3.51509897008e-05,-0.000825983484447,-5.90016674391e-05,1793254905369515264
+282,4.700000000,POSE2_TO_POSE3_RETREAT,785.116829814,761,738,716.883170186,676,645,916,800,841,658,636,658,0.45850698221,0.00448276461358,0.059434254357,0.999999629233,-3.46841330969e-05,-0.000858378721766,-5.93065678567e-05,1793254905386181888
+283,4.716666667,POSE2_TO_POSE3_RETREAT,785.708830481,761,738,716.291169519,676,645,916,800,841,658,636,658,0.458438950309,0.00448626151845,0.0594162059654,0.999999613146,-3.023144971e-05,-0.000877013889546,-6.03295596032e-05,1793254905402848512
+284,4.733333333,POSE2_TO_POSE3_RETREAT,786,761.294106294,738,716.294106294,676,645,916,800,841,658,635.705893706,658,0.458361556516,0.00448710834336,0.0594018635372,0.99999959811,-2.83630135343e-05,-0.00089404403636,-6.05016953732e-05,1793254905419515136
+285,4.750000000,POSE2_TO_POSE3_RETREAT,786,761.872873196,738,716.872873196,676,645,916,800,841,658,635.127126804,658,0.458275101507,0.00448539019957,0.0593911080506,0.999999584175,-2.89958276897e-05,-0.000909520708929,-5.98503016836e-05,1793254905436181760
+286,4.766666667,POSE2_TO_POSE3_RETREAT,786,761.551582889,738,717,676,645,916,800,841,658,635.448417111,658,0.458179412474,0.0044869761443,0.0593871453215,0.999999579852,-2.5632891242e-05,-0.000914390249893,-5.94044407086e-05,1793254905452848384
+287,4.783333333,POSE2_TO_POSE3_RETREAT,786,761.023116874,737.976883126,716.976883126,676,645,916,800,841,658,635.976883126,658,0.458080174554,0.00448935700259,0.0593853320249,0.9999995785,-2.12596594475e-05,-0.000916007364698,-5.89852682724e-05,1793254905469515264
+288,4.800000000,POSE2_TO_POSE3_RETREAT,786,761.599325352,737.400674648,716.400674648,676,645,916,800,841,658,635.400674648,658,0.457958213891,0.00448850511548,0.0593891992072,0.999999582955,-1.96240493859e-05,-0.000911242232575,-5.7820459385e-05,1793254905486181888
+289,4.816666667,POSE2_TO_POSE3_RETREAT,786,761.819897866,737.180102134,716.180102134,676,645,916,800,841,658,635,658,0.457828099075,0.00448861380947,0.0593924508251,0.99999958661,-1.66609528862e-05,-0.000907345549316,-5.67947091931e-05,1793254905502848512
+290,4.833333333,POSE2_TO_POSE3_RETREAT,786,761.228693525,737.771306475,716.771306475,676,645,916,800,841,658,635,658,0.457679371555,0.00449091513174,0.0593942973513,0.999999588467,-1.06677281334e-05,-0.0009054311933,-5.60863753719e-05,1793254905519515136
+291,4.850000000,POSE2_TO_POSE3_RETREAT,786,761,738,717,676,645,916.354977243,800,841,658,635.354977243,658,0.457511992413,0.00449270771505,0.0593969007179,0.999999594406,-7.05296281209e-06,-0.000898948472651,-5.50377664078e-05,1793254905536181760
+292,4.866666667,POSE2_TO_POSE3_RETREAT,786,761,738,717,676,645,916.93389544,800,841,658,635.93389544,658,0.457332846692,0.00449417935553,0.0593999815451,0.999999602862,-4.9386718838e-06,-0.000889583753128,-5.37744913852e-05,1793254905552848384
+293,4.883333333,POSE2_TO_POSE3_RETREAT,786,761,738,717,676.508879161,645,917,800,841,658,635.491120839,658,0.45712598014,0.00449324669563,0.0594037607661,0.999999607643,-1.44538663227e-06,-0.00088430885743,-5.20477864241e-05,1793254905569515008
+294,4.900000000,POSE2_TO_POSE3_RETREAT,785.916415487,761,738,716.916415487,677,645,916.916415487,800,841,657.916415487,635.083584513,658,0.456910386671,0.0044926135533,0.0594078034164,0.999999612351,2.77620403002e-06,-0.000879070273797,-5.02496105955e-05,1793254905586181888
+295,4.916666667,POSE2_TO_POSE3_RETREAT,785.340361799,761,738,716.340361799,677,645,916.340361799,800,841,657.340361799,635.659638201,658,0.456664429087,0.00449557118418,0.0594128677324,0.999999619509,1.02415380962e-05,-0.0008709394323,-4.83823097581e-05,1793254905602848512
+296,4.933333333,POSE2_TO_POSE3_RETREAT,785.241927299,761,738,716.241927299,677,645.241927299,916,800,841,657.241927299,635.758072701,658,0.456408129443,0.00449833334845,0.0594212961983,0.999999629691,1.83311218514e-05,-0.000859145959739,-4.63614572989e-05,1793254905619514880
+297,4.950000000,POSE2_TO_POSE3_RETREAT,785.833220893,761,738,716.833220893,677,645.833220893,916,800,841,657.833220893,635.166779107,658,0.456136894885,0.00450081323996,0.05943458282,0.999999644118,2.7322181766e-05,-0.000842063295928,-4.41188616314e-05,1793254905636181760
+298,4.966666667,POSE2_TO_POSE3_RETREAT,785.587337133,761,738,717,677.412662867,646,916,800,841.412662867,658,635.412662867,658,0.455843074769,0.00450335140112,0.0594601165727,0.999999675646,3.61903336348e-05,-0.000803544143855,-4.14213792512e-05,1793254905652848384
+299,4.983333333,POSE2_TO_POSE3_RETREAT,785.012551322,761,738,717,677.987448678,646,916,800,841.987448678,658,635.987448678,658,0.455540381467,0.00450591245464,0.0594904618578,0.99999971202,4.50101983149e-05,-0.000756603233165,-3.85451854108e-05,1793254905669515008
+300,5.000000000,POSE2_TO_POSE3_RETREAT,785.561626292,761,738,717,678,646,916,800,841.438373708,658,636,658,0.455193177034,0.00450862337504,0.0595153252502,0.999999736369,5.55654434314e-05,-0.000723164126144,-3.47671908069e-05,1793254905686181632
+301,5.016666667,POSE2_TO_POSE3_RETREAT,786,761.140206267,738,717,678,646,916.140206267,800,840.859793733,658,635.859793733,658,0.45483196586,0.00451128478994,0.0595367657067,0.999999755004,6.59733349496e-05,-0.000696189722654,-3.09653149161e-05,1793254905702848256
+302,5.033333333,POSE2_TO_POSE3_RETREAT,786,761.733042161,738,717,678,646,916.733042161,800,840.266957839,658,635.266957839,658,0.454428744485,0.00451377558436,0.0595475509261,0.999999759322,7.57804542522e-05,-0.000689112351166,-2.71513353708e-05,1793254905719515136
+303,5.050000000,POSE2_TO_POSE3_RETREAT,786,761.682704618,738,717,678.317295382,646,916.682704618,800,840.317295382,658,635.317295382,658,0.453988322642,0.00451674390813,0.0595480618322,0.999999754778,8.56545579657e-05,-0.000694654939633,-2.37058077886e-05,1793254905736181760
+304,5.066666667,POSE2_TO_POSE3_RETREAT,786,761.105482219,738,717,678.894517781,646,916.105482219,800,840.894517781,658,635.894517781,658,0.453517426292,0.00452010342215,0.059540156066,0.99999974279,9.55835360758e-05,-0.000710535744241,-2.0562114053e-05,1793254905752848384
+305,5.083333333,POSE2_TO_POSE3_RETREAT,785.528814234,761,737.528814234,716.528814234,679,646,916,800,841,658,636,658,0.453010502523,0.00452300573814,0.0595320915271,0.999999735633,0.000108270619167,-0.000718820041759,-1.76069932733e-05,1793254905769515008
+306,5.100000000,POSE2_TO_POSE3_RETREAT,785,761,737,716,679,646,916,800,840.952405478,658,635.952405478,658,0.452496753458,0.0045258698184,0.059526708474,0.999999732126,0.000121519177137,-0.000721642243536,-1.45936484016e-05,1793254905786181888
+307,5.116666667,POSE2_TO_POSE3_RETREAT,785,761,737,716,679,646,916,800,840.377494915,658,635.377494915,658,0.451996637371,0.00452944292122,0.0595514278541,0.999999757861,0.000134155678555,-0.000682767355918,-1.04680522562e-05,1793254905802848512
+308,5.133333333,POSE2_TO_POSE3_RETREAT,785,761,737.203358092,716.203358092,679.203358092,646.203358092,916,800,840.203358092,658,635.203358092,657.796641908,0.451483537519,0.00453248281012,0.0595789481768,0.999999784304,0.000146966384572,-0.000640122861393,-5.95735687722e-06,1793254905819515136
+309,5.150000000,POSE2_TO_POSE3_RETREAT,785,761,737.795574107,716.795574107,679.795574107,646.795574107,916,800,840.795574107,658,635.795574107,657.204425893,0.450945610355,0.00453450309614,0.0596118244133,0.999999812973,0.00016011020104,-0.000590270190944,-7.10281485308e-07,1793254905836181760
+310,5.166666667,POSE2_TO_POSE3_RETREAT,784.622772121,761,738,716.622772121,680.377227879,647,916,800,841,658,635.622772121,657.377227879,0.45034762829,0.00453719511862,0.0596212337329,0.999999818443,0.000174657940886,-0.000576709232168,3.82972659503e-06,1793254905852848384
+311,5.183333333,POSE2_TO_POSE3_RETREAT,784.046686315,761,738,716.046686315,680.953313685,647,916,800,841,658,635.046686315,657.953313685,0.449717987941,0.00454024125094,0.0596182723264,0.999999812404,0.000189945767014,-0.000582279667602,7.99699975999e-06,1793254905869515008
+312,5.200000000,POSE2_TO_POSE3_RETREAT,784.528053735,761,737.471946265,716.528053735,681,647,916,800,841,658,635.528053735,658,0.449027722631,0.00454524024589,0.0596051142888,0.999999800385,0.000205398819401,-0.000597408764634,1.2015676524e-05,1793254905886181888
+313,5.216666667,POSE2_TO_POSE3_RETREAT,785,761,737,717,681.210826234,647.105413117,916,800,840.894586883,658,636,658,0.448336399438,0.00454983118525,0.0595959301918,0.999999791561,0.000220325151512,-0.000606692240094,1.61095251809e-05,1793254905902848768
+314,5.233333333,POSE2_TO_POSE3_RETREAT,785,761,737,717,682.390715178,647.695357589,916,800,840.304642411,658,636,658,0.447664788403,0.00455175489709,0.0596091455494,0.99999980145,0.000232763434786,-0.000585231682699,2.06091342195e-05,1793254905919515648
+315,5.250000000,POSE2_TO_POSE3_RETREAT,785,761,737,717,683,648,916,800,840,658,636,657.719493764,0.446984605801,0.00455388078881,0.0596415064343,0.999999824199,0.000246046197103,-0.000538874361469,2.60168465526e-05,1793254905936182528
+316,5.266666667,POSE2_TO_POSE3_RETREAT,785,761,737,717,683,648,916,800,840,658,636,657.139465974,0.44629527049,0.00455622256631,0.0596943107096,0.999999857069,0.000260230685762,-0.000465932537899,3.23942223224e-05,1793254905952849152
+317,5.283333333,POSE2_TO_POSE3_RETREAT,785,761,737,717,683.436371583,648,916,800,840,658,635.563628417,657,0.445529102193,0.00455876424002,0.0597050165406,0.999999858903,0.000272326345106,-0.000454572089736,3.73806108739e-05,1793254905969515520
+318,5.300000000,POSE2_TO_POSE3_RETREAT,785,761,737,717,684,648.010838095,916.010838095,800,840,658,635.010838095,657,0.444738484671,0.00456133155929,0.0597024644813,0.999999851989,0.00028379843417,-0.00046230044075,4.1925473036e-05,1793254905986181888
+319,5.316666667,POSE2_TO_POSE3_RETREAT,785,761,737,717,684,648.582998128,916.582998128,800,840,658,635.582998128,657,0.443941303957,0.00456194974372,0.05970348386,0.999999853943,0.000297221934462,-0.000449019951623,4.64087145822e-05,1793254906002848768
+320,5.333333333,POSE2_TO_POSE3_RETREAT,785,761,737,717.161192654,684,649,916.838807346,800,840,657.838807346,635.838807346,657,0.443145542875,0.00456187791371,0.0597144377108,0.999999861055,0.000308466772629,-0.000424397051705,5.1232928584e-05,1793254906019515648
+321,5.350000000,POSE2_TO_POSE3_RETREAT,785,761,737,717.755605405,684,649,916.244394595,800,840,657.244394595,635.244394595,657,0.442353597232,0.00455995160633,0.0597520913697,0.999999880936,0.000313856254627,-0.000369290378958,5.69735371239e-05,1793254906036182016
+322,5.366666667,POSE2_TO_POSE3_RETREAT,785,761,737,718,684.340555884,649,916,800,840,657,635,657,0.441514772388,0.00456210678904,0.0597700166635,0.999999883829,0.000324369191837,-0.000351117742498,6.19952155421e-05,1793254906052848640
+323,5.383333333,POSE2_TO_POSE3_RETREAT,785,761,737,718,684.91889946,649,916,800,840,657,635,657,0.440643214924,0.00456711180692,0.0597741669409,0.999999876166,0.000338459499772,-0.000358733708068,6.65149123534e-05,1793254906069515264
+324,5.400000000,POSE2_TO_POSE3_RETREAT,784.506088926,761,737,718,685,649,916,800,840,657.493911074,635.493911074,657.493911074,0.439766002025,0.00456483647582,0.0597886382661,0.999999910607,0.000250955710457,-0.00033772292935,4.18397394678e-05,1793254906086181888
+325,5.416666667,POSE2_TO_POSE3_RETREAT,784,761,737,718.068252009,685.068252009,649.068252009,916,800,840,658,636,658,0.438880816922,0.00456150861283,0.0598036808452,0.999999937428,0.000161103850917,-0.000314490928638,1.68977762119e-05,1793254906102848512
+326,5.433333333,POSE2_TO_POSE3_RETREAT,784,761,737,718.641650968,685.641650968,649.641650968,916,800,840,658,636,658,0.437943455274,0.00455917914397,0.0598104924408,0.999999936247,0.000176511731746,-0.000309375717114,2.52235315116e-05,1793254906119515392
+327,5.450000000,POSE2_TO_POSE3_RETREAT,784,761,737,718.776179994,685.776179994,650,916,800,840,658,636,657.776179994,0.436986193282,0.00456172532005,0.0597925282144,0.999999921807,0.000195713222908,-0.000342157675867,3.1787248779e-05,1793254906136182016
+328,5.466666667,POSE2_TO_POSE3_RETREAT,784,761,737,718.179396815,685.179396815,650,916,800,840,658,636,657.179396815,0.435995770139,0.00457239604209,0.05973327872,0.999999878939,0.000221236209898,-0.000438089701146,3.54147895447e-05,1793254906152848640
+329,5.483333333,POSE2_TO_POSE3_RETREAT,784,761,737.402340608,718.402340608,685.402340608,650,916,800,840,658,635.597659392,657.402340608,0.435066481131,0.00457353735381,0.0597200747679,0.999999879276,0.000227130053618,-0.000434144977014,3.71131820888e-05,1793254906169515264
+330,5.500000000,POSE2_TO_POSE3_RETREAT,784,761,737.977611182,718.977611182,685.977611182,650,916,800,840,658,635.022388818,657.977611182,0.434163468236,0.00457058283025,0.0597266616481,0.999999899069,0.000224587096447,-0.000387272234665,3.79824074956e-05,1793254906186181888
+331,5.516666667,POSE2_TO_POSE3_RETREAT,784.554014626,760.445985374,738,719,686,650,916.554014626,800,840,658,635.554014626,658,0.433220469304,0.00457046572318,0.0597539422929,0.999999912238,0.000217517370529,-0.000355923655077,3.90853183008e-05,1793254906202848512
+332,5.533333333,POSE2_TO_POSE3_RETREAT,784.86689868,760.13310132,737.86689868,719,685.86689868,650,916.86689868,800,840,658,636,658,0.432276804857,0.00456903631742,0.0597802495795,0.999999924669,0.000209117320725,-0.000324584610477,3.97187078233e-05,1793254906219515392
+333,5.550000000,POSE2_TO_POSE3_RETREAT,784.278796265,760.721203735,737.278796265,719,685.278796265,650,916.278796265,800,840,658,636,658,0.431336400676,0.00456272809298,0.059800364852,0.999999937508,0.000196796255996,-0.000291129159359,3.87147102257e-05,1793254906236182016
+334,5.566666667,POSE2_TO_POSE3_RETREAT,784,761,737.30447922,719.30447922,685.60895844,650,916,800,840,658,635.69552078,657.69552078,0.430383066138,0.0045520120585,0.0598151595934,0.999999946361,0.000179657188769,-0.00027129903971,3.73953968674e-05,1793254906252848640
+335,5.583333333,POSE2_TO_POSE3_RETREAT,784,761,737.883403871,719.883403871,686.766807742,650,916,800,840,658,635.116596129,657.116596129,0.429418076743,0.00453732300009,0.0598251586192,0.999999952068,0.000158175366903,-0.000263750252656,3.57918705234e-05,1793254906269515264
+336,5.600000000,POSE2_TO_POSE3_RETREAT,784,761,738,719.541427729,686.541427729,650,916,800,839.541427729,658,635.458572271,657,0.428413287412,0.00454957376583,0.0597831225377,0.999999928269,0.000165113602339,-0.00033933952558,3.23796783138e-05,1793254906286182144
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783.967291796,761,738,719.032708204,686.065416408,650,916,800,839.032708204,658,635.967291796,657.032708204,0.427403630378,0.00456731213963,0.059731733248,0.999999892009,0.000177842884428,-0.000428401215327,2.87517721263e-05,1793254906302848512
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783.394562679,761,738,719.605437321,687.210874641,650,916,800,839.605437321,658,635.394562679,657.605437321,0.426479325557,0.00456348093419,0.059742582652,0.999999907979,0.000167849106881,-0.000393727687475,2.90932604453e-05,1793254906319515136
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783.185174709,761,738,720,687.814825291,650,916.185174709,800.185174709,840,658,635,658,0.425549072623,0.00456140122799,0.0597606636944,0.999999922308,0.000159579187154,-0.000359203765705,2.98531813257e-05,1793254906336181760
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783.780432544,761,738,720,687.219567456,650,916.780432544,800.780432544,840,658,635,658,0.424605646975,0.00456320034604,0.0597947597387,0.999999934654,0.000155126876786,-0.000325011151671,3.15397522638e-05,1793254906352848128
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783.635101069,761,738,720,686.635101069,650,916.635101069,800.635101069,840,658,635,657.635101069,0.42368722862,0.00456459420345,0.0598193795279,0.999999946393,0.000151243894784,-0.000288580869573,3.25546005674e-05,1793254906369515008
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783.056941641,761,738,720,686.056941641,650,916.056941641,800.056941641,840,658,635,657.056941641,0.422783425514,0.00456575121138,0.0598384610395,0.999999957082,0.0001476936496,-0.000250842812958,3.3176869076e-05,1793254906386181888
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,761,738,720,687.039074228,650,916,800,839.480462886,658,635,657.519537114,0.421869130432,0.00456346183846,0.059837822037,0.999999957475,0.000136856785222,-0.000255309797441,3.37249834516e-05,1793254906402848768
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,761,738,720,687.80824361,650,916,799.904121805,839,658,635,657.904121805,0.420942024889,0.00456201247496,0.059823498819,0.999999951127,0.000127135726968,-0.000283599735633,3.39566384725e-05,1793254906419515392
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,761,738,720,686.655100875,650,916,799.327550438,839,658,635,657.327550438,0.419956439741,0.00456666222027,0.0597513699928,0.999999908084,0.000126999882625,-0.000408211440143,3.2642314048e-05,1793254906436182016
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783,760.744000657,737.744000657,720.255999343,686.255999343,650,916,799.255999343,839,658,635,657,0.419030726316,0.00456834072727,0.0597132016617,0.999999885475,0.000120121790343,-0.000462227722226,3.10863590809e-05,1793254906452848640
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783,760.151271846,737.151271846,720.848728154,686.848728154,650,916,799.848728154,839,658,635,657,0.418183765413,0.0045661110071,0.0597197033704,0.999999904498,0.000104375264851,-0.000423386110025,2.92125752722e-05,1793254906469515264
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783,760.429710386,737.429710386,720.570289614,687.429710386,650,916,800,839,658,635,657,0.41737165951,0.00456613294898,0.0597566781818,0.999999926754,9.74392530676e-05,-0.000368878275703,3.04413848721e-05,1793254906486181888
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783,760.993382031,738,720.006617969,687.993382031,650,916,800,839,658,635,657,0.416571619934,0.00456687142748,0.0598037494022,0.999999947179,9.34496017487e-05,-0.00030957681509,3.27334255209e-05,1793254906502848512
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783,760.420713054,738,720.579286946,687.420713054,650,916,800,839,658,635,657,0.415782083891,0.00456290312473,0.0598212554735,0.999999951094,8.32422949617e-05,-0.00029942617406,3.50323782345e-05,1793254906519515392
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783,760.157100195,738,720.842899805,687,650,916,800,839,658,635,657.157100195,0.414997194006,0.00455958390066,0.0598346657809,0.99999995157,0.000112122679886,-0.000288052458423,3.62408876179e-05,1793254906536182016
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783,760.749156276,738,720.250843724,687,650,916,800,839,658,635,657.749156276,0.41422516754,0.00455806174913,0.0598367363439,0.999999931007,0.000249223306618,-0.000273292468244,3.44303381809e-05,1793254906552848896
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783,761,738,720.333631943,687.333631943,650,916,800,839,657.666368057,635,657.666368057,0.413445584135,0.00455774900198,0.0598263154207,0.999999911994,0.000301467475116,-0.000289753579205,3.422656862e-05,1793254906569515520
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783,761,738,720.912534802,687.912534802,650,916,800,839,657.087465198,635,657.087465198,0.41266044526,0.00455832535361,0.0598067113292,0.999999902769,0.000291329058166,-0.00032916701626,3.52040303974e-05,1793254906586181888
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,761,738,720.5125542,687.5125542,649.5125542,916,800,839,657.4874458,635,657,0.411904418473,0.0045571754225,0.0597632138726,0.999999881775,0.000279375950156,-0.000396549888981,3.38619360269e-05,1793254906602848512
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783,761,738,720.063033306,687,649,916,800,839,657.936966694,635,657,0.411168840444,0.00455603553406,0.0597234150738,0.999999859921,0.000267438551075,-0.000455626540126,3.22221530012e-05,1793254906619515392
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783,761,738,720.650152712,687,649,916,800,839,657.349847288,635,657,0.41056020247,0.0045575336767,0.0597497256157,0.999999884429,0.000258317129952,-0.000404252872822,3.15397097973e-05,1793254906636182272
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783,761,738,721,687.234258035,649.234258035,916,800,839,657.234258035,635,657.234258035,0.409953817117,0.00455669554114,0.0597835495597,0.999999908274,0.000247031350909,-0.000348408066736,3.22328832185e-05,1793254906652849152
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783,761,738,721,687.813919178,649.813919178,916,800,839,657.813919178,635,657.813919178,0.409350753208,0.00455241266661,0.0598284516804,0.999999931459,0.000232554322792,-0.000285970769129,3.49543425508e-05,1793254906669515776
+360,6.000000000,POSE2_TO_POSE3_RETREAT,783,761,738.391559763,721,688,650,916,800,839.391559763,658,635,657.608440237,0.408762495899,0.00455010231866,0.0598475440622,0.999999941489,0.000221283885111,-0.000258360953086,3.6116783565e-05,1793254906686182656
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783,761,738.968245099,721,688,650,916,800,839.968245099,658,635,657.031754901,0.408181238951,0.00454872456133,0.0598544338593,0.999999946402,0.00021152949057,-0.000247217219812,3.65421364546e-05,1793254906702849536
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783,760.457028659,738.457028659,721,688,650,916,800,839.457028659,657.457028659,635,657,0.407622284765,0.00454699327352,0.059836938793,0.999999943072,0.000198055924274,-0.000270901145724,3.52392290218e-05,1793254906719516416
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,783,760.710525981,738,721,687.289474019,650,916,800,839,657.710525981,635,657,0.40659070653,0.0045444624863,0.0598156651662,0.999999939914,0.000177300143696,-0.000296085373432,3.27155628708e-05,1793254906752849152
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783.294833728,761,738,721,687.294833728,650,916,800,839,658,635,657,0.406118809599,0.00454375530128,0.0598183510246,0.999999943292,0.000170430435133,-0.000288643143897,3.24768586337e-05,1793254906769515264
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,784,760.40062888,738,721,688,650,916,800,839,658,635,657,0.404398004924,0.00453952635385,0.059781280678,0.999999928059,0.000152453946332,-0.000345684046023,3.38108882519e-05,1793254906836182784
+370,6.166666667,POSE2_TO_POSE3_RETREAT,784,760.179685292,738.179685292,721,688,650,915.820314708,800,838.820314708,658,635,657,0.404018066596,0.00453994921706,0.0597618927323,0.999999916505,0.000152447835698,-0.000377619474954,3.394957751e-05,1793254906852849408
+371,6.183333333,POSE2_TO_POSE3_RETREAT,784,760.770985446,738.770985446,721,688,650,915.229014554,800,838.229014554,658,635,657,0.403696376885,0.00453809679157,0.0597558582846,0.999999915857,0.000151084069748,-0.000379861014875,3.41488021959e-05,1793254906869515776
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783.645024064,760.645024064,739,721.354975936,688,649.645024064,915,800,838.354975936,658,634.645024064,657,0.403412998296,0.00453637492835,0.0597695103755,0.999999926124,0.000148812953895,-0.000352661051533,3.51619730536e-05,1793254906886182144
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783.065654234,760.065654234,739,721.934345766,688,649.065654234,915,800,838.934345766,658,634.065654234,657,0.403153837603,0.00453473559837,0.0597956070814,0.999999941595,0.000145968267009,-0.00030684998527,3.66896704405e-05,1793254906902848768
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783,760,738.489904647,721.489904647,688,649,915,800,839,658,634.510095353,657,0.402918935687,0.00453358333519,0.0598138635917,0.99999994944,0.000146632468027,-0.000279526320489,3.85245167011e-05,1793254906919515136
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783,760.085122944,738,721,688,649.085122944,915,800,839,658,635,657,0.402689364365,0.00453258880941,0.0598287716275,0.999999954855,0.000147717179347,-0.000258548400472,4.02787121721e-05,1793254906936182016
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783,760.658662849,738,721,688,649.658662849,915,800,839,658,635,657,0.402472589676,0.00453214217801,0.0598302160978,0.999999954188,0.000148641606458,-0.000260424089265,4.13449182641e-05,1793254906952848896
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783,760.758870898,738,721.241129102,688,650,915.241129102,800,839,658,634.758870898,657,0.402266325808,0.00453195711088,0.0598290368994,0.999999952595,0.000149268231985,-0.000265983825223,4.22189687614e-05,1793254906969515776
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783,760.163282983,738,721.836717017,688,650,915.836717017,800,839,658,634.163282983,657,0.402075512814,0.00453215654221,0.0598240009186,0.999999949562,0.000149457090307,-0.000276959095623,4.28105512373e-05,1793254906986182144
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783,760.417188516,738,721.582811484,688,650,916,800,839,658,634.417188516,657,0.401909658758,0.00453053024076,0.0598222627716,0.999999948351,0.000146395997034,-0.000282871436504,4.30144699673e-05,1793254907002848768
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783,760.991950482,738,721.008049518,688,650,916,800,839,658,634.991950482,657,0.401753231778,0.00452821435413,0.0598217702272,0.999999947828,0.000142107386544,-0.000286871492307,4.30719668351e-05,1793254907019515392
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783,760.432889226,738,721.567110774,688,650,915.432889226,800,838.432889226,658,635,657,0.401626487835,0.00452406638463,0.0598216250128,0.999999954735,6.89535404545e-05,-0.000291732486805,2.58273385781e-05,1793254907036181760
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783,760.146192564,738.146192564,722,688.146192564,650,915.146192564,800,838.146192564,658,635,657,0.401509078235,0.00452016681744,0.0598217825538,0.999999956666,1.30721278439e-05,-0.000293814884063,1.30005067042e-05,1793254907052848640
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783,760.737188523,738.737188523,722,688.737188523,650,915.737188523,800,838.737188523,658,635,657,0.401418786395,0.00451710221261,0.0598228462438,0.999999958515,1.27197051051e-05,-0.000287405958044,1.43629402356e-05,1793254907069515264
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783,761,738.678977119,722,688.678977119,649.678977119,915.678977119,800,839,658,634.678977119,657,0.401336507165,0.00451726578717,0.0598244897124,0.999999959409,1.63279530947e-05,-0.000284050794947,1.51587847586e-05,1793254907086182144
+385,6.416666667,POSE2_TO_POSE3_RETREAT,783,761,738.100877739,722,688.100877739,649.100877739,915.100877739,800,839,658,634.100877739,657,0.401260644456,0.00452001450131,0.0598265974705,0.999999959528,2.3107923155e-05,-0.000283141097602,1.55009025202e-05,1793254907102848768
+386,6.433333333,POSE2_TO_POSE3_RETREAT,783.475266791,761,738.475266791,722,688.475266791,649,915.475266791,800,839,658,634.475266791,657,0.401196603088,0.00451703658199,0.0598255764703,0.999999958696,2.25575476367e-05,-0.000286036545888,1.67722926047e-05,1793254907119515392
+387,6.450000000,POSE2_TO_POSE3_RETREAT,783.947945582,760.947945582,738.947945582,721.947945582,688.947945582,649,915.947945582,800,839,658,634.947945582,657,0.401136619733,0.00451357851427,0.0598238372172,0.99999995763,2.12027012241e-05,-0.000289762689149,1.80848805479e-05,1793254907136182016
+388,6.466666667,POSE2_TO_POSE3_RETREAT,783.360288752,760.360288752,738.360288752,721.360288752,688.360288752,649,915.360288752,800,839,658,634.360288752,657,0.401092678893,0.00451763551593,0.0598215127225,0.999999956316,2.7513962014e-05,-0.000293759878584,1.78001943489e-05,1793254907152848640
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783,760.22410325,738,721.22410325,688.22410325,649,915.22410325,800,839,658,634.22410325,657.22410325,0.4010548904,0.00451952724474,0.0598200803943,0.999999955436,3.16121880158e-05,-0.000296326481524,1.78963071704e-05,1793254907169515264
+390,6.500000000,POSE2_TO_POSE3_RETREAT,783,760.803321751,738,721.803321751,688.803321751,649,915.803321751,800,839,658,634.803321751,657.803321751,0.401026850952,0.00451798786996,0.0598200617982,0.999999955315,3.22036264534e-05,-0.000296626168955,1.85958362484e-05,1793254907186181888
+391,6.516666667,POSE2_TO_POSE3_RETREAT,783,761,738.382263444,721.617736556,689,649.382263444,915.617736556,800,839,658,635,657.617736556,0.401007548422,0.00451497037244,0.059821725066,0.999999955996,3.01257895039e-05,-0.000294497233141,1.93035689516e-05,1793254907202848512
+392,6.533333333,POSE2_TO_POSE3_RETREAT,783,761,738.961062802,721.038937198,689,649.961062802,915.038937198,800,839,658,635,657.038937198,0.400992737868,0.00451119291686,0.0598242530428,0.999999957069,2.66755783652e-05,-0.000291119651395,2.00155194231e-05,1793254907219514880
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783.534607936,761,738.465392064,721.534607936,689,650,915,800,839,658,635,657,0.40098403283,0.00451568799358,0.0598258217571,0.999999957745,3.24115680138e-05,-0.000288237857861,1.94714442261e-05,1793254907236181760
+394,6.566666667,POSE2_TO_POSE3_RETREAT,784,761,738.110891419,722,688.889108581,650,915.110891419,800,839.110891419,658,635,657,0.400976500758,0.00451921970837,0.059827095169,0.999999958336,3.70842633656e-05,-0.00028563871173,1.90685122591e-05,1793254907252848640
+395,6.583333333,POSE2_TO_POSE3_RETREAT,784,761,738.700635951,722,688.299364049,650,915.700635951,800,839.700635951,658,635,657,0.400972132255,0.0045160149494,0.0598273921619,0.99999995886,3.43043943727e-05,-0.000284105686546,1.96662546915e-05,1793254907269515264
+396,6.600000000,POSE2_TO_POSE3_RETREAT,783.714747657,761,739,721.714747657,688.285252343,650,915.714747657,800,839.714747657,658,635,657,0.400969143999,0.00451473830476,0.0598280267831,0.999999959189,3.39085227341e-05,-0.00028296510719,2.00593628986e-05,1793254907286181888
+397,6.616666667,POSE2_TO_POSE3_RETREAT,783.135417984,761,739,721.135417984,688.864582016,650,915.135417984,800,839.135417984,658,635,657,0.400967578691,0.00451544942505,0.059829009478,0.999999959322,3.5970402965e-05,-0.000282229114762,2.02415060872e-05,1793254907302848768
+398,6.633333333,POSE2_TO_POSE3_RETREAT,783,761,738.558094321,721,688.558094321,649.558094321,915,800,839,657.558094321,635,657,0.400968288093,0.00451576391868,0.059830673447,0.999999960176,3.64851095657e-05,-0.000279132272574,2.00606091693e-05,1793254907319515392
+399,6.650000000,POSE2_TO_POSE3_RETREAT,783.018471834,761,738,721,688,649.018471834,915,800,839,657.018471834,635,657.018471834,0.400969532895,0.00451601664648,0.0598324220592,0.999999961169,3.6585118984e-05,-0.000275558377158,1.97706747577e-05,1793254907336182016
+400,6.666666667,POSE2_TO_POSE3_RETREAT,783.590675554,761,738,721,688,649.590675554,915,800,839,657.590675554,635,657.590675554,0.40096602589,0.00451804484511,0.059830477991,0.999999960075,3.84021451412e-05,-0.000279273059201,1.95320041726e-05,1793254907352848640
+401,6.683333333,POSE2_TO_POSE3_RETREAT,783.83139367,761,738,721,688,649.83139367,915,800,838.83139367,657.83139367,634.83139367,657.83139367,0.400963849424,0.00451893968567,0.0598296238699,0.999999959498,3.95778841336e-05,-0.000281169717524,1.95324570792e-05,1793254907369515264
+402,6.700000000,POSE2_TO_POSE3_RETREAT,783.239070527,761,738,721,688,649.239070527,915,800,838.239070527,657.239070527,634.239070527,657.239070527,0.400965016672,0.00451698633606,0.0598315088451,0.999999960251,3.91420337327e-05,-0.000278497583823,2.01338402526e-05,1793254907386182144
+403,6.716666667,POSE2_TO_POSE3_RETREAT,783,760.655445377,738,721.344554623,688,649.344554623,915,800,838.344554623,657.344554623,634,657,0.400964852433,0.00451584942221,0.0598320083297,0.999999960538,3.82321713603e-05,-0.000277579946321,2.02999261223e-05,1793254907402848512
+404,6.733333333,POSE2_TO_POSE3_RETREAT,783,760.077706786,738,721.922293214,688,649.922293214,915,800,838.922293214,657.922293214,634,657,0.400963787084,0.00451526504704,0.0598315701569,0.999999960512,3.70015122866e-05,-0.000277849697977,2.01714161445e-05,1793254907419515136
+405,6.750000000,POSE2_TO_POSE3_RETREAT,783,760,738,722,688,649.501341558,915,800,839,658,634.498658442,657,0.400962975062,0.00451698341185,0.0598311801401,0.999999960045,4.00702989198e-05,-0.000279125210824,1.98462217543e-05,1793254907436181760
+406,6.766666667,POSE2_TO_POSE3_RETREAT,783,760.076261068,738,721.923738932,688,649,915,800,839,658,635,657,0.400962579299,0.00451843077501,0.0598311032118,0.999999959702,4.29210124189e-05,-0.000279944718686,1.96050668678e-05,1793254907452848640
+407,6.783333333,POSE2_TO_POSE3_RETREAT,783,760.663586123,738,721.336413877,688,649,915,800,839,658,635,657,0.400964709277,0.00451566385547,0.059833074296,0.999999960733,3.98326965885e-05,-0.000276660867212,2.01319381319e-05,1793254907469515264
+408,6.800000000,POSE2_TO_POSE3_RETREAT,783.248451186,761,738,721.248451186,688.248451186,649,915,800,839,658,634.751548814,657,0.400964869393,0.00451417744676,0.0598337731115,0.999999961101,3.76939714954e-05,-0.000275610304669,2.04095067896e-05,1793254907486181888
+409,6.816666667,POSE2_TO_POSE3_RETREAT,783.830018048,761,738,721.830018048,688.830018048,649,915,800,839,658,634.169981952,657,0.400962388381,0.00451440790703,0.0598327661085,0.999999960597,3.68284279011e-05,-0.000277554066495,2.03528182871e-05,1793254907502848512
+410,6.833333333,POSE2_TO_POSE3_RETREAT,783.593428952,760.593428952,738,721.593428952,688.593428952,649,915,800,839,658,634.406571048,657.406571048,0.400962347428,0.00451435364456,0.0598327360605,0.999999960581,3.81358259701e-05,-0.000277427065813,2.0431446839e-05,1793254907519515392
+411,6.850000000,POSE2_TO_POSE3_RETREAT,783.018946679,760.018946679,738,721.018946679,688.018946679,649,915,800,839,658,634.981053321,657.981053321,0.400963314204,0.00451418179341,0.0598331094888,0.999999960764,4.03406350073e-05,-0.000276444853432,2.05659604664e-05,1793254907536182016
+412,6.866666667,POSE2_TO_POSE3_RETREAT,783.556741508,760.556741508,738,721.556741508,688,649,915,800,839,657.443258492,634.443258492,657.443258492,0.400963774937,0.00451517463887,0.0598341853868,0.999999961149,3.96866746514e-05,-0.000275171765788,2.0169992358e-05,1793254907552848640
+413,6.883333333,POSE2_TO_POSE3_RETREAT,784,761,738,721.863712377,688.136287623,649,915,800,839,657.136287623,634.136287623,657,0.400963860488,0.00451601647481,0.059834808626,0.999999961345,3.96255144409e-05,-0.000274489292121,1.98935527628e-05,1793254907569515264
+414,6.900000000,POSE2_TO_POSE3_RETREAT,784,761,738,721.271394959,688.728605041,649,915,800,839,657.728605041,634.728605041,657,0.400962748396,0.00451622010612,0.0598338370654,0.999999960884,4.18741531143e-05,-0.000275816256719,2.00776036508e-05,1793254907586181888
+415,6.916666667,POSE2_TO_POSE3_RETREAT,784,761,738,721.312245587,688.687754413,649.312245587,915,800,839,658,634.687754413,657,0.400963606636,0.00451615216151,0.059834348737,0.999999961109,4.26324116204e-05,-0.000274865662014,2.03186073544e-05,1793254907602848512
+416,6.933333333,POSE2_TO_POSE3_RETREAT,784,761,738,721.888548321,688.111451679,649.888548321,915,800,839,658,634.111451679,657,0.400966131127,0.00451585455291,0.0598361147356,0.999999961911,4.2130298203e-05,-0.000271989000589,2.0607774413e-05,1793254907619515136
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7fbaa1e197917bf23b84efd73d52795416377615
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_04/simulation_data.csv
@@ -0,0 +1,418 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+2,0.033333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+3,0.050000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+4,0.066666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+5,0.083333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+6,0.100000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+7,0.116666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+8,0.133333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+9,0.150000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+10,0.166666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+11,0.183333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+12,0.200000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+13,0.216666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
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+15,0.250000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+16,0.266666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
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+380,6.333333333,pose2_to_pose3_retreat,0.576304752408,0.0101816870793,1.05002049433,0.546875901724,0.0188559303632,1.04969220317
+381,6.350000000,pose2_to_pose3_retreat,0.576199863699,0.0101816801663,1.05002039741,0.546771013713,0.0188559258696,1.04969210761
+382,6.366666667,pose2_to_pose3_retreat,0.576108493358,0.0101816402072,1.05002039326,0.546679641179,0.0188558784823,1.04969210381
+383,6.383333333,pose2_to_pose3_retreat,0.57603011511,0.0101816451933,1.05002040688,0.54660126393,0.0188558867467,1.04969211492
+384,6.400000000,pose2_to_pose3_retreat,0.575961903445,0.0101817033042,1.05002049102,0.546533052609,0.0188559459588,1.04969219749
+385,6.416666667,pose2_to_pose3_retreat,0.575902968568,0.0101817675588,1.0500205374,0.546474116948,0.0188560075609,1.04969224413
+386,6.433333333,pose2_to_pose3_retreat,0.57585156722,0.0101817834355,1.0500205028,0.54642271446,0.0188560195327,1.04969220849
+387,6.450000000,pose2_to_pose3_retreat,0.575807431208,0.010181754958,1.05002045407,0.546378578065,0.0188559895655,1.04969215466
+388,6.466666667,pose2_to_pose3_retreat,0.575770913206,0.0101818833743,1.0500205542,0.546342059426,0.0188561158904,1.0496922567
+389,6.483333333,pose2_to_pose3_retreat,0.575741552426,0.0101818165445,1.0500205259,0.546312697856,0.0188560466172,1.04969223477
+390,6.500000000,pose2_to_pose3_retreat,0.575719422928,0.0101817770179,1.05002043617,0.546290569598,0.0188560112286,1.04969214328
+391,6.516666667,pose2_to_pose3_retreat,0.575702978072,0.0101816786114,1.050020569,0.546274126535,0.0188559188737,1.04969227537
+392,6.533333333,pose2_to_pose3_retreat,0.575691321277,0.0101816264282,1.05002058931,0.546262470271,0.0188558685595,1.04969229726
+393,6.550000000,pose2_to_pose3_retreat,0.575683310828,0.0101816355786,1.05002054989,0.546254459398,0.0188558763234,1.04969225891
+394,6.566666667,pose2_to_pose3_retreat,0.575677780725,0.0101817105578,1.05002073814,0.546248928759,0.0188559492748,1.04969244177
+395,6.583333333,pose2_to_pose3_retreat,0.575674293682,0.0101817753074,1.05002064494,0.546245440912,0.0188560113114,1.049692349
+396,6.600000000,pose2_to_pose3_retreat,0.575672180584,0.0101818237828,1.05002047641,0.546243327081,0.0188560573844,1.04969218276
+397,6.616666667,pose2_to_pose3_retreat,0.575671245428,0.0101818452357,1.05002040182,0.5462423916,0.018856077774,1.0496921092
+398,6.633333333,pose2_to_pose3_retreat,0.57567047288,0.0101818303627,1.05002043828,0.546241619171,0.0188560633043,1.0496921456
+399,6.650000000,pose2_to_pose3_retreat,0.575669803312,0.0101818172686,1.05002047049,0.546240949709,0.0188560505677,1.04969217776
+400,6.666666667,pose2_to_pose3_retreat,0.575669479311,0.0101818109324,1.05002048608,0.546240625759,0.0188560444046,1.04969219332
+401,6.683333333,pose2_to_pose3_retreat,0.575669044827,0.0101818024356,1.05002050698,0.546240191344,0.0188560361398,1.04969221419
+402,6.700000000,pose2_to_pose3_retreat,0.575668355761,0.0101817874292,1.05002055104,0.546239502456,0.0188560217118,1.04969225755
+403,6.716666667,pose2_to_pose3_retreat,0.575668050596,0.0101817781747,1.05002058914,0.546239197487,0.0188560130719,1.04969229426
+404,6.733333333,pose2_to_pose3_retreat,0.575667923549,0.0101817743218,1.05002060501,0.546239070522,0.0188560094749,1.04969230955
+405,6.750000000,pose2_to_pose3_retreat,0.575667892801,0.0101817733894,1.05002060885,0.546239039794,0.0188560086044,1.04969231325
+406,6.766666667,pose2_to_pose3_retreat,0.575667891105,0.0101817733379,1.05002060906,0.546239038099,0.0188560085564,1.04969231345
+407,6.783333333,pose2_to_pose3_retreat,0.575667751196,0.010181769095,1.05002062653,0.546238898281,0.0188560045953,1.04969233028
+408,6.800000000,pose2_to_pose3_retreat,0.575667688416,0.0101817671911,1.05002063437,0.546238835541,0.0188560028178,1.04969233783
+409,6.816666667,pose2_to_pose3_retreat,0.575667614906,0.0101817649618,1.05002064355,0.546238762078,0.0188560007366,1.04969234668
+410,6.833333333,pose2_to_pose3_retreat,0.575667521446,0.0101817621276,1.05002065522,0.546238668679,0.0188559980905,1.04969235792
+411,6.850000000,pose2_to_pose3_retreat,0.575667420528,0.0101817590671,1.05002066782,0.546238567826,0.0188559952333,1.04969237006
+412,6.866666667,pose2_to_pose3_retreat,0.575667384517,0.010181757975,1.05002067232,0.546238531838,0.0188559942138,1.04969237439
+413,6.883333333,pose2_to_pose3_retreat,0.575667280781,0.0101817629031,1.05002067946,0.546238428252,0.0188559996302,1.04969238099
+414,6.900000000,pose2_to_pose3_retreat,0.575667080689,0.0101817865147,1.05002068309,0.546238228595,0.0188560246721,1.04969238347
+415,6.916666667,pose2_to_pose3_retreat,0.575666907636,0.0101818326002,1.05002062079,0.546238055358,0.0188560702054,1.04969232302
+416,6.933333333,pose2_to_pose3_retreat,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717184,1.0496921039
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..44e01bec64fb4e439debe7e9c3dcc81c8382a91c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c67d502e4436bed0509b817b0af6d6ba64cb039337a27415ec68fb6867849ce
+size 26539648
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e803256dd2ce63a51a89dca5b2c162b0bd4975ed
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_05/franka_data.csv
@@ -0,0 +1,419 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,783,761,739,722,689,650,916,800,839,658,635,657,0.400966484388,0.00451607228655,0.0598378232331,0.999999962605,4.43855391014e-05,-0.000269094903511,2.01884118805e-05,1793254907766930688
+1,0.016666667,BASELINE,783,761,739,722,688.405444252,650,916,800,839,658,635,657,0.400965722989,0.00451544002564,0.0598371430751,0.999999962271,4.46657257759e-05,-0.000270267496953,2.04488383657e-05,1793254907783597824
+2,0.033333333,BASELINE,783,761,738.8160602,721.8160602,688.1839398,650,916,800,839,658,634.8160602,657.1839398,0.40096538393,0.00451502618113,0.0598368691754,0.999999962147,4.4468082777e-05,-0.000270752815478,2.05198228218e-05,1793254907800264448
+3,0.050000000,BASELINE,783,761,738.237763863,721.237763863,688.762236137,650,916,800,839,658,634.237763863,657.762236137,0.400965950344,0.00451508060895,0.0598374662705,0.999999962475,4.32460000077e-05,-0.000269764655635,2.018465432e-05,1793254907816930560
+4,0.066666667,BASELINE,783,760.662176603,738,721.337823397,689,650,915.662176603,800,838.662176603,657.662176603,634.337823397,658,0.400964662512,0.00451518787494,0.059836468933,0.999999962033,4.32978689222e-05,-0.00027138120857,2.02680198494e-05,1793254907833597184
+5,0.083333333,BASELINE,783,760.088480887,738,721.911519113,689,650,915.088480887,800,838.088480887,657.088480887,634.911519113,658,0.400962080022,0.00451533203317,0.0598343583436,0.999999961046,4.42392261416e-05,-0.000274816403035,2.06436108422e-05,1793254907850264064
+6,0.100000000,BASELINE,783,760,738,722,689,650,915,800,838.49886857,657.49886857,634.50113143,657.50113143,0.400963415415,0.00451559338513,0.0598357319561,0.999999961626,4.49238034332e-05,-0.000272593896222,2.05671641201e-05,1793254907866930688
+7,0.116666667,BASELINE,783,760,738,722,689,650,915,800,839,658,634,657,0.400965213569,0.00451570307287,0.0598374123215,0.999999962349,4.55713026807e-05,-0.000269827955089,2.04467005935e-05,1793254907883597312
+8,0.133333333,BASELINE,783,760,738,722,689,650,915,800,839,658,634,657,0.400965589919,0.00451483524544,0.0598372363183,0.999999962317,4.62738639753e-05,-0.000269820368071,2.05432473462e-05,1793254907900263936
+9,0.150000000,BASELINE,783,760,738,722,689,650,915,800,839,658,634.244076313,657,0.400966094167,0.00451414919588,0.0598369917324,0.999999962303,4.65733017854e-05,-0.000269813660053,2.06188341286e-05,1793254907916930560
+10,0.166666667,BASELINE,783,760,738,722,689,650,915,800,839,658,634.820568979,657,0.400966772602,0.00451371071622,0.0598366537413,0.999999962315,4.63237110943e-05,-0.000269808149179,2.06658747621e-05,1793254907933597184
+11,0.183333333,BASELINE,783,760,738,722,689,650,915.394361646,800,839,658,635,657,0.400967292666,0.00451426833772,0.059837094703,0.999999962434,4.73931302595e-05,-0.000269192543806,2.05391989195e-05,1793254907950263552
+12,0.200000000,BASELINE,783,760,738,722,689,650,915.966934242,800,839,658,635,657,0.400967741161,0.00451527609457,0.0598378876713,0.999999962597,4.90586063497e-05,-0.000268301238396,2.03340210804e-05,1793254907966930176
+13,0.216666667,BASELINE,783,760,738,721.442245812,689,650,915.442245812,800,839,658,635,657,0.400965103268,0.00451669521531,0.059836692044,0.999999961766,5.30081761077e-05,-0.000270652740791,2.01112678186e-05,1793254907983596800
+14,0.233333333,BASELINE,783,760,738,721,688.85391584,649.85391584,915,800,839,657.85391584,635,657,0.400963473265,0.00451717458132,0.0598360468728,0.999999959883,7.6212405013e-05,-0.000272071723081,2.00786728922e-05,1793254908000263680
+15,0.250000000,BASELINE,783,760,738,721,688.276246054,649.276246054,915,800,839,657.276246054,635,657,0.400965379785,0.00451480308566,0.0598373880222,0.999999951147,0.000155888306299,-0.000270148528391,2.06110569466e-05,1793254908016930304
+16,0.266666667,BASELINE,783.301034121,760.301034121,738,721,688.301034121,649.301034121,915,800,839,657.301034121,635,657.301034121,0.40096592526,0.00451441613138,0.0598375188802,0.999999944691,0.000193383049009,-0.000269805800658,2.06278998949e-05,1793254908033596928
+17,0.283333333,BASELINE,783.877957192,760.877957192,738,721,688.877957192,649.877957192,915,800,839,657.877957192,635,657.877957192,0.400965223376,0.00451584795126,0.0598365405415,0.999999944626,0.000192219991856,-0.000270911525854,2.01722645833e-05,1793254908050263552
+18,0.300000000,BASELINE,784,760.548010527,738,721.451989473,689,650,915,800,839,658,635,657.548010527,0.40096451169,0.00451664249802,0.0598366598605,0.999999944614,0.000191855926984,-0.000271211815811,2.01916716072e-05,1793254908066930176
+19,0.316666667,BASELINE,783.973751339,760,738,721.973751339,688.973751339,650,915,800,838.973751339,657.973751339,635,657,0.400963907623,0.00451714961518,0.0598370872339,0.999999944657,0.000191643850972,-0.000271191247827,2.03410663481e-05,1793254908083596800
+20,0.333333333,BASELINE,783.377731097,760,738,721.377731097,688.377731097,650,915,800,838.377731097,657.377731097,635,657,0.400965696715,0.00451512895747,0.0598378088751,0.999999945571,0.000190077754582,-0.000268896633917,2.05454983435e-05,1793254908100263936
+21,0.350000000,BASELINE,783,760.210501762,738,721,688.210501762,650,915,800,838,657.210501762,635,657,0.400966230933,0.00451441203567,0.0598380023465,0.999999945851,0.00018962747673,-0.000268169387546,2.05922038563e-05,1793254908116930560
+22,0.366666667,BASELINE,783,760.785259149,738,721,688.785259149,650,915,800,838,657.785259149,635,657,0.400964593697,0.00451595111959,0.0598372818644,0.99999994504,0.000191108029335,-0.000270154339341,2.03659769136e-05,1793254908133596928
+23,0.383333333,BASELINE,783,761,738,721,688.640073896,649.640073896,915,800,838,658,635,657,0.400964765512,0.00451568765971,0.0598376373964,0.999999945327,0.000190338770617,-0.000269625346649,2.04589883901e-05,1793254908150263808
+24,0.400000000,BASELINE,783,761,738,721,688.065460827,649.065460827,915,800,838,658,635,657,0.40096601638,0.00451434902745,0.059838634744,0.999999946266,0.000188227555567,-0.000267596848814,2.07424176183e-05,1793254908166930688
+25,0.416666667,BASELINE,783,760.474943214,738,721.525056786,688.525056786,649.525056786,915,800,838.525056786,658,635,657,0.400964947288,0.00451429821654,0.0598372282243,0.999999945693,0.000189144452021,-0.000269107549124,2.0472165679e-05,1793254908183597056
+26,0.433333333,BASELINE,783,760,738,721.8854718,688.8854718,650,915,800,838.8854718,657.8854718,635,657,0.400963841377,0.00451470937553,0.0598359746373,0.999999945012,0.000190498808995,-0.000270693825754,2.02931380583e-05,1793254908200263680
+27,0.450000000,BASELINE,783,760,738,721.308481665,688.308481665,650,915,800,838.308481665,657.308481665,635,657,0.400963791214,0.00451631737776,0.0598365865688,0.999999944691,0.000192047560249,-0.000270747884358,2.07699183653e-05,1793254908216930048
+28,0.466666667,BASELINE,783,760,738.267779938,721.267779938,688.267779938,650,915,800,838.267779938,657.267779938,635,657,0.400964164889,0.00451666390493,0.0598372352306,0.999999944812,0.000192340882528,-0.000270079920636,2.09384023663e-05,1793254908233596672
+29,0.483333333,BASELINE,783,760,738.843204518,721.843204518,688.843204518,650,915,800,838.843204518,657.843204518,635,657,0.400965025499,0.00451556115972,0.0598379260909,0.999999945439,0.000191191878604,-0.000268582446305,2.07526936123e-05,1793254908250263296
+30,0.500000000,BASELINE,783,760,739,722,688.581551804,650,915,800,838.581551804,658,634.581551804,657,0.40096611433,0.00451523628414,0.0598383504279,0.99999994566,0.000191659460482,-0.000267436472421,2.06075681476e-05,1793254908266930176
+31,0.516666667,BASELINE,783,760,739,722,688.006375894,650,915,800,838.006375894,658,634.006375894,657,0.400967288641,0.00451520275583,0.0598386749399,0.999999945727,0.000192732526645,-0.000266422151332,2.04776429584e-05,1793254908283597312
+32,0.533333333,BASELINE,783,760.58674765,739,721.41325235,688,650,915.58674765,800,838.58674765,658,634.58674765,657,0.400965648677,0.00451470325336,0.0598375547108,0.999999945427,0.000190338364899,-0.000269256004799,2.04706625618e-05,1793254908300263936
+33,0.550000000,BASELINE,783,761,739,721.175095349,688.175095349,650,915.824904651,800,839,658,635,657,0.400964910912,0.00451419816734,0.0598371678719,0.999999945484,0.000188471440267,-0.000270358673183,2.04376197761e-05,1793254908316930304
+34,0.566666667,BASELINE,783,761,739,721.752021072,688.752021072,650,915.247978928,800,839,658,635,657,0.40096631602,0.00451369225462,0.0598385012726,0.999999946391,0.000187903677894,-0.000267389411446,2.03416030982e-05,1793254908333596928
+35,0.583333333,BASELINE,783,761,738.673271336,722,689,650,915,800,839,658,635,657,0.40096645535,0.00451406310082,0.0598388110457,0.999999946338,0.000188480979843,-0.000267179008346,2.03302443861e-05,1793254908350263808
+36,0.600000000,BASELINE,783,761,738.100235837,722,689,650,915,800,839,658,635,657,0.400965640462,0.0045150948982,0.0598383491496,0.999999945564,0.000189921496992,-0.000269048391051,2.03827057016e-05,1793254908366930432
+37,0.616666667,BASELINE,783,761,738.487777556,722,689,650,915,800,839,658,635,657,0.400965047741,0.00451476973083,0.0598378618599,0.99999994571,0.000189057915126,-0.000269107492264,2.04746732177e-05,1793254908383597056
+38,0.633333333,BASELINE,783,760.922754241,738.922754241,722,689,649.922754241,915,800,839,658,635,657,0.400964567081,0.00451428174983,0.059837404425,0.999999945965,0.000187899879991,-0.000268961840114,2.05693163456e-05,1793254908400263424
+39,0.650000000,BASELINE,783,760.344446465,738.344446465,722,689,649.344446465,915,800,839,658,635,657,0.400964507789,0.00451460374664,0.0598371755667,0.999999945671,0.000188000418811,-0.000269977516505,2.06269865991e-05,1793254908416930304
+40,0.666666667,BASELINE,783,760.233323947,738,722,689,649.233323947,915,800,838.766676053,658,635,657,0.400964812303,0.00451487924758,0.0598373241138,0.999999945697,0.000188045744572,-0.000269855387609,2.05877003944e-05,1793254908433597184
+41,0.683333333,BASELINE,783,760.810302861,738,722,689,649.810302861,915,800,838.189697139,658,635,657,0.400965652656,0.00451508626629,0.0598380285289,0.999999946191,0.000188009748879,-0.000268057423643,2.04056102913e-05,1793254908450263808
+42,0.700000000,BASELINE,783,761,738.38559948,721.61440052,688.61440052,650,915,800,838,658,634.61440052,657,0.400965356233,0.00451502772546,0.0598376868114,0.9999999457,0.000189436290849,-0.00026887838525,2.04615169144e-05,1793254908466930432
+43,0.716666667,BASELINE,783,761,738.960072065,721.039927935,688.039927935,650,915,800,838,658,634.039927935,657,0.400964502996,0.0045148391091,0.0598368326805,0.99999994472,0.000191579208344,-0.000270982140663,2.06339983386e-05,1793254908483597056
+44,0.733333333,BASELINE,783,761,738.449887738,721,688.550112262,650,915,800,838.550112262,658,634,657,0.400964275827,0.00451349533711,0.0598368193396,0.999999945516,0.000187655219947,-0.000270798448457,2.05489979031e-05,1793254908500263424
+45,0.750000000,BASELINE,783,761,738,721.1380644,689,649.8619356,915.1380644,800,839,658,634.1380644,657,0.400964408305,0.00451311196432,0.059837064004,0.999999946096,0.000185549025217,-0.000270107940991,2.05133317981e-05,1793254908516930048
+46,0.766666667,BASELINE,783,761,738,721.71566698,689,649.28433302,915.71566698,800,839,658,634.71566698,657,0.400965536873,0.00451606078681,0.0598379301091,0.999999945603,0.000190672607982,-0.000268347899839,2.06959537978e-05,1793254908533596928
+47,0.783333333,BASELINE,783,760.707754224,738,722,688.707754224,649,915.707754224,800,838.707754224,658,634.707754224,657,0.400966267944,0.00451716097755,0.0598384322518,0.999999945523,0.000192701817395,-0.000267183705934,2.07941103796e-05,1793254908550263808
+48,0.800000000,BASELINE,783,760.132167948,738,722,688.132167948,649,915.132167948,800,838.132167948,658,634.132167948,657,0.400966613631,0.00451646886815,0.0598385815228,0.999999945866,0.000191730945406,-0.000266597202498,2.08103753843e-05,1793254908566930432
+49,0.816666667,BASELINE,783,760,738,722,688.453018697,649.453018697,915.453018697,800,838,658,634.453018697,657.453018697,0.400966535958,0.00451640401727,0.0598385822629,0.999999946074,0.000189866308485,-0.00026717740971,2.04644540706e-05,1793254908583597056
+50,0.833333333,BASELINE,783,760,738,722,689,650,915.959524746,800,838,658,634.959524746,657.959524746,0.400966309306,0.00451648951743,0.0598385415134,0.999999946204,0.000188019139851,-0.000268025058458,2.00618665095e-05,1793254908600263680
+51,0.850000000,BASELINE,783,760,738,722,689,650,915.379947802,800,838,658,634.379947802,657.379947802,0.400965779115,0.00451608735275,0.059838537823,0.999999945893,0.000189952906875,-0.000267802965188,2.03424143171e-05,1793254908616930304
+52,0.866666667,BASELINE,783,760.1988387,738.1988387,722,689,650,915,800,838.1988387,658,634.1988387,657,0.400965316739,0.0045160190309,0.0598384106689,0.999999945689,0.000191048049612,-0.000267773878082,2.04669797433e-05,1793254908633596672
+53,0.883333333,BASELINE,783,760.776120743,738.776120743,722,689,650,915,800,838.776120743,658,634.776120743,657,0.400964983434,0.00451658610148,0.0598380485303,0.999999945698,0.000190547065433,-0.000268112133456,2.02946688717e-05,1793254908650263552
+54,0.900000000,BASELINE,783,761,738.648054591,721.648054591,689,649.648054591,915,800,838.648054591,657.648054591,635,657,0.400965379902,0.00451596009099,0.0598381799983,0.999999946157,0.000188877432081,-0.000267578686993,2.03099821642e-05,1793254908666930432
+55,0.916666667,BASELINE,783,761,738.073153189,721.073153189,689,649.073153189,915,800,838.073153189,657.073153189,635,657,0.400966238679,0.00451457826845,0.0598386241642,0.999999946897,0.000186467464227,-0.000266493020932,2.04441546111e-05,1793254908683597056
+56,0.933333333,BASELINE,783,761,738,721.51387079,689,649.51387079,915,800,838,657.51387079,634.48612921,657,0.400965129448,0.00451522852236,0.0598382702652,0.999999946436,0.000187347603129,-0.000267612413556,2.02932857051e-05,1793254908700263424
+57,0.950000000,BASELINE,783,761,738,721.898949343,689,649.898949343,915,800,838,657.898949343,634,657,0.400964057753,0.00451575444813,0.0598379712263,0.999999946023,0.000188086617693,-0.000268645677358,2.01660781491e-05,1793254908716930304
+58,0.966666667,BASELINE,783,761,738,721.319400694,689,649.319400694,915,800,838,657.319400694,634,657,0.400964522476,0.00451428874579,0.0598384829311,0.999999946671,0.000185885950776,-0.000267748771841,2.03476995098e-05,1793254908733596928
+59,0.983333333,BASELINE,783,761,738,721,689,649,915,800,838,657.258269303,634,657,0.400965200632,0.00451381228558,0.0598388131279,0.999999946971,0.000185329852508,-0.000267014841142,2.03685897368e-05,1793254908750263808
+60,1.000000000,BASELINE,783,761,738,721,689,649,915,800,838,657.833632833,634,657,0.400966140832,0.00451455038288,0.0598389204756,0.999999946844,0.000186792899155,-0.000266481005236,2.0192139793e-05,1793254908766930432
+61,1.016666667,BASELINE,783,760.592237418,738,721,689,649.407762582,915,800,838,658,634,657,0.400965988452,0.00451463147388,0.0598382660142,0.999999946667,0.000186914500576,-0.000267058545254,2.02315512643e-05,1793254908783596800
+62,1.033333333,BASELINE,783,760.018609567,738,721,689,649.981390433,915,800,838,658,634,657,0.400965391643,0.0045144453149,0.0598373016724,0.999999946468,0.000186490443277,-0.000268088158822,2.03587685259e-05,1793254908800263424
+63,1.050000000,BASELINE,783,760.573740999,738,721,689,649.426259001,915,800,838.573740999,657.426259001,634,657,0.40096309364,0.00451579876229,0.0598367346492,0.999999945421,0.000189415686162,-0.000269946402163,2.02315624024e-05,1793254908816930048
+64,1.066666667,BASELINE,783,761,738,721,689,649,915,800,839,657.162788671,634,657,0.400962435818,0.0045166912157,0.0598367868457,0.999999944942,0.000191290505781,-0.000270405350652,2.01372508221e-05,1793254908833596928
+65,1.083333333,BASELINE,783,761,738,721,689,649,915,800,839,657.741786616,634,657,0.400966117357,0.00451627303901,0.0598383881687,0.999999946008,0.000190192535084,-0.000267215621859,2.01488531375e-05,1793254908850263552
+66,1.100000000,BASELINE,783,761,738,721,689,649.316372309,915,800,838.683627691,658,634.316372309,657,0.400967034813,0.00451649988746,0.0598390132845,0.999999946323,0.000189955736553,-0.00026620920533,2.00969262003e-05,1793254908866930432
+67,1.116666667,BASELINE,783,761,738,721,689,649.887406363,915,800,838.112593637,658,634.887406363,657,0.40096572734,0.00451724594453,0.0598388526087,0.999999946038,0.000190412132772,-0.000266960231359,1.99938618217e-05,1793254908883597312
+68,1.133333333,BASELINE,783,761,738,721.474393325,688.525606675,649.525606675,915,800,838.474393325,658,635,657,0.400965502701,0.00451598268629,0.059838688429,0.999999946133,0.000189837464628,-0.000266987313471,2.03300871445e-05,1793254908900263936
+69,1.150000000,BASELINE,783,761,738.063901498,721.936098502,688,649.063901498,915,800,839,658,634.936098502,657,0.400965582077,0.00451445813405,0.0598385599042,0.999999946345,0.000189009693737,-0.00026675152839,2.07079427785e-05,1793254908916930304
+70,1.166666667,BASELINE,783,761,738.642165672,721.357834328,688,649.642165672,915,800,839,658,634.357834328,657,0.400965967892,0.00451480260572,0.0598387253051,0.999999946749,0.000188182955014,-0.000265831025143,2.05524521072e-05,1793254908933597440
+71,1.183333333,BASELINE,783,761,738.780073232,721,688.219926768,650,915,800,838.780073232,657.780073232,634,657,0.400966343318,0.00451485454947,0.0598389560902,0.999999946909,0.000188003571937,-0.000265355178041,2.05687283621e-05,1793254908950264064
+72,1.200000000,BASELINE,783,761,738.203128717,721,688.796871283,650,915,800,838.203128717,657.203128717,634,657,0.40096670188,0.00451443161855,0.0598392930167,0.999999946673,0.000188875072428,-0.000265601162602,2.08638421429e-05,1793254908966930432
+73,1.216666667,BASELINE,783,760.629343718,738,721,688.629343718,649.629343718,915,800,838,657.370656282,634,657,0.400966837659,0.00451499173994,0.0598393722757,0.999999946683,0.000188930979424,-0.000265536767374,2.07158914585e-05,1793254908983597056
+74,1.233333333,BASELINE,783,760.05727561,738,721,688.05727561,649.05727561,915,800,838,657.94272439,634,657,0.400966852379,0.00451608604456,0.0598393115202,0.999999946826,0.000188543699023,-0.000265303714098,2.03271828717e-05,1793254909000263680
+75,1.250000000,BASELINE,783,760,738,721.534663878,688.534663878,649,915,800,838.534663878,658,634.534663878,657,0.400966910861,0.00451604605331,0.0598395651069,0.999999946878,0.000188299430974,-0.000265278588437,2.03634886105e-05,1793254909016930560
+76,1.266666667,BASELINE,783,760,738,722,689,649.125138068,915,800,838.874861932,658,635,657,0.400967107347,0.00451601554553,0.0598398586851,0.999999946892,0.000188410238545,-0.000265146446694,2.03745343333e-05,1793254909033597184
+77,1.283333333,BASELINE,783,760,738,722,689,649.702332185,915,800,838.297667815,658,635,657,0.400967784778,0.00451647519335,0.0598401703903,0.999999946804,0.000189746262371,-0.000264544143406,2.01235072515e-05,1793254909050263808
+78,1.300000000,BASELINE,783,760,738.279181587,722,688.720818413,650,915.279181587,800,838.279181587,657.720818413,635,657,0.400967332579,0.00451631530095,0.0598399528793,0.999999946753,0.000189745976287,-0.000264740690276,2.00502189895e-05,1793254909066930688
+79,1.316666667,BASELINE,783,760,738.855663864,722,688.144336136,650,915.855663864,800,838.855663864,657.144336136,635,657,0.400965677435,0.00451549565966,0.0598391718057,0.999999946742,0.000188322652652,-0.000265787933342,2.01662049515e-05,1793254909083597056
+80,1.333333333,BASELINE,783,760.423136015,738.576863985,721.576863985,688,649.576863985,915.576863985,800,838.576863985,657,634.576863985,657,0.400964691165,0.00451577309925,0.05983829887,0.999999946347,0.000188461544745,-0.000267164000407,2.03125832345e-05,1793254909100263680
+81,1.350000000,BASELINE,783,760.987598842,738.012401158,721.012401158,688,649.012401158,915.012401158,800,838.012401158,657,634.012401158,657,0.400963928299,0.0045164169622,0.0598373952525,0.999999945821,0.000189122214504,-0.000268649894291,2.04691125178e-05,1793254909116930304
+82,1.366666667,BASELINE,783,760.409390103,738,721,688,649.590609897,915,800,838.590609897,657.590609897,634.590609897,657,0.400965876654,0.00451643385941,0.0598376594004,0.99999994601,0.000189547456846,-0.000267658411817,2.02643562827e-05,1793254909133596928
+83,1.383333333,BASELINE,783,760.186108301,738,721.186108301,688,650,915,800,838.813891699,658,634.813891699,657,0.400967160991,0.00451613640682,0.0598381743451,0.999999946335,0.000189204378938,-0.000266689972884,2.02002756753e-05,1793254909150263552
+84,1.400000000,BASELINE,783,760.763970124,738,721.763970124,688,650,915,800,838.236029876,658,634.236029876,657,0.400966919386,0.0045152069014,0.0598391619931,0.999999946911,0.000187255137507,-0.000265887182168,2.04493971815e-05,1793254909166930432
+85,1.416666667,BASELINE,783,760.660115328,738.339884672,722,688,650,915,800,838,657.660115328,634.339884672,657,0.400965774378,0.00451483601912,0.0598387838995,0.999999946716,0.000187036212921,-0.000266770035054,2.04945837317e-05,1793254909183597056
+86,1.433333333,BASELINE,783,760.085545379,738.914454621,722,688,650,915,800,838,657.085545379,634.914454621,657,0.400964005584,0.00451485085781,0.0598374627816,0.999999945986,0.000188012046324,-0.000268816799655,2.03989562335e-05,1793254909200263936
+87,1.450000000,BASELINE,782.49870115,760,739,722,688.50129885,649.49870115,915,800,838.50129885,657.50129885,634.49870115,657,0.400966369649,0.00451539969544,0.0598391021589,0.99999994659,0.000188799645066,-0.000266021066555,2.01985617942e-05,1793254909216930560
+88,1.466666667,BASELINE,782.088818397,760,738.911181603,722,688.911181603,649,915,800,838.911181603,658,634.088818397,657,0.400968538347,0.00451600227738,0.0598406564116,0.999999947166,0.000189400625252,-0.0002634269274,2.00254624972e-05,1793254909233596928
+89,1.483333333,BASELINE,782.668208575,760,738.331791425,722,688.331791425,649,915,800,838.331791425,658,634.668208575,657,0.400965634816,0.00451638575797,0.0598388800737,0.999999946364,0.000189152724502,-0.000266625059488,2.01043482696e-05,1793254909250263552
+90,1.500000000,BASELINE,783,760.245505825,738,722,688.245505825,649,915,800,838.245505825,658,635,657,0.400964568614,0.00451599012546,0.0598385369451,0.99999994617,0.000188495185407,-0.000267805369862,2.02437285613e-05,1793254909266930432
+91,1.516666667,BASELINE,783,760.81999843,738,722,688.81999843,649,915,800,838.81999843,658,635,657,0.400965964499,0.00451455045288,0.0598401143697,0.999999946799,0.000187288715975,-0.000266281725125,2.04641737143e-05,1793254909283597824
+92,1.533333333,BASELINE,783,761,738,722,689,649,915,800,838.604994314,658,634.604994314,657,0.400966060313,0.00451467545602,0.0598394669608,0.999999946641,0.000187664150903,-0.000266614527672,2.04343612937e-05,1793254909300264448
+93,1.550000000,BASELINE,783,761,738,722,689,649,915,800,838.029752178,658,634.029752178,657,0.400965562919,0.00451551440217,0.0598378043867,0.999999946122,0.000188761390084,-0.000267794405152,2.02903593039e-05,1793254909316930560
+94,1.566666667,BASELINE,783,761,738,721.438281068,689,649,915,800,838.561718932,657.438281068,634,657,0.400966008321,0.00451526784827,0.0598386186082,0.999999945984,0.000190463392961,-0.000267096920109,2.03711185417e-05,1793254909333597184
+95,1.583333333,BASELINE,783,760.849218656,738,721.150781344,688.849218656,649.150781344,915,800,839,657,634.150781344,657,0.400965628596,0.00451522261763,0.0598388607594,0.99999994583,0.000191071837921,-0.00026724009024,2.03604642585e-05,1793254909350263808
+96,1.600000000,BASELINE,783,760.2695258,738,721.7304742,688.2695258,649.7304742,915,800,839,657,634.7304742,657,0.400962755448,0.00451591848505,0.0598370913285,0.99999994557,0.000188475727228,-0.000270065854792,2.00549040299e-05,1793254909366930432
+97,1.616666667,BASELINE,783,760.307685994,738.307685994,721.692314006,688.307685994,649.692314006,915,800,838.692314006,657,634.692314006,657,0.400962498243,0.00451622789956,0.0598367872394,0.999999945522,0.000188455027074,-0.000270259181469,2.00033634222e-05,1793254909383596800
+98,1.633333333,BASELINE,783,760.882741784,738.882741784,721.117258216,688.882741784,649.117258216,915,800,838.117258216,657,634.117258216,657,0.400964514214,0.00451620149818,0.059837756488,0.999999945662,0.000190672280722,-0.000268164999306,2.01725581792e-05,1793254909400263424
+99,1.650000000,BASELINE,783,760.533054329,738.533054329,721,689,649,915,800,838.466945671,657.466945671,634.466945671,657,0.400965451135,0.00451561858448,0.0598383444015,0.99999994615,0.000190115887733,-0.000266724980029,2.03190970167e-05,1793254909416930304
+100,1.666666667,BASELINE,783,760,738,721,688.947184461,649,915.052815539,800,838.947184461,658,635,657,0.400966036154,0.0045149584145,0.0598388032372,0.999999946669,0.000188916946798,-0.000265619527691,2.04474055955e-05,1793254909433596672
+101,1.683333333,BASELINE,783,760,738,721,688.368062546,649,915.631937454,800,838.368062546,658,635,657,0.400965868629,0.00451494882169,0.0598389491298,0.999999946619,0.000188394443892,-0.000266178354249,2.04518765223e-05,1793254909450263552
+102,1.700000000,BASELINE,783,760.210496102,738.210496102,721.210496102,688,649,915.789503898,800,838.210496102,658,635,657,0.400965753431,0.00451499543271,0.0598391409679,0.999999946591,0.000188006437551,-0.000266550723991,2.05405992622e-05,1793254909466930176
+103,1.716666667,BASELINE,783,760.788072421,738.788072421,721.788072421,688,649,915.211927579,800,838.788072421,658,635,657,0.400965729487,0.00451514005654,0.0598394129291,0.999999946603,0.000187852977309,-0.000266597935121,2.07762471626e-05,1793254909483597056
+104,1.733333333,BASELINE,783,761,739,721.636984497,688,649.363015503,915,800,839,658,635,657,0.400965574312,0.00451587144365,0.0598395806911,0.999999946587,0.000188185709535,-0.000266438712612,2.05488239974e-05,1793254909500263680
+105,1.750000000,BASELINE,783,761,739,721.063567566,688,649.936432434,915,800,839,658,635,657,0.400965343075,0.00451694291495,0.0598396880599,0.999999946556,0.000188800235744,-0.000266159842511,2.00530078733e-05,1793254909516930304
+106,1.766666667,BASELINE,783,761,738.474893112,721,688.525106888,650,915,800,839,658,635,657,0.400964522998,0.00451636518775,0.0598385879354,0.999999946209,0.000188521333062,-0.000267656642032,2.0019382643e-05,1793254909533596928
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,761,738,722,688,650,915,801,839,657,635,657,0.400966210124,0.00451613545233,0.0598387815667,0.99999994673,0.000189232680786,-0.000265214360178,1.98147832091e-05,1793254909575822592
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,760.423239108,738,722,688,649.423239108,915,800.423239108,839,657,635,657,0.400966995983,0.00451555084304,0.0598395669816,0.999999947119,0.000188205314761,-0.000264450772653,2.01866594228e-05,1793254909592489216
+109,1.816666667,POSE1_TO_POSE2_PRESS,782.846158808,760,738,721.846158808,688.153841192,649,915,800,838.846158808,657,635,657,0.400966991724,0.00451527951302,0.0598397273521,0.999999947093,0.000187994628654,-0.000264678873104,2.0421766382e-05,1793254909609155584
+110,1.833333333,POSE1_TO_POSE2_PRESS,782.268197812,760,738,721.268197812,688.731802188,649,915,800,838.268197812,657,635,657,0.400964809219,0.00451587185233,0.0598381645584,0.999999945922,0.000190035420739,-0.000267640925861,2.02798186949e-05,1793254909625821952
+111,1.850000000,POSE1_TO_POSE2_PRESS,782.315155357,760,738,721,689,649.315155357,915,800,838,657,635,657,0.400965126404,0.00451541629702,0.0598386471325,0.999999946201,0.000189455655278,-0.000267005746316,2.03212318167e-05,1793254909642488320
+112,1.866666667,POSE1_TO_POSE2_PRESS,782.903177121,760,738,721,689,649.903177121,915,800,838,657,635,657,0.40096760786,0.00451405345823,0.0598409006179,0.999999947726,0.000186606970243,-0.00026325602696,2.05214015849e-05,1793254909659154944
+113,1.883333333,POSE1_TO_POSE2_PRESS,783,760.483448762,738.483448762,721,689,650,915,800,838,657,634.516551238,657,0.400965945643,0.00451452899499,0.0598396777842,0.999999947063,0.00018722778987,-0.000265340567629,2.03578512075e-05,1793254909675821568
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,760.938309102,738.938309102,721.061690898,689,650,915,800,838.061690898,657,634.061690898,657,0.400963815924,0.00451522920303,0.0598380344289,0.999999946062,0.000188498054704,-0.00026821041286,2.01959570966e-05,1793254909692488448
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,760.36423503,738.36423503,721.63576497,689,650,915,800,838.63576497,657,634.63576497,657,0.400964587206,0.00451478571531,0.0598385896996,0.999999945909,0.000189482208982,-0.000268051036208,2.06432919054e-05,1793254909709155072
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,760.215066778,738,722,689,650,915,800,839,657.215066778,635,657.215066778,0.400969180426,0.00451456963495,0.0598409417945,0.999999946792,0.000189297180672,-0.000264851066515,2.09072532087e-05,1793254909725821696
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,760.803442741,738,722,689,650,915,800,839,657.803442741,635,657.803442741,0.400980407698,0.00451474828442,0.0598464127859,0.999999949419,0.000187082705389,-0.000256373288153,2.0852917913e-05,1793254909742488576
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,761,738,722,688.614247855,650,915,800,839,658,634.614247855,657.614247855,0.401008325968,0.0045146631519,0.0598578755637,0.99999995436,0.000187141200552,-0.000236269769874,2.08594913571e-05,1793254909759155200
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,761,738,722,688.034981708,650,915,800,839,658,634.034981708,657.034981708,0.40104461734,0.00451444569218,0.0598723441439,0.999999959925,0.00018833993951,-0.000210334154953,2.08966198813e-05,1793254909775822080
+120,2.000000000,POSE1_TO_POSE2_PRESS,783,760.457865969,738,722,688.542134031,650,915,800.542134031,839,657.457865969,634.542134031,657,0.401103603395,0.00451494943373,0.0598908768851,0.999999965917,0.000187474581144,-0.000180480325356,2.11017194771e-05,1793254909792488448
+121,2.016666667,POSE1_TO_POSE2_PRESS,783,760.118695565,738,721.881304435,688.881304435,649.881304435,915,800.881304435,839,657,635,657,0.401167705809,0.00451483997602,0.0599089489946,0.999999970923,0.000185843575175,-0.000152186371717,2.13512380366e-05,1793254909809155072
+122,2.033333333,POSE1_TO_POSE2_PRESS,783,760.693658171,738,721.306341829,688.306341829,649.306341829,915,800.306341829,839,657,635,657,0.401245868668,0.00451219519498,0.059924246351,0.99999997468,0.000181779364392,-0.000130856617918,2.17300050215e-05,1793254909825821696
+123,2.050000000,POSE1_TO_POSE2_PRESS,783,761,738,721.275537386,688.275537386,649.275537386,915.275537386,800,839,657.275537386,635,657.275537386,0.40133039088,0.00451137732401,0.0599357359518,0.999999977045,0.000180544830543,-0.000113335814157,2.16351188663e-05,1793254909842488064
+124,2.066666667,POSE1_TO_POSE2_PRESS,783,761,738,721.865304442,688.865304442,649.865304442,915.865304442,800,839,657.865304442,635,657.865304442,0.40142216545,0.00451264290677,0.0599428830925,0.999999978104,0.000182537330739,-0.0001001588328,2.10000669067e-05,1793254909859154688
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,760.553782554,738,722,689,650,916,800,839,658,635,657.553782554,0.401529181562,0.00451289298683,0.0599465205859,0.999999979282,0.000180457306201,-9.20806439309e-05,1.98031848644e-05,1793254909875821568
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,760.024406039,738.024406039,721.975593961,689,650,916,800,838.975593961,658,634.975593961,657,0.401641665688,0.00451280023359,0.0599490621011,0.999999980471,0.00017714991818,-8.56465968877e-05,1.84560085756e-05,1793254909892488448
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,760.600251308,738.600251308,721.399748692,689,650,916,800,838.399748692,658,634.399748692,657,0.401775766015,0.00451175270949,0.0599503119911,0.999999981439,0.00017334666578,-8.22619308128e-05,1.74703540079e-05,1793254909909155328
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,761,738.820258728,721.179741272,689,650,915.820258728,800,838,658,634,657,0.401917376582,0.00451124652162,0.0599505271898,0.999999982336,0.000169695160813,-7.91841604667e-05,1.61516560325e-05,1793254909925821952
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,761,738.232495188,721.767504812,689,650,915.232495188,800,838,658,634,657,0.402076035778,0.00451196919596,0.0599483935839,0.999999983109,0.000166388131131,-7.68030602438e-05,1.40769319079e-05,1793254909942488320
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,761,738.351915988,721.648084012,688.648084012,649.648084012,915,800,838,658,634.351915988,657,0.402258742858,0.00451276142084,0.0599482760816,0.999999983909,0.00016375498639,-7.22801619437e-05,1.18982861875e-05,1793254909959154944
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,761,738.934133365,721.065866635,688.065866635,649.065866635,915,800,838,658,634.934133365,657,0.402457187408,0.00451359916117,0.0599494779607,0.999999984701,0.000161562846112,-6.63556246963e-05,9.65163173426e-06,1793254909975821568
+132,2.200000000,POSE1_TO_POSE2_PRESS,782.489248485,761,738.489248485,721,688,649,915.510751515,800,838.510751515,658,635,657,0.402685758442,0.0045124422818,0.0599514797133,0.999999986259,0.000154387914047,-5.99351666072e-05,7.39042089861e-06,1793254909992488192
+133,2.216666667,POSE1_TO_POSE2_PRESS,782.086322234,761,738.086322234,721.086322234,688,649.086322234,915.913677766,800,839,658,635,657,0.402923659947,0.00451112490088,0.0599532514903,0.999999987783,0.000146658429986,-5.38481070497e-05,5.0561593073e-06,1793254910009154816
+134,2.233333333,POSE1_TO_POSE2_PRESS,782.66001206,761,738.66001206,721.66001206,688,649.66001206,915.33998794,800,839,658,635,657,0.403192543383,0.00451033787218,0.059953148776,0.999999989033,0.000139386611319,-5.00005465813e-05,2.31994234729e-06,1793254910025821440
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,761,738.759950903,721.759950903,688,650,915,800,839,657.759950903,635,657,0.403472385994,0.00451000714053,0.0599501106529,0.999999989829,0.00013268934509,-5.2295905693e-05,-5.73096425847e-07,1793254910042488064
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,761,738.17068002,721.17068002,688,650,915,800,839,657.17068002,635,657,0.40376817192,0.00451034022675,0.0599428021174,0.999999989933,0.000126827934252,-6.35279424554e-05,-3.69427833664e-06,1793254910059154688
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,761,738,721,688,650,915,800,838.588325102,657,635,657,0.404086889894,0.00451084443526,0.0599319386474,0.999999989475,0.00012022258593,-8.09168649739e-05,-6.95516927934e-06,1793254910075821312
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,761,738,721,688,650,915,800,838.008790177,657,635,657,0.40441495838,0.0045114184187,0.0599196256567,0.999999988445,0.000113313897944,-0.000100816251195,-1.02730263612e-05,1793254910092488192
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,760.434002794,738,721,688,649.434002794,915,800,838.565997206,657,635,657,0.404774464852,0.00451080221939,0.0599065743648,0.999999986327,0.000105788155143,-0.000126327014001,-1.39942043804e-05,1793254910109154816
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,760,738,721,688,649,915,800,838.856260742,657.143739258,635,657,0.405154463392,0.00451040620519,0.0598982397018,0.999999984647,9.82625060931e-05,-0.000144011347065,-1.76569528604e-05,1793254910125821440
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,760,738,721,688,649,915,800,838.269180058,657.730819942,635,657,0.405596173077,0.00451074585479,0.0599044878221,0.999999986233,9.07664596066e-05,-0.00013728971242,-2.11203249764e-05,1793254910142488064
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,760.315189483,738,721.315189483,688,649.315189483,915,800,838.315189483,657.684810517,635,657,0.406080221148,0.00450970401549,0.0599246744888,0.999999991069,8.06807404583e-05,-0.000103665583749,-2.46172922212e-05,1793254910159154688
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,760.897263447,738,721.897263447,688,649.897263447,915,800,838.897263447,657.102736553,635,657,0.406600118997,0.00450749241019,0.0599566635224,0.999999996148,6.84022331324e-05,-4.72619561681e-05,-2.81427062283e-05,1793254910175821312
+144,2.400000000,POSE1_TO_POSE2_PRESS,782.526322828,760.526322828,738.473677172,721.526322828,688,649.526322828,915.473677172,800,839,657.473677172,635,657,0.407143902898,0.00450599853616,0.0599842295892,0.999999997803,5.82367733569e-05,-2.70963927046e-06,-3.15453463718e-05,1793254910192487936
+145,2.416666667,POSE1_TO_POSE2_PRESS,782,760.048910427,738.951089573,720.951089573,688,649.048910427,916,800,839,658,635,657,0.407691039473,0.0045045926077,0.0600081649654,0.999999997636,4.85838104881e-05,3.3905912093e-05,-3.48927030189e-05,1793254910209154560
+146,2.433333333,POSE1_TO_POSE2_PRESS,782,760.624496106,738.375503894,720.375503894,688,649.624496106,916,800,839,658,635,657,0.408219150896,0.00450247720726,0.0600032124629,0.999999998421,3.95726958437e-05,1.24092921774e-05,-3.79281160866e-05,1793254910225821440
+147,2.450000000,POSE1_TO_POSE2_PRESS,782.204745847,761,738.204745847,720.204745847,688,649.795254153,916,800,839,658,635,657,0.408768067138,0.0044949211712,0.0599949697796,0.999999998854,2.37371487941e-05,-1.22081558871e-05,-3.97466014274e-05,1793254910242488064
+148,2.466666667,POSE1_TO_POSE2_PRESS,782.793748838,761,738.793748838,720.793748838,688,649.206251162,916,800,839,658,635,657,0.40935602883,0.00447715441238,0.0599805522437,0.999999998306,-4.90616375442e-06,-4.26826226034e-05,-3.92812152284e-05,1793254910259154688
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,760.623232523,738.623232523,721,687.623232523,649,915.623232523,800,839,658,635,657,0.409991361246,0.00445808871364,0.0599789039603,0.999999997569,-3.64762263147e-05,-4.3652889396e-05,-4.03168783057e-05,1793254910275821568
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,760.043438654,738.043438654,721,687.043438654,649,915.043438654,800,839,658,635,657,0.410652220017,0.00443832306364,0.0599841365667,0.999999996275,-6.96234078448e-05,-2.87244069722e-05,-4.21614026448e-05,1793254910292488192
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,760.531947832,738,721,687,649.531947832,915.531947832,800,839,658,635,657,0.411346000198,0.00444712741526,0.0599899775826,0.999999996435,-6.75707294119e-05,-1.42647972444e-05,-4.85919865191e-05,1793254910309155072
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,761,738,721,687.109324126,650,916,800,839.109324126,658,635,657,0.412037245072,0.00445671250696,0.0599908052241,0.99999999792,-4.15821249581e-05,-9.56104574423e-06,-4.83618124967e-05,1793254910325821696
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,761,738,721,687.696967882,650,916,800,839.696967882,658,635,657,0.41270573163,0.00445958989202,0.059969482545,0.999999995789,7.665908817e-05,-4.73754075905e-05,-1.73641544027e-05,1793254910342488320
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,761,738,721,687.719300368,650,916,800,839.719300368,657.719300368,635,657,0.413403443255,0.00446308767172,0.0599435706763,0.999999986962,0.000129038712673,-9.693933891e-05,-5.30118302406e-06,1793254910359154944
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,761,738,721,687.139733742,650,916,800,839.139733742,657.139733742,635,657,0.414132271527,0.00446724599944,0.0599127725953,0.999999981074,0.000111294089092,-0.00015901329714,-1.33983800675e-05,1793254910375821568
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,761,738,720.561358204,687,650,916,800,839,657.438641796,635.438641796,657,0.414967513777,0.00446473606004,0.0599411701988,0.999999990551,8.51619203489e-05,-0.000106066211158,-1.9877169233e-05,1793254910392488448
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,761,738,720,687.03299987,650,916,800,839.016499935,658,635.983500065,657,0.415835880308,0.00446018274462,0.0599878613028,0.999999998052,5.3994478346e-05,-1.78452406245e-05,-2.57392007264e-05,1793254910409154816
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,761,738,720,688.179339787,650,916,800,839.589669893,658,635.410330107,657,0.416681200476,0.00445816362052,0.0600172514043,0.99999999759,-5.71506890128e-05,2.75965907379e-05,-2.81399701137e-05,1793254910425821440
+159,2.650000000,POSE1_TO_POSE2_PRESS,783.167862664,761,738.167862664,720.167862664,688.832137336,650,916,800,839.832137336,658,635,657,0.417521173413,0.0044580456484,0.0600338339234,0.999999989457,-0.000131677098428,5.32314803804e-05,-3.02147236369e-05,1793254910442488320
+160,2.666666667,POSE1_TO_POSE2_PRESS,783.758712075,761,738.758712075,720.758712075,688.241287925,650,916,800,839.241287925,658,635,657,0.418347672145,0.00446271827175,0.0600181434058,0.999999992596,-0.000113930159313,2.89560805699e-05,-3.14679706634e-05,1793254910459154688
+161,2.683333333,POSE1_TO_POSE2_PRESS,783.65781003,761,738.65781003,720.65781003,687.65781003,649.65781003,916,800.34218997,839,657.65781003,635.34218997,657,0.419205995085,0.00446211316176,0.0599959680011,0.999999993523,-0.000108371239141,-9.20752904352e-06,-3.35464246063e-05,1793254910475821312
+162,2.700000000,POSE1_TO_POSE2_PRESS,783.079420412,761,738.079420412,720.079420412,687.079420412,649.079420412,916,800.920579588,839,657.079420412,635.920579588,657,0.420086284931,0.00445786504955,0.0599693163464,0.999999991537,-0.000111225207198,-5.69575970252e-05,-3.61944848079e-05,1793254910492488448
+163,2.716666667,POSE1_TO_POSE2_PRESS,783.496878276,761,738,720,687,649.496878276,916,800.503121724,839.496878276,657,635.503121724,657,0.420929758361,0.00445907181062,0.0599329228005,0.999999987717,-9.86590372911e-05,-0.000115991512218,-3.71259023097e-05,1793254910509155328
+164,2.733333333,POSE1_TO_POSE2_PRESS,783.927259092,761,738,720,687,650,916,800,839.927259092,657.072740908,635,657,0.421777355929,0.00446077827706,0.0598992870525,0.999999981231,-8.47729405243e-05,-0.000170059154293,-3.78270882385e-05,1793254910525821696
+165,2.750000000,POSE1_TO_POSE2_PRESS,783.35210984,761,738,720,687,650,916,800,839.35210984,657.64789016,635,657,0.42269391194,0.0044599392951,0.0598954086976,0.999999980409,-7.87225058473e-05,-0.00017742070302,-3.88253001693e-05,1793254910542488064
+166,2.766666667,POSE1_TO_POSE2_PRESS,783,761,738,720,687.229504009,650,916,800,839.229504009,658,635,657,0.423649315834,0.00445785128452,0.0599207920008,0.999999987287,-7.51475376045e-05,-0.000134891572956,-3.97804712478e-05,1793254910559154688
+167,2.783333333,POSE1_TO_POSE2_PRESS,783,761,738,720,687.821323534,650,916,800,839.821323534,658,635,657,0.424666048606,0.00445379144572,0.059992370369,0.999999996232,-7.54805599634e-05,-1.36005630815e-05,-4.06676939504e-05,1793254910575821312
+168,2.800000000,POSE1_TO_POSE2_PRESS,783.402858025,761,738,720,688,650,916,800,840,657.597141975,635,657,0.425672319312,0.00445317691388,0.0600305289401,0.999999995493,-6.93636128629e-05,5.01539253045e-05,-4.10678326252e-05,1793254910592487936
+169,2.816666667,POSE1_TO_POSE2_PRESS,783.979944401,761,738,720,688,650,916,800,840,657.020055599,635,657,0.426674065313,0.0044540524113,0.0600542340871,0.999999993359,-6.04571781699e-05,8.90249670712e-05,-4.12573168835e-05,1793254910609154816
+170,2.833333333,POSE1_TO_POSE2_PRESS,783.448169243,761,738,720,687.448169243,650,916,800,840,657.551830757,635.551830757,657,0.427620597101,0.00444952907983,0.0600309403549,0.999999994876,-6.41864633311e-05,6.52363642391e-05,-4.32796721483e-05,1793254910625821440
+171,2.850000000,POSE1_TO_POSE2_PRESS,783,761,738,720,687,650,916,800,840,657.872595211,636,657,0.428550761392,0.00444648323026,0.0600038820035,0.999999996238,-6.65124487686e-05,3.23779082242e-05,-4.53013235872e-05,1793254910642487808
+172,2.866666667,POSE1_TO_POSE2_PRESS,783,761,738,720,687,650,916,800,840,657.282962984,636,657,0.429428756341,0.00444950294074,0.0599693047602,0.999999996646,-6.20966896831e-05,-2.5201259535e-05,-4.70810025836e-05,1793254910659154432
+173,2.883333333,POSE1_TO_POSE2_PRESS,783.303227193,761,738,719.696772807,686.696772807,650,916,800,840,657,635.696772807,657,0.430340885424,0.00444950397576,0.0599428290447,0.999999994543,-6.01341198563e-05,-7.0592007111e-05,-4.81082269068e-05,1793254910675821312
+174,2.900000000,POSE1_TO_POSE2_PRESS,783.886241367,761,738,719.113758633,686.113758633,650,916,800,840,657,635.113758633,657,0.431284509941,0.00444671968624,0.0599238285905,0.999999991516,-6.04351020161e-05,-0.000104736526397,-4.84411631325e-05,1793254910692487936
+175,2.916666667,POSE1_TO_POSE2_PRESS,784,761,738,719,686.461209916,650,916,800,840.461209916,657,635.461209916,657.461209916,0.432335751235,0.00444303029116,0.0599672472367,0.999999996219,-6.4959203662e-05,-3.07162917701e-05,-4.89843200246e-05,1793254910709154816
+176,2.933333333,POSE1_TO_POSE2_PRESS,784.034267659,761,738,719,687,650,916,800,840.965732341,657.034267659,636,658,0.43340572144,0.00443935675285,0.0600223833871,0.999999994315,-6.99522881558e-05,6.33854215589e-05,-4.9588577218e-05,1793254910725821696
+177,2.950000000,POSE1_TO_POSE2_PRESS,784.607948776,761,738,719,687,650,916,800,840.392051224,657.607948776,636,658,0.434359836252,0.00443938673757,0.0600237733935,0.99999999469,-6.62121495919e-05,6.08327895795e-05,-5.0352422011e-05,1793254910742488320
+178,2.966666667,POSE1_TO_POSE2_PRESS,784.812536015,761,738,719,687,650,916,800,840,658,636,657.812536015,0.435296327247,0.00443728536512,0.0600141175182,0.999999995811,-6.48985976548e-05,3.97418225436e-05,-5.08674660728e-05,1793254910759154944
+179,2.983333333,POSE1_TO_POSE2_PRESS,784.220427708,761,738,719,687,650,916,800,840,658,636,657.220427708,0.436194777105,0.00443058342058,0.0599806189125,0.999999996111,-6.88228749417e-05,-2.13644687289e-05,-5.08454693842e-05,1793254910775821568
+180,3.000000000,POSE1_TO_POSE2_PRESS,784,761,738,719,687,650,916,800,840,657.636275745,636,657,0.437080330301,0.00443008720379,0.059947161814,0.999999993231,-6.62627941269e-05,-8.07048064726e-05,-5.13234007634e-05,1793254910792488448
+181,3.016666667,POSE1_TO_POSE2_PRESS,784,761,738,719,687,650,916,800,840,657.056842381,636,657,0.437958234992,0.00443327133588,0.0599137293337,0.999999987191,-5.98571209353e-05,-0.000138997829818,-5.20978177719e-05,1793254910809155072
+182,3.033333333,POSE1_TO_POSE2_PRESS,784,761,738,719,687,650,916.518359941,800.518359941,840.518359941,657,636,657,0.438883879283,0.00442802470407,0.0599072060742,0.999999984983,-6.26931808583e-05,-0.000153012171771,-5.18674518837e-05,1793254910825821696
+183,3.050000000,POSE1_TO_POSE2_PRESS,784.091983207,761,738,719,687,650,916.908016793,801,841,657.091983207,636,657.091983207,0.439819198129,0.00442229789964,0.0599147082276,0.999999986086,-6.67662278498e-05,-0.000143947639212,-5.14809507607e-05,1793254910842488064
+184,3.066666667,POSE1_TO_POSE2_PRESS,784.659818404,761,738,719,687,650,916.340181596,801,841,657.659818404,636,657.659818404,0.440777702953,0.00441883099868,0.0599796256221,0.999999995296,-7.20382312603e-05,-4.04057803819e-05,-5.08521100511e-05,1793254910859154688
+185,3.083333333,POSE1_TO_POSE2_PRESS,785,761.240319458,738,718.759680542,687,650,916,800.759680542,841,658,636,657.759680542,0.441690082519,0.00441944083482,0.0600137520302,0.999999996044,-7.11745112587e-05,1.56291862466e-05,-5.10159828448e-05,1793254910875821312
+186,3.100000000,POSE1_TO_POSE2_PRESS,785,761.839746986,738,718.160253014,687,650,916,800.160253014,841,658,636,657.160253014,0.442533537274,0.0044261425175,0.0600018676279,0.99999999676,-6.11422133385e-05,6.74850777592e-07,-5.23644038428e-05,1793254910892488192
+187,3.116666667,POSE1_TO_POSE2_PRESS,784.577691535,761.577691535,738,718,686.577691535,649.577691535,916,800,840.577691535,658,636,657.422308465,0.443347721251,0.00442539662348,0.0599697869345,0.999999995421,-6.24042724655e-05,-4.86272311306e-05,-5.38438741456e-05,1793254910909154816
+188,3.133333333,POSE1_TO_POSE2_PRESS,784.001284362,761.001284362,738,718,686.001284362,649.001284362,916,800,840.001284362,658,636,657.998715638,0.444151224504,0.00442193313838,0.0599303366923,0.999999990068,-6.77875973009e-05,-0.000110462672503,-5.5371163762e-05,1793254910925821440
+189,3.150000000,POSE1_TO_POSE2_PRESS,784.574933538,761,738,718,686,649,916,800,840,658,636,657.425066462,0.444944945881,0.00442704802993,0.0599102457111,0.999999986439,-5.94774321655e-05,-0.000143348836844,-5.51019779335e-05,1793254910942488320
+190,3.166666667,POSE1_TO_POSE2_PRESS,785,761,738,718,685.845314644,649,916,800,840.154685356,658,636,657,0.445710187135,0.00443798830089,0.0598845666209,0.999999979778,-4.36726824388e-05,-0.000188667120868,-5.42348162529e-05,1793254910959154688
+191,3.183333333,POSE1_TO_POSE2_PRESS,785,761,738,718,685.255623425,649,916,800,840.744376575,658,636,657,0.446395398259,0.00446525682005,0.0598430510766,0.999999962425,-6.87767192762e-06,-0.000269128802192,-5.16973100475e-05,1793254910975821312
+192,3.200000000,POSE1_TO_POSE2_PRESS,785,761,738,718,685,649,916,800,841,658,636,657.328050915,0.44711576627,0.00448991238946,0.0598218813973,0.999999953231,2.27034706343e-05,-0.000300294944824,-5.33420149179e-05,1793254910992487936
+193,3.216666667,POSE1_TO_POSE2_PRESS,785,761,738,718,685,649,916,800,841,658,636,657.907121199,0.447863035733,0.00451256856944,0.0598162800543,0.999999954072,4.67646733834e-05,-0.000293740917532,-5.81868818716e-05,1793254911009154560
+194,3.233333333,POSE1_TO_POSE2_PRESS,785,761,738,718,684.035396193,649,916,800,841,658,635.517698096,657.517698096,0.448583201643,0.00450551803871,0.0598257018455,0.999999958935,3.51730008739e-05,-0.000278371842378,-5.83244220183e-05,1793254911025821440
+195,3.250000000,POSE1_TO_POSE2_PRESS,785,761,738,718,682.943084499,648.943084499,916,800,841,658,635.056915501,657.056915501,0.449288200693,0.00449397071395,0.05983200714,0.999999961417,1.822746959e-05,-0.000271087745207,-5.783498649e-05,1793254911042488064
+196,3.266666667,POSE1_TO_POSE2_PRESS,785,761,738,718,682.366865642,648.366865642,916,800,841,658,635.633134358,657.633134358,0.449902057414,0.0044931732267,0.0597836917034,0.999999935822,1.45760444127e-05,-0.000352936599175,-5.98298717683e-05,1793254911059154944
+197,3.283333333,POSE1_TO_POSE2_PRESS,785,761,737.785129441,717.785129441,682,648,916,800,841,658,636,657.785129441,0.450502543603,0.00449263674364,0.059740011019,0.999999909602,1.05403761066e-05,-0.000420486062151,-6.22555043777e-05,1793254911075821824
+198,3.300000000,POSE1_TO_POSE2_PRESS,785,761,737.19372484,717.19372484,682,648,916,800,841,658,636,657.19372484,0.451079599524,0.00449255763816,0.0597044521691,0.999999890668,5.83136980978e-06,-0.0004629776077,-6.54359686303e-05,1793254911092488448
+199,3.316666667,POSE1_TO_POSE2_PRESS,785.389622165,761,737,717,682,647.610377835,916,800,841,658,635.610377835,657,0.45166434661,0.00448845793052,0.0596999317614,0.999999889676,-2.40202138687e-05,-0.000464332131485,-6.68376705033e-05,1793254911109155328
+200,3.333333333,POSE1_TO_POSE2_PRESS,785.969044061,761,737,717,682,647.030955939,916,800,841,658,635.030955939,657,0.452252840406,0.00448239963509,0.0597105313529,0.999999896244,-6.61197008465e-05,-0.000445647255191,-6.73728699703e-05,1793254911125821696
+201,3.350000000,POSE1_TO_POSE2_PRESS,785.455660656,761.544339344,737.544339344,717,681.455660656,647,916,800,841,658,635.544339344,657,0.452802341757,0.00448602169653,0.0597211562641,0.999999899937,-0.000110649682802,-0.000427753185391,-7.00733212883e-05,1793254911142488064
+202,3.366666667,POSE1_TO_POSE2_PRESS,785,761.878209477,738,717,681,647,916,800,841,658,636,657,0.453327767968,0.00448788980938,0.0597238050691,0.999999896102,-0.000146878351272,-0.000425464955488,-7.21309561377e-05,1793254911159154688
+203,3.383333333,POSE1_TO_POSE2_PRESS,785,761.291641969,738,717,681,647,916,800,841,658,636,657,0.453769717375,0.00448097945339,0.0596960100075,0.999999869642,-0.000150904056972,-0.000482561396394,-7.12691025386e-05,1793254911175821568
+204,3.400000000,POSE1_TO_POSE2_PRESS,785.291372198,761,738,717,681,647,916,800,841,658,636,657,0.454209552729,0.00447725428208,0.0596713592093,0.999999849994,-0.000153993589809,-0.000520670320319,-7.21137088821e-05,1793254911192488448
+205,3.416666667,POSE1_TO_POSE2_PRESS,785.870872551,761,738,717,681,647,916,800,841,658,636,657,0.454647297543,0.00447667883305,0.059649817669,0.99999983922,-0.000156157372907,-0.000540003125717,-7.46457762028e-05,1793254911209155328
+206,3.433333333,POSE1_TO_POSE2_PRESS,786,761,738,717,680.550029104,647,916,800,841,658,636,657,0.45507175448,0.00447664740792,0.0596504337027,0.999999843224,-0.000154759802067,-0.000532804497066,-7.56370963305e-05,1793254911225821952
+207,3.450000000,POSE1_TO_POSE2_PRESS,785.971314546,761,738,716.971314546,680,646.971314546,916,800,841,658,635.971314546,657,0.455490710128,0.00447667103719,0.0596575404797,0.999999851551,-0.000151684193083,-0.000517819176937,-7.58438593377e-05,1793254911242488576
+208,3.466666667,POSE1_TO_POSE2_PRESS,785.397700929,761,738,716.397700929,680,646.397700929,916,800,841,658,635.397700929,657,0.455877533155,0.00447477744743,0.0596672667927,0.999999863607,-0.000136128640918,-0.00049941819365,-6.95384504585e-05,1793254911259155200
+209,3.483333333,POSE1_TO_POSE2_PRESS,785,761,738,716,679.819131054,646,916,800,841,658,635.180868946,657.180868946,0.456238086702,0.0044740409795,0.0596671382582,0.999999868363,-0.00011213233815,-0.000496906754406,-6.1518282601e-05,1793254911275821824
+210,3.500000000,POSE1_TO_POSE2_PRESS,785,761,738,716,679.229356221,646,916,800,841,658,635.770643779,657.770643779,0.456539250539,0.00447592051608,0.0596447300263,0.999999855766,-6.90533109164e-05,-0.00053031816785,-4.9621413333e-05,1793254911292488448
+211,3.516666667,POSE1_TO_POSE2_PRESS,785.353445699,761,738,716.353445699,679,646,916,800,841,658,636,658,0.456804135811,0.00447876070729,0.0596140558988,0.999999831196,-5.29832557575e-05,-0.000576721624137,-4.68207823802e-05,1793254911309154816
+212,3.533333333,POSE1_TO_POSE2_PRESS,785.931810388,761,738,716.931810388,679,646,916,800,841,658,636,658,0.457045934856,0.00448221222165,0.0595781216771,0.999999797968,-5.41006475822e-05,-0.000631392709936,-4.9808639765e-05,1793254911325821440
+213,3.550000000,POSE1_TO_POSE2_PRESS,785.491217939,761,738,717,679,645.491217939,916,800,841,658,635.491217939,657.491217939,0.457273077341,0.00447931905808,0.0595539154816,0.999999774658,-6.2800552012e-05,-0.000666383966862,-5.16871040669e-05,1793254911342488064
+214,3.566666667,POSE1_TO_POSE2_PRESS,785.087097683,761,738,717,678.912902317,645.087097683,916,800,841,658,635,657.087097683,0.457495751162,0.00447630841255,0.0595334652484,0.999999753953,-7.12119955594e-05,-0.000695814893424,-5.35288027791e-05,1793254911359154944
+215,3.583333333,POSE1_TO_POSE2_PRESS,785.674197621,761,738,717,678.325802379,645.674197621,916,800,841,658,635,657.674197621,0.457704017737,0.00447749159777,0.0595255779873,0.999999744895,-7.21494235601e-05,-0.000708425912928,-5.60106775778e-05,1793254911375821824
+216,3.600000000,POSE1_TO_POSE2_PRESS,785.742237642,761,738,717,678,645.742237642,916,800,841,658,635.257762358,658,0.457900741107,0.00447702367326,0.0595227018052,0.99999974066,-7.51484435199e-05,-0.000713954317548,-5.74644422439e-05,1793254911392488448
+217,3.616666667,POSE1_TO_POSE2_PRESS,785.163080852,761,738,717,678,645.163080852,916,800,841,658,635.836919148,658,0.458083071666,0.00447449704049,0.0595260737544,0.999999742568,-8.07179868553e-05,-0.000710651668701,-5.76362939413e-05,1793254911409155072
+218,3.633333333,POSE1_TO_POSE2_PRESS,785,761.414772438,738,717,678,645.414772438,916,800,841,658,636,657.585227562,0.458246840941,0.00447385032912,0.0595285367295,0.999999745322,-8.22761478887e-05,-0.000706522370802,-5.84130648639e-05,1793254911425821440
+219,3.650000000,POSE1_TO_POSE2_PRESS,785,761.992114808,738,717,678,645.992114808,916,800,841,658,636,657.007885192,0.458403335124,0.00447394045245,0.0595306434325,0.9999997484,-8.22620487084e-05,-0.000702069068131,-5.94269336897e-05,1793254911442488064
+220,3.666666667,POSE1_TO_POSE2_PRESS,785,761.432952247,737.432952247,716.432952247,677.432952247,645.432952247,916,800,841,658,635.432952247,657,0.458519217394,0.00447610387274,0.0595254490342,0.999999742288,-8.32653427855e-05,-0.000710513620146,-6.05130763439e-05,1793254911459154944
+221,3.683333333,POSE1_TO_POSE2_PRESS,785,761,737,716.145703191,677,645,916,800,841,658,635.145703191,657.145703191,0.458628535049,0.00447692199411,0.0595201098992,0.999999735584,-8.44244334902e-05,-0.000719690214583,-6.12380124237e-05,1793254911475821312
+222,3.700000000,POSE1_TO_POSE2_PRESS,785,761,737,716.735814224,677,645,916,800,841,658,635.735814224,657.735814224,0.458719545224,0.00447354926835,0.059514637661,0.999999727594,-8.60157490005e-05,-0.000730554872727,-6.08581833344e-05,1793254911492488192
+223,3.716666667,POSE1_TO_POSE2_PRESS,785,761,737.318728701,717,677,645,916,799.681271299,841,658,636,658,0.458801064528,0.0044724956212,0.0595116755298,0.999999723838,-8.64761012098e-05,-0.000735609535119,-6.10240945447e-05,1793254911509155072
+224,3.733333333,POSE1_TO_POSE2_PRESS,785,761,737.895809916,717,677,645,916,799.104190084,841,658,636,658,0.45887489081,0.00447332175355,0.05951074802,0.999999723586,-8.60197265753e-05,-0.000735954779702,-6.16323674459e-05,1793254911525821696
+225,3.750000000,POSE1_TO_POSE2_PRESS,785,761,738,717,677,645,916,799.465639667,841,658,636,657.534360333,0.458933978714,0.0044744375485,0.0595104160506,0.99999972306,-8.66072725417e-05,-0.000736580794128,-6.18659231484e-05,1793254911542488064
+226,3.766666667,POSE1_TO_POSE2_PRESS,785,761.035570882,737.964429118,716.964429118,676.964429118,645,916,800,841,658,636,657.035570882,0.458988924945,0.00447544227988,0.0595102481668,0.999999722503,-8.74963747884e-05,-0.000737222168546,-6.1986335601e-05,1793254911559154688
+227,3.783333333,POSE1_TO_POSE2_PRESS,785,761.632308463,737.367691537,716.367691537,676.367691537,645,916,800,841,658,636,657.632308463,0.459029760689,0.00447368804491,0.0595105988829,0.999999722415,-8.95143101464e-05,-0.000737129946002,-6.16242639387e-05,1793254911575821312
+228,3.800000000,POSE1_TO_POSE2_PRESS,785,761.77767211,737,716.22232789,676.22232789,645,916,799.77767211,841,658,636,658,0.459065362647,0.00447273355941,0.0595104115717,0.999999722081,-9.0118774848e-05,-0.00073752541671,-6.14183522253e-05,1793254911592488192
+229,3.816666667,POSE1_TO_POSE2_PRESS,785,761.198437484,737,716.801562516,676.801562516,645,916,799.198437484,841,658,636,658,0.459092562714,0.00447306292542,0.0595093605561,0.999999721357,-8.84541709936e-05,-0.000738703789681,-6.14631267503e-05,1793254911609154816
+230,3.833333333,POSE1_TO_POSE2_PRESS,785,761.379860331,737.379860331,717,676.620139669,645,916,799.379860331,841,658,635.620139669,657.620139669,0.459112259508,0.00447384437268,0.0595083064934,0.999999720068,-8.6350186977e-05,-0.000740677519588,-6.16831790547e-05,1793254911625821696
+231,3.850000000,POSE1_TO_POSE2_PRESS,785,761.957669946,737.957669946,717,676.042330054,645,916,799.957669946,841,658,635.042330054,657.042330054,0.459128046265,0.0044748614043,0.059507250843,0.999999718476,-8.40172373061e-05,-0.000743065718466,-6.19945704842e-05,1793254911642488576
+232,3.866666667,POSE1_TO_POSE2_PRESS,785.530870463,761.469129537,737.469129537,716.469129537,676.530870463,645,916,800,841,658,635.530870463,657.530870463,0.459137625739,0.00447469390377,0.0595051900024,0.999999716066,-8.41808860449e-05,-0.00074630024524,-6.17912876105e-05,1793254911659155200
+233,3.883333333,POSE1_TO_POSE2_PRESS,786,761.107036795,737.107036795,716,676.892963205,645,916,800,841,658,636,658,0.459146014563,0.00447431685866,0.0595031415136,0.999999713845,-8.44114188284e-05,-0.000749262914662,-6.15564946673e-05,1793254911675821824
+234,3.900000000,POSE1_TO_POSE2_PRESS,786,761.698267373,737.698267373,716,676.301732627,645,916,800,841,658,636,658,0.459151237031,0.00447341549697,0.0595015083522,0.999999712815,-8.40517371689e-05,-0.000750693160755,-6.13632074292e-05,1793254911692488448
+235,3.916666667,POSE1_TO_POSE2_PRESS,786,762,738,716,676,645,916.283508775,800,841.283508775,658,635.716491225,658,0.459154463804,0.0044736730594,0.0595002578814,0.999999711861,-8.28997091238e-05,-0.000752088623556,-6.13843394279e-05,1793254911709154816
+236,3.933333333,POSE1_TO_POSE2_PRESS,786,762,738,716,676,645,916.862507961,800,841.862507961,658,635.137492039,658,0.459155610542,0.00447513852421,0.0594994062745,0.999999710985,-8.09218485409e-05,-0.000753447833228,-6.16289524159e-05,1793254911725821184
+237,3.950000000,POSE1_TO_POSE2_PRESS,786,761.561478288,738,716,676,644.561478288,916.561478288,800,841.561478288,658,635.438521712,658,0.459155786195,0.00447695069587,0.0594982289666,0.999999709868,-7.94942204899e-05,-0.000755076683001,-6.167312906e-05,1793254911742487808
+238,3.966666667,POSE1_TO_POSE2_PRESS,785.986110188,761,738,716,676,644.013889812,916,800,841,658,636,658,0.459155694034,0.0044787582954,0.0594969787924,0.99999970869,-7.83090618081e-05,-0.000756761524329,-6.16432498779e-05,1793254911759154688
+239,3.983333333,POSE1_TO_POSE2_PRESS,785.39901811,761,738,716,676,644.60098189,916,800,841,658,636,658,0.459157029578,0.00447592154059,0.0594969073082,0.999999708181,-8.00588093177e-05,-0.000757291759482,-6.11331411006e-05,1793254911775821568
+240,4.000000000,POSE1_TO_POSE2_PRESS,785,761,737.814380322,716,676,645,916,800,841,658,636,657.814380322,0.459157580852,0.00447433826821,0.0594965087041,0.999999707509,-8.0893692785e-05,-0.000758111454355,-6.08687536937e-05,1793254911792488192
+241,4.016666667,POSE1_TO_POSE2_PRESS,785,761,737.234949596,716,676,645,916,800,841,658,636,657.234949596,0.459156468221,0.0044754143866,0.059495416082,0.999999706494,-7.97875989347e-05,-0.000759545267468,-6.11256892235e-05,1793254911809155328
+242,4.033333333,POSE1_TO_POSE2_PRESS,785.344594843,761,737.344594843,716.344594843,676,645,916,799.655405157,841,658,636,657.344594843,0.459156849458,0.00447630062302,0.0594946911909,0.999999706155,-7.90052373368e-05,-0.000760069634628,-6.11806844286e-05,1793254911825821952
+243,4.050000000,POSE1_TO_POSE2_PRESS,785.924216817,761,737.924216817,716.924216817,676,645,916,799.075783183,841,658,636,657.924216817,0.459158249572,0.0044770573525,0.0594942171067,0.999999706277,-7.84436738133e-05,-0.0007599737241,-6.10979484414e-05,1793254911842488064
+244,4.066666667,POSE1_TO_POSE2_PRESS,785.503235171,761.496764829,738,716.503235171,676,645,916,799,841,658,635.503235171,657.503235171,0.45915905797,0.00447683154775,0.0594944820654,0.999999706609,-7.87240885134e-05,-0.000759511018023,-6.10475648932e-05,1793254911859154688
+245,4.083333333,POSE1_TO_POSE2_PRESS,785,761.929524666,738,716,676,645,916,799,841,658,635.070475334,657.070475334,0.45915983872,0.00447644928577,0.0594949242373,0.999999707091,-7.90608982686e-05,-0.000758849324964,-6.09488389458e-05,1793254911875821568
+246,4.100000000,POSE1_TO_POSE2_PRESS,785,761.339397293,738,716,676,645,916,799,841,658,635.660602707,657.660602707,0.459161071848,0.00447600307553,0.0594958534503,0.999999708441,-7.88797304778e-05,-0.0007571271954,-6.04577779252e-05,1793254911892488192
+247,4.116666667,POSE1_TO_POSE2_PRESS,785,761,738,716.246225722,676,644.753774278,916,799.246225722,841,658,636,658,0.459161558655,0.00447581221191,0.0594963013548,0.999999708699,-7.92446754758e-05,-0.00075674992932,-6.04241723394e-05,1793254911909154816
+248,4.133333333,POSE1_TO_POSE2_PRESS,785,761,738,716.825751559,676,644.174248441,916,799.825751559,841,658,636,658,0.459161035213,0.00447596699472,0.0594960977426,0.999999707482,-8.03488586308e-05,-0.000758193119247,-6.10097950397e-05,1793254911925821696
+249,4.150000000,POSE1_TO_POSE2_PRESS,785,761,737.599142579,716.599142579,676,644.400857421,916,800,841,658,636,657.599142579,0.459161341729,0.00447526142035,0.0594963767611,0.999999707307,-7.96947614531e-05,-0.000758536042838,-6.04714478323e-05,1793254911942488576
+250,4.166666667,POSE1_TO_POSE2_PRESS,785,761,737.025937113,716.025937113,676,644.974062887,916,800,841,658,636,657.025937113,0.459162005082,0.00447418593669,0.059496863286,0.999999707579,-7.82846942288e-05,-0.000758405908491,-5.94498514211e-05,1793254911959155456
+251,4.183333333,POSE1_TO_POSE2_PRESS,785,761,737.550772514,716,676,645,916,800,841,658,635.449227486,657.550772514,0.459161024875,0.00447418012363,0.0594953764894,0.999999706472,-7.82494946192e-05,-0.000759858595849,-5.95721692961e-05,1793254911975821824
+252,4.200000000,HOLD_POSE2,786,761,738,717,676,645,916,800,841,658,636,657,0.459162343643,0.00447350019439,0.0594945241305,0.999999707067,-8.02280611084e-05,-0.000758848203587,-5.98146653341e-05,1793254912016958720
+253,4.216666667,HOLD_POSE2,785.421485889,761,737.421485889,716.421485889,676,645,916,800,841,658,636,657,0.459160903722,0.00447573627576,0.0594935313867,0.999999706091,-7.75327951755e-05,-0.000760401077976,-5.99733208967e-05,1793254912033625344
+254,4.233333333,HOLD_POSE2,785.1561682,761,737.1561682,716.1561682,676,645,916,800,841,658,636,657.1561682,0.459161019228,0.00447757700238,0.0594935821363,0.999999706293,-7.55193376792e-05,-0.000760322558697,-6.01737801476e-05,1793254912050291968
+255,4.250000000,HOLD_POSE2,785.731513993,761,737.731513993,716.731513993,676,645,916,800,841,658,636,657.731513993,0.459165309723,0.00447835654128,0.0594964337703,0.999999709667,-7.53359501142e-05,-0.000755865147825,-6.04864464616e-05,1793254912066958848
+256,4.266666667,HOLD_POSE2,785.686368409,761,737.686368409,717,676,644.686368409,916,799.686368409,841,657.686368409,635.686368409,657.686368409,0.459166168476,0.0044784186951,0.0594970126462,0.999999709962,-7.53761579155e-05,-0.000755462771147,-6.05815549699e-05,1793254912083625472
+257,4.283333333,HOLD_POSE2,785.098325878,761,737.098325878,717,676,644.098325878,916,799.098325878,841,657.098325878,635.098325878,657.098325878,0.459164024636,0.00447785317513,0.0594956029796,0.999999707569,-7.56119997664e-05,-0.000758608333717,-6.04863119655e-05,1793254912100292096
+258,4.300000000,HOLD_POSE2,785,761.482502663,737.482502663,716.517497337,676,644.482502663,916,799.482502663,841,657.482502663,635,657.482502663,0.459164481368,0.00447767596704,0.0594960591512,0.999999708541,-7.52151972661e-05,-0.000757386390604,-6.02225979658e-05,1793254912116958720
+259,4.316666667,HOLD_POSE2,785.061443876,761.938556124,738,716,676,645,916,800,841,658,635.061443876,657.938556124,0.459165319734,0.00447773104493,0.0594967883081,0.999999710006,-7.4585895531e-05,-0.000755529725202,-5.99947798765e-05,1793254912133625344
+260,4.333333333,HOLD_POSE2,785.636714827,761.363285173,738,716,676,645,916,800,841,658,635.636714827,657.363285173,0.459164983075,0.00447907663264,0.059496667497,0.999999709969,-7.30745447528e-05,-0.000755698388879,-6.03500126177e-05,1793254912150291968
+261,4.350000000,HOLD_POSE2,786,761.212139059,737.787860941,716,676,645,916,800,841,658,635.787860941,657.212139059,0.459164614745,0.00447894618788,0.059496415193,0.999999709392,-7.2902100239e-05,-0.000756481284335,-6.03160550513e-05,1793254912166958848
+262,4.366666667,HOLD_POSE2,786,761.787825916,737.212174084,716,676,645,916,800,841,658,635.212174084,657.787825916,0.45916419214,0.00447628623069,0.0594959375463,0.999999707886,-7.50241716748e-05,-0.000758316803513,-5.96151326785e-05,1793254912183625984
+263,4.383333333,HOLD_POSE2,785.627216438,761.627216438,737.372783562,716,676,645,916,800,841,658,635.372783562,658,0.459164591653,0.00447467512919,0.0594962364804,0.999999707939,-7.62301568102e-05,-0.000758149600307,-5.93217610772e-05,1793254912200292608
+264,4.400000000,HOLD_POSE2,785.036847588,761.036847588,737.963152412,716,676,645,916,800,841,658,635.963152412,658,0.459165471017,0.00447367622064,0.0594969886869,0.999999708903,-7.6901443405e-05,-0.000756813453763,-5.92662675271e-05,1793254912216958976
+265,4.416666667,HOLD_POSE2,785.544420714,761,738,716.544420714,676,645,916,799.455579286,841,658,635.455579286,658,0.459165373312,0.00447480387105,0.0594966784756,0.999999708722,-7.52736541596e-05,-0.000757217810036,-5.92542525916e-05,1793254912233625856
+266,4.433333333,HOLD_POSE2,785.876358735,761,738,716.876358735,675.876358735,645,916,799,841.123641265,658,635,657.876358735,0.459165223031,0.00447580729567,0.059496233322,0.999999708389,-7.42101438435e-05,-0.000757760840438,-5.92743891786e-05,1793254912250292224
+267,4.450000000,HOLD_POSE2,785.302389845,761,738,716.302389845,675.302389845,645,916,799,841.697610155,658,635,657.302389845,0.459165118157,0.00447584265883,0.0594955542734,0.999999707791,-7.57592898584e-05,-0.000758386949373,-5.94010865853e-05,1793254912266958592
+268,4.466666667,POSE2_TO_POSE3_RETREAT,785,761,737,717,676,645,916,800,842,658,636,657,0.459165955678,0.00447816347151,0.0594966990861,0.99999970894,-7.38423137529e-05,-0.000757034724487,-5.97074759632e-05,1793254912305050112
+269,4.483333333,POSE2_TO_POSE3_RETREAT,785,761,737.598463591,716.401536409,676,645,916,800,841.401536409,658,636,657.598463591,0.459164311039,0.00447614153769,0.0594951787335,0.999999707215,-7.48896116048e-05,-0.000759234950224,-5.93673155443e-05,1793254912321718016
+270,4.500000000,POSE2_TO_POSE3_RETREAT,785.189981798,761,738,716,676,645,916,800,841,657.810018202,636,657.810018202,0.45916335752,0.00447529830095,0.0594942379514,0.999999706266,-7.47459840062e-05,-0.000760518456635,-5.90903345229e-05,1793254912338385408
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,785.655658851,761,737.655658851,716.344341149,676,645,916,799.655658851,841,657.344341149,636,657.344341149,0.459164339438,0.00447763346721,0.0594947611848,0.999999707375,-7.13849129955e-05,-0.000759383371363,-5.908964331e-05,1793254912371717376
+273,4.550000000,POSE2_TO_POSE3_RETREAT,785.078895,761,737.078895,716.921105,676,645,916,799.078895,841,657.921105,636,657.921105,0.459164913304,0.00447787856318,0.0594950713258,0.999999707723,-7.17991306962e-05,-0.000758858481734,-5.94366495163e-05,1793254912388383744
+274,4.566666667,POSE2_TO_POSE3_RETREAT,785.507325906,761,737.507325906,717,676,645,916,799.507325906,841.507325906,658,636,658,0.459165251521,0.00447726420251,0.059495573932,0.999999707909,-7.27693109533e-05,-0.000758540186115,-5.91810609846e-05,1793254912405050112
+275,4.583333333,POSE2_TO_POSE3_RETREAT,786,761,737.906334797,717,676,645,916,799.906334797,842,658,636,658,0.459165197119,0.00447676082342,0.0594958323944,0.99999970783,-7.33613273622e-05,-0.000758610583705,-5.88905895927e-05,1793254912421716736
+276,4.600000000,POSE2_TO_POSE3_RETREAT,786,761,737.327149991,717,676,645,916,799.327149991,842,658,636,658,0.459163301115,0.00447753869578,0.0594946672281,0.999999706506,-7.15364307462e-05,-0.00076052609798,-5.89142814515e-05,1793254912438383360
+277,4.616666667,POSE2_TO_POSE3_RETREAT,786,761,737.250738639,717,676,645,916,799.250738639,841.749261361,658,636,658,0.459161639189,0.00447788256643,0.0594937375378,0.99999970581,-7.05690236165e-05,-0.000761528044757,-5.89445331917e-05,1793254912455049728
+278,4.633333333,POSE2_TO_POSE3_RETREAT,786,761,737.82694474,717,676,645,916,799.82694474,841.17305526,658,636,658,0.459160281105,0.00447766308775,0.0594931135039,0.999999705938,-7.07146677713e-05,-0.000761344149042,-5.89832998846e-05,1793254912471716352
+279,4.650000000,POSE2_TO_POSE3_RETREAT,785.600611584,761,738,717,676,645,916,800,841,657.600611584,635.600611584,658,0.459147095975,0.00447751927493,0.05948674572,0.999999698906,-7.14001091029e-05,-0.00077043665735,-5.93121423723e-05,1793254912488382976
+280,4.666666667,POSE2_TO_POSE3_RETREAT,785.029782906,761,738,717,676,645,916,800,841,657.029782906,635.029782906,658,0.459128834003,0.00447740794218,0.0594779123914,0.999999688654,-7.23172621371e-05,-0.00078351112661,-5.97655019116e-05,1793254912505049856
+281,4.683333333,POSE2_TO_POSE3_RETREAT,785,761.564375002,738,716.435624998,676,644.435624998,916,799.435624998,841,657.564375002,635,658,0.459081353224,0.00447691203364,0.0594580973457,0.999999660704,-7.11295715477e-05,-0.000818541854277,-5.93511935148e-05,1793254912521716480
+282,4.700000000,POSE2_TO_POSE3_RETREAT,785.155131653,761.844868347,737.844868347,716.155131653,676,644,916,799,841,658,635,658,0.459027927265,0.00447714617977,0.0594381287169,0.99999963305,-6.93488822491e-05,-0.000851815295386,-5.91653543516e-05,1793254912538383616
+283,4.716666667,POSE2_TO_POSE3_RETREAT,785.73311694,761.26688306,737.26688306,716.73311694,676,644,916,799,841,658,635,658,0.458962680236,0.00447942799274,0.059419389207,0.999999611452,-6.62676352277e-05,-0.000877004347096,-5.9732460044e-05,1793254912555049984
+284,4.733333333,POSE2_TO_POSE3_RETREAT,786,761,737.309263824,716.690736176,675.690736176,644.309263824,916,799,841,658,635.309263824,658,0.458891630064,0.00448099661412,0.0594039527523,0.999999594332,-6.37446956392e-05,-0.00089647734039,-6.00024698968e-05,1793254912571716864
+285,4.750000000,POSE2_TO_POSE3_RETREAT,786,761,737.883833575,716.116166425,675.116166425,644.883833575,916,799,841,658,635.883833575,658,0.458815601598,0.00448195341483,0.059391349867,0.999999581292,-6.17007074232e-05,-0.000911046738562,-6.0017612264e-05,1793254912588383488
+286,4.766666667,POSE2_TO_POSE3_RETREAT,786,761,738,716,675.469601743,645,916,799.469601743,841,658,636,658,0.458726531092,0.00448131186794,0.059387019254,0.999999576816,-6.27295214327e-05,-0.000915905322732,-5.95890362379e-05,1793254912605050112
+287,4.783333333,POSE2_TO_POSE3_RETREAT,785.94279269,761,738,716,676,645,916,800,841,658,636,657.94279269,0.458632220618,0.004480495157,0.0593851525199,0.999999574959,-6.40300116387e-05,-0.00091787631617,-5.9032182663e-05,1793254912621716480
+288,4.800000000,POSE2_TO_POSE3_RETREAT,785.364303351,761,738,716,676,645,916,800,841,658,636,657.364303351,0.458520278882,0.00448177316434,0.0593866350349,0.999999576965,-6.07104653188e-05,-0.000915958954125,-5.83310606953e-05,1793254912638383360
+289,4.816666667,POSE2_TO_POSE3_RETREAT,785,761.214053454,738,716.214053454,676,644.785946546,916,799.785946546,841,658,636,657.214053454,0.458397518388,0.00448312635636,0.0593875014409,0.999999578408,-5.74249931493e-05,-0.000914637719323,-5.76578854442e-05,1793254912655050240
+290,4.833333333,POSE2_TO_POSE3_RETREAT,785,761.792184779,738,716.792184779,676,644.207815221,916,799.207815221,841,658,636,657.792184779,0.458256356564,0.00448460742789,0.0593873199231,0.999999578905,-5.41974771419e-05,-0.000914330421821,-5.70322440981e-05,1793254912671716864
+291,4.850000000,POSE2_TO_POSE3_RETREAT,785,762,737.632739016,717,676,644,916,799.367260984,841,658,635.632739016,658,0.458097211277,0.00448584035076,0.0593880621944,0.999999580206,-4.97328020564e-05,-0.000913243200427,-5.56831054138e-05,1793254912688383488
+292,4.866666667,POSE2_TO_POSE3_RETREAT,785,762,737.059377241,717,676,644,916,799.940622759,841,658,635.059377241,658,0.457927973956,0.00448693401684,0.0593893228808,0.999999581937,-4.4573853448e-05,-0.000911718298589,-5.39279519257e-05,1793254912705049856
+293,4.883333333,POSE2_TO_POSE3_RETREAT,785.529643104,761.470356896,737.529643104,717,676,644.529643104,916,799.470356896,841,658,635.529643104,658,0.45772457855,0.00448933370441,0.0593899298576,0.999999582429,-3.73473396914e-05,-0.000911579242098,-5.262772669e-05,1793254912721716736
+294,4.900000000,POSE2_TO_POSE3_RETREAT,786,761,738,717,676,645,916,799.118194626,841,658,636,658,0.457511824668,0.00449165722278,0.0593905878741,0.999999583984,-3.05712083656e-05,-0.000910194521009,-5.14032466392e-05,1793254912738383104
+295,4.916666667,POSE2_TO_POSE3_RETREAT,786,761,738,717,676,645,916,799.697853349,841,658,636,658,0.457277939166,0.00449309429533,0.0593917400096,0.999999590391,-2.64860349086e-05,-0.000903321320656,-5.02693075971e-05,1793254912755049728
+296,4.933333333,POSE2_TO_POSE3_RETREAT,785.724332131,761,738,716.724332131,676.275667869,645,916,800,841,658,636,658,0.457028136242,0.00449419667673,0.0593959701388,0.999999598644,-2.13470364864e-05,-0.000894369517443,-4.85634840148e-05,1793254912771716352
+297,4.950000000,POSE2_TO_POSE3_RETREAT,785.148525557,761,738,716.148525557,676.851474443,645,916,800,841,658,636,658,0.456761002933,0.00449493465662,0.0594035514928,0.999999608837,-1.50606660677e-05,-0.000883154595652,-4.62350101823e-05,1793254912788383232
+298,4.966666667,POSE2_TO_POSE3_RETREAT,785.434604243,761.434604243,738,716.434604243,677,645.434604243,916.434604243,800,841,658,635.565395757,658,0.456476159665,0.00449839781393,0.0594167034486,0.999999624636,-5.695170771e-06,-0.000865318676355,-4.38131764558e-05,1793254912805050112
+299,4.983333333,POSE2_TO_POSE3_RETREAT,785.979833557,762,738,717,677,645.979833557,917,800,841,658,635,657.979833557,0.45618348373,0.00450266302634,0.0594320599405,0.999999642433,4.65245719679e-06,-0.000844633090416,-4.13270715562e-05,1793254912821716992
+300,5.000000000,POSE2_TO_POSE3_RETREAT,785.397427065,762,738,717,677,645.397427065,917,800,841,658,635,657.397427065,0.455844064813,0.00450287912967,0.059454892732,0.999999672232,1.25413432645e-05,-0.00080866463308,-3.7953861387e-05,1793254912838383616
+301,5.016666667,POSE2_TO_POSE3_RETREAT,785,761.81763764,738,716.81763764,677.18236236,645,916.81763764,800,841,658,635,657,0.455496268623,0.00450396979723,0.0594811843456,0.999999703263,2.12959668057e-05,-0.00076930786566,-3.4427480548e-05,1793254912855049984
+302,5.033333333,POSE2_TO_POSE3_RETREAT,785,761.243471037,738,716.243471037,677.756528963,645,916.243471037,800,841,658,635,657,0.455130473965,0.00450693945982,0.0595149072111,0.999999737897,3.19106201823e-05,-0.000722671343387,-3.05720140808e-05,1793254912871716352
+303,5.050000000,POSE2_TO_POSE3_RETREAT,785.331148272,761,737.668851728,716,678,645.331148272,916.331148272,799.668851728,841,658,635.331148272,657.331148272,0.454727736753,0.00450958792513,0.0595391332165,0.999999757584,4.33919778085e-05,-0.000694439850758,-2.64846281091e-05,1793254912888382976
+304,5.066666667,POSE2_TO_POSE3_RETREAT,785.90610094,761,737.09389906,716,678,645.90610094,916.90610094,799.09389906,841,658,635.90610094,657.90610094,0.45429780094,0.00451199991266,0.0595563672631,0.999999767176,5.55114383652e-05,-0.000679758861424,-2.22264934923e-05,1793254912905049600
+305,5.083333333,POSE2_TO_POSE3_RETREAT,785.507041628,761,737.492958372,716,678.492958372,646,917,799,841,658,635.507041628,658,0.453821350962,0.00451547866329,0.059551829156,0.999999759015,6.71938428152e-05,-0.000690723197832,-1.8883366832e-05,1793254912921716992
+306,5.100000000,POSE2_TO_POSE3_RETREAT,785.080032807,761,738,716.080032807,679,646,916.919967193,799.080032807,841,658,635.080032807,658,0.453327428995,0.0045192289639,0.0595425418046,0.999999747159,7.88205790805e-05,-0.000706557090116,-1.57102167131e-05,1793254912938384384
+307,5.116666667,POSE2_TO_POSE3_RETREAT,785.654102722,761,738,716.654102722,679,646,916.345897278,799.654102722,841,658,635.654102722,658,0.452781699404,0.00452337015836,0.0595301714543,0.999999735498,9.06303034528e-05,-0.00072154978716,-1.24838048423e-05,1793254912955051264
+308,5.133333333,POSE2_TO_POSE3_RETREAT,785.769449352,761,737.769449352,717,679,646,916,800,841,658,636,658,0.452241741836,0.00452636326684,0.0595323923408,0.999999739391,0.000103134894499,-0.000714495979559,-8.77808901519e-06,1793254912971718144
+309,5.150000000,POSE2_TO_POSE3_RETREAT,785.189396525,761,737.189396525,717,679,646,916,800,841,658,636,658,0.451710534371,0.00452761593947,0.0595567327454,0.99999976603,0.000116692864644,-0.000674020874634,-4.34577477824e-06,1793254912988384768
+310,5.166666667,POSE2_TO_POSE3_RETREAT,785,761.387560187,737.387560187,717,679.387560187,646.387560187,916,800,841,658,635.612439813,658,0.451153133839,0.0045311261873,0.0595897786911,0.999999796419,0.000131452036155,-0.000624405687653,6.24367479483e-07,1793254913005050880
+311,5.183333333,POSE2_TO_POSE3_RETREAT,785,761.963015835,737.963015835,717,679.963015835,646.963015835,916,800,841,658,635.036984165,658,0.450583034499,0.00453573094414,0.0596270452236,0.999999826554,0.000146793568891,-0.000570359240621,5.85525734883e-06,1793254913021716992
+312,5.200000000,POSE2_TO_POSE3_RETREAT,785,761.446793824,737.446793824,717,680.553206176,647,916,799.446793824,841,658,635.553206176,658,0.449943274906,0.00453961150488,0.059624875859,0.999999824522,0.000160737055514,-0.000570112307237,9.56285568657e-06,1793254913038383360
+313,5.216666667,POSE2_TO_POSE3_RETREAT,785,761.141179107,737,717,681.141179107,647.141179107,916.141179107,799,840.858820893,658,636,658,0.449277474769,0.00454363792819,0.0596168507589,0.999999816628,0.000175525055758,-0.000579443842969,1.34278174798e-05,1793254913055050240
+314,5.233333333,POSE2_TO_POSE3_RETREAT,785,761.719160165,737,717,681.719160165,647.719160165,916.719160165,799,840.280839835,658,636,658,0.448545909544,0.00454826953773,0.0595990885603,0.999999796957,0.000193223031689,-0.000606978124498,1.81033598192e-05,1793254913071716864
+315,5.250000000,POSE2_TO_POSE3_RETREAT,785,761.704601534,737,717,682.295398466,648,916.704601534,799.295398466,840,658,636,658,0.44783941471,0.00455128545877,0.0596050979512,0.999999801571,0.000206741035378,-0.000594644406331,2.26534675186e-05,1793254913088383232
+316,5.266666667,POSE2_TO_POSE3_RETREAT,785,761.130010316,737,717,682.869989684,648,916.130010316,799.869989684,840,658,636,658,0.447156614806,0.00455277432936,0.0596335748078,0.999999827928,0.000216308384083,-0.000544629870082,2.70850225049e-05,1793254913105050112
+317,5.283333333,POSE2_TO_POSE3_RETREAT,785,761,737,717,683,648,916.446099874,800,840,657.553900126,636,658,0.446438552197,0.00455593177686,0.0596745629844,0.99999985219,0.000230896257497,-0.000491138418249,3.30043065022e-05,1793254913121716992
+318,5.300000000,POSE2_TO_POSE3_RETREAT,785,761,737,717,683.023384328,648,916.976615672,800,840,657.023384328,636,658,0.445707035022,0.00455942948225,0.05971685677,0.999999872199,0.00024677522952,-0.000439501363569,3.92810399767e-05,1793254913138383616
+319,5.316666667,POSE2_TO_POSE3_RETREAT,785,761,737,717,683.618519902,648,916.381480098,800,840,657.618519902,636,658,0.44489868024,0.00455931615038,0.0597016164149,0.999999860769,0.000258324829115,-0.000458064743234,4.36601518131e-05,1793254913155049984
+320,5.333333333,POSE2_TO_POSE3_RETREAT,784.794213587,761,737,717.205786413,684,648.205786413,916,800,840,658,636,658,0.444090477526,0.00455920403335,0.0596979930537,0.999999857931,0.000269015085484,-0.000457649627168,4.8219566695e-05,1793254913171716352
+321,5.350000000,POSE2_TO_POSE3_RETREAT,784.220997259,761,737,717.779002741,684,648.779002741,916,800,840,658,636,658,0.443282546376,0.00455909408542,0.0597151117386,0.999999870289,0.000278170990983,-0.000423348564799,5.31009108827e-05,1793254913188382976
+322,5.366666667,POSE2_TO_POSE3_RETREAT,784.353373059,761,737,718,684.353373059,649,916,800,840,657.646626941,636,658,0.44246291676,0.004560794768,0.0597405337143,0.999999881761,0.00028953418854,-0.000386303775789,5.84638558897e-05,1793254913205049600
+323,5.383333333,POSE2_TO_POSE3_RETREAT,784.928467419,761,737,718,684.928467419,649,916,800,840,657.071532581,636,658,0.44163594706,0.00456363151726,0.0597711655276,0.999999891865,0.000302282334513,-0.000347537456877,6.41289775189e-05,1793254913221716224
+324,5.400000000,POSE2_TO_POSE3_RETREAT,785,761,737,718,685,649.516013733,916,800,840,657.516013733,636,658,0.440765414831,0.00456578129875,0.0597751234366,0.999999891668,0.000297590640223,-0.000352301807707,6.31462405232e-05,1793254913238382848
+325,5.416666667,POSE2_TO_POSE3_RETREAT,784.896016903,761,737,718,685,649.896016903,916,800,840,658,635.896016903,658,0.439886332144,0.00456662149861,0.0597797179107,0.999999897988,0.000275367871031,-0.000353452658829,5.71556857533e-05,1793254913255049728
+326,5.433333333,POSE2_TO_POSE3_RETREAT,784.314231624,761,737,718,685,649.314231624,916,800,840,658,635.314231624,658,0.438996395151,0.00456189257961,0.0598046483758,0.999999934627,0.000183973422496,-0.000309585511602,3.24935019421e-05,1793254913271716352
+327,5.450000000,POSE2_TO_POSE3_RETREAT,784,761,737,718,685,649.264055754,916,800,840,658,635.264055754,657.735944246,0.438056616766,0.00456040213851,0.0598069264342,0.999999941193,0.000143822866831,-0.000310513681299,2.25674037684e-05,1793254913288382976
+328,5.466666667,POSE2_TO_POSE3_RETREAT,784,761,737,718,685,649.838235056,916,800,840,658,635.838235056,657.161764944,0.437058301422,0.00456271516725,0.0597826000968,0.99999991986,0.000163856324685,-0.000364052261832,2.99482807411e-05,1793254913305049600
+329,5.483333333,POSE2_TO_POSE3_RETREAT,784,761,737.422536477,718,685,649.577463523,916,800,840,658,635.577463523,657.422536477,0.4361010738,0.00456711581372,0.0597474723395,0.999999899108,0.000181349349732,-0.000409574072003,3.38309197271e-05,1793254913321716992
+330,5.500000000,POSE2_TO_POSE3_RETREAT,784,760.989363862,737.989363862,718.010636138,685.021272277,649.010636138,916,800,840,657.989363862,635,657.989363862,0.435160327055,0.00457221213063,0.0597092096957,0.999999878468,0.000197556285027,-0.000450239347127,3.63314108629e-05,1793254913338384384
+331,5.516666667,POSE2_TO_POSE3_RETREAT,784,760.410454553,737.410454553,718.589545447,686.179090894,649.589545447,916,800,840,657.410454553,635,657.410454553,0.434239061358,0.004570727439,0.0597298171584,0.999999899834,0.000198288606649,-0.000399432688579,3.82974708003e-05,1793254913355050240
+332,5.533333333,POSE2_TO_POSE3_RETREAT,784,760.167878198,737.167878198,719,686.832121802,650,916.167878198,800,840,657.167878198,635.167878198,657.167878198,0.43330530082,0.00456941222341,0.059750277546,0.999999915862,0.000195990649875,-0.000358201245105,3.94279080558e-05,1793254913371716608
+333,5.550000000,POSE2_TO_POSE3_RETREAT,784,760.744806082,737.744806082,719,686.255193918,650,916.744806082,800,840,657.744806082,635.744806082,657.744806082,0.432341095579,0.0045685099509,0.0597703795711,0.999999924,0.000186309159802,-0.000340300642845,3.85222787631e-05,1793254913388383488
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783.680248781,761,738,719,686,650,916.680248781,800,840,658,636,657.680248781,0.431390588553,0.00455956389409,0.0597950345762,0.999999939611,0.000167314466318,-0.000302501943543,3.57377840915e-05,1793254913405050368
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783.106876354,761,738,719,686,650,916.106876354,800,840,658,636,657.106876354,0.430450946763,0.00454423764492,0.0598233009262,0.999999958593,0.000140932698903,-0.00024892041342,3.14630054271e-05,1793254913421716992
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783,761,738,719,686.481135216,650,916,800,839.518864784,658,635.518864784,657,0.429460702855,0.00455159706663,0.059812477732,0.999999948344,0.000146631444632,-0.000284333259925,3.10890452736e-05,1793254913438383360
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783,761,738,719,686.929012581,650,916,800,839,658,635.070987419,657,0.428461776975,0.00456277222151,0.0597907082683,0.999999929915,0.000157360184167,-0.000338271363093,3.13052431389e-05,1793254913455049984
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783,761,738,719,686.349990625,650,916,800,839,658,635.650009375,657,0.427483686184,0.00456405929163,0.0597546921561,0.999999916324,0.000151486868446,-0.000378871124991,2.93491220651e-05,1793254913471716608
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783,760.771887425,738,719.228112575,686.228112575,650,916,800,839.228112575,658,635.771887425,657.228112575,0.426521455044,0.00456341600867,0.0597416184001,0.999999912983,0.000142263784307,-0.000391124900058,2.85580083083e-05,1793254913488383232
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783,760.19518812,738,719.80481188,686.80481188,650,916,800,839.80481188,658,635.19518812,657.80481188,0.42558345944,0.00455982288648,0.0597636036484,0.999999926559,0.000127921802279,-0.000360062197106,2.95471823397e-05,1793254913505049856
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783,760.378460086,738,719.621539914,686.621539914,650,916,800,839.621539914,658,635,658,0.42464399627,0.00456285761712,0.0597909051959,0.99999993822,0.000127015597676,-0.000326244508953,3.14853042875e-05,1793254913521716736
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783,760.950547261,738,719.049452739,686.049452739,650,916,800,839.049452739,658,635,658,0.423703782325,0.00456928327847,0.0598209266577,0.999999948237,0.000132983382823,-0.000291017321737,3.39089252298e-05,1793254913538383360
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,761,738,719.541469342,686.541469342,650,916,800,839.541469342,658,635,657.458530658,0.422819664478,0.00456327169717,0.0598368665984,0.99999995966,0.000115865803754,-0.000257078370605,3.41297178553e-05,1793254913555050240
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,761,738,720,687,650.129596227,916,800,839.870403773,658,635,657,0.421923267579,0.00455917206505,0.0598407507182,0.999999964062,0.000101611764071,-0.000245727111927,3.4205230185e-05,1793254913571716864
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,761,738,720,687,650.702080109,916,800,839.297919891,658,635,657,0.420966768221,0.00456562818358,0.0598079882395,0.999999945526,0.000104608714589,-0.000311151424378,3.44965739643e-05,1793254913588383232
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783,761,738,720,686.721877576,650.721877576,916,800,839,658,635,657,0.420020937065,0.0045675202916,0.059765929299,0.999999922165,9.96243079388e-05,-0.000380264861971,3.3823274125e-05,1793254913605049856
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783,761,738,720,686.141974165,650.141974165,916,800,839,658,635,657,0.419086681667,0.00456446014987,0.0597137830928,0.999999893011,8.59796074761e-05,-0.000453381236589,3.21032729485e-05,1793254913621716480
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783,761,738,720,686.889697818,650,916,800,839,658,635,657,0.41823792239,0.00456217770802,0.0597255190352,0.999999905822,7.29941977956e-05,-0.000426684985178,3.11165339746e-05,1793254913638383104
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783.033328093,761,738,720.033328093,688,650,916,800,839,658,635,657,0.417418224056,0.00456043901836,0.0597587131032,0.99999993009,6.11226240145e-05,-0.000367630243606,3.05287420774e-05,1793254913655049728
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783.612194695,761,738,720.612194695,688,650,916,800,839,658,635,657,0.416620519621,0.00456347388373,0.059804149256,0.999999949812,6.39845218605e-05,-0.000308578771688,3.25800437137e-05,1793254913671716864
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783.809912333,760.809912333,738,721,687.809912333,650,916,800,839,658,635,657,0.415826565705,0.00456371772473,0.0598358014178,0.999999956428,0.000112564367368,-0.000270728338255,3.43352943925e-05,1793254913688383744
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783.233995475,760.233995475,738,721,687.233995475,650,916,800,839,658,635,657,0.415040224235,0.00455829650298,0.0598394756226,0.999999929064,0.000253939916241,-0.000275910560571,3.54896377061e-05,1793254913705050368
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783,760,738,720.657435947,687,650,916,800,839,658,635,657,0.414266631878,0.00455872512304,0.0598402462882,0.999999914876,0.000305408800365,-0.000275199258876,3.518479541e-05,1793254913721716736
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783,760,738,720.080436638,687,650,916,800,839,658,635,657,0.413501764481,0.00456315710907,0.0598390299032,0.999999919237,0.000295349647186,-0.00027045469977,3.38813531306e-05,1793254913738383104
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,760,738,720,687.506199397,649.493800603,916,800,839,658,635,657,0.412702741385,0.00456032989133,0.0597987390157,0.999999900956,0.000282296974727,-0.000342356626824,3.44862433213e-05,1793254913755049984
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783,760.093437062,738,720.093437062,687.906562938,649,916,800,839,658,635,657,0.411914402628,0.00455712247571,0.059755977808,0.999999876238,0.000269483122321,-0.000416755568047,3.48803073841e-05,1793254913771716608
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783,760.675656011,738,720.675656011,687.324343989,649,916,800,839,658,635,657,0.41121089779,0.00455807746316,0.0597334047881,0.999999869073,0.000260455213132,-0.000439268403159,3.25544389264e-05,1793254913788383488
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783,761,738,721,687.253929488,649,915.746070512,800,839,657.746070512,635,657,0.410557152832,0.00455760634018,0.0597411127555,0.999999880237,0.000249294651563,-0.000419967511822,3.17080142442e-05,1793254913805050112
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783,761,738,721,687.827240477,649,915.172759523,800,839,657.172759523,635,657,0.409965993747,0.00455534151726,0.0597869068373,0.999999911168,0.000235451732138,-0.000348075124962,3.27223698769e-05,1793254913821716992
+360,6.000000000,POSE2_TO_POSE3_RETREAT,783,761,738,721,688,649.401341637,915.401341637,799.598658363,839,657.401341637,635,657,0.409381477751,0.00455127899094,0.0598252329217,0.999999932756,0.000222957273896,-0.00028908491118,3.47446168582e-05,1793254913838384128
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783,761,738,721,688,649.975783651,915.975783651,799.024216349,839,657.975783651,635,657,0.408799826898,0.0045464411072,0.0598603380305,0.99999994927,0.000211044411356,-0.000235659453786,3.72015717688e-05,1793254913855051264
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783,760.433798763,738,721,688,650,916,799,839,658,635,657,0.408219375784,0.00454826051103,0.0598541679033,0.999999949813,0.000201132177622,-0.000242232772224,3.5268693901e-05,1793254913871717376
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783,760.154242309,738,721,687.845757691,649.845757691,915.845757691,799.154242309,838.845757691,657.845757691,634.845757691,657,0.407647517947,0.004548984399,0.0598431603819,0.999999948108,0.000190614002024,-0.000257526003196,3.36112902281e-05,1793254913888383232
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783,760.733791764,738,721,687.266208236,649.266208236,915.266208236,799.733791764,838.266208236,657.266208236,634.266208236,657,0.407099209451,0.0045458796038,0.0598238233106,0.999999941644,0.000178182210845,-0.000289582181569,3.3246217125e-05,1793254913905049856
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783.310403693,761,738,721,687.310403693,649.310403693,915.310403693,800,838.310403693,657.310403693,634.310403693,657,0.406598694557,0.00454355770912,0.0598191227521,0.999999941611,0.000169453927972,-0.000294890708359,3.32123788725e-05,1793254913921716736
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783.884519925,761,738,721,687.884519925,649.884519925,915.884519925,800,838.884519925,657.884519925,634.884519925,657,0.406138784152,0.00454190095067,0.0598268570726,0.999999947517,0.000163872069783,-0.000277474983288,3.34599509174e-05,1793254913938383360
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783.540849586,761,738,721.459150414,688.459150414,650,915.540849586,799.540849586,839,658,635,657,0.405693633293,0.00453937913017,0.059827494338,0.999999949121,0.000158694483213,-0.000274613037925,3.40936020807e-05,1793254913955050752
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783,761,738,722,688.929678627,649.964839314,915,799,839,657.964839314,635,657,0.405252865511,0.00453695704736,0.0598251918718,0.999999949159,0.000153893934098,-0.000277111575712,3.47475462722e-05,1793254913971718144
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783,761,738,722,687.737774839,649.36888742,915,799,839,657.36888742,635,657,0.40482273217,0.00453959971903,0.0598045035474,0.999999940617,0.000153483384838,-0.000306660018121,3.41746976623e-05,1793254913988383744
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783,760.781331567,738,721.781331567,687,649,915,799.218668433,839,657,634.781331567,657,0.404411101267,0.0045403891951,0.0597832151149,0.999999930083,0.000152485730722,-0.000339739919481,3.40407494129e-05,1793254914005049600
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783,760.207415922,738,721.207415922,687,649,915,799.792584078,839,657,634.207415922,657,0.404029529339,0.00453816798228,0.059760951753,0.999999916418,0.000150534270213,-0.000378557001553,3.46198356874e-05,1793254914021716480
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783,760.367463296,738,721,687.367463296,649.367463296,915,799.632536704,839,657.367463296,634.367463296,657,0.403707848469,0.00453645063157,0.0597594258984,0.999999917189,0.000149273142751,-0.000376953893571,3.52922136934e-05,1793254914038383104
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783,760.94288789,738,721,687.94288789,649.94288789,915,799.05711211,839,657.94288789,634.94288789,657,0.403420062165,0.00453501843517,0.0597696361768,0.99999992622,0.000148402700553,-0.00035247548365,3.60173890563e-05,1793254914055049728
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783.532923193,761,738,721.532923193,688,650,915,799.532923193,839,657.467076807,635,657,0.4031689764,0.00453391067894,0.0597928018149,0.999999938581,0.000148753149029,-0.000315141140778,3.73719997184e-05,1793254914071716608
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783.878319323,760.878319323,738.121680677,721.878319323,688,650,915.121680677,800,839,657.121680677,635,657,0.402927483513,0.00453281122545,0.0598154461581,0.999999948979,0.000149909109247,-0.000279395276054,3.88180964865e-05,1793254914088383232
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783.300389472,760.300389472,738.699610528,721.300389472,688,650,915.699610528,800,839,657.699610528,635,657,0.402706796493,0.004531608858,0.05983078326,0.999999954901,0.000153580964265,-0.000254917039842,4.03471698607e-05,1793254914105050112
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783,760,738.725355361,721,688.274644639,650,916,800,839,657.725355361,634.725355361,657,0.402489479393,0.00453113059779,0.0598362317926,0.999999954879,0.000162989127327,-0.000248922117378,4.14035678665e-05,1793254914121716992
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783,760,738.153455423,721,688.846544577,650,916,800,839,657.153455423,634.153455423,657,0.40227580966,0.00453143605845,0.0598309776592,0.999999948603,0.000178605851073,-0.000262932185308,4.19483764903e-05,1793254914138383872
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783,760,738,721,688.579845675,650,915.579845675,800,839,657.420154325,634,657.420154325,0.402087569711,0.00452998623166,0.0598246591741,0.999999936705,0.000218477215309,-0.000277609403528,4.23229836536e-05,1793254914155050240
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783,760,738,721,688.005608903,650,915.005608903,800,839,657.994391097,634,657.994391097,0.401908655585,0.00452789269142,0.0598179503612,0.999999920594,0.000267243439762,-0.000292531283676,4.26351730358e-05,1793254914171716608
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783,760,738.589065589,721,688,650,915,799.410934411,838.410934411,658,634,657.410934411,0.401766644183,0.00452723525464,0.0598205291867,0.999999923322,0.000259290438562,-0.000290518804931,4.15108029188e-05,1793254914188383232
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783.178283923,760.178283923,739,721,688.178283923,650,915,799.178283923,838.178283923,658,634.178283923,657,0.401634617927,0.00452428048283,0.0598231855183,0.999999931138,0.000230848458444,-0.000288345447078,3.59267197831e-05,1793254914205049856
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783.754862486,760.754862486,739,721,688.754862486,650,915,799.754862486,838.754862486,658,634.754862486,657,0.401524085768,0.00451616171036,0.0598258103349,0.999999946377,0.000157883031126,-0.000286185850589,2.04110854577e-05,1793254914221716480
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783.670689502,760.670689502,738.670689502,721,688.670689502,649.670689502,915.329310498,799.670689502,839,658,634.670689502,657,0.401428810452,0.00451376277748,0.0598283089131,0.999999952105,0.000128659719451,-0.000281136391381,1.41161277228e-05,1793254914238383360
+385,6.416666667,POSE2_TO_POSE3_RETREAT,783.097817209,760.097817209,738.097817209,721,688.097817209,649.097817209,915.902182791,799.097817209,839,658,634.097817209,657,0.401344819259,0.00451559430226,0.059830714124,0.999999953685,0.000131788567455,-0.00027394955739,1.46408858335e-05,1793254914255050240
+386,6.433333333,POSE2_TO_POSE3_RETREAT,783,760,738,721,688,649.493756828,915.506243172,799.493756828,838.506243172,657.506243172,634,657,0.40127231033,0.00451757036895,0.0598304319198,0.99999995291,0.000133901503122,-0.000275731603192,1.48856093059e-05,1793254914271716864
+387,6.450000000,POSE2_TO_POSE3_RETREAT,783,760.085628756,738,721.085628756,688,650,915,800,838,657.085628756,634.085628756,657,0.401203786265,0.00451861318294,0.0598290293666,0.999999951587,0.000135034658248,-0.000279926836304,1.52470922305e-05,1793254914288383488
+388,6.466666667,POSE2_TO_POSE3_RETREAT,783,760.657332573,738,721.657332573,688,650,915,800,838,657.657332573,634.657332573,657,0.401144461483,0.00451418940505,0.059824408266,0.999999949896,0.00013179348944,-0.000287337441374,1.65986805779e-05,1793254914305050112
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783.231768766,760.768231234,738,722,688,650,915,800,838.231768766,657.768231234,634.768231234,657,0.401094372487,0.00451275409341,0.0598216017586,0.999999948498,0.000131641470864,-0.000292186851034,1.7351585727e-05,1793254914321716736
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ace79619dec74dddc81e2f085604dc211dbd5a2d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,419 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..127cbb2e6b763a3e42495618051b944f80b94bae
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
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+size 26232139
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..59f39777e737b9a05b23419d44f3a8549ff2dab4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_01/franka_data.csv
@@ -0,0 +1,415 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+35,0.583333333,BASELINE,784,760.701268781,738,723,691,649,915,800,838.298731219,657.701268781,635,657,0.400934270845,0.00455972822793,0.0499307074904,0.999999973612,8.96179847046e-05,-0.000210309088072,-2.26872019742e-05,1793254916650064128
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+53,0.883333333,BASELINE,783,761,738.758042461,722.241957539,691,649,914.758042461,800,838.758042461,658,635,657,0.400936328579,0.0045593197068,0.0499311271735,0.999999974042,8.81359324756e-05,-0.000208896425341,-2.25713135292e-05,1793254916950063872
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+56,0.933333333,BASELINE,783.493537848,761,738.493537848,723,691,649,915,800,838.506462152,657.493537848,635,657,0.400935579305,0.00456066173437,0.0499305175445,0.999999973564,8.98643258894e-05,-0.000210431941211,-2.26818213415e-05,1793254917000064000
+57,0.950000000,BASELINE,784,761,739,723,691,649,915,800,838,658,635,657,0.400935589486,0.00456031127451,0.0499302849552,0.99999997337,9.08172133422e-05,-0.000210941198649,-2.27146267298e-05,1793254917016730624
+58,0.966666667,BASELINE,784,761,739,723,691,649,915,800,838,658,635,657,0.400935480503,0.00456117560925,0.0499302398757,0.999999973522,9.05368878484e-05,-0.000210302247992,-2.30727142107e-05,1793254917033397248
+59,0.983333333,BASELINE,783.756257235,761,738.756257235,723,691,649,915,800,838,658,635,657,0.400936076571,0.00456119645657,0.049930607832,0.999999973777,8.99987322766e-05,-0.00020931345669,-2.31194379353e-05,1793254917050064128
+60,1.000000000,BASELINE,783.176953599,761,738.176953599,723,691,649,915,800,838,658,635,657,0.400937643283,0.00456005607413,0.0499315444149,0.999999974172,8.91056217768e-05,-0.00020784303938,-2.27375069628e-05,1793254917066730752
+61,1.016666667,BASELINE,783.400903255,761,738,722.599096745,691,649,915,800,838,658,635,657,0.400937185792,0.00456087073176,0.0499314385492,0.999999974019,9.00477765242e-05,-0.000208179588584,-2.26650300887e-05,1793254917083397376
+62,1.033333333,BASELINE,783.97812378,761,738,722.02187622,691,649,915,800,838,658,635,657,0.400935838056,0.00456254521617,0.0499308742145,0.999999973623,9.17970810593e-05,-0.000209310841825,-2.27286511632e-05,1793254917100064256
+63,1.050000000,BASELINE,783.445664328,761,738.554335672,722.554335672,691,649,915,800,838,658,635,657,0.400935388735,0.00456119933774,0.0499308714138,0.999999973722,9.01669893059e-05,-0.000209551311451,-2.26829496101e-05,1793254917116730624
+64,1.066666667,BASELINE,783.132998788,761,739,722.867001212,691,649,915,800,838.132998788,658,635,657,0.400935251903,0.00455986916139,0.0499309149869,0.999999973868,8.86821247694e-05,-0.000209494066678,-2.26354929493e-05,1793254917133397248
+65,1.083333333,BASELINE,783.720168104,761,739,722.279831896,691,649,915,800,838.720168104,658,635,657,0.40093606132,0.00455899889924,0.0499310413826,0.999999974115,8.81477795662e-05,-0.000208539999394,-2.25967487565e-05,1793254917150064128
+66,1.100000000,BASELINE,784,761,738.696664183,722.606671633,691,649,915,800,838.696664183,658,635,657,0.400935371295,0.0045589279039,0.0499303532333,0.99999997398,8.76951579311e-05,-0.000209367863012,-2.27002588056e-05,1793254917166730752
+67,1.116666667,BASELINE,784,761,738.117139979,723.765720043,691,649,915,800,838.117139979,658,635,657,0.400933316024,0.00455958464399,0.0499289234375,0.999999973491,8.73169459374e-05,-0.00021181818139,-2.29332918726e-05,1793254917183397376
+68,1.133333333,BASELINE,783.540016424,761,738,723.540016424,691,649,915,800,838,658,635,657,0.400934796522,0.00455971467984,0.0499294381375,0.999999973829,8.77815038189e-05,-0.000210037226684,-2.28399380209e-05,1793254917200064000
+69,1.150000000,BASELINE,783.036381446,761,738,723,691,649,915,800,838.036381446,658,635,657,0.400936903007,0.00455971888372,0.0499303662246,0.999999974298,8.85435519621e-05,-0.000207486538581,-2.26620742258e-05,1793254917216730880
+70,1.166666667,BASELINE,783.611040143,761,738,723,691,649,915,800,838.611040143,658,635,657,0.400935018268,0.00455983557357,0.0499301220789,0.999999973723,9.05481706352e-05,-0.000209407213546,-2.24572328402e-05,1793254917233397248
+71,1.183333333,BASELINE,783.815080278,761,738,722.815080278,691,649,914.815080278,800,838.815080278,658,635,657,0.400934351407,0.00455997890125,0.0499302179516,0.999999973506,9.13025870982e-05,-0.000210117368284,-2.24342567787e-05,1793254917250063872
+72,1.200000000,BASELINE,783.242832511,761,738,722.242832511,691,649,914.242832511,800,838.242832511,658,635,657,0.40093623548,0.00456017802386,0.0499310260181,0.999999974048,8.94383628686e-05,-0.000208291999173,-2.27922110623e-05,1793254917266730496
+73,1.216666667,BASELINE,783,761,738.344047359,722.344047359,691,649,914.344047359,800,838,658,635,657,0.400937142088,0.00455971501768,0.049931405278,0.999999974296,8.85569039191e-05,-0.000207474787538,-2.28221760227e-05,1793254917283397120
+74,1.233333333,BASELINE,783,761,738.941713427,722.941713427,691,649,914.941713427,800,838,658,635,657,0.400937328145,0.00455876391518,0.0499314684376,0.99999997433,8.83999025034e-05,-0.000207400751602,-2.26103596287e-05,1793254917300063744
+75,1.250000000,BASELINE,783.517214762,761,739,723,691,649.517214762,915,800.517214762,838,658,635,657,0.400937759511,0.00456009356783,0.0499319693784,0.999999974175,9.0163368238e-05,-0.000207391695836,-2.25667562562e-05,1793254917316730624
+76,1.266666667,BASELINE,784,761,738.907106986,723,691,649.907106986,915,800.907106986,838,658,635,657,0.400938176987,0.00456106260945,0.0499323851743,0.999999974081,9.14075568647e-05,-0.000207308915279,-2.24890423988e-05,1793254917333397504
+77,1.283333333,BASELINE,784,761,738.317680366,723,691,649.317680366,915,800.317680366,838,658,635,657,0.400938378517,0.00455878670368,0.0499320929824,0.999999974433,8.87668012733e-05,-0.000206794525874,-2.21318378574e-05,1793254917350064384
+78,1.300000000,BASELINE,783.732965783,761,738,723,691,649,915,800.267034217,838,658,635,657,0.400938460676,0.00455836953408,0.0499321158954,0.99999997463,8.78942255491e-05,-0.000206215704432,-2.21418247265e-05,1793254917366731008
+79,1.316666667,BASELINE,783.153759767,761,738,723,691,649,915,800.846240233,838,658,635,657,0.400938403285,0.00456012528846,0.0499325071763,0.999999974649,8.90887105394e-05,-0.000205561559855,-2.25810704795e-05,1793254917383397120
+80,1.333333333,BASELINE,783.424156925,761,738.424156925,723,691,649,915,801,838,658,635,657,0.400938133357,0.00455877169909,0.0499321993315,0.999999974712,8.77853368148e-05,-0.000205841711112,-2.23239337797e-05,1793254917400063744
+81,1.350000000,BASELINE,784,761,739,723,691,649,915,801,838,658,635,657,0.400937790918,0.00455630625455,0.0499316427334,0.999999974787,8.55892128772e-05,-0.000206455635412,-2.18176496431e-05,1793254917416730368
+82,1.366666667,BASELINE,784,761,739,723,691,649,915,801,838,658,635,657,0.400938988961,0.00455809863776,0.0499324889943,0.99999997482,8.69736766077e-05,-0.000205676528244,-2.22178979854e-05,1793254917433396992
+83,1.383333333,BASELINE,783.84550961,761,739,723,691,649,915,800.84550961,838.15449039,658,634.84550961,657,0.400939669992,0.00455968743822,0.0499330695618,0.999999974816,8.82992985626e-05,-0.000205092028192,-2.25303058474e-05,1793254917450063616
+84,1.400000000,BASELINE,783.25643903,761,739,723,691,649,915,800.25643903,838.74356097,658,634.25643903,657,0.40093889667,0.00456070356247,0.0499329027362,0.999999974719,8.94593994054e-05,-0.000205054956179,-2.25956192551e-05,1793254917466730496
+85,1.416666667,BASELINE,783.327206337,761,739,723,691,649,915,800,839,658,634,657,0.400937905483,0.00456008081001,0.0499322778624,0.999999974611,8.79020287225e-05,-0.00020626198063,-2.25387031143e-05,1793254917483397376
+86,1.433333333,BASELINE,783.906669154,761,739,723,691,649,915,800,839,658,634,657,0.400936746334,0.00455819458175,0.0499312998609,0.999999974479,8.4249650244e-05,-0.000208428128912,-2.2387555311e-05,1793254917500064256
+87,1.450000000,BASELINE,784,761,738.517236315,723,691,649,915,800,838.517236315,658,634.482763685,657,0.400939395566,0.00455795672697,0.0499323583474,0.999999974929,8.57069788293e-05,-0.000205679984246,-2.21748629643e-05,1793254917516730624
+88,1.466666667,BASELINE,783.940641191,761,738.059358809,723,691,649,915,800.059358809,838,658,635,657,0.400942173015,0.0045580639304,0.0499335488008,0.999999975379,8.78865300199e-05,-0.00020256997168,-2.19987778774e-05,1793254917533397504
+89,1.483333333,BASELINE,783.353852127,761,738.646147873,723,691,649,915,800.646147873,838,658,635,657,0.400939593043,0.0045584251915,0.0499324378187,0.999999974965,8.77667652807e-05,-0.00020462783705,-2.22529532654e-05,1793254917550064128
+90,1.500000000,BASELINE,783.23128888,761,738.76871112,723,691,649,914.76871112,800.76871112,838.23128888,658,635,657,0.400937782315,0.00455867145656,0.049931529041,0.999999974616,8.74235050302e-05,-0.000206449571264,-2.24324030708e-05,1793254917566730496
+91,1.516666667,BASELINE,783.813926288,761,738.186073712,723,691,649,914.186073712,800.186073712,838.813926288,658,635,657,0.400937140138,0.00455874303229,0.0499309274299,0.999999974371,8.67407350874e-05,-0.000207912600915,-2.24983379986e-05,1793254917583397376
+92,1.533333333,BASELINE,784,761,738,723,691,649,914.390893256,800,838.609106744,658,635,657,0.400937407251,0.0045589211703,0.0499308535186,0.999999974359,8.70477811773e-05,-0.00020783447129,-2.25616771291e-05,1793254917600064000
+93,1.550000000,BASELINE,784,761,738,723,691,649,914.965199619,800,838.034800381,658,635,657,0.400938101018,0.00455914930897,0.0499310272122,0.999999974457,8.78192640597e-05,-0.000207033206243,-2.26237982777e-05,1793254917616730880
+94,1.566666667,BASELINE,783.45752658,761,738,723,691,649.54247342,915,800.54247342,838,658,635,657,0.400938433049,0.00455942565704,0.0499315610354,0.999999974556,8.80476933692e-05,-0.000206462807514,-2.2536024006e-05,1793254917633397760
+95,1.583333333,BASELINE,783,761,738.12241278,723,691,649.87758722,915,800.87758722,838.12241278,657.87758722,635,657,0.400938535032,0.00455976214676,0.0499320186932,0.999999974572,8.85533682388e-05,-0.000206183721462,-2.24117081188e-05,1793254917650064384
+96,1.600000000,BASELINE,783,761,738.711790369,723,691,649.288209631,915,800.288209631,838.711790369,657.288209631,635,657,0.400937848467,0.00456031619479,0.0499320971905,0.999999974265,9.02502695289e-05,-0.000206959090546,-2.21848814795e-05,1793254917666730752
+97,1.616666667,BASELINE,783,761,739,722.704520087,691.295479913,649,915,800,838.704520087,657.295479913,635,656.704520087,0.400937275267,0.00455957827375,0.0499317137075,0.99999997416,8.96927230496e-05,-0.000207736835899,-2.19181303781e-05,1793254917683397376
+98,1.633333333,BASELINE,783,761,739,722.126273884,691.873726116,649,915,800,838.126273884,657.873726116,635,656.126273884,0.400936810555,0.0045576039732,0.0499308881219,0.999999974244,8.69777308841e-05,-0.000208516855233,-2.1613172659e-05,1793254917700064000
+99,1.650000000,BASELINE,783.44966546,761,738.55033454,722.44966546,691.55033454,649.44966546,915,800,838.44966546,658,635,656.44966546,0.400937068668,0.0045575586522,0.0499309922159,0.999999974429,8.63054713561e-05,-0.000207904306912,-2.16442376576e-05,1793254917716730624
+100,1.666666667,BASELINE,783.975087462,761,738.024912538,723,691,650,915,800,838.975087462,658,635,657,0.400937450552,0.00455808756909,0.0499312989859,0.999999974607,8.63018002946e-05,-0.000207034648873,-2.17813562339e-05,1793254917733397248
+101,1.683333333,BASELINE,783.400893338,761,738.599106662,723,691,650,915,800,838.400893338,658,635,657,0.400936108835,0.00455939505155,0.0499303476385,0.999999973986,8.84562579978e-05,-0.000209074311016,-2.21868958071e-05,1793254917750063872
+102,1.700000000,BASELINE,783,761,738.820913456,723,691,649.820913456,915,800,838,658,635,657,0.40093561135,0.00455985377693,0.0499298420523,0.999999973662,8.95006803672e-05,-0.000210157063884,-2.23705656893e-05,1793254917766730752
+103,1.716666667,BASELINE,783,761,738.227549574,723,691,649.227549574,915,800,838,658,635,657,0.400937066808,0.00455834908927,0.0499303676367,0.999999974041,8.79772797869e-05,-0.000209026217284,-2.20409887739e-05,1793254917783397632
+104,1.733333333,BASELINE,783.356208834,761,738.356208834,723,691,649.356208834,915,800,838.356208834,658,635,657,0.400937572416,0.00455757777653,0.0499305277085,0.999999974206,8.72872144442e-05,-0.000208549627864,-2.18305767224e-05,1793254917800064000
+105,1.750000000,BASELINE,783.933992349,761,738.933992349,723,691,649.933992349,915,800,838.933992349,658,635,657,0.400937487181,0.00455726264915,0.0499304604184,0.999999974238,8.71155133843e-05,-0.000208480009784,-2.16942894616e-05,1793254917816730624
+106,1.766666667,POSE1_TO_POSE2_PRESS,784,761,738,723,691,650,915,800,838,658,635,657,0.400939172126,0.00455900192239,0.0499320717733,0.99999997494,8.38895549226e-05,-0.000206322070521,-2.26547410463e-05,1793254917847776512
+107,1.783333333,POSE1_TO_POSE2_PRESS,783.408415183,761,738,723,691,649.408415183,915,800,838,658,635.591584817,657,0.400938622103,0.00455951498498,0.0499322880566,0.999999974701,8.76925903581e-05,-0.000205921366366,-2.2447216505e-05,1793254917864443648
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,761,738.179078799,723,691,649,915,800,838,657.820921201,635.820921201,657,0.400937624434,0.00455938749228,0.0499318929648,0.999999974352,8.9926920018e-05,-0.000206678207783,-2.2200712736e-05,1793254917881110528
+109,1.816666667,POSE1_TO_POSE2_PRESS,783,761,738.757451517,723,691,649,915,800,838,657.242548483,635.242548483,657,0.400935628647,0.00455783174669,0.0499301346834,0.999999973777,8.86634903389e-05,-0.000210016040889,-2.18672965256e-05,1793254917897777152
+110,1.833333333,POSE1_TO_POSE2_PRESS,783.334274667,761,739,723,691,649.334274667,915,800,838,657,635,657,0.400935483092,0.00455717577096,0.0499297237857,0.999999973838,8.71349478378e-05,-0.000210347000471,-2.2020687028e-05,1793254917914444032
+111,1.850000000,POSE1_TO_POSE2_PRESS,783.90997861,761,739,723,691,649.90997861,915,800,838,657,635,657,0.400936673865,0.00455716965248,0.0499302860334,0.999999974361,8.54149281543e-05,-0.000208506250864,-2.25256728222e-05,1793254917931110656
+112,1.866666667,POSE1_TO_POSE2_PRESS,784,761,739,722.515706503,691,649.515706503,915,800.484293497,838.484293497,657.484293497,635,657,0.400938810732,0.00455937109836,0.0499308510185,0.999999974377,8.8143380095e-05,-0.000207273484618,-2.2678288965e-05,1793254917947777024
+113,1.883333333,POSE1_TO_POSE2_PRESS,784,761,739,722.060300702,691,649,915,800.939699298,838.939699298,658,635,656.939699298,0.400941731548,0.00456161357268,0.0499317319289,0.999999974476,9.10433871499e-05,-0.000205530123105,-2.27407506185e-05,1793254917964443392
+114,1.900000000,POSE1_TO_POSE2_PRESS,784,761,739,722.653540129,691,649,915,800.346459871,838.346459871,658,635,656.346459871,0.400950031086,0.00456060238182,0.0499354005086,0.999999976201,8.81724308725e-05,-0.000198278155876,-2.2583652201e-05,1793254917981110016
+115,1.916666667,POSE1_TO_POSE2_PRESS,784,761,739,723,691,649.240174112,915,800,838,658,635,656.240174112,0.400962770448,0.00455950640261,0.0499390028178,0.999999978163,8.58899840716e-05,-0.000189174994379,-2.25930468619e-05,1793254917997776384
+116,1.933333333,POSE1_TO_POSE2_PRESS,784,761,739,723,691,649.817534502,915,800,838,658,635,656.817534502,0.400981742987,0.00455829138705,0.049942512088,0.999999980426,8.44337602815e-05,-0.000177472896816,-2.2836185219e-05,1793254918014443008
+117,1.950000000,POSE1_TO_POSE2_PRESS,784,761,738.608020162,723,691,649.608020162,915,800,838.391979838,658,635,657,0.401013835512,0.00455802868144,0.049949700156,0.999999983989,8.37599983264e-05,-0.000156420330615,-2.32314714069e-05,1793254918031109888
+118,1.966666667,POSE1_TO_POSE2_PRESS,784,761,738.034921708,723,691,649.034921708,915,800,838.965078292,658,635,657,0.401051990273,0.00455820600105,0.0499585880537,0.999999987651,8.344778134e-05,-0.000131047275937,-2.36970591913e-05,1793254918047776768
+119,1.983333333,POSE1_TO_POSE2_PRESS,784,761,738,723,691.555342521,649,915,800,838.444657479,657.444657479,635,657,0.401098556986,0.00455841964754,0.0499632454686,0.999999990348,8.40176344017e-05,-0.000107957601364,-2.4289780903e-05,1793254918064443392
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.856245348,761,738.143754652,722.856245348,691.856245348,649,915,800,838,657.143754652,635,657,0.4011481786,0.00455865863708,0.0499671679502,0.999999992253,8.45746618081e-05,-8.78742420602e-05,-2.48889649562e-05,1793254918081110016
+121,2.016666667,POSE1_TO_POSE2_PRESS,783.27682186,761,738.72317814,722.27682186,691.27682186,649,915,800,838,657.72317814,635,657,0.401205404284,0.00455896728848,0.0499696950594,0.999999993147,8.491935596e-05,-7.64529033876e-05,-2.54827326946e-05,1793254918097776640
+122,2.033333333,POSE1_TO_POSE2_PRESS,783.300613875,761,738.699386125,722.300613875,691,649,915,800,838,658,635,657,0.401270659032,0.00455855791835,0.0499716833754,0.999999993687,8.41279590017e-05,-7.00547068403e-05,-2.53301678662e-05,1793254918114443264
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.876231168,761,738.123768832,722.876231168,691,649,915,800,838,658,635,657,0.401343258814,0.00455749169769,0.0499731788001,0.999999993984,8.22972589115e-05,-6.82517122208e-05,-2.44948533929e-05,1793254918131109888
+124,2.066666667,POSE1_TO_POSE2_PRESS,784,761,738,723,691,649,915,800.451727491,838,658,635,657,0.401432324136,0.00455703983727,0.0499742036153,0.999999994202,8.09441815225e-05,-6.68161915262e-05,-2.40740309041e-05,1793254918147776768
+125,2.083333333,POSE1_TO_POSE2_PRESS,783.972106097,761,738,723,691,649,915,800.972106097,838.027893903,658,635,657,0.401526773515,0.00455665564674,0.0499749812949,0.999999994388,7.9651624188e-05,-6.57045632051e-05,-2.37284182141e-05,1793254918164443136
+126,2.100000000,POSE1_TO_POSE2_PRESS,783.38175972,761,738,723,691,649,915,800.38175972,838.61824028,658,635,657,0.401638843675,0.00455424268335,0.0499733750313,0.999999994397,7.69413608998e-05,-6.90942463088e-05,-2.26099907189e-05,1793254918181109760
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,761,738,723,691,649,915,800.203480904,839,658,634.796519096,657,0.401763627786,0.00455237250785,0.0499731241038,0.999999994588,7.39657827964e-05,-6.99446912073e-05,-2.14767068716e-05,1793254918197776640
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,761,738,723,691,649,915,800.779376806,839,658,634.220623194,657,0.401911681223,0.00455149575433,0.0499753537407,0.99999999512,7.05046202761e-05,-6.61477689442e-05,-2.03162327419e-05,1793254918214443520
+129,2.150000000,POSE1_TO_POSE2_PRESS,783.355985361,760.644014639,738,722.644014639,691,649,915,800.644014639,839,658,634.355985361,657,0.402078416059,0.00455088253406,0.0499744541738,0.999999995119,6.85415902419e-05,-6.85220500849e-05,-1.92081112721e-05,1793254918231110144
+130,2.166666667,POSE1_TO_POSE2_PRESS,783.933036526,760.066963474,738,722.066963474,691,649,915,800.066963474,839,658,634.933036526,657,0.402256752001,0.00455043296704,0.0499716113812,0.999999994765,6.75088954925e-05,-7.47286290102e-05,-1.81325005283e-05,1793254918247776768
+131,2.183333333,POSE1_TO_POSE2_PRESS,783.47968621,760.52031379,738,722.52031379,691,649,915,800.52031379,839,658,635,657,0.402461440926,0.00454771973554,0.0499718105615,0.999999995135,6.51241189983e-05,-7.21959911024e-05,-1.66293953246e-05,1793254918264443392
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,761,738,723,691,649,915,800.892842405,838.892842405,658,634.892842405,657,0.402675860064,0.00454477420276,0.0499720300011,0.999999995514,6.19582137002e-05,-7.00617271425e-05,-1.49791980105e-05,1793254918281110016
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,761,738,723,691,649,915,800.313818659,838.313818659,658,634.313818659,657,0.402917891883,0.00454211431765,0.0499705801445,0.999999995548,5.61342370984e-05,-7.47336718128e-05,-1.29284098638e-05,1793254918297776640
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,761,738,723,691,649,915,800,838.263907412,658,634.263907412,657,0.40318676055,0.00453931207071,0.0499732585928,0.999999996193,5.10726824155e-05,-6.98980302555e-05,-1.09595184457e-05,1793254918314443264
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,761,738,723,691,649,915,800,838.840097902,658,634.840097902,657,0.403487385392,0.00453634136638,0.0499808220867,0.99999999741,4.69133060796e-05,-5.38120098876e-05,-9.08753599371e-06,1793254918331109632
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,761,738,723,691,649,915,800.411924371,838.588075629,658,635,657,0.403823390607,0.00453358606103,0.0499912728851,0.999999998617,4.03285835918e-05,-3.30714615768e-05,-6.84376525344e-06,1793254918347776512
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,761,738,723,691,649,915,800.982074547,838.017925453,658,635,657,0.404172985901,0.00453091349345,0.0500028327367,0.999999999396,3.281225244e-05,-1.05430455604e-05,-4.45718556943e-06,1793254918364443136
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,761,738,722.422958207,691.577041793,649,915,800.422958207,838.577041793,658,635,657,0.404548273111,0.00452444690926,0.0500088092127,0.999999999647,2.64142183147e-05,2.49580692156e-06,-1.43314950009e-06,1793254918381109760
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,761,738,722,691.831935568,649,915,800.168064432,839,657.831935568,635,657,0.404933662173,0.0045190051019,0.0500115086621,0.999999999735,2.05754553941e-05,1.02171870295e-05,1.44092610573e-06,1793254918397776640
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,761,738,722,691.25253893,649,915,800.74746107,839,657.25253893,635,657,0.405341734017,0.00451637282222,0.0500066312711,0.999999999848,1.6016647393e-05,5.67813173388e-06,3.89733465403e-06,1793254918414443264
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,761,738.325139535,722,691,649.325139535,915,801,838.674860465,657,635,657,0.40575634727,0.00451211670463,0.0499934787248,0.999999999772,1.04325789207e-05,-1.74283944761e-05,6.60572642039e-06,1793254918431109888
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,761,738.901490558,722,691,649.901490558,915,801,838.098509442,657,635,657,0.406176014635,0.00450660596624,0.049973932572,0.999999998441,4.0563663343e-06,-5.48806449724e-05,9.50880740391e-06,1793254918447776768
+143,2.383333333,POSE1_TO_POSE2_PRESS,783.485142295,761,738.514857705,722,691,650,915,800.514857705,838,657.485142295,635,656.514857705,0.406643574986,0.00450248007162,0.0499579978147,0.999999996665,1.05897567271e-06,-8.06918937036e-05,1.25951216937e-05,1793254918464443136
+144,2.400000000,POSE1_TO_POSE2_PRESS,784,761,738,722,691,649.930409417,915,800.069590583,838.069590583,658,635,656.069590583,0.407129434729,0.004498338453,0.0499450330848,0.99999999483,-1.29943146015e-06,-0.000100445396558,1.58091259452e-05,1793254918481109760
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,761,738,722,691,649.351149975,915,800.648850025,838.648850025,658,635,656.648850025,0.407677005302,0.00449199077726,0.0499483676541,0.999999995435,-4.07952756674e-06,-9.34091498635e-05,1.96816566331e-05,1793254918497776640
+146,2.433333333,POSE1_TO_POSE2_PRESS,783.772235768,761,738.227764232,722,691,649,915,801,839,658,635,656.772235768,0.408251612931,0.00448553039954,0.0499609395628,0.999999997323,1.0804215661e-05,-6.8383578533e-05,2.36756922796e-05,1793254918514443520
+147,2.450000000,POSE1_TO_POSE2_PRESS,783.19385305,761,738.80614695,722,691,649,915,801,839,658,635,656.19385305,0.408867841161,0.00447889652964,0.0499877313598,0.999999998091,5.28795359447e-05,-1.56653809393e-05,2.7856771413e-05,1793254918531110144
+148,2.466666667,POSE1_TO_POSE2_PRESS,783.381550716,761,739,722.381550716,691,649.381550716,915,800.618449284,839,657.618449284,635,656.381550716,0.409498745131,0.00447307924682,0.0500059491796,0.999999997903,5.53697247628e-05,1.3783204547e-05,3.06422957333e-05,1793254918547776768
+149,2.483333333,POSE1_TO_POSE2_PRESS,783.955452686,761,739,722.955452686,691,649.955452686,915,800.044547314,839,657.044547314,635,656.955452686,0.410137047567,0.00446767363043,0.0500198445973,0.99999999825,3.79038507075e-05,3.1500873391e-05,3.27242785792e-05,1793254918564443392
+150,2.500000000,POSE1_TO_POSE2_PRESS,783.457161085,761,738.457161085,722.457161085,691,650,915.542838915,800.542838915,839,657.542838915,635,657,0.410756878275,0.004457642794,0.0500017022746,0.999999999419,5.04608008808e-06,-1.17851334629e-05,3.15698823748e-05,1793254918581110272
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,761,738.129402216,722,690.870597784,650,915.870597784,800.870597784,839,657.870597784,635.129402216,657,0.411388389924,0.00444837673191,0.0499799608974,0.999999997524,-2.28871368391e-05,-5.89942182634e-05,3.07818814231e-05,1793254918597777152
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,761,738.709152219,722,690.290847781,650,915.290847781,800.290847781,839,657.290847781,635.709152219,657,0.41206596353,0.00444312686041,0.0499550770621,0.999999993854,-2.91739412445e-05,-0.000101990052055,3.22168679814e-05,1793254918614443776
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,761,739,722,690.287285841,649.712714159,915.287285841,800,839.287285841,657.287285841,636,657,0.412802239438,0.0044378265131,0.0499579768834,0.999999995062,-2.97224974617e-05,-8.88529766151e-05,3.31314196824e-05,1793254918631110400
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,761,739,722,690.863792266,649.136207734,915.863792266,800,839.863792266,657.863792266,636,657,0.413597613064,0.00443247534942,0.049988847469,0.999999998954,-2.44941615961e-05,-1.92049664005e-05,3.35220317244e-05,1793254918647777024
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,761,738.55352721,722,691,649.44647279,916,800.44647279,839.55352721,658,636,657,0.414366239892,0.00443647637794,0.0499923470793,0.999999999139,-1.73876689289e-05,-1.64340222461e-05,3.39198537698e-05,1793254918664443648
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,761,738.030868335,722,690.969131665,650,916,801,839,658,636,657,0.41512758892,0.0044436215757,0.049985970865,0.999999998722,-9.53585061617e-06,-3.58894036375e-05,3.43040559438e-05,1793254918681109760
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,761,738.611790548,722,690.388209452,650,916,801,839,658,636,657,0.415906694031,0.00445524015678,0.0499544955398,0.999999995984,1.24391342637e-06,-8.27456747248e-05,3.44058158736e-05,1793254918697776384
+158,2.633333333,POSE1_TO_POSE2_PRESS,783.191656566,761,738.808343434,722,690.191656566,650,916,801,839,658,635.808343434,657,0.416712387218,0.00446075749174,0.0499398109604,0.999999994239,6.15190186395e-06,-0.000101382408875,3.47200343917e-05,1793254918714442752
+159,2.650000000,POSE1_TO_POSE2_PRESS,783.769394902,761,738.230605098,722,690.769394902,650,916,801,839,658,635.230605098,657,0.417571640598,0.0044539841962,0.0499589504307,0.999999997376,-7.68484216774e-07,-6.31724119814e-05,3.54622393196e-05,1793254918731109632
+160,2.666666667,POSE1_TO_POSE2_PRESS,783.654264262,761,738.345735738,722,690.654264262,650,916,800.654264262,839.345735738,658,635.345735738,657,0.418431827227,0.00444643831924,0.0499757787771,0.999999998642,-8.45860693967e-06,-3.6406127662e-05,3.63228034916e-05,1793254918747776512
+161,2.683333333,POSE1_TO_POSE2_PRESS,783.078851826,761,738.921148174,722,690.078851826,650,916,800.078851826,839.921148174,658,635.921148174,657,0.419292633792,0.00443837920678,0.0499910718132,0.999999999018,-1.66600753384e-05,-1.72420503432e-05,3.72619952145e-05,1793254918764443392
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,761,739,721.492154471,690,650,916,800,839.492154471,658,636,657,0.420155405829,0.00443914479406,0.0499740232988,0.999999998219,-1.71067882913e-05,-4.33179638974e-05,3.73150528772e-05,1793254918781110016
+163,2.716666667,POSE1_TO_POSE2_PRESS,783.094880887,761,738.905119113,721.094880887,690.094880887,650,916,800,839.094880887,658,636,657,0.421036465574,0.00444067505396,0.0499608009837,0.999999997382,-1.68384902866e-05,-5.9653648709e-05,3.73465308298e-05,1793254918797776640
+164,2.733333333,POSE1_TO_POSE2_PRESS,783.674487883,761,738.325512117,721.674487883,690.674487883,650,916,800,839.674487883,658,636,657,0.422009358493,0.00443895278344,0.04999336314,0.999999999039,-1.92084358293e-05,1.04725690439e-05,3.79866430891e-05,1793254918814443520
+165,2.750000000,POSE1_TO_POSE2_PRESS,784,761,738,721.74707141,690.74707141,650,916,800,839.74707141,658,635.74707141,657,0.422952653931,0.00443906575827,0.0500089472835,0.999999998237,-1.82885708872e-05,4.13080345425e-05,3.85283044322e-05,1793254918831110144
+166,2.766666667,POSE1_TO_POSE2_PRESS,784,761,738,721.170124718,690.170124718,650,916,800,839.170124718,658,635.170124718,657,0.423858033189,0.00444152980243,0.0500027814842,0.999999998917,-1.31542434954e-05,2.18094807475e-05,3.89438439622e-05,1793254918847776512
+167,2.783333333,POSE1_TO_POSE2_PRESS,783.596696828,761,738,721,690,650,916,800.403303172,839,657.596696828,635.403303172,657,0.424772924067,0.00444098733639,0.0499940925509,0.999999999061,-1.80786992428e-05,7.42534320156e-06,3.8674459861e-05,1793254918864443136
+168,2.800000000,POSE1_TO_POSE2_PRESS,783.024740465,761,738,721,690,650,916,800.975259535,839,657.024740465,635.975259535,657,0.425691792457,0.00443918760873,0.0499843484948,0.999999998892,-2.7209534011e-05,-4.82004822378e-06,3.81186545864e-05,1793254918881109760
+169,2.816666667,POSE1_TO_POSE2_PRESS,783.567507316,761,738,721,690.567507316,650,916,800.432492684,839.567507316,657.567507316,636,657,0.426672268717,0.00443426557608,0.0500097592374,0.999999998417,-3.17074862817e-05,2.15553311456e-05,4.11877676155e-05,1793254918897776384
+170,2.833333333,POSE1_TO_POSE2_PRESS,784,761,738,721,690.686493603,650,916,800.156753199,840,657.843246801,636,657,0.427628211034,0.00443119803729,0.0500188632386,0.999999998288,-3.21000658009e-05,2.17904495606e-05,4.38096513958e-05,1793254918914443008
+171,2.850000000,POSE1_TO_POSE2_PRESS,784,761,738,721,689.529101593,650,916,800.735449203,840,657.264550797,636,657,0.428510616078,0.00443350234161,0.0499797950214,0.999999997348,-2.20057617733e-05,-5.30379804821e-05,4.47865505474e-05,1793254918931110144
+172,2.866666667,POSE1_TO_POSE2_PRESS,784,761,738,721,689.312377546,650,916,801,840,657.312377546,636,657,0.429451557001,0.00443462937624,0.0499642983794,0.999999996292,-1.6460362596e-05,-7.20686352847e-05,4.41607904506e-05,1793254918947777024
+173,2.883333333,POSE1_TO_POSE2_PRESS,784,761,738,721,689.887817259,650,916,801,840,657.887817259,636,657,0.430441792636,0.00443476499787,0.0499686520446,0.999999998029,-1.47457283499e-05,-4.41103658834e-05,4.21853847206e-05,1793254918964443904
+174,2.900000000,POSE1_TO_POSE2_PRESS,784.473035619,761.473035619,738,721,690.473035619,650,916,800.526964381,840,657.526964381,636,657,0.431363570084,0.00443247250912,0.049961040132,0.999999997102,-2.20571727524e-05,-5.89221907782e-05,4.28611496764e-05,1793254918981110016
+175,2.916666667,POSE1_TO_POSE2_PRESS,784.94023468,761.94023468,738,721,690.820704039,650,916,800.05976532,840,657.05976532,636,657,0.432275814705,0.00442986102149,0.0499515004704,0.99999999533,-3.01441907357e-05,-8.06085469963e-05,4.39789987046e-05,1793254918997776384
+176,2.933333333,POSE1_TO_POSE2_PRESS,784.360952024,761.360952024,738,721,689.082856071,650,916,800.639047976,840,657.639047976,636,657,0.433249298877,0.00442958780408,0.0499503913243,0.999999996129,-2.59729536579e-05,-7.20209653993e-05,4.33589668317e-05,1793254919014443008
+177,2.950000000,POSE1_TO_POSE2_PRESS,784.21782004,761.21782004,738.21782004,721,688.435640081,650,916,801,840,658,636,657.21782004,0.434214806063,0.00442874815447,0.0499594398276,0.999999997235,-2.62294667432e-05,-5.43816870954e-05,4.34104562224e-05,1793254919031110144
+178,2.966666667,POSE1_TO_POSE2_PRESS,784.795748068,761.795748068,738.795748068,721,689.591496136,650,916,801,840,658,636,657.795748068,0.435167125561,0.00442697205855,0.0499852813251,0.999999998198,-3.38060962262e-05,-2.17778142591e-05,4.4572128782e-05,1793254919047776768
+179,2.983333333,POSE1_TO_POSE2_PRESS,785,762,738.629850716,721,689.629850716,650,916,801,840.370149284,658,636,657.629850716,0.436053111995,0.00442895969695,0.0499750495664,0.999999996849,-3.35699929235e-05,-5.53200417344e-05,4.59955242218e-05,1793254919064443392
+180,3.000000000,POSE1_TO_POSE2_PRESS,785,762,738.057377296,721,689.057377296,650,916,801,840.942622704,658,636,657.057377296,0.436902840622,0.0044330045981,0.0499451001118,0.999999990632,-2.90634379403e-05,-0.000125017825617,4.75619775336e-05,1793254919081110272
+181,3.016666667,POSE1_TO_POSE2_PRESS,785,762,738,720.467934053,689,650,916,801,840.467934053,658,636,657,0.437829170768,0.00442992630796,0.0499575627816,0.999999994923,-3.5007514223e-05,-8.24408156732e-05,4.61758183553e-05,1793254919097776896
+182,3.033333333,POSE1_TO_POSE2_PRESS,785,762,738,720.120811035,689.120811035,650,916.120811035,801,840,658,636.120811035,657.120811035,0.438757795685,0.00442651728563,0.0499725578718,0.999999997432,-4.11972082174e-05,-3.75538013536e-05,4.50302961664e-05,1793254919114443520
+183,3.050000000,POSE1_TO_POSE2_PRESS,785,762,738,720.699740638,689.699740638,650,916.699740638,801,840,658,636.699740638,657.699740638,0.439662765973,0.0044248629487,0.0499792411174,0.999999997485,-4.39039527251e-05,-3.1331976175e-05,4.60444572792e-05,1793254919131109888
+184,3.066666667,POSE1_TO_POSE2_PRESS,785,762,738.277251054,720.722748946,689.722748946,650,917,801,840.277251054,657.722748946,636.722748946,657.722748946,0.440534426497,0.00442316342048,0.0499769202624,0.999999997312,-4.33134929082e-05,-3.63884594838e-05,4.66550004592e-05,1793254919147776512
+185,3.083333333,POSE1_TO_POSE2_PRESS,785,762,738.853232298,720.146767702,689.146767702,650,917,801,840.853232298,657.146767702,636.146767702,657.146767702,0.441370196631,0.00442141520003,0.0499648977424,0.9999999967,-3.91703882677e-05,-5.35970024039e-05,4.68306566289e-05,1793254919164443136
+186,3.100000000,POSE1_TO_POSE2_PRESS,785.436852858,762,738.563147142,720.436852858,689,650,917,800.563147142,841,657.436852858,636,657,0.442194976305,0.00442087170606,0.0499751064465,0.999999997943,-2.89515657324e-05,-3.23249118475e-05,4.72237211831e-05,1793254919181110016
+187,3.116666667,POSE1_TO_POSE2_PRESS,785.977194814,762,738,720.977194814,689,650,917,800.022805186,840.977194814,658,636,657.022805186,0.443013584272,0.00442105046715,0.0499917159932,0.99999999872,-1.69270945656e-05,-4.3043361572e-07,4.76877712437e-05,1793254919197776384
+188,3.133333333,POSE1_TO_POSE2_PRESS,785.3980852,762,738,720.3980852,689,650,917,800.6019148,840.3980852,658,636,657.6019148,0.44377331466,0.00442879871436,0.0499790279119,0.999999998316,-1.15357200629e-05,-3.03961182171e-05,4.80699477276e-05,1793254919214443264
+189,3.150000000,POSE1_TO_POSE2_PRESS,785,762,738,720,688.63830016,650,917,801,840.18084992,658,636,657.81915008,0.444518968807,0.00443727531948,0.0499532413814,0.999999996002,-5.88027022683e-06,-7.54616254221e-05,4.76175836838e-05,1793254919231110144
+190,3.166666667,POSE1_TO_POSE2_PRESS,785,762,738,720,687.481197152,650,917,801,840.759401424,658,636,657.240598576,0.445233668469,0.00444735363589,0.0498986504451,0.999999987156,3.55900729185e-07,-0.000153732700975,4.53300067921e-05,1793254919247776768
+191,3.183333333,POSE1_TO_POSE2_PRESS,785,762,738,720,687,649.664744875,916.664744875,801,841,658,636,657,0.445961569435,0.00445142050272,0.049878493385,0.99999998452,4.16603254023e-06,-0.000170277101394,4.41488068885e-05,1793254919264443392
+192,3.200000000,POSE1_TO_POSE2_PRESS,785,762,738,720,687,649.090811853,916.090811853,801,841,658,636,657,0.446698868753,0.00445120764273,0.0498828508083,0.999999988816,6.24899599373e-06,-0.00014287647816,4.37552692642e-05,1793254919281110016
+193,3.216666667,POSE1_TO_POSE2_PRESS,785.496254203,762,738,720,687,649,916,800.503745797,840.503745797,658,636,657,0.447339919085,0.00445270944097,0.0498646971467,0.999999983732,9.18057301336e-06,-0.000174634074033,4.42152638985e-05,1793254919297776640
+194,3.233333333,POSE1_TO_POSE2_PRESS,785.915713667,761.915713667,738,719.915713667,686.915713667,648.915713667,916,800.084286333,840.084286333,658,636,657,0.447961801097,0.00445463777989,0.0498417630233,0.999999975448,1.23749626813e-05,-0.000216711688557,4.45749079059e-05,1793254919314443264
+195,3.250000000,POSE1_TO_POSE2_PRESS,785.336504285,761.336504285,738,719.336504285,686.336504285,648.336504285,916,800.663495715,840.663495715,658,636,657,0.448577362083,0.00445717819604,0.049815604783,0.999999966646,1.61759194884e-05,-0.000254092358867,4.34032227235e-05,1793254919331109888
+196,3.266666667,POSE1_TO_POSE2_PRESS,785,761.240765146,738.240765146,719.240765146,686,648.240765146,916.240765146,801,841,658,636,657,0.449191986778,0.00445862813831,0.0498030217824,0.999999961452,1.77254169246e-05,-0.000273731939002,4.30532600434e-05,1793254919347776512
+197,3.283333333,POSE1_TO_POSE2_PRESS,785,761.815344835,738.815344835,719.815344835,686,648.815344835,916.815344835,801,841,658,636,657,0.449805313277,0.00445856616701,0.0498092604966,0.999999962789,1.61533248524e-05,-0.000268773961385,4.38425941699e-05,1793254919364443648
+198,3.300000000,POSE1_TO_POSE2_PRESS,785.388795796,762,739,719.611204204,686,648.611204204,917,801,841,658,635.611204204,657,0.450384769198,0.00445913425853,0.0498199400409,0.999999965356,1.56720435749e-05,-0.000258975148979,4.44229801812e-05,1793254919381110528
+199,3.316666667,POSE1_TO_POSE2_PRESS,785.961712279,762,739,719.038287721,686,648.038287721,917,801,841,658,635.038287721,657,0.4509481852,0.00446000072673,0.0498327226144,0.999999968393,1.57073336714e-05,-0.00024688387863,4.49044154174e-05,1793254919397777408
+200,3.333333333,POSE1_TO_POSE2_PRESS,786,762,738.445492278,719,686,648,917,800.445492278,841,657.445492278,635.554507722,657,0.451427921004,0.00446298625644,0.0498225746625,0.999999959477,2.10592292081e-05,-0.000280179813152,4.585046583e-05,1793254919414443520
+201,3.350000000,POSE1_TO_POSE2_PRESS,786,762,738,719,685.709995046,647.854997523,916.854997523,800,841,657.145002477,636,657.145002477,0.451889233362,0.00446530027538,0.0498037609269,0.999999945984,2.55263592762e-05,-0.000324368136638,4.6540787229e-05,1793254919431110144
+202,3.366666667,POSE1_TO_POSE2_PRESS,786,762,738,719,684.551316771,647.275658385,916.275658385,800,841,657.724341615,636,657.724341615,0.452313311403,0.00446514829801,0.049763908873,0.999999921966,2.62027939742e-05,-0.0003914469988,4.63654377686e-05,1793254919447776768
+203,3.383333333,POSE1_TO_POSE2_PRESS,786,762,738,719,684,647,916,800.301105421,841,658,636,657.698894579,0.452745798871,0.00446544867813,0.049741016699,0.999999909328,2.62717130883e-05,-0.000422535995214,4.60080193639e-05,1793254919464443136
+204,3.400000000,POSE1_TO_POSE2_PRESS,786,762,738,719,684,647,916,800.875531502,841,658,636,657.124468498,0.453185919752,0.00446615967408,0.0497335194199,0.999999910031,2.57891756792e-05,-0.000420956118805,4.5485332733e-05,1793254919481109760
+205,3.416666667,POSE1_TO_POSE2_PRESS,785.539889703,762,738,719,684,646.539889703,916,800.539889703,841,658,636,657.460110297,0.453592281103,0.0044688709556,0.0497395458876,0.999999915937,2.99590887469e-05,-0.000406447249726,4.50499852012e-05,1793254919497776384
+206,3.433333333,POSE1_TO_POSE2_PRESS,785.046867067,762,738,719,684,646,916,800,841,658,636,657.953132933,0.453985004123,0.00447175098505,0.049748150637,0.999999922196,3.46289662563e-05,-0.000390405307959,4.46330087809e-05,1793254919514443264
+207,3.450000000,POSE1_TO_POSE2_PRESS,785.626457259,762,738,719,684,646,916,800,841,658,636,657.373542741,0.454328854132,0.00447025965525,0.0497435394103,0.999999919526,3.03531607173e-05,-0.0003975898264,4.41502322174e-05,1793254919531109888
+208,3.466666667,POSE1_TO_POSE2_PRESS,786,762,738,719,683.794538291,646,916,800.205461709,841,658,636,657.205461709,0.454649927258,0.00446979240904,0.0497334166045,0.999999913253,2.8890632963e-05,-0.000413184651863,4.40273096818e-05,1793254919547776768
+209,3.483333333,POSE1_TO_POSE2_PRESS,786,762,738,719,683.216595794,646,916,800.783404206,841,658,636,657.783404206,0.454929708219,0.00447118172041,0.0497133018775,0.999999899899,3.2528286759e-05,-0.000444026491448,4.45567652376e-05,1793254919564443136
+210,3.500000000,POSE1_TO_POSE2_PRESS,786,761.641206584,738,719,683,645.641206584,916,800.641206584,841,658,636,657.641206584,0.455179807481,0.00447259193967,0.0496851045009,0.99999987913,3.45256370599e-05,-0.000488440888085,4.44145484049e-05,1793254919581109760
+211,3.516666667,POSE1_TO_POSE2_PRESS,786,761.067347791,738,719,683,645.067347791,916,800.067347791,841,658,636,657.067347791,0.45541211518,0.00447401469152,0.0496520622785,0.999999852071,3.55397686863e-05,-0.000540990851616,4.38697224938e-05,1793254919597776384
+212,3.533333333,POSE1_TO_POSE2_PRESS,786,761.520660827,738.520660827,719,683,645,916,800,841,658,636,657,0.455626472965,0.00447390438806,0.0496381173301,0.99999984077,3.76431075701e-05,-0.000561362987767,4.37547178899e-05,1793254919614443008
+213,3.550000000,POSE1_TO_POSE2_PRESS,785.891615201,761.891615201,738.891615201,719,683,645,916,800.108384799,841,658,636,657.108384799,0.455836722365,0.00447349380188,0.0496300254512,0.999999834237,3.93348992413e-05,-0.000572769892692,4.37493728922e-05,1793254919631109632
+214,3.566666667,POSE1_TO_POSE2_PRESS,785.313282924,761.313282924,738.313282924,719,683,645,916,800.686717076,841,658,636,657.686717076,0.456039506726,0.00447266505385,0.0496363020046,0.999999839321,3.86143058526e-05,-0.000563855510997,4.39717016397e-05,1793254919647776512
+215,3.583333333,POSE1_TO_POSE2_PRESS,785.26408919,761.26408919,738,719,682.73591081,645,916,801,841,658,636,658,0.456223687134,0.00447286894767,0.0496389488918,0.999999840761,3.75609362849e-05,-0.000561368842995,4.39584662653e-05,1793254919664443392
+216,3.600000000,POSE1_TO_POSE2_PRESS,785.840326375,761.840326375,738,719,682.159673625,645,916,801,841,658,636,658,0.456385878038,0.00447429340299,0.0496373055878,0.999999837945,3.61142321574e-05,-0.000566479601051,4.36667989289e-05,1793254919681110272
+217,3.616666667,POSE1_TO_POSE2_PRESS,786,761.585542077,738,719,682.414457923,644.585542077,916,800.585542077,841,658,636,657.585542077,0.456531154616,0.00447468101469,0.0496362843707,0.999999838148,3.59740177001e-05,-0.000566160337677,4.32749087955e-05,1793254919697776896
+218,3.633333333,POSE1_TO_POSE2_PRESS,786,761.012217658,738,719,682.987782342,644.012217658,916,800.012217658,841,658,636,657.012217658,0.456669947734,0.00447467119225,0.0496355016068,0.99999983951,3.63345958173e-05,-0.000563759684419,4.28446021162e-05,1793254919714443264
+219,3.650000000,POSE1_TO_POSE2_PRESS,786,761.584146856,738,719,682.415853144,644,916,800.584146856,841,658,636,657,0.456772692753,0.00447530792404,0.0496313797303,0.999999835868,3.72099477203e-05,-0.00057012565428,4.28580343681e-05,1793254919731110144
+220,3.666666667,POSE1_TO_POSE2_PRESS,786,762,738,719,682,644,916,800.825119549,841,658,636,657.174880451,0.456868838251,0.0044757665353,0.0496281114067,0.999999832805,3.82596760651e-05,-0.000575397622282,4.29436269446e-05,1793254919747776512
+221,3.683333333,POSE1_TO_POSE2_PRESS,786,762,738,719,682,644,916,800.248474856,841,658,636,657.751525144,0.456951625468,0.00447578359581,0.04962697104,0.999999831402,3.96842599455e-05,-0.00057771773218,4.31728008391e-05,1793254919764443392
+222,3.700000000,POSE1_TO_POSE2_PRESS,786,762,738,719,682,644,916,800,841,658,636,657.67394655,0.457020679606,0.00447568329997,0.0496236318765,0.999999828294,3.96778729373e-05,-0.000583090069993,4.29470759025e-05,1793254919781109760
+223,3.716666667,POSE1_TO_POSE2_PRESS,786,762,738,719,682,644,916,800,841,658,636,657.101020614,0.457079335705,0.00447549414737,0.0496186278862,0.999999823851,3.85880215694e-05,-0.000590773412844,4.23769227806e-05,1793254919797776384
+224,3.733333333,POSE1_TO_POSE2_PRESS,786,762,738,719,682,644,916,800.484814441,841,658,636,657,0.457126740336,0.00447672308647,0.0496159067525,0.99999982195,4.01364349897e-05,-0.000593884846396,4.23065367004e-05,1793254919814443264
+225,3.750000000,POSE1_TO_POSE2_PRESS,786,762,738,719,682,644,916,800.92737871,841,658,636,657,0.457169911463,0.00447824089706,0.0496136644744,0.999999820503,4.21293017217e-05,-0.000596180785593,4.22733833404e-05,1793254919831110400
+226,3.766666667,POSE1_TO_POSE2_PRESS,786,762,738,719,682,644,916,800.345127141,841,658,636,657,0.457200276074,0.00447965555657,0.0496113531784,0.999999818419,4.32778126935e-05,-0.000599622094451,4.17507336754e-05,1793254919847776768
+227,3.783333333,POSE1_TO_POSE2_PRESS,786,761.766191286,738,719,682,644,916,800,841,658,636,657,0.457227776599,0.00447981595224,0.0496105339046,0.99999981806,4.31480937591e-05,-0.00060023817412,4.16267319063e-05,1793254919864443392
+228,3.800000000,POSE1_TO_POSE2_PRESS,786,761.192081382,738,719,682,644,916,800,841,658,636,657,0.457251108533,0.00447815080646,0.0496118862225,0.999999820217,4.11579515388e-05,-0.000596742221816,4.20829495777e-05,1793254919881109760
+229,3.816666667,POSE1_TO_POSE2_PRESS,786,761.37920153,738,719,682,644,916,800,841,658,636,657.37920153,0.457265976964,0.00447866314857,0.0496106358302,0.999999819335,4.09385645872e-05,-0.000598262670553,4.16580722982e-05,1793254919897776384
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+235,3.916666667,POSE1_TO_POSE2_PRESS,786,762,738,718.135646684,682,643.864353316,916,800,841,658,635.864353316,657.864353316,0.457294703459,0.00448086653814,0.0496048190502,0.999999812856,4.1581605703e-05,-0.000609050771299,4.02037962955e-05,1793254919997776896
+236,3.933333333,POSE1_TO_POSE2_PRESS,786.449440513,762,738,718.449440513,682,644,916,800,841,658,636,657.550559487,0.45729528037,0.00448151733359,0.0496033593012,0.999999811836,4.19085631149e-05,-0.000610706794834,4.01100879752e-05,1793254920014443264
+237,3.950000000,POSE1_TO_POSE2_PRESS,786.962574563,762,738,719,682,644,916,800,841,658,636,657.037425437,0.457295798289,0.00448277120486,0.0496015854889,0.999999810709,4.30134059887e-05,-0.000612480338252,4.00080720334e-05,1793254920031109888
+238,3.966666667,POSE1_TO_POSE2_PRESS,786.383419187,762,738,719,682,644,916,800,841,658,636,657.616580813,0.457294949178,0.00448253157206,0.0496006037738,0.999999809808,4.43233356506e-05,-0.000613842778967,4.02132767835e-05,1793254920047776768
+239,3.983333333,POSE1_TO_POSE2_PRESS,786.194835724,762,738,719,682,643.805164276,916,800,841,658,636,657.805164276,0.457294995129,0.00448249369174,0.0495999886341,0.99999980937,4.55103326502e-05,-0.000614464508698,4.02741151379e-05,1793254920064443392
+240,4.000000000,POSE1_TO_POSE2_PRESS,786.77132672,762,738,719,682,643.22867328,916,800,841,658,636,657.22867328,0.45729679438,0.0044828510156,0.049600091563,0.999999809845,4.64565220978e-05,-0.00061363529165,4.00521603927e-05,1793254920081109760
+241,4.016666667,POSE1_TO_POSE2_PRESS,786.65374995,761.65374995,738,719,682,643.34625005,916,800,841,658,636,657.34625005,0.457296506912,0.00448341471807,0.04959971012,0.999999809557,4.73984050207e-05,-0.000614052196626,3.97468475303e-05,1793254920097776384
+242,4.033333333,POSE1_TO_POSE2_PRESS,786.079857309,761.079857309,738,719,682,643.920142691,916,800,841,658,636,657.920142691,0.457294847526,0.00448411410445,0.049599010226,0.999999808766,4.83374565754e-05,-0.000615288366347,3.93867307626e-05,1793254920114443264
+243,4.050000000,POSE1_TO_POSE2_PRESS,786,761.509804778,738,719,682,643.490195222,916,800,841,658,636,658,0.457296615434,0.00448292321491,0.0496002219304,0.999999809808,4.52768398752e-05,-0.000613821680159,3.94464020062e-05,1793254920131110144
+244,4.066666667,POSE1_TO_POSE2_PRESS,786.0998463,762,738,719,682,643.0998463,916,800,841,658,636,658,0.457298376026,0.00448203366631,0.0496013341372,0.999999810729,4.28954648266e-05,-0.00061248450955,3.95673300845e-05,1793254920147776768
+245,4.083333333,POSE1_TO_POSE2_PRESS,786.679462589,762,738,719,682,643.679462589,916,800,841,658,636,658,0.457297439453,0.00448406027954,0.0496004834955,0.999999809697,4.68844793377e-05,-0.000613869002751,3.96565497444e-05,1793254920164443392
+246,4.100000000,POSE1_TO_POSE2_PRESS,786.74371683,762,738,719,682,644,916,800,841,658,635.74371683,658,0.457297201766,0.00448444807567,0.0495997826195,0.999999808994,4.83975216439e-05,-0.000614891104549,3.97362024187e-05,1793254920181109760
+247,4.116666667,POSE1_TO_POSE2_PRESS,786.170355074,762,738,719,682,644,916,800,841,658,635.170355074,658,0.457297828756,0.00448280829529,0.0495992670363,0.999999808712,4.68472429163e-05,-0.000615464848759,3.98040186424e-05,1793254920197776384
+248,4.133333333,POSE1_TO_POSE2_PRESS,786,761.586317621,738,719,682,643.586317621,916,800,841,658,635.413682379,657.586317621,0.457298674786,0.0044823924684,0.04959993752,0.9999998092,4.57262226028e-05,-0.000614771192772,3.95687128928e-05,1793254920214443264
+249,4.150000000,HOLD_POSE2,785,762,738,719,682,643,916,800,841,658,636,657,0.457297910062,0.00448278695637,0.049598868608,0.999999808349,4.62109132483e-05,-0.000616133460408,3.93286363394e-05,1793254920259799296
+250,4.166666667,HOLD_POSE2,785.577947708,762,738,719,682,643,916,800,841,658,635.422052292,657,0.457297851553,0.00448293669484,0.0495984441635,0.999999808236,4.40071803262e-05,-0.000616501617102,3.89384976435e-05,1793254920276465920
+251,4.183333333,HOLD_POSE2,786,762,738,719,682,643.154474895,916,800,841,658,635.154474895,657,0.457298232274,0.00448287601652,0.0495984028763,0.999999808425,4.28064395503e-05,-0.000616283599917,3.88788158663e-05,1793254920293132544
+252,4.200000000,HOLD_POSE2,786,762,738,719,682,643.727156466,916,800,841,658,635.727156466,657,0.457299802109,0.00448224568125,0.0495993989029,0.999999809437,4.43210781028e-05,-0.000614478646442,3.97137731591e-05,1793254920309799168
+253,4.216666667,HOLD_POSE2,786,762,738,719,682,643.690714888,916,800,841,658,635.690714888,657,0.457300569126,0.00448272883709,0.0496001288933,0.999999809695,4.62967402288e-05,-0.000613902203668,3.98952953413e-05,1793254920326465536
+254,4.233333333,HOLD_POSE2,786,762,738,719,682,643.099989725,916,800,841,658,635.099989725,657,0.457300605602,0.00448422523604,0.0496006167987,0.999999809265,4.86919197034e-05,-0.0006144436684,3.94822113831e-05,1793254920343132160
+255,4.250000000,HOLD_POSE2,786,762,738,719,682,643,916,800,841,658,635,657,0.457300705054,0.00448425115545,0.049600111093,0.999999809453,4.84134312811e-05,-0.000614166345363,3.93659176728e-05,1793254920359799040
+256,4.266666667,HOLD_POSE2,786,762,738,718.944360285,682,643,916,800,841,658,635,657,0.457300811185,0.00448409326323,0.0495994347261,0.999999809715,4.76493997589e-05,-0.000613807192454,3.9257282253e-05,1793254920376465664
+257,4.283333333,HOLD_POSE2,786,762,738,718.367111312,682,643,916,800,841,658,635,657,0.457300859631,0.00448502102218,0.0495990563994,0.999999809479,4.74406326971e-05,-0.000614244914295,3.86535264665e-05,1793254920393132288
+258,4.300000000,HOLD_POSE2,785.785916,762,738,718,682,643,916,800,841,658,635.214084,657,0.45730071572,0.0044853104973,0.0495988046933,0.999999809134,4.69585985112e-05,-0.000614864519978,3.83206416206e-05,1793254920409799168
+259,4.316666667,HOLD_POSE2,785.197826478,762,738,718,682,643,916,800,841,658,635.802173522,657,0.457300235763,0.00448448488817,0.0495987741942,0.999999808596,4.59991656947e-05,-0.000615801877341,3.84609693488e-05,1793254920426465792
+260,4.333333333,HOLD_POSE2,785.384481051,762,738,718.384481051,682,643,916,800,841,658,635.615518949,657,0.457300919132,0.00448536491246,0.0495989667741,0.999999809006,4.66856248644e-05,-0.000615092556645,3.83455419213e-05,1793254920443132672
+261,4.350000000,HOLD_POSE2,785.963857708,762,738,718.963857708,682,643,916,800,841,658,635.036142292,657,0.457302192199,0.00448710953183,0.0495992724341,0.999999809891,4.82063958464e-05,-0.000613548525665,3.81004707805e-05,1793254920459799552
+262,4.366666667,HOLD_POSE2,786,762,738,719,682,643,916,800,841,658,635,657,0.457301948041,0.00448661730674,0.049599819758,0.999999809608,4.86132960998e-05,-0.000613971908669,3.82046648955e-05,1793254920476465920
+263,4.383333333,HOLD_POSE2,786,761.887448682,738,719,682,643,916,800,841,658,635.112551318,657,0.457301141688,0.00448579843078,0.0495997942946,0.999999808973,4.85914039589e-05,-0.000614992328836,3.84283977312e-05,1793254920493132288
+264,4.400000000,HOLD_POSE2,786,761.314689412,738,719,682,643,916,800,841,658,635.685310588,657,0.457298449337,0.00448425243111,0.0495973610354,0.999999807216,4.71192514797e-05,-0.000617918743475,3.90458952047e-05,1793254920509798912
+265,4.416666667,POSE2_TO_POSE3_RETREAT,786,761,738,718,682,643,916,800,841,658,635,657,0.457300639034,0.00448476982242,0.0495983992906,0.999999808059,4.92059851388e-05,-0.000616400153796,3.88748374694e-05,1793254920547824128
+266,4.433333333,POSE2_TO_POSE3_RETREAT,786,761,738,718,682,643,916,800,841,658,635.595834729,657,0.457299638626,0.00448618852846,0.0495977274794,0.999999807524,4.74955344996e-05,-0.000617448444196,3.81381589902e-05,1793254920564491008
+267,4.450000000,POSE2_TO_POSE3_RETREAT,786,761.184803901,738,718.184803901,682,643,916,800.184803901,841,658,635.815196099,657,0.457299412936,0.00448694769727,0.0495977409255,0.999999807467,4.69458515226e-05,-0.000617600118546,3.78375474822e-05,1793254920581157632
+268,4.466666667,POSE2_TO_POSE3_RETREAT,786,761.75929607,738,718.75929607,682,643,916,800.75929607,841,658,635.24070393,657,0.457300820861,0.00448631612775,0.0495991993449,0.999999808425,4.88438305164e-05,-0.000615861136278,3.8456452047e-05,1793254920597823744
+269,4.483333333,POSE2_TO_POSE3_RETREAT,786,762,738,719,682,643,916,800.665615655,841,658,635.334384345,657,0.457300645124,0.00448555183776,0.0495986929846,0.999999808104,4.9464281062e-05,-0.000616322480861,3.86298998632e-05,1793254920614490368
+270,4.500000000,POSE2_TO_POSE3_RETREAT,786,762,738,719,682,643,916,800.090097548,841,658,635.909902452,657,0.457299327366,0.00448469183942,0.0495967697676,0.99999980686,4.91634705331e-05,-0.000618370541859,3.84821165084e-05,1793254920631156992
+271,4.516666667,POSE2_TO_POSE3_RETREAT,785.499597756,762,738,718.499597756,682,643,916,800,841,658,635.499597756,657,0.457299691107,0.00448584256458,0.0495971428047,0.999999807174,4.90211787341e-05,-0.000617858158687,3.87300781763e-05,1793254920647823616
+272,4.533333333,POSE2_TO_POSE3_RETREAT,785.09122955,761.90877045,738,718,682,643,916,800,841,658,635.09122955,657.09122955,0.45730017413,0.00448685926957,0.049597839546,0.999999807728,4.88643824328e-05,-0.0006169607026,3.8944834328e-05,1793254920664489984
+273,4.550000000,POSE2_TO_POSE3_RETREAT,785.668974295,761.331025705,738,718,682,643,916,800,841,658,635.668974295,657.668974295,0.457299628893,0.00448517101085,0.0495979896838,0.999999808017,4.84733307169e-05,-0.000616544078945,3.85907939826e-05,1793254920681156864
+274,4.566666667,POSE2_TO_POSE3_RETREAT,786,761,738,718,681.754487112,643,916,800,841,658,635.754487112,658,0.457296324194,0.00448466078156,0.0495965886529,0.999999807005,4.85622717313e-05,-0.000618183237025,3.84919388262e-05,1793254920697823488
+275,4.583333333,POSE2_TO_POSE3_RETREAT,786,761,738,718,681.179566871,643,916,800,841,658,635.179566871,658,0.457289317096,0.00448573112749,0.049593106402,0.999999804231,4.92952243214e-05,-0.000622580660179,3.87354684828e-05,1793254920714490112
+276,4.600000000,POSE2_TO_POSE3_RETREAT,786,761.405320581,738.405320581,718.405320581,681.405320581,643,916,800,841,658,635.405320581,658,0.457268357589,0.00448549573269,0.0495831271111,0.999999794222,4.9434301665e-05,-0.000638458221672,3.85119543817e-05,1793254920731156992
+277,4.616666667,POSE2_TO_POSE3_RETREAT,786,761.994735125,738.994735125,718.994735125,681.994735125,643,916,800,841,658,635.994735125,658,0.457241060989,0.00448466727905,0.0495701969067,0.999999780557,4.93036447933e-05,-0.000659549987223,3.80763120612e-05,1793254920747823360
+278,4.633333333,POSE2_TO_POSE3_RETREAT,786,762,738.426100961,718.426100961,682,643.573899039,916,800,840.426100961,658,635.426100961,657.426100961,0.457187340774,0.00448679719416,0.0495497456936,0.999999758583,5.01559165208e-05,-0.000692048812913,3.72441350986e-05,1793254920764490240
+279,4.650000000,POSE2_TO_POSE3_RETREAT,786,762,738,718,682,643.848082305,916,800,840.151917695,658,635.151917695,657,0.457128679758,0.00448850406452,0.0495295422121,0.999999737307,5.13155407224e-05,-0.000722103002617,3.63436404663e-05,1793254920781156608
+280,4.666666667,POSE2_TO_POSE3_RETREAT,786,762,738,718,682,643.2729963,916,800,840.7270037,658,635.7270037,657,0.457056919458,0.00448895826856,0.049510217604,0.999999720399,5.3306621823e-05,-0.000745061262631,3.5262801347e-05,1793254920797823488
+281,4.683333333,POSE2_TO_POSE3_RETREAT,786,762,738,718.302556508,682,643,916,800,841,658,636,657,0.45697850819,0.00449004817267,0.0494966169892,0.999999706863,5.59645664309e-05,-0.000762857178908,3.45136308346e-05,1793254920814490112
+282,4.700000000,POSE2_TO_POSE3_RETREAT,786,762,738,718.878531129,682,643,916,800,841,658,636,657,0.456894086495,0.00449171255428,0.0494881891067,0.999999696587,5.9225150624e-05,-0.000775987921541,3.40641868983e-05,1793254920831156992
+283,4.716666667,POSE2_TO_POSE3_RETREAT,786,762,738,718.533584976,682,643,916,800.466415024,841,658,636,657,0.45680165825,0.0044948316212,0.0494867466395,0.999999695752,6.19602530873e-05,-0.000776903379632,3.28260457479e-05,1793254920847823616
+284,4.733333333,POSE2_TO_POSE3_RETREAT,786,762,738,718.056322001,682,643,916,801,841,658,635.943677999,657,0.45670449599,0.00449802125924,0.049487529756,0.999999697468,6.44993299871e-05,-0.000774538238603,3.15476729066e-05,1793254920864490240
+285,4.750000000,POSE2_TO_POSE3_RETREAT,786,762,738,718.635463638,682,643,916,801,841,658,635.364536362,657,0.456583252341,0.00449825714027,0.0494916425497,0.999999699269,6.65224008181e-05,-0.000772024528229,3.18524762534e-05,1793254920881156864
+286,4.766666667,POSE2_TO_POSE3_RETREAT,786,762,738,719,682,643,916,800.787263503,841,658,635.212736497,657,0.456449355584,0.0044980760501,0.0494935593308,0.999999699202,6.73925520155e-05,-0.00077203789697,3.18191576731e-05,1793254920897823488
+287,4.783333333,POSE2_TO_POSE3_RETREAT,786,762,738,719,682,643,916,800.213165073,841,658,635.786834927,657,0.456293965811,0.0044971866775,0.0494917458849,0.99999969596,6.6304311893e-05,-0.000776343854229,3.12114928908e-05,1793254920914490112
+288,4.800000000,POSE2_TO_POSE3_RETREAT,786,762,738,719,682,643.369730247,916,800,841,658,636,657,0.456121006587,0.00449949693831,0.0494917586969,0.999999694577,7.19945445032e-05,-0.000777638792162,3.06711234926e-05,1793254920931156992
+289,4.816666667,POSE2_TO_POSE3_RETREAT,786,762,738,719,682,643.957821014,916,800,841,658,636,657,0.455937670932,0.00450369688382,0.0494928500859,0.999999694223,8.16881033392e-05,-0.000777155440057,3.01704982945e-05,1793254920947823616
+290,4.833333333,POSE2_TO_POSE3_RETREAT,786,761.462378245,738,718.462378245,682,644,916,800,841,658,636,657,0.455724196238,0.00450789085602,0.0494911693124,0.999999693469,8.68514252279e-05,-0.000777612585484,2.89400197385e-05,1793254920964490496
+291,4.850000000,POSE2_TO_POSE3_RETREAT,786,761,738,718.116449218,682.116449218,644,916,800,840.883550782,658,635.883550782,657,0.455502291929,0.00451143403234,0.0494905482569,0.9999996938,9.15827256923e-05,-0.000776687973275,2.77202237474e-05,1793254920981157376
+292,4.866666667,POSE2_TO_POSE3_RETREAT,786,761,738,718.693959332,682.693959332,644,916,800,840.306040668,658,635.306040668,657,0.455256231796,0.00451240232151,0.0494949710102,0.999999698581,9.59893624002e-05,-0.00077000481788,2.67659934956e-05,1793254920997824000
+293,4.883333333,POSE2_TO_POSE3_RETREAT,786,761,738.270356488,718.729643512,682.729643512,644,916,800,840.270356488,658,635.270356488,657.270356488,0.454992731885,0.00451604824841,0.0495001336556,0.999999705325,0.000103462319917,-0.000760267141454,2.52930895454e-05,1793254921014490368
+294,4.900000000,POSE2_TO_POSE3_RETREAT,786,761,738.845498919,718.154501081,682.154501081,644,916,800,840.845498919,658,635.845498919,657.845498919,0.454709571282,0.00452271280573,0.0495061304169,0.999999714119,0.000114392088867,-0.000747085956051,2.32354597087e-05,1793254921031156992
+295,4.916666667,POSE2_TO_POSE3_RETREAT,786,761.430333627,738.569666373,718.430333627,682,644,916,800,841,658,635.569666373,658,0.454402336222,0.00452647694418,0.0495159293276,0.999999723365,0.000121233958501,-0.000733547347739,2.19271014544e-05,1793254921047823872
+296,4.933333333,POSE2_TO_POSE3_RETREAT,786,762,738,719,682.018378153,644.018378153,916,800,841,658,635.018378153,658,0.454085288362,0.00452923377176,0.0495275677747,0.999999733203,0.000126716245482,-0.000719097079985,2.09006669293e-05,1793254921064490240
+297,4.950000000,POSE2_TO_POSE3_RETREAT,786,762,738,719,682.595772572,644.595772572,916,800,841,658,635.595772572,658,0.453738726924,0.00453375510485,0.0495526814936,0.999999758661,0.000136514710193,-0.000680909696643,2.00785501174e-05,1793254921081156864
+298,4.966666667,POSE2_TO_POSE3_RETREAT,786,762,738,719,683,645,916,800,841,658,636,658,0.453377103607,0.00453919739341,0.0495757827374,0.999999779929,0.00014662130539,-0.000646752685552,1.88610960198e-05,1793254921097823744
+299,4.983333333,POSE2_TO_POSE3_RETREAT,786,762,738,719,683,645,916,800,841,658,636,658,0.452980321079,0.00454678948705,0.0495941862147,0.999999794021,0.000157447175038,-0.000622003864284,1.67207979511e-05,1793254921114490624
+300,5.000000000,POSE2_TO_POSE3_RETREAT,786,761.666764255,738,718.666764255,683,645,916,800,840.666764255,658,635.666764255,657.666764255,0.452544540091,0.00455155575382,0.0496051043375,0.999999798142,0.000165214868855,-0.000613332069105,1.55948451231e-05,1793254921131157504
+301,5.016666667,POSE2_TO_POSE3_RETREAT,786,761.080579149,738,718.080579149,683,645,916,800,840.080579149,658,635.080579149,657.080579149,0.452079156488,0.00455417702009,0.0496103405518,0.999999795061,0.000170661193392,-0.000616863864743,1.52388514333e-05,1793254921147824128
+302,5.033333333,POSE2_TO_POSE3_RETREAT,785.497291556,761,738,718,683.502708444,645,916,800,840,658,635.502708444,657.502708444,0.451570678305,0.00456183023439,0.0496063027142,0.99999979006,0.000181723768783,-0.000621854814237,1.23340565436e-05,1793254921164490496
+303,5.050000000,POSE2_TO_POSE3_RETREAT,785,761,738,718.084418859,684,645.084418859,916,800,840.084418859,658,635.915581141,657.915581141,0.451055685474,0.00457022148884,0.0496027999773,0.999999787857,0.000193305208558,-0.000621964253019,8.96023584785e-06,1793254921181156864
+304,5.066666667,POSE2_TO_POSE3_RETREAT,785,761,738,718.659644655,684,645.659644655,916,800,840.659644655,658,635.340355345,657.340355345,0.450542747061,0.00457824118518,0.0496110014138,0.999999804009,0.000202699413186,-0.000592340821089,5.22118331011e-06,1793254921197823744
+305,5.083333333,POSE2_TO_POSE3_RETREAT,785,761.234813292,738,719,684.234813292,646.234813292,916,800,840.765186708,658,635,657,0.450021119315,0.00458439076308,0.0496300879974,0.999999826246,0.000211272874435,-0.00055033378544,2.11610344857e-06,1793254921214490624
+306,5.100000000,POSE2_TO_POSE3_RETREAT,785,761.809899065,738,719,684.809899065,646.809899065,916,800,840.190100935,658,635,657,0.449486899721,0.00458783031571,0.0496649484576,0.999999855858,0.000218656979725,-0.000490381431319,-7.02741349465e-08,1793254921231157248
+307,5.116666667,POSE2_TO_POSE3_RETREAT,785,761.604568537,738,719,685,647,916,800,840.395431463,658,635.395431463,657,0.448897635631,0.00459371455722,0.0496895004694,0.999999871384,0.000228503231405,-0.00045278127578,-2.60733078333e-06,1793254921247823872
+308,5.133333333,POSE2_TO_POSE3_RETREAT,785,761.013877737,738,719,685,647,916,800,840.986122263,658,635.986122263,657,0.448281191241,0.00460080595682,0.0497089622914,0.999999880459,0.00023956526148,-0.000426218371203,-5.31754850409e-06,1793254921264490752
+309,5.150000000,POSE2_TO_POSE3_RETREAT,785,761,737.436140791,719,685.563859209,647,916,799.436140791,840.436140791,658,635.436140791,657,0.447601003164,0.00460612739237,0.049694366724,0.999999870423,0.000248298180277,-0.000444323644021,-8.88322664521e-06,1793254921281157376
+310,5.166666667,POSE2_TO_POSE3_RETREAT,785,761,737.140865442,719,686,647.140865442,916,799.140865442,840,658,635,657,0.446908439984,0.00461079280828,0.0496773726834,0.999999857935,0.000255122847894,-0.000467851885942,-1.24910614552e-05,1793254921297823744
+311,5.183333333,POSE2_TO_POSE3_RETREAT,785,761,737.716577971,719,686,647.716577971,916,799.716577971,840,658,635,657,0.446182409657,0.00461356456758,0.0496555040914,0.999999839629,0.000256229787954,-0.00050480313286,-1.61654964942e-05,1793254921314490368
+312,5.200000000,POSE2_TO_POSE3_RETREAT,785,761,738,719,686,648,916,800,840,657.700898393,635.299101607,657,0.445477950005,0.0046092174467,0.049663522581,0.999999858064,0.000194603633923,-0.000495589513323,-1.98162029057e-05,1793254921331156736
+313,5.216666667,POSE2_TO_POSE3_RETREAT,785,761,738,719,686,648,916,800,840,657.111770239,635.888229761,657,0.444794406463,0.00459796744033,0.0497005213439,0.999999899612,7.21477717567e-05,-0.000441611716314,-2.34439008344e-05,1793254921347823360
+314,5.233333333,POSE2_TO_POSE3_RETREAT,785,761,737.530587981,719,686.938824038,648,916,800,840,657,635.530587981,657,0.444027931531,0.00457112254069,0.0497301919221,0.999999917326,3.01299208728e-05,-0.000404907384212,-2.21293410174e-05,1793254921364489984
+315,5.250000000,POSE2_TO_POSE3_RETREAT,785,761,737,719,687.951536528,648.048463472,915.951536528,800,840,657.048463472,635.048463472,657,0.443241035701,0.00454364606795,0.0497555152078,0.999999929406,1.03594794651e-05,-0.000375060264886,-2.02467592965e-05,1793254921381156864
+316,5.266666667,POSE2_TO_POSE3_RETREAT,785,761,737,719,687.375427843,648.624572157,915.375427843,800,840,657.624572157,635.624572157,657,0.442443218576,0.00454904834916,0.0497521886922,0.999999928681,2.77520751024e-05,-0.000375836816138,-2.47788134307e-05,1793254921397823744
+317,5.283333333,POSE2_TO_POSE3_RETREAT,784.800877913,761,737,719,687.398244174,649,915.199122087,800,840,658,635.800877913,657,0.441650187086,0.0045544187888,0.0497636362833,0.99999993651,4.33235158346e-05,-0.000352522178216,-2.88223304297e-05,1793254921414490368
+318,5.300000000,POSE2_TO_POSE3_RETREAT,784.229244092,761,737,719,688.541511815,649,915.770755908,800,840,658,635.229244092,657,0.440866108469,0.00455972965983,0.0498027228378,0.999999957583,5.54879924733e-05,-0.000284138452298,-3.19519062014e-05,1793254921431156992
+319,5.316666667,POSE2_TO_POSE3_RETREAT,784.355955209,761,737,719.355955209,689,649,916,800,840,657.644044791,635,657,0.440035628794,0.00456257248893,0.0498185300484,0.999999964058,6.25289185765e-05,-0.000258433141689,-3.44449077661e-05,1793254921447823360
+320,5.333333333,POSE2_TO_POSE3_RETREAT,784.950237138,761,737,719.950237138,689,649,916,800,840,657.049762862,635,657,0.439174081725,0.00456376286179,0.0498187507747,0.999999963007,6.61394155556e-05,-0.000261302796774,-3.65116965468e-05,1793254921464489984
+321,5.350000000,POSE2_TO_POSE3_RETREAT,784.47026632,760.47026632,737,720,688.47026632,649,916,800,840,657,635,657,0.438216752078,0.00456713210679,0.0497838380941,0.999999941214,0.000112049658257,-0.000323173439629,-2.40059223601e-05,1793254921481156608
+322,5.366666667,POSE2_TO_POSE3_RETREAT,784,760.107238965,737,720,688.107238965,649,916,800,839.892761035,657.107238965,635,657,0.437265014406,0.00456990020117,0.0497572270524,0.999999919583,0.000150439442123,-0.00037151499939,-1.33263214041e-05,1793254921497823488
+323,5.383333333,POSE2_TO_POSE3_RETREAT,784,760.681954018,737,720,688.681954018,649,916,800,839.318045982,657.681954018,635,657,0.436375811549,0.00456917973665,0.0497808010217,0.999999933267,0.000139194599352,-0.000337375674467,-1.64128172199e-05,1793254921514490368
+324,5.400000000,POSE2_TO_POSE3_RETREAT,784,761,737,720,689,649,915.737288056,800,839.262711944,658,635,657,0.435463148078,0.00456836162057,0.0497843100706,0.99999993371,0.000128869422401,-0.000339996258868,-1.9375928295e-05,1793254921531157248
+325,5.416666667,POSE2_TO_POSE3_RETREAT,784,761,737,720,689,649,915.149042155,800,839.850957845,658,635,657,0.434521413763,0.00456742250152,0.0497629561001,0.999999917255,0.000119683828364,-0.000388167103944,-2.21861501773e-05,1793254921547823872
+326,5.433333333,POSE2_TO_POSE3_RETREAT,784,761,737,720,689,649,915,800,840,658,635,657.43278758,0.433605470183,0.00456750418632,0.0497656428275,0.999999923924,9.66094101944e-05,-0.000377016912457,-2.60104293373e-05,1793254921564490496
+327,5.450000000,POSE2_TO_POSE3_RETREAT,784,761,737,720,689.012390075,649,915.012390075,800,839.987609925,658,635,657.987609925,0.432697347507,0.00456797369499,0.0497767053562,0.999999937333,6.97142018529e-05,-0.000345785111613,-3.01041534182e-05,1793254921581157120
+328,5.466666667,POSE2_TO_POSE3_RETREAT,784,761,737,720,689.589717185,649,915.589717185,800,839.410282815,658,635,657.410282815,0.431746768578,0.00457033169201,0.0497976932454,0.999999945866,8.35055658844e-05,-0.000316776653168,-3.07931672201e-05,1793254921597823744
+329,5.483333333,POSE2_TO_POSE3_RETREAT,784,761,737,720,690,649,915.833633131,800,839,657.833633131,635,657,0.430785259541,0.00457115051745,0.0498024093617,0.999999945941,9.60371327957e-05,-0.000312974906169,-3.06753907282e-05,1793254921614490368
+330,5.500000000,POSE2_TO_POSE3_RETREAT,784,761,737,720,690,649,915.258647333,800,839,657.258647333,635,657,0.429796904779,0.00456818893471,0.0497671598607,0.999999925178,0.000105474471301,-0.000371084162236,-2.85760310309e-05,1793254921631156992
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783.676092153,760.676092153,737.323907847,720.323907847,689.676092153,649,915,800,839,657.323907847,635,657,0.428848854741,0.00456926221216,0.0497572067148,0.999999919269,0.000108440644166,-0.000385844433595,-2.87519647818e-05,1793254921647823616
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783.087348062,760.087348062,737.912651938,720.912651938,689.087348062,649,915,800,839,657.912651938,635,657,0.427933759037,0.0045736345059,0.0497679365881,0.999999927224,0.000106115808137,-0.000365161343056,-3.07882431571e-05,1793254921664490240
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783,760.493538493,738,721,689,649,915,800,839,657.506461507,635,657,0.426952102687,0.00457778492946,0.0497594450022,0.999999917425,0.000111842114945,-0.000389443904943,-3.12096080139e-05,1793254921681157120
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783,761,738,721,689,649,915.072369105,800,839,657.14473821,635,657,0.425970780516,0.0045813025357,0.0497516967854,0.999999908787,0.000117169059769,-0.000409497936518,-3.17716174058e-05,1793254921697823744
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783,761,738,721,689,649,915.646436232,800,839,658.292872463,635,657,0.425072161288,0.00458070109497,0.0497723158629,0.999999933493,0.000110004007777,-0.000345932382773,-3.52589858316e-05,1793254921714490624
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783,761,738,721,689.225919695,649,916,800,839,658.774080305,635,657,0.424179722696,0.00458004079007,0.0497943907337,0.999999950825,0.000106370047093,-0.000292662180742,-3.7215144442e-05,1793254921731157248
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783,761,738,721,689.814088019,649,916,800,839,658.185911981,635,657,0.423297194241,0.00457928609995,0.0498187998845,0.999999960709,0.000108397978071,-0.000255899946875,-3.67161010076e-05,1793254921747823616
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783,761,738,721,690,649,915.604014707,800,839,658,635,657,0.422375275483,0.00458062112781,0.0498110010481,0.999999955635,0.000113841727385,-0.000272855347172,-3.63311314141e-05,1793254921764490240
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783,761,738,721,690,649,915.025015777,800,839,658,635,657,0.42143515165,0.00458292196656,0.0497883165542,0.99999994255,0.000120864174818,-0.000314637579448,-3.59988836387e-05,1793254921781156864
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783,761,738,721.554156758,690,649,915.554156758,800,839.554156758,658,634.445843242,657,0.420532711248,0.00458204185464,0.0497936672907,0.999999942758,0.000105074412686,-0.000319619606941,-3.58787363888e-05,1793254921797823488
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783,761,738,721.867916966,690,649,916,800,839.867916966,658,634.132083034,657,0.419626546888,0.00458239417366,0.0497963523973,0.999999940558,9.66095068787e-05,-0.000329073703314,-3.55015324012e-05,1793254921814490112
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783,761,738,721.294184083,690,649,916,800,839.294184083,658,634.705815917,657,0.41870224084,0.00458734769968,0.0497858913175,0.999999928223,0.000116081353174,-0.000359037651989,-3.42327753102e-05,1793254921831156992
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,761,738,721.286863773,690,649,916,800,839,658,635,657,0.417830748511,0.00459005138743,0.049774505509,0.999999919528,0.000125910300431,-0.000379344940286,-3.44628808768e-05,1793254921847823872
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,761,738,721.875609528,690,649,916,800,839,658,635,657,0.417014834924,0.00459038745056,0.0497621465599,0.999999915604,0.000125591511824,-0.000389490010502,-3.62703193271e-05,1793254921864490496
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,760.542857613,738.457142387,721.542857613,690,649,915.542857613,800,839,658,635,657,0.416235755102,0.00458892721145,0.0497822535419,0.999999931531,0.000118769143143,-0.000348456960022,-3.75447096341e-05,1793254921881157120
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783,760.036494543,738.963505457,721.036494543,690.036494543,649,915,800,839,658,635,657,0.415464769497,0.004587034904,0.049808898636,0.999999948781,0.000110668926114,-0.000297827922434,-3.85932598436e-05,1793254921897823744
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783,760.612174201,738.387825799,721.612174201,690.612174201,649,915,800,839,658,635,657,0.414667593708,0.00458586833433,0.0498036488597,0.999999945851,0.000109428720776,-0.000307973398832,-3.84148206297e-05,1793254921914490368
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783,761,738.187748703,722,690.812251297,649,915,800,839,658,635,657,0.413870002677,0.0045854162773,0.0497915927004,0.999999939093,0.000110726284504,-0.000328758203683,-3.83754132001e-05,1793254921931156992
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783,761,738.763106215,722,690.236893785,649,915,800,839,658,635,657,0.41307155423,0.00458643933751,0.049765484704,0.99999992337,0.000117263093898,-0.000371507994925,-3.86230380089e-05,1793254921947823616
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,783.936925978,761,738.063074022,722,690.936925978,649,915,800,838.063074022,657.063074022,635,657,0.411679983059,0.00458939985191,0.0497971997144,0.99999993701,0.000122980399866,-0.000330797012445,-3.78158467547e-05,1793254921981156608
+352,5.866666667,POSE2_TO_POSE3_RETREAT,784,761,738,722,691,649,915.517154355,800,838.517154355,657.517154355,635,657,0.411002081982,0.00459006668668,0.0498065089736,0.999999941409,0.000119043391542,-0.000318747945487,-3.75518407368e-05,1793254921997823744
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783.904529639,761,738,722,690.904529639,649,915.904529639,800,839,658,634.904529639,657,0.410326996227,0.00459051877858,0.049808938036,0.999999942346,0.000115106010466,-0.000317254581318,-3.75286047949e-05,1793254922014490368
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783.329996629,761,738,722,690.329996629,649,915.329996629,800,839,658,634.329996629,657,0.409671281753,0.00459045318523,0.0497873124044,0.999999930056,0.000114676511506,-0.000353910782822,-3.85282535417e-05,1793254922031156992
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783.250371378,761,738,722,690.250371378,649,915,800,839,658,634.250371378,657,0.409053852342,0.00458935073258,0.0497807728343,0.999999927059,0.000114684738958,-0.000362191942134,-3.93345546226e-05,1793254922047823616
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783.838613542,761,738,722,690.838613542,649,915,800,839,658,634.838613542,657,0.408488087852,0.00458684906062,0.0497945915813,0.999999937387,0.000115283668906,-0.000332181589973,-3.98799371387e-05,1793254922064490240
+357,5.950000000,POSE2_TO_POSE3_RETREAT,784,761,738.420159472,722,691,649,915,800,839,658,634.579840528,657,0.407942384401,0.0045838216968,0.0498089802563,0.999999943783,0.000112638107864,-0.000313377836041,-3.92493897832e-05,1793254922081157120
+358,5.966666667,POSE2_TO_POSE3_RETREAT,784,761,738.999173724,722,691,649,915,800,839,658,634.000826276,657,0.407404265623,0.00458059557807,0.0498235844121,0.999999948712,0.00010876586287,-0.000298811093957,-3.81742444247e-05,1793254922097824000
+359,5.983333333,POSE2_TO_POSE3_RETREAT,784,761,738.423513752,722,691,649,915,800,838.423513752,658,634.576486248,657,0.406873169069,0.00458456478402,0.0498077410882,0.999999940965,9.95732480121e-05,-0.000326520459887,-3.9248820107e-05,1793254922114490368
+360,6.000000000,POSE2_TO_POSE3_RETREAT,784,760.847538773,738,722,691,649,915,800,838,658,635,657,0.406352746087,0.00458772914696,0.0497906366635,0.999999931561,9.39303913825e-05,-0.000355592356684,-4.01096769469e-05,1793254922131156992
+361,6.016666667,POSE2_TO_POSE3_RETREAT,784,760.275240212,738,722,691,649,915,800,838,658,635,657,0.405861687508,0.00458864887319,0.0497701793221,0.999999919006,9.80835523641e-05,-0.000388249935597,-4.03735498997e-05,1793254922147823872
+362,6.033333333,POSE2_TO_POSE3_RETREAT,784,760.308827744,738,722,691,649,915,800,838,658,634.691172256,657.308827744,0.405403673118,0.00459007208989,0.0497624583939,0.999999912451,0.000105197852812,-0.000403018593871,-4.009455035e-05,1793254922164490752
+363,6.050000000,POSE2_TO_POSE3_RETREAT,784,760.903800627,738,722,691,649,915,800,838,658,634.096199373,657.903800627,0.404976275935,0.00459196181692,0.0497665384234,0.999999912123,0.000115055804457,-0.000401212225068,-3.93125508993e-05,1793254922181157632
+364,6.066666667,POSE2_TO_POSE3_RETREAT,784,761,738,722,691,649,915,800,838.482915279,658,634.482915279,657.517084721,0.404620294278,0.00459461738712,0.0497894874893,0.999999925674,0.000123900685417,-0.000363053414227,-3.86438933702e-05,1793254922197824000
+365,6.083333333,POSE2_TO_POSE3_RETREAT,784,761,738,722.058751387,691,649,915,800,839,658,634.941248613,657,0.404281018858,0.0045968569596,0.0498158268184,0.999999939747,0.000131402108339,-0.00031905905196,-3.79456758237e-05,1793254922214490368
+366,6.100000000,POSE2_TO_POSE3_RETREAT,784,761,738,722.632659033,691,649,915,800,839,658,634.367340967,657,0.403967454101,0.00459415371518,0.0498399824388,0.999999950304,0.000128836826847,-0.000285374691088,-3.67965829495e-05,1793254922231156992
+367,6.116666667,POSE2_TO_POSE3_RETREAT,784,761,738.212960075,722.787039925,691,649,915,800,838.787039925,658,634,657,0.403653296656,0.00459307864447,0.0498534222099,0.99999995474,0.000129532596327,-0.000269142395872,-3.60946934113e-05,1793254922247823616
+368,6.133333333,POSE2_TO_POSE3_RETREAT,784,761,738.804630536,722.195369464,691,649,915,800,838.195369464,658,634,657,0.403338085261,0.00459489898199,0.049847805808,0.999999949781,0.000136027546576,-0.000283945398608,-3.61880730605e-05,1793254922264490496
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783.613552045,761,739,722,691,649,915,800,838.386447955,658,634.386447955,657,0.403043586667,0.00459384021542,0.0498349856701,0.999999942899,0.000133209032958,-0.000308410466764,-3.65982340587e-05,1793254922281157120
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783.036591951,761,739,722,691,649,915,800,838.963408049,658,634.963408049,657,0.402759299095,0.00459136210063,0.0498186142147,0.999999934397,0.000125799143704,-0.000337638766684,-3.71645627505e-05,1793254922297823744
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783.53821714,761,739,722,691,649,915,800,839,658,635,657,0.402519658572,0.00458000171737,0.0498081435441,0.99999993283,8.26566072715e-05,-0.000355155226074,-3.70506936122e-05,1793254922314490368
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783.886884811,761.113115189,738.886884811,722.113115189,691,649,915,800,839,658,635,657,0.402293173631,0.00456892878541,0.0498001782774,0.999999930537,4.71595914275e-05,-0.000367937417764,-3.63984146518e-05,1793254922331156736
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783.311026794,761.688973206,738.311026794,722.688973206,691,649,915,800,839,658,635,657,0.402108138549,0.00456149236968,0.0498008277137,0.99999993157,5.28383528442e-05,-0.0003645966459,-3.37319855874e-05,1793254922347823616
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783.272489804,761.727510196,738.272489804,723,691,649,915,800,839,658,634.727510196,657,0.401940494821,0.00456141269899,0.0498046038849,0.99999993456,6.49425852124e-05,-0.000354397283243,-3.26317757669e-05,1793254922364490240
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783.865000864,761.134999136,738.865000864,723,691,649,915,800,839,658,634.134999136,657,0.401793276098,0.0045699730393,0.0498120521995,0.999999939369,8.459310796e-05,-0.00033614295925,-3.33709870267e-05,1793254922381156864
+376,6.266666667,POSE2_TO_POSE3_RETREAT,784,761,739,723,691,649,915,800,838.554843104,658,634.445156896,657,0.401673491484,0.00457118200862,0.0498215148512,0.999999945198,8.92173763518e-05,-0.000317081887437,-3.32119124251e-05,1793254922397823744
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783.978348145,761,738.978348145,723,691,648.978348145,915,800,838.021651855,658,635,657.021651855,0.401562325251,0.00457022568896,0.049831270711,0.99999995094,8.93759832114e-05,-0.000298422730538,-3.28051441596e-05,1793254922414490368
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783.402248455,761,738.402248455,723,691,648.402248455,915,800,838.597751545,658,635,657.597751545,0.401464560181,0.00456936917676,0.0498333144669,0.999999951672,8.87195376596e-05,-0.000296151383214,-3.2843066136e-05,1793254922431156992
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783.173379922,761,738.173379922,722.826620078,691,648.173379922,915,800,838.826620078,658,635,657.826620078,0.401371831266,0.00456945269274,0.0498343125016,0.999999951862,8.88248455896e-05,-0.000295442885737,-3.31472673784e-05,1793254922447823872
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783.74791772,761,738.74791772,722.25208228,691,648.74791772,915,800,838.25208228,658,635,657.25208228,0.40129075477,0.00457171119949,0.0498328909977,0.999999950801,9.069266108e-05,-0.000298350433131,-3.406757239e-05,1793254922464490496
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783.666959627,760.666959627,738.666959627,722,691,649,914.666959627,800,838,658,634.666959627,657,0.40122321375,0.00457261038311,0.0498327730814,0.999999951017,9.18542764635e-05,-0.0002972357695,-3.4353080762e-05,1793254922481157120
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783.073562112,760.073562112,738.073562112,722,691,649,914.073562112,800,838,658,634.073562112,657,0.401166254194,0.00457244690458,0.0498336742557,0.999999952225,9.24638141102e-05,-0.000292976708523,-3.41423315636e-05,1793254922497823488
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783.504736867,760.504736867,738,722.504736867,691,648.495263133,914,800,838,658,634,657,0.401127416321,0.00457191176915,0.049835308176,0.999999953679,9.31333346611e-05,-0.000287741653557,-3.42405241377e-05,1793254922514490112
+384,6.400000000,POSE2_TO_POSE3_RETREAT,784,761,738.080593002,723,691,648.080593002,914,800,838.080593002,658,634.080593002,657,0.40109223192,0.00457127742601,0.0498369865376,0.99999995497,9.34908866388e-05,-0.000283098860912,-3.42745866114e-05,1793254922531156736
+385,6.416666667,POSE2_TO_POSE3_RETREAT,784,761,738.654574563,723,691,648.654574563,914,800,838.654574563,658,634.654574563,657,0.401063714751,0.00457035771026,0.049838302174,0.999999955188,9.18866096804e-05,-0.00028292740922,-3.36484026e-05,1793254922547823360
+386,6.433333333,POSE2_TO_POSE3_RETREAT,784,761,738.764779666,722.764779666,691,649,914.235220334,800,839,658,635,657,0.401039641195,0.00457072840159,0.0498393714383,0.999999955448,9.18308288741e-05,-0.000282049979798,-3.34360788629e-05,1793254922564490240
+387,6.450000000,POSE2_TO_POSE3_RETREAT,784,761,738.174062062,722.174062062,691,649,914.825937938,800,839,658,635,657,0.401022283441,0.00457304933338,0.0498400683512,0.999999955769,9.41153482077e-05,-0.000280105579887,-3.38492376463e-05,1793254922581157120
+388,6.466666667,POSE2_TO_POSE3_RETREAT,783.591308499,761,738.408691501,722.408691501,691,649,915,800,838.591308499,658,635,657,0.401011554554,0.00457306603102,0.0498417084825,0.999999957023,9.43705996041e-05,-0.000275503280723,-3.38616814503e-05,1793254922597823744
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783.011882009,761,738.988117991,722.988117991,691,649,915,800,838.011882009,658,635,657,0.401003594943,0.0045721201116,0.0498437426527,0.999999958641,9.37781038367e-05,-0.000269790617438,-3.37067225274e-05,1793254922614490368
+390,6.500000000,POSE2_TO_POSE3_RETREAT,783.566455335,761,739,722.433544665,691,649,914.433544665,800,838.566455335,658,635,657,0.4009971217,0.00457175050963,0.0498431843643,0.999999958581,9.18008661383e-05,-0.000270695645954,-3.36735835758e-05,1793254922631156736
+391,6.516666667,POSE2_TO_POSE3_RETREAT,783.856565692,761,738.856565692,722.143434308,691,649,914,800.143434308,838.856565692,658,635,657,0.400991549539,0.00457172827441,0.049842852117,0.999999958517,9.05120347788e-05,-0.000271360387306,-3.37344543463e-05,1793254922647823616
+392,6.533333333,POSE2_TO_POSE3_RETREAT,783.283586477,761,738.283586477,722.716413523,691,649,914,800.716413523,838.283586477,658,635,657,0.400988582677,0.00457271017045,0.0498433593374,0.999999958554,9.13716036504e-05,-0.00027089062861,-3.40692197451e-05,1793254922664489984
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783.299954824,761,738.299954824,723,691,649,914,800.700045176,838.299954824,658,635,657,0.400987461012,0.00457215057796,0.0498442374555,0.999999958974,9.11666818757e-05,-0.000269404355372,-3.40734611424e-05,1793254922681156608
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783.893846367,761,738.893846367,723,691,649,914,800.106153633,838.893846367,658,635,657,0.400988147523,0.00457008042453,0.0498454790297,0.999999959764,8.99186268271e-05,-0.000266921962242,-3.37538100034e-05,1793254922697823488
+395,6.583333333,POSE2_TO_POSE3_RETREAT,784,761,739,722.526493152,691,649,914,800,838.526493152,658,635,657,0.400987220686,0.00457062191656,0.0498457460586,0.999999959729,9.02801135481e-05,-0.000266967065726,-3.34559823583e-05,1793254922714490368
+396,6.600000000,POSE2_TO_POSE3_RETREAT,783.950054245,761,739,722.049945755,691,649,914,800,838,658,634.950054245,657,0.400986116826,0.00457148122063,0.049845906714,0.999999959618,9.08466928442e-05,-0.000267226266381,-3.31693974187e-05,1793254922731156992
+397,6.616666667,POSE2_TO_POSE3_RETREAT,783.374921525,761,739,722.625078475,691,649,914,800,838,658,634.374921525,657,0.400986843791,0.00456970543921,0.0498471791492,0.999999960582,8.98863064325e-05,-0.000263952384375,-3.2951086444e-05,1793254922747823616
+398,6.633333333,POSE2_TO_POSE3_RETREAT,783.205122559,761,738.794877441,722.794877441,691,649,914,800,838,658,634,657,0.40098753146,0.00456846510043,0.0498481013094,0.999999961254,8.90494264098e-05,-0.000261714345948,-3.26632781348e-05,1793254922764490240
+399,6.650000000,POSE2_TO_POSE3_RETREAT,783.794363776,761,738.205636224,722.205636224,691,649,914,800,838,658,634,657,0.40098814554,0.0045682274477,0.0498483675342,0.9999999614,8.8443828215e-05,-0.000261416059475,-3.22453270461e-05,1793254922781156864
+400,6.666666667,POSE2_TO_POSE3_RETREAT,783.62282998,761,738.37717002,722.37717002,691,649,914.37717002,800,838.37717002,658,634,657,0.400987111181,0.00456951203368,0.0498480907409,0.999999961022,9.04388926049e-05,-0.000262144284239,-3.25102527295e-05,1793254922797823488
+401,6.683333333,POSE2_TO_POSE3_RETREAT,783.043473302,761,738.956526698,722.956526698,691,649,914.956526698,800,838.956526698,658,634,657,0.400985193158,0.00457161263456,0.0498475228562,0.999999960353,9.38280743918e-05,-0.000263422783069,-3.31412429749e-05,1793254922814490112
+402,6.700000000,POSE2_TO_POSE3_RETREAT,783,761,739,723,691.533005699,649,915,800,838.466994301,658,634.533005699,657,0.400984957588,0.00457118586405,0.049847795018,0.999999960658,9.16154788749e-05,-0.000263063194838,-3.2978991063e-05,1793254922831156992
+403,6.716666667,POSE2_TO_POSE3_RETREAT,783.108755737,761,738.891244263,723,691.891244263,649,915,800,838,658,635,657,0.40098495666,0.00457076065691,0.04984808747,0.999999960938,8.992965103e-05,-0.000262608329515,-3.27748154705e-05,1793254922847823616
+404,6.733333333,POSE2_TO_POSE3_RETREAT,783.682387551,761,738.317612449,723,691.317612449,649,915,800,838,658,635,657,0.400985375282,0.0045712185408,0.0498481753524,0.99999996079,9.24380005354e-05,-0.0002623142367,-3.26665072458e-05,1793254922864490240
+405,6.750000000,POSE2_TO_POSE3_RETREAT,784,761,738,722.736427853,691,649,915,800,838,658,635,657,0.40098589164,0.00457114008736,0.0498487148099,0.999999961049,9.24751470294e-05,-0.000261316414195,-3.26051119752e-05,1793254922881156864
+406,6.766666667,POSE2_TO_POSE3_RETREAT,784,761,738,722.145873349,691,649,915,800,838,658,635,657,0.400986529248,0.00457039626457,0.0498498144824,0.999999961812,8.94465686153e-05,-0.000259445558608,-3.26019159668e-05,1793254922897823488
+407,6.783333333,POSE2_TO_POSE3_RETREAT,783.562793553,761,738.437206447,722.437206447,691,649,914.562793553,800.437206447,838,658,635,657,0.400986358239,0.00457019433556,0.0498498521546,0.999999961797,8.87853800195e-05,-0.000259719555188,-3.27025017436e-05,1793254922914490112
+408,6.800000000,POSE2_TO_POSE3_RETREAT,783,761,738.982391653,722.982391653,691,649,914.017608347,800.982391653,838,658,634.982391653,657,0.400985927505,0.00457017409289,0.0498495261058,0.99999996153,8.89528827168e-05,-0.000260671072228,-3.28277978107e-05,1793254922931156736
+409,6.816666667,POSE2_TO_POSE3_RETREAT,783,761,738.409117047,722.409117047,691,649,914.590882953,800.409117047,838,658,634.409117047,657,0.400985671395,0.00457027765858,0.0498487159103,0.999999961339,9.07642510155e-05,-0.000260799662856,-3.26585311909e-05,1793254922947823360
+410,6.833333333,POSE2_TO_POSE3_RETREAT,783,760.834872719,738,722,691,649,914.834872719,800,838.165127281,658,634.165127281,656.834872719,0.400986022414,0.00457029358654,0.0498485802909,0.999999961376,9.21861642874e-05,-0.000260172776889,-3.25504288394e-05,1793254922964489984
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..94e89fb2704800305d6a82c25a21ab92bb2c9a50
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_01/simulation_data.csv
@@ -0,0 +1,415 @@
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+268,4.466666667,pose2_to_pose3_retreat,0.61899436194,0.0101817156777,1.04002014562,0.589565509494,0.0188559540438,1.03969185968
+269,4.483333333,pose2_to_pose3_retreat,0.618994359702,0.0101817135742,1.04002014595,0.589565507256,0.0188559519411,1.03969185995
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+274,4.566666667,pose2_to_pose3_retreat,0.618989249852,0.0101819037462,1.04002064982,0.589560395115,0.0188561338152,1.03969235004
+275,4.583333333,pose2_to_pose3_retreat,0.618981499057,0.0101817068213,1.04002052844,0.589552646824,0.0188559455731,1.03969223406
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+353,5.883333333,pose2_to_pose3_retreat,0.582844724445,0.0101817602575,1.04002048255,0.553415872569,0.0188559995587,1.03969219255
+354,5.900000000,pose2_to_pose3_retreat,0.582353114101,0.0101816629381,1.04002030359,0.55292426388,0.0188559076809,1.03969200899
+355,5.916666667,pose2_to_pose3_retreat,0.581881978509,0.0101817545965,1.04002053704,0.552453125281,0.0188559888534,1.03969223493
+356,5.933333333,pose2_to_pose3_retreat,0.581431805206,0.0101817506126,1.04002029896,0.552002952027,0.0188559853527,1.03969200524
+357,5.950000000,pose2_to_pose3_retreat,0.581000978012,0.0101817700793,1.04002036278,0.551572125789,0.018856008015,1.03969206787
+358,5.966666667,pose2_to_pose3_retreat,0.580585246958,0.0101817557552,1.04002060421,0.551156395331,0.0188559955888,1.03969230599
+359,5.983333333,pose2_to_pose3_retreat,0.580181065888,0.0101816651774,1.04002062735,0.550752214213,0.018855905129,1.03969233652
+360,6.000000000,pose2_to_pose3_retreat,0.579790386732,0.0101817207108,1.0400205132,0.550361535553,0.0188559624066,1.03969222403
+361,6.016666667,pose2_to_pose3_retreat,0.579416779144,0.0101816811247,1.04002054105,0.549987927741,0.0188559219241,1.03969224825
+362,6.033333333,pose2_to_pose3_retreat,0.57907027093,0.0101815903425,1.04002042211,0.549641421203,0.0188558370771,1.03969213591
+363,6.050000000,pose2_to_pose3_retreat,0.578751849483,0.010181773874,1.04002046848,0.54932299726,0.0188560120227,1.0396921792
+364,6.066666667,pose2_to_pose3_retreat,0.578460729667,0.010181783757,1.04002057865,0.549031877162,0.0188560208064,1.03969228559
+365,6.083333333,pose2_to_pose3_retreat,0.578191680786,0.0101815925097,1.0400206615,0.548762830925,0.0188558384614,1.03969236671
+366,6.100000000,pose2_to_pose3_retreat,0.577939990465,0.0101817502989,1.04002070425,0.548511138744,0.0188559896043,1.03969240047
+367,6.116666667,pose2_to_pose3_retreat,0.577698038757,0.0101818289661,1.04002062168,0.548269186338,0.0188560657895,1.0396923152
+368,6.133333333,pose2_to_pose3_retreat,0.577464487157,0.0101816701978,1.04002057191,0.548035635658,0.0188559103623,1.03969227129
+369,6.150000000,pose2_to_pose3_retreat,0.577242336945,0.010181641731,1.04002049182,0.547813485409,0.0188558818905,1.03969219437
+370,6.166666667,pose2_to_pose3_retreat,0.577033885965,0.0101817295193,1.04002047301,0.547605034183,0.0188559689557,1.03969217853
+371,6.183333333,pose2_to_pose3_retreat,0.576845623612,0.010181754549,1.0400205782,0.547416771977,0.0188559945481,1.03969228545
+372,6.200000000,pose2_to_pose3_retreat,0.576676842011,0.0101817454174,1.04002069161,0.547247989695,0.0188559827948,1.03969239064
+373,6.216666667,pose2_to_pose3_retreat,0.576529179595,0.0101817546584,1.04002072398,0.547100327699,0.0188559932538,1.0396924176
+374,6.233333333,pose2_to_pose3_retreat,0.576399895884,0.0101818073864,1.0400206682,0.54697104302,0.0188560431448,1.03969237361
+375,6.250000000,pose2_to_pose3_retreat,0.576288494063,0.0101818467265,1.04002040947,0.546859640636,0.0188560806804,1.03969211765
+376,6.266666667,pose2_to_pose3_retreat,0.576190574787,0.0101817274863,1.04002050103,0.546761722559,0.0188559653116,1.03969220406
+377,6.283333333,pose2_to_pose3_retreat,0.576104159106,0.0101816517793,1.04002062011,0.546675307723,0.0188558924016,1.0396923215
+378,6.300000000,pose2_to_pose3_retreat,0.576027854943,0.0101817958238,1.04002041368,0.546599002224,0.0188560322537,1.03969212463
+379,6.316666667,pose2_to_pose3_retreat,0.575959725265,0.0101817581436,1.04002043814,0.546530873144,0.0188559963156,1.03969214129
+380,6.333333333,pose2_to_pose3_retreat,0.575900009141,0.0101818191339,1.0400205174,0.546471156594,0.0188560559899,1.03969222391
+381,6.350000000,pose2_to_pose3_retreat,0.575849295259,0.0101817742431,1.04002071204,0.546420443238,0.0188560126213,1.0396924116
+382,6.366666667,pose2_to_pose3_retreat,0.575807426437,0.0101817561424,1.04002071526,0.546378574594,0.018855995146,1.03969241539
+383,6.383333333,pose2_to_pose3_retreat,0.575773650313,0.0101817928427,1.04002053399,0.546344797986,0.0188560305617,1.0396922436
+384,6.400000000,pose2_to_pose3_retreat,0.575746534299,0.0101817354334,1.04002054674,0.546317682186,0.0188559737115,1.03969225195
+385,6.416666667,pose2_to_pose3_retreat,0.575725265306,0.0101817132504,1.04002033181,0.546296413444,0.0188559527139,1.03969204584
+386,6.433333333,pose2_to_pose3_retreat,0.575708439349,0.0101817095159,1.04002028187,0.546279587104,0.0188559475904,1.03969199361
+387,6.450000000,pose2_to_pose3_retreat,0.575695800162,0.0101817528707,1.04002033351,0.546266947286,0.0188559886457,1.0396920411
+388,6.466666667,pose2_to_pose3_retreat,0.575686477111,0.0101818580525,1.04002042098,0.546257623657,0.0188560919014,1.03969212965
+389,6.483333333,pose2_to_pose3_retreat,0.575679893381,0.0101818386887,1.04002058058,0.546251040266,0.0188560736832,1.03969228843
+390,6.500000000,pose2_to_pose3_retreat,0.575675389475,0.0101817578053,1.04002061911,0.546246537243,0.0188559957564,1.03969232588
+391,6.516666667,pose2_to_pose3_retreat,0.575672281048,0.0101816317642,1.04002056126,0.546243430108,0.0188558740403,1.0396922668
+392,6.533333333,pose2_to_pose3_retreat,0.575670418006,0.0101816488385,1.04002056202,0.546241566133,0.0188558877952,1.03969226364
+393,6.550000000,pose2_to_pose3_retreat,0.575669257081,0.0101816847917,1.04002057218,0.546240404159,0.0188559200642,1.03969227048
+394,6.566666667,pose2_to_pose3_retreat,0.57566862924,0.0101817099843,1.04002058911,0.546239775943,0.0188559439459,1.0396922864
+395,6.583333333,pose2_to_pose3_retreat,0.575668435938,0.0101817226145,1.04002060401,0.546239582689,0.0188559567504,1.03969230166
+396,6.600000000,pose2_to_pose3_retreat,0.575668428107,0.0101817231262,1.04002060462,0.546239574859,0.0188559572692,1.03969230228
+397,6.616666667,pose2_to_pose3_retreat,0.575668427886,0.0101817231406,1.04002060463,0.546239574639,0.0188559572838,1.0396923023
+398,6.633333333,pose2_to_pose3_retreat,0.575668415713,0.010181723936,1.04002060557,0.546239562469,0.0188559580901,1.03969230326
+399,6.650000000,pose2_to_pose3_retreat,0.575668313035,0.0101817306449,1.04002061349,0.546239459815,0.0188559648917,1.03969231136
+400,6.666666667,pose2_to_pose3_retreat,0.575668103357,0.0101817443452,1.04002062966,0.546239250189,0.0188559787809,1.03969232792
+401,6.683333333,pose2_to_pose3_retreat,0.575667817131,0.010181763047,1.04002065172,0.546238964033,0.0188559977407,1.03969235051
+402,6.700000000,pose2_to_pose3_retreat,0.575667509178,0.0101817831685,1.04002067547,0.546238656156,0.0188560181398,1.03969237483
+403,6.716666667,pose2_to_pose3_retreat,0.575667373609,0.0101817920265,1.04002068592,0.54623852062,0.0188560271201,1.03969238553
+404,6.733333333,pose2_to_pose3_retreat,0.575667258241,0.0101818067145,1.04002070638,0.54623840523,0.0188560417243,1.03969240577
+405,6.750000000,pose2_to_pose3_retreat,0.575667166447,0.0101818264933,1.04002073577,0.546238313361,0.0188560612239,1.03969243446
+406,6.766666667,pose2_to_pose3_retreat,0.575667102822,0.0101818402027,1.04002075613,0.546238249684,0.0188560747397,1.03969245435
+407,6.783333333,pose2_to_pose3_retreat,0.575667083415,0.0101818443842,1.04002076234,0.546238230262,0.0188560788622,1.03969246041
+408,6.800000000,pose2_to_pose3_retreat,0.575667074845,0.0101818462308,1.04002076509,0.546238221685,0.0188560806828,1.03969246309
+409,6.816666667,pose2_to_pose3_retreat,0.575666985893,0.0101818653972,1.04002079356,0.546238132661,0.0188560995786,1.0396924909
+410,6.833333333,pose2_to_pose3_retreat,0.575666872491,0.0101818684968,1.04002079716,0.54623801927,0.0188561027242,1.03969249473
+411,6.850000000,pose2_to_pose3_retreat,0.575666803924,0.0101817969013,1.04002068675,0.546237951065,0.0188560325029,1.03969238816
+412,6.866666667,pose2_to_pose3_retreat,0.575666716787,0.010181705916,1.04002054643,0.546237864388,0.0188559432639,1.03969225274
+413,6.883333333,pose2_to_pose3_retreat,0.575666707958,0.0101816966969,1.04002053221,0.546237855605,0.0188559342217,1.03969223901
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c3cc417ed81a4a9453d147dbe1d92a413d4477c9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:457443b924a5af0d8bb91e568d4fa1f39da8eae438d5b68f9013f2b2381f2280
+size 26358962
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e7584439722d964dddb5743289bc3f2d7ee844d5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_02/franka_data.csv
@@ -0,0 +1,417 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,783.428752845,761,738.428752845,722.428752845,691,649,914.571247155,801,838,658,634.571247155,657,0.400987353357,0.00456899358274,0.0498518260656,0.999999962647,8.83766991669e-05,-0.00025663044236,-3.21944136968e-05,1793254923148423680
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+7,0.116666667,BASELINE,784,761,738,722.949297255,691,649,914,800,838,658,635,657,0.400987116643,0.00456838632285,0.0498514944308,0.999999963011,8.8315461987e-05,-0.000255218084571,-3.22781698504e-05,1793254923248423168
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+21,0.350000000,BASELINE,783.177272029,761,738.177272029,723,691,649,914,800,838,657.822727971,634.177272029,656.177272029,0.400986960698,0.00456853527904,0.0498519982855,0.999999962809,9.11499325494e-05,-0.000255060472766,-3.18969138795e-05,1793254923481756928
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+24,0.400000000,BASELINE,784,761,738.071285706,723,691,648.071285706,914,800,838,657.928714294,635,657,0.400986045642,0.00457026079835,0.0498515227914,0.999999962271,9.45658586517e-05,-0.000255945844185,-3.1748045819e-05,1793254923531756800
+25,0.416666667,BASELINE,783.497663301,760.497663301,738.502336699,723,691,648.502336699,914.502336699,800,838,658,634.497663301,657,0.400987049761,0.00457012855686,0.0498518789385,0.999999962621,9.27475767857e-05,-0.000255227525913,-3.18404802845e-05,1793254923548423168
+26,0.433333333,BASELINE,783,760.075976007,738.924023993,722.924023993,691,649,915,800,838,658,634,657,0.400987982721,0.00456984710653,0.0498522751032,0.999999963003,9.06339164349e-05,-0.00025447861447,-3.19321805055e-05,1793254923565089792
+27,0.450000000,BASELINE,783,760.654890322,738.345109678,722.345109678,691,649,915,800,838,658,634,657,0.400987575628,0.00456948715311,0.0498520914071,0.999999962845,9.22515890632e-05,-0.00025455405782,-3.16666510454e-05,1793254923581756672
+28,0.466666667,BASELINE,783,761,738,722,691,649,914.761751225,800,838,658,634,657,0.400987218076,0.00456936778989,0.0498521839187,0.999999962765,9.30520186748e-05,-0.000254600258704,-3.14774143901e-05,1793254923598423296
+29,0.483333333,BASELINE,783,761,738,722,691,649,914.171832994,800,838,658,634,657,0.400986933648,0.00456960355224,0.0498526841294,0.999999962804,9.26461485709e-05,-0.000254603295949,-3.14007904982e-05,1793254923615089920
+30,0.500000000,BASELINE,783.410640132,761,738,722,691,649,914,800,838,658,634,657,0.400986750394,0.00456917717484,0.0498525527896,0.999999962904,9.09513391552e-05,-0.000254792487219,-3.1629861964e-05,1793254923631756544
+31,0.516666667,BASELINE,783.990053307,761,738,722,691,649,914,800,838,658,634,657,0.400986608721,0.00456847865809,0.0498521618828,0.999999963025,8.87267758565e-05,-0.000255058187766,-3.19845741847e-05,1793254923648423424
+32,0.533333333,BASELINE,784,761,738.560178135,722.560178135,691,649,914,800,838,658,634.560178135,657,0.400986492859,0.00456985257478,0.0498521167581,0.999999962922,9.00014997837e-05,-0.000255007209031,-3.20362383406e-05,1793254923665089792
+33,0.550000000,BASELINE,783.864705832,761,738.864705832,723,691,649,914,800.135294168,838,658,635,657,0.400986410021,0.00457102599436,0.0498521634867,0.999999962871,9.10370775146e-05,-0.000254834989479,-3.20766175573e-05,1793254923681756672
+34,0.566666667,BASELINE,783.272173419,761,738.272173419,723,691,649,914,800.727826581,838,658,635,657,0.400986437268,0.00457139948033,0.0498525002297,0.999999963012,9.10578763685e-05,-0.00025427171983,-3.20967473234e-05,1793254923698423552
+35,0.583333333,BASELINE,783,761,738.313109407,722.686890593,691,649,914,800.686890593,838,658,635,657,0.400986778994,0.00457050021896,0.0498528253096,0.999999963225,8.99427702175e-05,-0.000253835804749,-3.20698757308e-05,1793254923715090176
+36,0.600000000,BASELINE,783,761,738.892233128,722.107766872,691,649,914,800.107766872,838,658,635,657,0.400987387896,0.00456851964546,0.0498531404809,0.999999963495,8.78626116492e-05,-0.000253508088649,-3.2003072302e-05,1793254923731757056
+37,0.616666667,BASELINE,783.469886896,761,739,722,691,649,914.469886896,800,838,658,635,657,0.40098704306,0.00456867553896,0.049852694592,0.999999963249,8.85346553214e-05,-0.000254237634738,-3.20303016583e-05,1793254923748423680
+38,0.633333333,BASELINE,783.953029072,761,738.953029072,722,691,649,914.953029072,800,838,658,635,657,0.400986716104,0.00456924898997,0.0498522342536,0.999999962965,8.9743012362e-05,-0.000254929733838,-3.20390823732e-05,1793254923765090304
+39,0.650000000,BASELINE,783.378568644,761,738.378568644,722,691,649,914.378568644,800,838,658,635,657,0.40098903872,0.00456902616407,0.04985356571,0.999999963584,8.99078009329e-05,-0.000252486718016,-3.15992479764e-05,1793254923781756928
+40,0.666666667,BASELINE,783,761,738.201338785,722.201338785,691,649,914.201338785,800.201338785,838,658,635,657,0.400989873335,0.00456843845851,0.0498541320478,0.999999963999,8.90588731173e-05,-0.000251162265704,-3.14283899472e-05,1793254923798423296
+41,0.683333333,BASELINE,783,761,738.791772728,722.791772728,691,649,914.791772728,800.791772728,838,658,635,657,0.400987832332,0.0045671456086,0.0498532197639,0.999999964024,8.62508983269e-05,-0.000251999481714,-3.17773394016e-05,1793254923815089920
+42,0.700000000,BASELINE,783,761,738.625295072,723,691,649,914.625295072,800.625295072,838,658,634.625295072,657,0.400986423523,0.00456691669172,0.049852627251,0.999999963679,8.62421645287e-05,-0.000253368962965,-3.17416797737e-05,1793254923831756800
+43,0.716666667,BASELINE,783,761,738.046449861,723,691,649,914.046449861,800.046449861,838,658,634.046449861,657,0.400985359136,0.00456726740854,0.0498522089503,0.999999963133,8.77584650706e-05,-0.000255028423764,-3.14964840404e-05,1793254923848423680
+44,0.733333333,BASELINE,783,761,738,722.471058763,691,649,914,800.528941237,838,658,634,657,0.400985966642,0.004568363633,0.049852588727,0.999999963217,8.85505264317e-05,-0.000254397959821,-3.1734803241e-05,1793254923865090048
+45,0.750000000,BASELINE,783,761,738,722,691,649,914.103659468,800.896340532,838,658,634,657,0.400986658468,0.00456935124793,0.0498529250207,0.99999996333,8.91558230753e-05,-0.00025371395281,-3.19522018187e-05,1793254923881756672
+46,0.766666667,BASELINE,783,761,738,722,691,649,914.676695321,800.323304679,838,658,634,657,0.400987071605,0.00456955255213,0.0498527491319,0.999999963333,8.92015549993e-05,-0.000253692156129,-3.1883853325e-05,1793254923898423552
+47,0.783333333,BASELINE,783.258366504,761,738.258366504,722,691,649,914.741633496,800,838,658,634.258366504,657,0.400987163425,0.00456888370713,0.0498524974554,0.999999963368,8.89272104836e-05,-0.000253673245557,-3.17007988057e-05,1793254923915090176
+48,0.800000000,BASELINE,783.851217159,761,738.851217159,722,691,649,914.148782841,800,838,658,634.851217159,657,0.400986839264,0.00456708835733,0.0498521476633,0.999999963444,8.82384914529e-05,-0.000253658071367,-3.13692445799e-05,1793254923931756800
+49,0.816666667,BASELINE,783.569089188,761,738.569089188,722,691,649,914.430910812,800,838,658,635,657,0.40098603638,0.0045671914833,0.0498523455126,0.999999963319,8.75377801443e-05,-0.000254392536329,-3.13544211989e-05,1793254923948423424
+50,0.833333333,BASELINE,783,761,738.006255687,722,691,649,914.993744313,800,838,658,634.993744313,657,0.400985107509,0.00456792456095,0.0498527267433,0.999999963134,8.68469624079e-05,-0.000255346218757,-3.1446186483e-05,1793254923965090304
+51,0.850000000,BASELINE,783,761,738.587060646,722,691,649,914.412939354,800,838,658,634.412939354,657,0.400987338792,0.00456809521213,0.0498530984849,0.999999963582,8.74338354452e-05,-0.000253365883546,-3.15810713011e-05,1793254923981756928
+52,0.866666667,BASELINE,783.169120236,761,738.830879764,722,691,649,914,800,838.169120236,657.830879764,634,657,0.400988844235,0.00456787956549,0.0498535645166,0.999999963961,8.7772333124e-05,-0.000251746403937,-3.15986461143e-05,1793254923998423552
+53,0.883333333,BASELINE,783.754266109,761,738.245733891,722,691,649,914,800,838.754266109,657.245733891,634,657,0.400988564153,0.00456671364939,0.0498542624962,0.999999964177,8.74998422848e-05,-0.000251014607586,-3.13276453445e-05,1793254924015090176
+54,0.900000000,BASELINE,784,761,738.337188141,722.337188141,691,649,914,800,839,657,634.337188141,656.662811859,0.400988398335,0.00456771332073,0.0498544788484,0.999999964116,8.86778294024e-05,-0.000250818324856,-3.15212264703e-05,1793254924031756800
+55,0.916666667,BASELINE,784,761,738.91850009,722.91850009,691,649,914,800,839,657,634.91850009,656.08149991,0.400988315245,0.00457028087483,0.0498543465031,0.999999963851,9.09059608277e-05,-0.000251009753375,-3.20511643415e-05,1793254924048423680
+56,0.933333333,BASELINE,784,761,738.505578834,722.505578834,691,649,914,800,838.505578834,657.494421166,634.505578834,656.494421166,0.400988233162,0.00456886325307,0.0498537704875,0.999999963918,8.95538676614e-05,-0.000251262123973,-3.17986372805e-05,1793254924065090304
+57,0.950000000,BASELINE,784,760.930532464,738,722.069467536,691,649,914,800,838,657.930532464,634.069467536,657,0.400988043977,0.004566930098,0.0498531473519,0.999999963972,8.77613343187e-05,-0.000251724816616,-3.14406482255e-05,1793254924081756928
+58,0.966666667,BASELINE,784,760.355454833,738,722.644545167,691,649,914,800,838,657.355454833,634.644545167,657,0.400987074076,0.00456597438417,0.0498527078155,0.999999963558,8.70121938342e-05,-0.000253645982588,-3.12437122151e-05,1793254924098423552
+59,0.983333333,BASELINE,783.77356945,760.22643055,738,723,691,649,914.22643055,800,838,657.22643055,634.77356945,657,0.400986907165,0.0045658101167,0.049852869697,0.999999963466,8.73750535706e-05,-0.000253892066032,-3.11721404256e-05,1793254924115089920
+60,1.000000000,BASELINE,783.180665774,760.819334226,738,723,691,649,914.819334226,800,838,657.819334226,634.180665774,657,0.400988039875,0.00456692678851,0.0498540049608,0.999999963894,8.95376623748e-05,-0.000251427063616,-3.13034679842e-05,1793254924131756544
+61,1.016666667,BASELINE,783,761,738,722.59891896,691,649,914.59891896,800,838,658,634,657,0.400989571676,0.00456688018774,0.0498548510532,0.999999964441,8.8863152404e-05,-0.000249457267192,-3.1499082702e-05,1793254924148423424
+62,1.033333333,BASELINE,783,761,738,722.022061744,691,649,914.022061744,800,838,658,634,657,0.400991278382,0.00456632377569,0.0498555704145,0.999999965038,8.69452579431e-05,-0.000247704497918,-3.17228716457e-05,1793254924165090048
+63,1.050000000,BASELINE,783,761,738,722,691,649,914,800,838.553138248,658,634.553138248,657,0.400990843089,0.0045674124587,0.0498561325289,0.999999964779,8.90524810985e-05,-0.000248040049537,-3.14365390165e-05,1793254924181756928
+64,1.066666667,BASELINE,783,761,738,722,691,649,914.131397163,800,838.868602837,658,635,657,0.400989936735,0.0045684070118,0.0498562111173,0.999999964426,9.08397520238e-05,-0.000248836801328,-3.12313046508e-05,1793254924198423552
+65,1.083333333,BASELINE,783,761,738,722,691,649,914.720541983,800,838.279458017,658,635,657,0.400987686084,0.0045688457482,0.0498546270319,0.999999963883,9.09548031143e-05,-0.000250950936648,-3.13792595946e-05,1793254924215090176
+66,1.100000000,BASELINE,783,761,738,722.304591484,691,649,914.695408516,800,838,658,634.695408516,657,0.400987222213,0.00456869046642,0.0498542278379,0.999999963802,9.00400854159e-05,-0.000251598081718,-3.14211303182e-05,1793254924231756800
+67,1.116666667,BASELINE,783,761,738,722.884042994,691,649,914.115957006,800,838,658,634.115957006,657,0.400988370713,0.00456799914909,0.049854897877,0.999999964138,8.81961156159e-05,-0.000250921430713,-3.13672717934e-05,1793254924248423424
+68,1.133333333,BASELINE,783,761,738.460203331,722.539796669,691,649,914,800,838,658,634.460203331,657,0.400987960365,0.0045681157511,0.0498542541939,0.999999964059,8.82981205189e-05,-0.000251188746162,-3.14577451828e-05,1793254924265090304
+69,1.150000000,BASELINE,783,761,738.964480839,722.035519161,691,649,914,800,838,658,634.964480839,657,0.400987213022,0.00456841062674,0.0498533421857,0.999999963875,8.88421709697e-05,-0.000251712727964,-3.15770179479e-05,1793254924281756928
+70,1.166666667,BASELINE,783,761,738.389486477,722.610513523,691,649,914,800,838,658,634.389486477,657,0.400987270628,0.00456834323777,0.0498533466651,0.999999963677,8.87058128581e-05,-0.000252548143855,-3.15852707615e-05,1793254924298423552
+71,1.183333333,BASELINE,783.190605686,761,738.190605686,723,691,649,914.190605686,800,838,658,634,657,0.400987479349,0.00456810114178,0.0498534161077,0.999999963677,8.82163866606e-05,-0.000252718056025,-3.15718648651e-05,1793254924315090176
+72,1.200000000,BASELINE,783.781401138,761,738.781401138,723,691,649,914.781401138,800,838,658,634,657,0.400988005347,0.00456749223636,0.0498536219451,0.999999964096,8.69856696735e-05,-0.000251490697456,-3.15129850168e-05,1793254924331756800
+73,1.216666667,BASELINE,783.635036949,761,739,723,691,649,915,800.364963051,838,658,634.364963051,657,0.400987627461,0.00456769782393,0.0498532867158,0.999999963971,8.80100431008e-05,-0.000251626515414,-3.15699103602e-05,1793254924348423680
+74,1.233333333,BASELINE,783.055723481,761,739,723,691,649,915,800.944276519,838,658,634.944276519,657,0.400986718705,0.00456838178027,0.0498526337068,0.999999963521,9.03588782746e-05,-0.000252562955474,-3.16948505137e-05,1793254924365090304
+75,1.250000000,BASELINE,783.519116817,761,738.480883183,722.480883183,691,649,914.480883183,800.480883183,838,658,635,657,0.400986919187,0.00456774248106,0.049852944756,0.999999963704,8.86131559035e-05,-0.000252446912502,-3.1771388701e-05,1793254924381756928
+76,1.266666667,BASELINE,783.9059727,761,738.0940273,722,691,649,914,800,838,658,634.9059727,657,0.400987373304,0.00456718509379,0.0498533825594,0.999999963939,8.70925955932e-05,-0.000252046110966,-3.17850279181e-05,1793254924398423552
+77,1.283333333,BASELINE,783.328252247,761,738.671747753,722,691,649,914,800,838,658,634.328252247,657,0.400988524892,0.0045677735231,0.0498539446124,0.999999964106,8.89719696155e-05,-0.000250756667031,-3.15016024275e-05,1793254924415090176
+78,1.300000000,BASELINE,783,761,738.745474343,722.254525657,691.254525657,649,914.254525657,800,838,658,634.254525657,657,0.400989267179,0.00456812329324,0.0498546983389,0.999999964274,9.04352317984e-05,-0.000249575780511,-3.13754503458e-05,1793254924431756800
+79,1.316666667,BASELINE,783,761,738.156041851,722.843958149,691.843958149,649,914.843958149,800,838,658,634.843958149,657,0.400989470907,0.00456815903373,0.0498557042709,0.999999964447,9.13509706442e-05,-0.000248537734783,-3.14562398588e-05,1793254924448423424
+80,1.333333333,BASELINE,783,761,738.423332782,722.576667218,691.576667218,649,915,800.423332782,838,658,634.576667218,657,0.400989295008,0.00456885678704,0.0498556519929,0.999999964398,9.11048698938e-05,-0.000248824299196,-3.14842514089e-05,1793254924465090560
+81,1.350000000,BASELINE,783,761,738.999086141,722.000913859,691.000913859,649,915,800.999086141,838,658,634.000913859,657,0.400988982426,0.00456979289747,0.0498552187075,0.999999964267,9.0440449945e-05,-0.000249587788182,-3.14932603089e-05,1793254924481757440
+82,1.366666667,BASELINE,783,761,738.422895849,722.577104151,691,649,914.422895849,800.422895849,838,657.422895849,634.577104151,657,0.400988510564,0.00456942914602,0.0498543596561,0.999999964008,9.12824172825e-05,-0.000250305383599,-3.16184303938e-05,1793254924498423808
+83,1.383333333,BASELINE,783.157584569,761,738,722.842415431,691,649,914,800,838.157584569,657.157584569,634.842415431,657,0.400988270827,0.00456932183389,0.0498538622187,0.999999963845,9.20564701435e-05,-0.000250658299201,-3.17307541414e-05,1793254924515090432
+84,1.400000000,BASELINE,783.744768194,761,738,722.255231806,691,649,914,800,838.744768194,657.744768194,634.255231806,657,0.40098866459,0.00456991924702,0.04985435244,0.999999963949,9.26388496122e-05,-0.000250017242253,-3.18075534493e-05,1793254924531757056
+85,1.416666667,BASELINE,784,761,738,722,691,649,914,800,839,658,634.327502374,657,0.400988219579,0.00456919470395,0.0498541109268,0.999999964017,9.10428198461e-05,-0.000250342297584,-3.17077815085e-05,1793254924548423424
+86,1.433333333,BASELINE,784,761,738,722,691,649,914,800,839,658,634.906815419,657,0.40098712965,0.00456745373254,0.0498533067961,0.999999964049,8.7771850448e-05,-0.00025141017927,-3.14722471122e-05,1793254924565090048
+87,1.450000000,BASELINE,784,761,738,722.483384805,691,649,914,800,838.516615195,658,634.516615195,657,0.400987637324,0.00456782850315,0.0498537423446,0.99999996399,8.92276547929e-05,-0.000251146178529,-3.13704543051e-05,1793254924581756672
+88,1.466666667,BASELINE,783.940784214,761,738,722.940784214,691,649,914,800,838.059215786,658,634,656.940784214,0.400988296089,0.00456843539702,0.0498542868142,0.99999996391,9.12491566883e-05,-0.000250748215873,-3.129424667e-05,1793254924598423552
+89,1.483333333,BASELINE,783.366800315,761,738,722.366800315,691,649,914,800,838.633199685,658,634,656.366800315,0.400987606136,0.004567534585,0.049853712401,0.999999963832,9.03118418949e-05,-0.000251405097295,-3.12175924484e-05,1793254924615090432
+90,1.500000000,BASELINE,783,761,738,722,691,648.786500653,914,800,838.786500653,658,634.213499347,656.213499347,0.40098737529,0.00456733436804,0.04985368739,0.999999963881,8.99870899416e-05,-0.000251323259253,-3.12599140098e-05,1793254924631757056
+91,1.516666667,BASELINE,783,761,738,722,691,648.195019549,914,800,838.195019549,658,634.804980451,656.804980451,0.400987957252,0.0045683744929,0.0498546350473,0.999999964153,9.07468265509e-05,-0.000249933583508,-3.1512871706e-05,1793254924648423680
+92,1.533333333,BASELINE,783,761,738,722,691,648.387918309,914,800,838,658,635,656.612081691,0.400988373007,0.00456897945647,0.0498548549276,0.999999964237,9.08108342969e-05,-0.000249551774278,-3.16847467854e-05,1793254924665090048
+93,1.550000000,BASELINE,783,761,738,722,691,648.966653794,914,800,838,658,635,656.033346206,0.400988707004,0.00456937036413,0.0498547168142,0.999999964229,9.05326127957e-05,-0.000249665734878,-3.18167373147e-05,1793254924681756672
+94,1.566666667,BASELINE,783,760.458531748,738,722,691,649,914,800.541468252,838,658,634.458531748,656.541468252,0.400988578458,0.00456806091228,0.049854220572,0.999999964319,8.77198709632e-05,-0.000250340072918,-3.15834707599e-05,1793254924698423552
+95,1.583333333,BASELINE,783,760.118769737,738,722,691,649,914,800.881230263,838,658,634,657,0.400988461554,0.0045671609523,0.0498538790079,0.999999964356,8.59450588507e-05,-0.000250833914039,-3.13727158111e-05,1793254924715090176
+96,1.600000000,BASELINE,783,760.706845937,738,722,691,649,914,800.293154063,838,658,634,657,0.400988502402,0.00456828985797,0.0498542351612,0.999999964189,8.88838500813e-05,-0.000250479155065,-3.13391579129e-05,1793254924731756800
+97,1.616666667,BASELINE,783.290434256,761,738,722,691,649,914,800,838,658,634.290434256,657,0.400988350367,0.00456901212934,0.0498544842901,0.999999963981,9.14685092883e-05,-0.000250373346068,-3.13811368319e-05,1793254924748423680
+98,1.633333333,BASELINE,783.869561564,761,738,722,691,649,914,800,838,658,634.869561564,657,0.400988006604,0.00456933020421,0.0498546270363,0.999999963735,9.37011593791e-05,-0.000250514994569,-3.14981997137e-05,1793254924765090560
+99,1.650000000,BASELINE,784,761,738.446492248,722.446492248,691,649,914.446492248,800.446492248,838,658,635,657,0.40098863741,0.00456784022932,0.0498550836641,0.999999964305,8.99598699348e-05,-0.000249633706499,-3.13069566644e-05,1793254924781756928
+100,1.666666667,BASELINE,783.977320593,761,738.977320593,723,691,649,915,800.977320593,838,658,635,657,0.400989468832,0.00456599882832,0.0498555603493,0.999999965027,8.48551075274e-05,-0.000248556839127,-3.10548822846e-05,1793254924798423552
+101,1.683333333,BASELINE,783.403682673,761,738.403682673,723,691,649,915,800.403682673,838,658,635,657,0.400988291201,0.00456838914195,0.0498543075658,0.999999964321,8.88169145567e-05,-0.000249953004223,-3.15023673272e-05,1793254924815090176
+102,1.700000000,BASELINE,783,761,738,723,691,649,914.823773972,800,838.176226028,658,634.823773972,657,0.400987741143,0.00456975758125,0.0498535057067,0.999999963852,9.15716886071e-05,-0.000250813986235,-3.16852149546e-05,1793254924831757056
+103,1.716666667,BASELINE,783,761,738,723,691,649,914.228970815,800,838.771029185,658,634.228970815,657,0.400988681714,0.00456869883486,0.0498537748964,0.999999963979,9.1459482645e-05,-0.0002504037858,-3.12394881186e-05,1793254924848423680
+104,1.733333333,BASELINE,783.355070397,761,738,723,691,649,914.355070397,800,838.644929603,658,634.355070397,657,0.400988217363,0.00456760084219,0.0498535008247,0.999999963909,9.03487532725e-05,-0.000251097024285,-3.11238137456e-05,1793254924865090304
+105,1.750000000,BASELINE,783.93237587,761,738,723,691,649,914.93237587,800,838.06762413,658,634.93237587,657,0.400986873685,0.00456647828554,0.0498528867312,0.999999963713,8.86130578845e-05,-0.000252480894318,-3.12147159271e-05,1793254924881756672
+106,1.766666667,BASELINE,784,761,738,723,691,649,915,800,838,658,635,657,0.400987188203,0.0045677063631,0.0498535056712,0.999999963814,8.939742042e-05,-0.000251780986211,-3.13967212692e-05,1793254924898423552
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,761,739,722,691,649,915,800,838,658,634,657,0.400988241499,0.00456664561292,0.0498543002415,0.999999964101,8.85002436533e-05,-0.000251020534149,-3.09037975383e-05,1793254924941004288
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,761,738.419812455,722,691,649,914.419812455,800,838,658,634,657,0.40098831626,0.00456790044008,0.0498541395846,0.999999963969,9.07441914037e-05,-0.000250700273559,-3.12706778733e-05,1793254924957671168
+109,1.816666667,POSE1_TO_POSE2_PRESS,783,760.840548764,738.159451236,722.159451236,691,649,914,800,838,658,634.159451236,657,0.400988350038,0.00456874111889,0.0498539828603,0.999999963874,9.21869907646e-05,-0.000250513479279,-3.15537587329e-05,1793254924974337792
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,760.263703312,738.736296688,722.736296688,691,649,914,800,838,658,634.736296688,657,0.400988276533,0.00456849768517,0.0498538364302,0.999999963892,9.15326309266e-05,-0.000250676058618,-3.16174784612e-05,1793254924991003904
+111,1.850000000,POSE1_TO_POSE2_PRESS,783,760.311338018,739,722.688661982,691,648.688661982,914,800,838,658,634.688661982,657,0.40098808589,0.00456828590065,0.0498538617336,0.99999996391,9.07602522462e-05,-0.00025090308048,-3.1474058303e-05,1793254925007670528
+112,1.866666667,POSE1_TO_POSE2_PRESS,783,760.884860027,739,722.115139973,691,648.115139973,914,800,838,658,634.115139973,657,0.400987796604,0.00456810076858,0.0498540316572,0.999999963928,8.98884875705e-05,-0.000251184370674,-3.11562014867e-05,1793254925024337152
+113,1.883333333,POSE1_TO_POSE2_PRESS,783.472367195,761,738.527632805,722,691,648.472367195,914,800,838.472367195,658,634.472367195,657,0.400987351813,0.00456828440297,0.0498539796619,0.99999996379,9.08834822307e-05,-0.000251382092127,-3.11158041083e-05,1793254925041004032
+114,1.900000000,POSE1_TO_POSE2_PRESS,783.938390988,761,738,722.061609012,691,649,914,800.061609012,838.938390988,658,635,657,0.400986810949,0.00456849122675,0.0498537984444,0.99999996359,9.21122099119e-05,-0.000251725063281,-3.11556710576e-05,1793254925057670656
+115,1.916666667,POSE1_TO_POSE2_PRESS,783.363951227,761,738,722.636048773,691,649,914,800.636048773,838.363951227,658,635,657,0.400985795521,0.00456812003288,0.049853005592,0.999999963216,9.1383358286e-05,-0.000253451818589,-3.12835214245e-05,1793254925074337280
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,761,738,723,691,649,914,800.788724745,838,657.788724745,634.788724745,657,0.400988337403,0.00456807817102,0.0498538038842,0.999999963563,9.08507731358e-05,-0.00025226983015,-3.13028028125e-05,1793254925091003904
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,761,738,723,691,649,914,800.212138024,838,657.212138024,634.212138024,657,0.400997030152,0.00456860575004,0.0498573533901,0.999999965134,9.06575481711e-05,-0.000246058395718,-3.11343599169e-05,1793254925107670272
+118,1.966666667,POSE1_TO_POSE2_PRESS,783.373013229,760.626986771,738,723,691,649,914,800,838,657.373013229,634,657,0.401022288183,0.00456842242039,0.0498663929367,0.999999969476,9.05490580197e-05,-0.000227803491809,-3.08996168882e-05,1793254925124336896
+119,1.983333333,POSE1_TO_POSE2_PRESS,783.963149774,760.036850226,738,723,691,649,914,800,838,657.963149774,634,657,0.401057188526,0.00456782528549,0.0498786281234,0.999999974926,9.04898901936e-05,-0.000202538331697,-3.06262818862e-05,1793254925141003520
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.456775038,760.543224962,738,723,691,649,914,800,838,658,634,656.456775038,0.401116234368,0.00456735889738,0.0498973258875,0.999999982268,8.82644137077e-05,-0.000163477196636,-3.08140522367e-05,1793254925157670144
+121,2.016666667,POSE1_TO_POSE2_PRESS,783,761,738,722.8784022,691,649,914,800,838,658,634.1215978,656.1215978,0.401179472959,0.00456649163837,0.0499153231352,0.999999987462,8.63548011503e-05,-0.000129186027181,-3.0498349318e-05,1793254925174336768
+122,2.033333333,POSE1_TO_POSE2_PRESS,783,761,738,722.303874107,691,649,914,800,838,658,634.696125893,656.696125893,0.401252338743,0.00456409877004,0.0499291078367,0.999999989153,8.61591485696e-05,-0.000116084663217,-2.81929056517e-05,1793254925191003904
+123,2.050000000,POSE1_TO_POSE2_PRESS,783,761,738,722.271728044,691,649,914,800,838.271728044,658,635,657,0.40133257653,0.004562604115,0.0499392566845,0.999999990757,8.55188719226e-05,-0.000102218478236,-2.6907902081e-05,1793254925207670272
+124,2.066666667,POSE1_TO_POSE2_PRESS,783,761,738,722.848536049,691,649,914,800,838.848536049,658,635,657,0.401421091154,0.00456211792016,0.049945323413,0.999999992254,8.43793980346e-05,-8.74935988437e-05,-2.67685876244e-05,1793254925224336640
+125,2.083333333,POSE1_TO_POSE2_PRESS,783.43540094,761,738,722.56459906,691,649,914,800,838.56459906,658,634.56459906,657,0.401519511095,0.00456244095447,0.0499480446412,0.999999992647,8.28584483987e-05,-8.45862088872e-05,-2.61754930795e-05,1793254925241003264
+126,2.100000000,POSE1_TO_POSE2_PRESS,783.974698501,761,738.025301499,722.025301499,691,649,914.025301499,800,838,658,634,657,0.401622653504,0.00456291291063,0.0499494915608,0.999999992698,8.11677444949e-05,-8.58551280796e-05,-2.54028822938e-05,1793254925257670144
+127,2.116666667,POSE1_TO_POSE2_PRESS,783.396714891,761,738.603285109,722.603285109,691,649,914.603285109,800,838,658,634,657,0.401751903952,0.00456034327225,0.0499491257817,0.999999992872,7.87362775784e-05,-8.642790176e-05,-2.4238692029e-05,1793254925274336768
+128,2.133333333,POSE1_TO_POSE2_PRESS,783.179505106,760.820494894,738.820494894,722.820494894,691,648.820494894,914.820494894,800,838,658,634.179505106,657,0.401892241008,0.00455785776403,0.0499496012369,0.999999993156,7.58139908412e-05,-8.61135489112e-05,-2.29209804163e-05,1793254925291003392
+129,2.150000000,POSE1_TO_POSE2_PRESS,783.751865282,760.248134718,738.248134718,722.248134718,691,648.248134718,914.248134718,800,838,658,634.751865282,657,0.402056841588,0.0045555563788,0.0499519177718,0.999999993679,7.18175229716e-05,-8.385767932e-05,-2.126728052e-05,1793254925307670016
+130,2.166666667,POSE1_TO_POSE2_PRESS,783.667616505,760.332383495,738,722.332383495,691,648.332383495,914.332383495,800,838,658,634.667616505,656.667616505,0.402229298952,0.00455329529597,0.0499501983328,0.999999993448,6.81299958728e-05,-8.98626012671e-05,-1.96875369526e-05,1793254925324336896
+131,2.183333333,POSE1_TO_POSE2_PRESS,783.080854758,760.919145242,738,722.919145242,691,648.919145242,914.919145242,800,838,658,634.080854758,656.080854758,0.402407769252,0.00455106505696,0.0499453901004,0.999999992522,6.46789055132e-05,-0.000102189635044,-1.81643931349e-05,1793254925341003520
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,761,738,722.496755233,691,649,914.496755233,800,838,658,634.503244767,656.503244767,0.402625305351,0.00454957701866,0.0499446450386,0.999999992495,6.18517326966e-05,-0.000104451240537,-1.65507985178e-05,1793254925357670144
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,761,738.08577188,722,691,649,914,800,838,658,635,656.91422812,0.402856924866,0.00454797566614,0.0499454690764,0.999999992814,5.90007723429e-05,-0.000103304607332,-1.48297489067e-05,1793254925374337024
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,761,738.661744326,722,691,649,914,800,838,658,635,656.338255674,0.403133350606,0.004545048773,0.0499515494559,0.999999994164,5.54439712238e-05,-9.18731439687e-05,-1.2577193752e-05,1793254925391003392
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,761,738.762091218,722.237908782,691,649,914.237908782,800,838,658,634.762091218,656,0.403429573284,0.00454192558582,0.0499587704688,0.999999995647,5.10842155397e-05,-7.73746469903e-05,-1.04849028816e-05,1793254925407670016
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,761,738.185653578,722.814346422,691,649,914.814346422,800,838,658,634.185653578,656,0.403753965713,0.00453852308503,0.0499676145291,0.999999997212,4.55819074859e-05,-5.85119595928e-05,-8.62065788937e-06,1793254925424337152
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,761,738.399797087,722.600202913,691,649,915,800,838,658,634.399797087,656.399797087,0.40409659455,0.00453489909115,0.0499769137925,0.999999998281,4.00288357652e-05,-4.24027392959e-05,-6.10075145545e-06,1793254925441003520
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,761,738.989529641,722.010470359,691,649,915,800,838,658,634.989529641,656.989529641,0.404447887125,0.00453116987052,0.0499864293134,0.99999999902,3.44516474121e-05,-2.76016357622e-05,-3.269353656e-06,1793254925457670144
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,761,738.431146242,722,691,649,915,800.568853758,838,658,634.431146242,657,0.404848540771,0.00452592346402,0.049994232888,0.999999999583,2.77227650345e-05,-8.13422041598e-06,-2.95468526501e-07,1793254925474337024
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,761,738.147182845,722.147182845,691,649,915,800.852817155,838.147182845,658,634.147182845,657,0.405252764443,0.00452135823205,0.0499964906974,0.999999999762,2.1652597627e-05,3.86980127655e-07,2.54681169903e-06,1793254925491003648
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,761,738.723161063,722.723161063,691,649,915,800.276838937,838.723161063,658,634.723161063,657,0.405664789437,0.00451885739663,0.0499826818923,0.999999999564,1.75621477371e-05,-2.32277222011e-05,4.99817668216e-06,1793254925507670528
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,761,739,722.695499209,691,649,915,800,839,658,635,657,0.406089286308,0.00451573279648,0.0499636843463,0.999999998193,1.37255311316e-05,-5.80222417589e-05,7.62415125921e-06,1793254925524337152
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,761,739,722.109197595,691,649,915,800,839,658,635,657,0.406525325348,0.00451203093182,0.0499398848688,0.999999994573,1.01238245224e-05,-0.000103163146608,1.04117188838e-05,1793254925541003776
+144,2.400000000,POSE1_TO_POSE2_PRESS,783,761,738.528881504,722.471118496,691,649,915,800.471118496,839,658,635,657,0.407017297311,0.00450593130202,0.0499278089187,0.999999992041,4.51236083572e-06,-0.00012527312508,1.42844771596e-05,1793254925557670656
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,761,738,722.950029388,691,649,915,801,839,658,635,657,0.407529423251,0.00449923655496,0.0499210804765,0.999999990476,-1.75462161173e-06,-0.000136771923699,1.83909854711e-05,1793254925574337280
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,761,738,722.37217023,691,649,915,801,839,658,635,657,0.408119218898,0.00449205240905,0.0499424973803,0.99999999548,-1.00872241976e-05,-9.18595387275e-05,2.2343009919e-05,1793254925591003904
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,761,738.204290012,722,691,649,915,801,839,658,635,657,0.408725919432,0.00448505133774,0.0499660224303,0.999999998448,-1.61396064913e-05,-4.63143990722e-05,2.6427741176e-05,1793254925607670784
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,761,738.778219041,722,691,649,915,801,839,658,635,657,0.409363207357,0.00447838151906,0.0499933619246,0.999999999364,-1.80661948633e-05,3.75633721566e-07,3.07525897676e-05,1793254925624337408
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,761,738.637852545,722,691,649,915,801,839,658,635,657,0.409998192322,0.00447186096964,0.0500029469906,0.999999998779,3.20687284295e-05,1.37573721641e-05,3.49934000585e-05,1793254925641004288
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,761,738.047626594,722,691,649,915,801,839,658,635,657,0.410631726871,0.00446543442943,0.0500013504133,0.999999992602,0.000114991708153,6.16172639352e-06,3.91812831586e-05,1793254925657670912
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,761,738.532836456,722,691,649,915,801,839,658,635,656.467163544,0.411256839655,0.00445879345445,0.0499705119714,0.999999991479,0.000105855012562,-6.32612697527e-05,4.2842571068e-05,1793254925674337536
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,761,738.887938697,722,690.887938697,649,915,801.112061303,839,658,635.112061303,656.112061303,0.41190332606,0.00445166047464,0.0499442064463,0.999999989293,7.37358265241e-05,-0.000119025315598,4.25339170288e-05,1793254925691004160
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,761,738.310298041,722,690.310298041,649,915,801.689701959,839,658,635.689701959,656.689701959,0.41264168417,0.0044425615712,0.0499473976025,0.999999994898,-2.02963090415e-05,-9.54937047559e-05,2.59234436073e-05,1793254925707670528
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,761,738,722,690.266286994,649,915.266286994,801.733713006,839,658,635.733713006,657,0.413409881523,0.00443154980234,0.0499628694815,0.999999995613,-6.87342935381e-05,-6.03818025684e-05,2.00807562733e-05,1793254925724337152
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,761,738,722,690.841646869,649,915.841646869,801.158353131,839,658,635.158353131,657,0.414212712661,0.00441831781563,0.0499925952993,0.999999997508,-6.425226051e-05,-1.18289335149e-05,2.673597619e-05,1793254925741003776
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,761,738,722,691,649.42633656,915.57366344,801,839,658,635.42633656,657,0.414976354056,0.00442809227028,0.049978729447,0.999999997931,-4.17900033017e-05,-3.82748359844e-05,3.04252274204e-05,1793254925757670400
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,761,738.014323621,722,690.985676379,649.985676379,915,801,839,658,635.985676379,657,0.415726806258,0.00444662232571,0.0499488084514,0.999999995142,-1.26264134247e-05,-9.20595500094e-05,3.2886574441e-05,1793254925774337024
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,761,738.592645022,722,690.407354978,649.407354978,915,801,839,658,635.407354978,657,0.416543907981,0.0044659080576,0.0499385062231,0.99999999435,1.1558854928e-05,-0.000100915529332,3.13468252527e-05,1793254925791003648
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,761,738.82956358,722,690.17043642,649,915,801,839,658,635,657,0.417378147878,0.00447497925089,0.0499401569239,0.999999994979,2.53730683549e-05,-9.19304505549e-05,3.0780032077e-05,1793254925807670528
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,761,738.253035034,722,690.746964966,649,915,801,839,658,635,657,0.418253222181,0.00445971266529,0.0499702873976,0.999999998549,1.44765772882e-05,-4.04361866111e-05,3.25314628501e-05,1793254925824337152
+161,2.683333333,POSE1_TO_POSE2_PRESS,783.329284102,761,738,722,690.670715898,649,915.329284102,801,839,658,635,657,0.419115421522,0.00444753636566,0.0499795342012,0.999999998843,1.76621328868e-07,-3.35052567972e-05,3.45292469859e-05,1793254925841003776
+162,2.700000000,POSE1_TO_POSE2_PRESS,783.916132582,761,738,722,690.083867418,649,915.916132582,801,839,658,635,657,0.419967550089,0.00443777727296,0.0499724459009,0.999999997298,-1.678550731e-05,-6.14315463543e-05,3.67197274301e-05,1793254925857670400
+163,2.716666667,POSE1_TO_POSE2_PRESS,783.503540239,761,738,721.503540239,690,649,915.503540239,801,839,657.503540239,635,657,0.420883353043,0.0044378387225,0.0499745374555,0.99999999836,-2.26383275908e-05,-3.85668803676e-05,3.57672115715e-05,1793254925874336768
+164,2.733333333,POSE1_TO_POSE2_PRESS,783.075422553,761,738,721,690.075422553,649,915,801,839.075422553,657.075422553,635,657,0.421812348633,0.00443955285044,0.049980281045,0.99999999907,-2.47179410535e-05,-6.89241454605e-06,3.4649355384e-05,1793254925891003392
+165,2.750000000,POSE1_TO_POSE2_PRESS,783.652542375,761,738,721,690.652542375,649,915,801,839.652542375,657.652542375,635,657,0.422758475714,0.00444136804694,0.0500001356671,0.999999998891,-1.40205176239e-05,2.70495086787e-05,3.59176749426e-05,1793254925907670272
+166,2.766666667,POSE1_TO_POSE2_PRESS,783.771953688,761,738,721,690.771953688,649,915,801,840,658,635.228046312,657,0.423686014566,0.00444417952524,0.0500047603286,0.999999998741,-6.68015699643e-06,3.37964089671e-05,3.64835259012e-05,1793254925924337152
+167,2.783333333,POSE1_TO_POSE2_PRESS,783.198894349,761,738,721,690.198894349,649,915,801,840,658,635.801105651,657,0.424585431286,0.00444849828626,0.049986343468,0.999999999343,-4.41872101974e-06,-6.00245930977e-07,3.5986606904e-05,1793254925941004032
+168,2.800000000,POSE1_TO_POSE2_PRESS,783,761,737.613540118,721,690,649,915,801,840,658,635.613540118,657,0.425538721275,0.00444558573699,0.0499906821038,0.999999999225,-1.27329953865e-05,4.32734293313e-06,3.69973923942e-05,1793254925957670656
+169,2.816666667,POSE1_TO_POSE2_PRESS,783,761,737.021650346,721,690,649,915,801,840,658,635.021650346,657,0.426520648544,0.00443882925087,0.0500071168454,0.999999998437,-2.66689841145e-05,3.01584621899e-05,3.88096260801e-05,1793254925974337280
+170,2.833333333,POSE1_TO_POSE2_PRESS,783.559389975,761.559389975,738.11877995,721,690,649,915.559389975,800.440610025,840,657.440610025,635,657,0.427433702931,0.00443471090992,0.0499976656635,0.999999998547,-3.1240872632e-05,-1.35153831871e-05,4.17928010232e-05,1793254925991003904
+171,2.850000000,POSE1_TO_POSE2_PRESS,783.861475062,762,738.861475062,721,689.861475062,649,916,800.138524938,840,657.138524938,635.138524938,657,0.428350787821,0.00443222921356,0.049983586311,0.999999997109,-2.98011869484e-05,-5.46641531609e-05,4.36659310661e-05,1793254926007670272
+172,2.866666667,POSE1_TO_POSE2_PRESS,783.287039676,762,738.287039676,721,689.287039676,649,916,800.712960324,840,657.712960324,635.712960324,657,0.429288784436,0.00443458252033,0.0499580357459,0.999999995901,-1.05630475585e-05,-7.95629069759e-05,4.19060723191e-05,1793254926024336896
+173,2.883333333,POSE1_TO_POSE2_PRESS,783,761.713351868,738,721,689.573296265,649.286648132,916,801,840,657.713351868,636,657.286648132,0.430240364021,0.0044371432921,0.049950363581,0.999999995913,-4.89919104719e-06,-8.03805000709e-05,4.10998937475e-05,1793254926041003520
+174,2.900000000,POSE1_TO_POSE2_PRESS,783,761.140410747,738,721,690.719178507,649.859589253,916,801,840,657.140410747,636,657.859589253,0.431205509689,0.00443991127169,0.0499605476673,0.999999997435,-1.27928006857e-05,-5.7146766381e-05,4.12462139053e-05,1793254926057670144
+175,2.916666667,POSE1_TO_POSE2_PRESS,783.447774616,761,738,721,690.104450769,649.552225384,916,801,840,657,636,657.552225384,0.432159342617,0.00443919575905,0.0499516628703,0.999999996453,-1.63204328177e-05,-7.13923258929e-05,4.16078250576e-05,1793254926074336768
+176,2.933333333,POSE1_TO_POSE2_PRESS,783.960130936,761,738.039869064,721,689,649,916,801,840.039869064,657.039869064,636,657,0.433110991123,0.00443690496078,0.049939385632,0.99999999462,-1.89567150309e-05,-9.29028725036e-05,4.20754497587e-05,1793254926091003648
+177,2.950000000,POSE1_TO_POSE2_PRESS,783.382070594,761,738.617929406,721,689,649,916,801,840.617929406,657.617929406,636,657,0.434082724943,0.00442861451595,0.0499648760998,0.999999997499,-2.86929309125e-05,-4.82444369305e-05,4.30307167146e-05,1793254926107670784
+178,2.966666667,POSE1_TO_POSE2_PRESS,783.194702808,761.194702808,738.805297192,721,689.194702808,649.194702808,916,800.805297192,840.805297192,657.805297192,635.805297192,657,0.435029825759,0.00442452180693,0.0499809733845,0.999999998109,-3.50979824567e-05,-2.50614294168e-05,4.38321166821e-05,1793254926124337408
+179,2.983333333,POSE1_TO_POSE2_PRESS,783.768967497,761.768967497,738.231032503,721,689.768967497,649.768967497,916,800.231032503,840.231032503,657.231032503,635.231032503,657,0.435928906126,0.00442861234002,0.0499787592055,0.999999997448,-3.50091232988e-05,-4.3743521043e-05,4.43335621456e-05,1793254926141003776
+180,3.000000000,POSE1_TO_POSE2_PRESS,784,762,738,720.647532444,689.295064887,649.647532444,916,800.352467556,840,657.352467556,635.352467556,657.352467556,0.436818397542,0.00443202228017,0.0499675368328,0.99999999617,-2.96596149968e-05,-6.90708778886e-05,4.48250415025e-05,1793254926157670144
+181,3.016666667,POSE1_TO_POSE2_PRESS,784,762,738,720.057816013,688.115632027,649.057816013,916,800.942183987,840,657.942183987,635.942183987,657.942183987,0.437701434501,0.00443497410725,0.0499502509693,0.99999999387,-2.07691195435e-05,-9.88712174228e-05,4.53098125321e-05,1793254926174337024
+182,3.033333333,POSE1_TO_POSE2_PRESS,784,762,738,720,689.564893809,649.52163127,916,801,840.52163127,658,636,657.47836873,0.438656710413,0.00443223539607,0.049968055778,0.999999996872,-3.02663522593e-05,-5.74321255539e-05,4.51813267068e-05,1793254926191003392
+183,3.050000000,POSE1_TO_POSE2_PRESS,784,762,738,720.098960924,690.802078153,650,916,801,840.901039076,658,636,657,0.439599650491,0.00442913876055,0.0499836770972,0.999999997963,-4.03381905254e-05,-2.03711309228e-05,4.50824945071e-05,1793254926207670272
+184,3.066666667,POSE1_TO_POSE2_PRESS,784,762,738,720.671498356,689.657003288,650,916,801,840.328501644,658,636,657,0.440445981092,0.00442728932175,0.0499705962795,0.999999997164,-4.35950770371e-05,-4.13180019104e-05,4.54445669211e-05,1793254926224336896
+185,3.083333333,POSE1_TO_POSE2_PRESS,784,762,738,721,688.752722414,649.752722414,916.247277586,801,840,658,636,657.247277586,0.44130025128,0.00442513845733,0.0499674439069,0.999999997206,-3.68106754835e-05,-4.63313330876e-05,4.56837343567e-05,1793254926241003520
+186,3.100000000,POSE1_TO_POSE2_PRESS,784,762,738,721,688.17257938,649.17257938,916.82742062,801,840,658,636,657.82742062,0.442165209038,0.00442258183783,0.0499776564197,0.99999999837,-1.65094891345e-05,-2.98961966897e-05,4.57574568416e-05,1793254926257670400
+187,3.116666667,POSE1_TO_POSE2_PRESS,784.414632662,762,738,721,688.829265325,649.414632662,916.585367338,801,840.414632662,658,636,658,0.442989756897,0.00442588501336,0.0499893520698,0.999999998852,-1.45991828309e-05,-7.94823496881e-06,4.49517848729e-05,1793254926274337280
+188,3.133333333,POSE1_TO_POSE2_PRESS,784.995260745,762,738,720.990521489,689.985782234,649.995260745,916,801,840.995260745,658,635.995260745,657.995260745,0.443796431958,0.00443169134298,0.0500010980024,0.999999998717,-2.03568773915e-05,1.52618996388e-05,4.37926493709e-05,1793254926291003904
+189,3.150000000,POSE1_TO_POSE2_PRESS,784.417109585,762,738,719.834219171,688.251328756,649.417109585,916,801,840.417109585,658,635.417109585,657.417109585,0.44451095507,0.004440144126,0.0499429419551,0.999999994759,-1.1660610833e-05,-9.12541707316e-05,4.49213173215e-05,1793254926307670528
+190,3.166666667,POSE1_TO_POSE2_PRESS,784,762,738,719,687.160179557,649,916.160179557,801,840.160179557,658,635.160179557,657,0.445234816393,0.00444799270802,0.0498966625849,0.999999985068,-3.0080016969e-07,-0.000166779260861,4.52553821033e-05,1793254926324337152
+191,3.183333333,POSE1_TO_POSE2_PRESS,784,762,738,719,687.735236136,649,916.735236136,801,840.735236136,658,635.735236136,657,0.445982864534,0.00445427636609,0.0498811446833,0.999999985764,1.795779033e-05,-0.000162035421718,4.35313666808e-05,1793254926341003776
+192,3.200000000,POSE1_TO_POSE2_PRESS,784.317399826,761.682600174,738,719.317399826,688,648.682600174,916.682600174,801,841,658,636,657,0.446696746264,0.00445808852614,0.0498731206728,0.999999985749,2.53369230088e-05,-0.000161238200937,4.31445762932e-05,1793254926357670400
+193,3.216666667,POSE1_TO_POSE2_PRESS,784.905627775,761.094372225,738,719.905627775,688,648.094372225,916.094372225,801,841,658,636,657,0.447381474734,0.00445979182781,0.0498714909843,0.999999985345,2.34329268108e-05,-0.000163808516171,4.38988015987e-05,1793254926374337280
+194,3.233333333,POSE1_TO_POSE2_PRESS,785,761,738,719.513662744,687.513662744,648,916,800.513662744,841,658,636,657.486337256,0.448022364531,0.00446125285692,0.0498419334312,0.999999976352,2.64110052455e-05,-0.000211181117109,4.47349790218e-05,1793254926391003904
+195,3.250000000,POSE1_TO_POSE2_PRESS,785,761.065404119,738,719.065404119,686.934595881,648,916,800.065404119,841,658,636,658,0.448655527531,0.00446282316069,0.0498102459027,0.999999964238,3.04931985746e-05,-0.000261760061961,4.55565132069e-05,1793254926407670784
+196,3.266666667,POSE1_TO_POSE2_PRESS,785,761.642859053,738,719.642859053,686.357140947,648,916,800.642859053,841,658,636,658,0.449293782961,0.00446561143593,0.0498036647872,0.999999961729,3.59156133443e-05,-0.000270414196962,4.61407998682e-05,1793254926424337152
+197,3.283333333,POSE1_TO_POSE2_PRESS,785,762,738,720,686,647.781028261,916.218971739,801,841,658,636,658,0.449917545057,0.00446683507435,0.0498059465744,0.99999996183,3.95457726314e-05,-0.00026930120935,4.74679604024e-05,1793254926441003520
+198,3.300000000,POSE1_TO_POSE2_PRESS,785,762,738,720,686,647.207091489,916.792908511,801,841,658,636,658,0.450517812611,0.00446552235159,0.0498225956067,0.999999966098,4.02705883107e-05,-0.000252355186836,4.99993596057e-05,1793254926457670144
+199,3.316666667,POSE1_TO_POSE2_PRESS,785,761.622760278,738,720,686,647,916.622760278,800.622760278,841,658,636,657.622760278,0.451067524192,0.00446647380334,0.0498277017402,0.999999965244,4.15385116823e-05,-0.000255180704713,5.16572298879e-05,1793254926474337024
+200,3.333333333,POSE1_TO_POSE2_PRESS,785,761.032561144,738,720,686,647,916.032561144,800.032561144,841,658,636,657.032561144,0.451588695964,0.00446870342703,0.0498262916768,0.99999996145,4.31130303393e-05,-0.00026916765334,5.28219757536e-05,1793254926491003904
+201,3.350000000,POSE1_TO_POSE2_PRESS,785,761.547148452,738,719.452851548,685.452851548,646.452851548,916,800,841,658,636,657.547148452,0.452036229012,0.00446663680173,0.049785335651,0.999999936855,3.79988589166e-05,-0.000349175281206,5.4058868031e-05,1793254926507670528
+202,3.366666667,POSE1_TO_POSE2_PRESS,785,762,738,719,685,646,916.125440157,800.125440157,841,658,636,657.874559843,0.45248419356,0.00446467607804,0.0497477769554,0.999999911354,2.2444277496e-05,-0.000417265989406,5.17474522927e-05,1793254926524337152
+203,3.383333333,POSE1_TO_POSE2_PRESS,785,762,738,719,685,646,916.700843018,800.700843018,841,658,636,657.299156982,0.452949129928,0.00446399509386,0.049730687744,0.999999906975,-2.91598244504e-05,-0.000428781645266,3.66928952079e-05,1793254926541004032
+204,3.400000000,POSE1_TO_POSE2_PRESS,785.281861533,762,738,719,685,646,916.718138467,801,841,658,636,657,0.453395654062,0.00446057153572,0.049725769612,0.999999906322,-5.95792262496e-05,-0.000427690718358,2.9796421718e-05,1793254926557670400
+205,3.416666667,POSE1_TO_POSE2_PRESS,785.868961415,762,738,719,685,646,916.131038585,801,841,658,636,657,0.453822238876,0.00445417794219,0.0497340319958,0.999999911985,-6.70569245126e-05,-0.000412947653902,3.17346416715e-05,1793254926574337024
+206,3.433333333,POSE1_TO_POSE2_PRESS,785.550054574,761.550054574,738,719,684.550054574,646,916,800.550054574,841,658,636,657,0.454219052262,0.0044518497763,0.0497372200673,0.999999915643,-6.75908344627e-05,-0.000403750187182,3.3619575922e-05,1793254926591003904
+207,3.450000000,POSE1_TO_POSE2_PRESS,785,761.029107686,738,719,684,645.970892314,916,800.029107686,841,658,636,657.029107686,0.454603105204,0.00445088269015,0.0497377939821,0.999999917895,-6.50005340494e-05,-0.00039840744229,3.54387248479e-05,1793254926607670784
+208,3.466666667,POSE1_TO_POSE2_PRESS,785,761.607053936,738,719,684,645.392946064,916,800.607053936,841,658,636,657.607053936,0.454907846226,0.00445355421263,0.0497165677666,0.999999903577,-4.11210215497e-05,-0.000435702971682,3.63061468404e-05,1793254926624337152
+209,3.483333333,POSE1_TO_POSE2_PRESS,785.182697538,762,738,719,684,644.817302462,916,801,841,658,636,657.817302462,0.455197837528,0.0044595874347,0.0496905974096,0.999999884824,-4.64533854519e-06,-0.000478497174669,3.70178988621e-05,1793254926641003520
+210,3.500000000,POSE1_TO_POSE2_PRESS,785.753450174,762,738,719,684,644.246549826,916,801,841,658,636,657.246549826,0.455456499941,0.00447276100804,0.0496545503555,0.999999855556,5.85849885643e-05,-0.000532970721369,3.73990030045e-05,1793254926657670400
+211,3.516666667,POSE1_TO_POSE2_PRESS,786,762,738,718.663070865,684,644,916,801,841,658,636,657.336929135,0.455707079355,0.004487315416,0.0496347680197,0.999999836312,9.35508468814e-05,-0.000563263346791,3.68570776351e-05,1793254926674337024
+212,3.533333333,POSE1_TO_POSE2_PRESS,786,762,738,718.069913723,684,644,916,801,841,658,636,657.930086277,0.455951511834,0.00450291992303,0.0496273546798,0.999999828231,0.000107022137265,-0.000575166862922,3.56132065748e-05,1793254926691003904
+213,3.550000000,POSE1_TO_POSE2_PRESS,785.488832161,762,738,718.511167839,684,644,916,801,841,658,636,658,0.456177173704,0.00450022604696,0.0496261139341,0.999999827369,9.95289289781e-05,-0.000577919368496,3.69428322759e-05,1793254926707670528
+214,3.566666667,POSE1_TO_POSE2_PRESS,785,762,738,719,684,644,916,800.909982288,841,658,636,657.909982288,0.456396612877,0.00449539494481,0.0496266777857,0.999999828445,8.96789666859e-05,-0.000577577835498,3.83660374256e-05,1793254926724336896
+215,3.583333333,POSE1_TO_POSE2_PRESS,785,762,738,719,684,644,916,800.334466352,841,658,636,657.334466352,0.456596017726,0.00449222354969,0.0496325262678,0.999999835055,8.22260249609e-05,-0.000567143612861,3.84393866421e-05,1793254926741003520
+216,3.600000000,POSE1_TO_POSE2_PRESS,785.241032406,762,738,719,683.758967594,644,916.241032406,800,841,658,636,657.241032406,0.456778840582,0.0044914086781,0.0496363036701,0.99999983867,7.76517212786e-05,-0.000561388950827,3.83863331636e-05,1793254926757670144
+217,3.616666667,POSE1_TO_POSE2_PRESS,785.816507293,762,738,719,683.183492707,644,916.816507293,800,841,658,636,657.816507293,0.456938655223,0.00449386358103,0.0496372073629,0.999999838308,7.70716479764e-05,-0.000562127374335,3.81578906953e-05,1793254926774336768
+218,3.633333333,POSE1_TO_POSE2_PRESS,786,762,738,718.597285504,683,644,916.597285504,800,841,658,636,657.597285504,0.457070803987,0.00449119480608,0.0496326707328,0.999999834572,7.30066189273e-05,-0.000569236298309,3.86900762937e-05,1793254926791003648
+219,3.650000000,POSE1_TO_POSE2_PRESS,786,762,738,718.006054361,683,644,916.006054361,800,841,658,636,657.006054361,0.457190001938,0.0044861275612,0.0496255874066,0.999999829141,6.73102302457e-05,-0.000579327348256,3.95783232103e-05,1793254926807670272
+220,3.666666667,POSE1_TO_POSE2_PRESS,786,762,738.570619987,718.570619987,683.570619987,644,916,800,841,658,635.429380013,657.570619987,0.457284149063,0.00448663001804,0.0496174631792,0.999999823008,6.5854145487e-05,-0.0005900163905,3.9079973822e-05,1793254926824337152
+221,3.683333333,POSE1_TO_POSE2_PRESS,786,762,738.853185844,719,683.853185844,643.853185844,916,800,841,658,635.146814156,657.853185844,0.457373287863,0.00448707833136,0.0496100606537,0.999999817359,6.42641551093e-05,-0.000599716376563,3.86183700714e-05,1793254926841004032
+222,3.700000000,POSE1_TO_POSE2_PRESS,786,762,738.277953496,719,683.277953496,643.277953496,916,800,841,658,635.722046504,657.277953496,0.457448568176,0.00448720049217,0.0496047955531,0.999999813406,6.21553950967e-05,-0.000606512143236,3.83058568997e-05,1793254926857670656
+223,3.716666667,POSE1_TO_POSE2_PRESS,786,762,738,719,683,643,916,800,841,658,635.695143531,657,0.457516294398,0.00448682413166,0.0496013438579,0.999999811274,6.05641315699e-05,-0.000610191510231,3.80941964241e-05,1793254926874337024
+224,3.733333333,POSE1_TO_POSE2_PRESS,786,762,738,719,683,643,916,800,841,658,635.105248483,657,0.457576957608,0.00448598165736,0.0495995876829,0.999999810877,5.94567232475e-05,-0.000610957067017,3.79768324505e-05,1793254926891003648
+225,3.750000000,POSE1_TO_POSE2_PRESS,785.52403047,762,738,719,682.52403047,643,916,800.47596953,841,658,635,657,0.457627035556,0.00448685235819,0.0496007716184,0.999999812482,6.14569857925e-05,-0.000608128128695,3.79429248959e-05,1793254926907670272
+226,3.766666667,POSE1_TO_POSE2_PRESS,785.055040857,761.944959143,738,719,682,642.944959143,915.944959143,800.944959143,841,658,635.055040857,657.055040857,0.457673143508,0.00448800003284,0.0496024468438,0.999999814329,6.37438389875e-05,-0.000604849353828,3.79000020139e-05,1793254926924336896
+227,3.783333333,POSE1_TO_POSE2_PRESS,785.63162678,761.36837322,738,719,682,642.36837322,915.36837322,800.36837322,841,658,635.63162678,657.63162678,0.457703415466,0.00448824687632,0.0496027272581,0.999999814515,6.23514321728e-05,-0.000604704759426,3.75999191784e-05,1793254926941003520
+228,3.800000000,POSE1_TO_POSE2_PRESS,785.788475203,761,738,718.788475203,682,642.211524797,915,800,841,658,636,657.788475203,0.457729074731,0.0044887355873,0.0496022940171,0.999999813638,6.30178149301e-05,-0.000606087133217,3.75763019256e-05,1793254926957670144
+229,3.816666667,POSE1_TO_POSE2_PRESS,785.202717413,761,738,718.202717413,682,642.797282587,915,800,841,658,636,657.202717413,0.457746573146,0.00448965221405,0.0496005981658,0.999999810856,6.73266406304e-05,-0.000610171043126,3.80418119433e-05,1793254926974336768
+230,3.833333333,POSE1_TO_POSE2_PRESS,785.378876841,761,738,718,682,642.621123159,914.621123159,800,841,658,635.621123159,657,0.457760393151,0.00448894071927,0.0495998440899,0.999999809986,6.71163115799e-05,-0.000611600509423,3.83224435423e-05,1793254926991003392
+231,3.850000000,POSE1_TO_POSE2_PRESS,785.958267597,761,738,718,682,642.041732403,914.041732403,800,841,658,635.041732403,657,0.45777226642,0.00448736756973,0.0495995884321,0.999999810135,6.45142990989e-05,-0.000611625157927,3.85052314703e-05,1793254927007670016
+232,3.866666667,POSE1_TO_POSE2_PRESS,785.462740249,761.537259751,738,718.537259751,682,642,914.537259751,800,841,658,635,657.537259751,0.457779283324,0.00449028272863,0.0495998672587,0.999999810376,6.76906108984e-05,-0.000610920959592,3.79797521991e-05,1793254927024336896
+233,3.883333333,POSE1_TO_POSE2_PRESS,785.115194742,762,738,718.884805258,682,642,914.884805258,800,841,658,635,658,0.457784778103,0.00449285783589,0.0495998465902,0.999999810289,7.03808033579e-05,-0.000610789529166,3.74671900449e-05,1793254927041003520
+234,3.900000000,POSE1_TO_POSE2_PRESS,785.689043616,762,738,718.310956384,682,642,914.310956384,800,841,658,635,658,0.457785713288,0.00449269192555,0.0495984682868,0.999999808917,6.9349730589e-05,-0.000613163850946,3.72249436373e-05,1793254927057670400
+235,3.916666667,POSE1_TO_POSE2_PRESS,785.730253654,762,738,718,682,642,914.269746346,800,841,658,635.269746346,658,0.45778683696,0.00449217386009,0.0495972624114,0.999999807974,6.91559120172e-05,-0.000614721875451,3.72434352096e-05,1793254927074337024
+236,3.933333333,POSE1_TO_POSE2_PRESS,785.141443919,762,738,718,682,642,914.858556081,800,841,658,635.858556081,658,0.457788183579,0.00449123925584,0.0495962604884,0.999999807542,6.99524205742e-05,-0.000615314361432,3.75703347952e-05,1793254927091003904
+237,3.950000000,POSE1_TO_POSE2_PRESS,785.440211608,762,738,718.440211608,682,642,915,800,841,658,636,658,0.457789609211,0.0044922258202,0.0495961625785,0.999999807515,7.02789480238e-05,-0.000615331778099,3.73820407455e-05,1793254927107670528
+238,3.966666667,POSE1_TO_POSE2_PRESS,786,762,738,719,682,642,915,800,841,658,636,658,0.45779107607,0.00449379383346,0.0495963811419,0.999999807634,7.05150463237e-05,-0.000615132042461,3.70472263063e-05,1793254927124337152
+239,3.983333333,POSE1_TO_POSE2_PRESS,786,762,738,719,682,642,915,800,841,658,636,658,0.457793006818,0.00449462037777,0.0495974748874,0.999999808236,7.24119396504e-05,-0.00061392345884,3.71797886832e-05,1793254927141003520
+240,4.000000000,POSE1_TO_POSE2_PRESS,786,762,738,718.828446068,682,642,915,800,841,658,636,658,0.457794143658,0.00449545011438,0.049597853428,0.999999808439,7.41126391073e-05,-0.000613394596585,3.71026430754e-05,1793254927157670144
+241,4.016666667,POSE1_TO_POSE2_PRESS,786,762,738,718.25381245,682,642,915,800,841,658,636,658,0.457793415146,0.00449628735152,0.0495965515373,0.999999807711,7.53523652578e-05,-0.000614462794137,3.65327717728e-05,1793254927174337024
+242,4.033333333,POSE1_TO_POSE2_PRESS,786,762,738,718.329935475,682,642,915,800,840.670064525,658,635.670064525,658,0.457794062926,0.00449670550094,0.0495963844709,0.99999980775,7.59950245796e-05,-0.000614323800877,3.64701848208e-05,1793254927191003904
+243,4.050000000,POSE1_TO_POSE2_PRESS,786,762,738,718.920894009,682,642,915,800,840.079105991,658,635.079105991,658,0.457795799537,0.00449679209593,0.0495971152023,0.999999808397,7.61653241818e-05,-0.000613229758291,3.68089276167e-05,1793254927207670528
+244,4.066666667,POSE1_TO_POSE2_PRESS,786,762,738,718.498303781,682,642,915,800,840.501696219,658,635.501696219,657.498303781,0.45779578172,0.00449732381448,0.049597167579,0.999999808559,7.70224575726e-05,-0.00061286402211,3.66940609963e-05,1793254927224337152
+245,4.083333333,POSE1_TO_POSE2_PRESS,786,762,738,718.079919709,682,642,915,800,841,658,635.920080291,657,0.457795537772,0.00449769282226,0.049597050936,0.999999808539,7.76820577069e-05,-0.000612822856247,3.65543660706e-05,1793254927241003776
+246,4.100000000,POSE1_TO_POSE2_PRESS,786,762,738,718.651929755,682,642,915,800,841,658,635.348070245,657,0.45779557099,0.00449663638875,0.0495965391098,0.999999807851,7.64717915778e-05,-0.000614087112214,3.66934514156e-05,1793254927257670400
+247,4.116666667,POSE1_TO_POSE2_PRESS,786,762,738,718.768834542,682,642,914.768834542,800,841,658.231165458,635,657.231165458,0.457795394656,0.00449576166121,0.0495961261903,0.999999807193,7.55892757897e-05,-0.000615260663518,3.67962028668e-05,1793254927274337280
+248,4.133333333,POSE1_TO_POSE2_PRESS,786,762,738,718.178367891,682,642,914.178367891,800,841,658.821632109,635,657.821632109,0.457794892613,0.00449516935966,0.0495958670017,0.999999806584,7.52161831966e-05,-0.000616293232474,3.68424804541e-05,1793254927291004160
+249,4.150000000,POSE1_TO_POSE2_PRESS,786,762,738,718,682,642,914,800,841,658.595649214,635.404350786,658,0.457794522399,0.00449611651024,0.0495951019751,0.999999806016,7.58686192468e-05,-0.000617158870987,3.64349889216e-05,1793254927307670528
+250,4.166666667,POSE1_TO_POSE2_PRESS,786,762,738,718,682,642,914,800,841,658.016284111,635.983715889,658,0.457794209244,0.00449772997873,0.0495941180077,0.999999805464,7.69649327638e-05,-0.000617952257278,3.58310934354e-05,1793254927324337152
+251,4.183333333,HOLD_POSE2,785,762,738,718,682,642,915,800,841,658,636,658,0.457795265899,0.00449804590012,0.0495955360984,0.999999806634,7.6820217044e-05,-0.000616051266982,3.62210766784e-05,1793254927353717504
+252,4.200000000,HOLD_POSE2,785,761.423210565,738,718.576789435,682,642,915,800,841,658,635.423210565,658,0.457795178055,0.00449782214933,0.0495950920775,0.999999806078,7.63454335304e-05,-0.000617002418143,3.63652132604e-05,1793254927370383872
+253,4.216666667,HOLD_POSE2,785,761.15665383,738,719,682,642,915,800.15665383,841,658,635.15665383,658,0.457795397776,0.00449773966178,0.0495950449764,0.999999806048,7.58245483104e-05,-0.000617112228984,3.64233678803e-05,1793254927387050496
+254,4.233333333,HOLD_POSE2,785,761.744991887,738,719,682,642,915,800.744991887,841,658,635.744991887,658,0.457796465037,0.0044980464472,0.0495960916502,0.999999807464,7.51766224917e-05,-0.000614903594671,3.62445857336e-05,1793254927403717120
+255,4.250000000,HOLD_POSE2,785.32816211,762,738,719,682,642,915,800.67183789,841,658,635.67183789,658,0.457796507355,0.00449883724441,0.0495957847821,0.999999807099,7.63280111045e-05,-0.000615377990843,3.58687924423e-05,1793254927420384000
+256,4.266666667,HOLD_POSE2,785.907378739,762,738,719,682,642,915,800.092621261,841,658,635.092621261,658,0.457795765559,0.00449999832612,0.0495944424109,0.999999805363,7.88559328928e-05,-0.000617904991353,3.53422793296e-05,1793254927437050624
+257,4.283333333,HOLD_POSE2,786,762,738,719,682,642,915,800,841,658,635.48297365,658,0.457794838901,0.00449868905165,0.0495937980421,0.999999804786,7.72913481831e-05,-0.000619009749827,3.57985230752e-05,1793254927453717504
+258,4.300000000,HOLD_POSE2,785.940885885,761.940885885,738,718.940885885,682,642,915,800,841,658,636,658,0.45779403867,0.00449720126424,0.0495934076881,0.999999804508,7.52440852794e-05,-0.000619678284812,3.63560429493e-05,1793254927470384128
+259,4.316666667,HOLD_POSE2,785.35371392,761.35371392,738,718.35371392,682,642,915,800,841,658,636,658,0.457794682101,0.0044983192652,0.0495940995759,0.999999804971,7.58437362128e-05,-0.000618868378196,3.61472376414e-05,1793254927487051008
+260,4.333333333,HOLD_POSE2,785,761.230398549,738,718.230398549,682,642,915,800,841,658,636,658,0.45779529581,0.004498442691,0.0495946121716,0.999999805378,7.57367469911e-05,-0.000618230377322,3.60417999727e-05,1793254927503717632
+261,4.350000000,HOLD_POSE2,785,761.809875504,738,718.809875504,682,642,915,800,841,658,636,658,0.457795864486,0.00449705922913,0.0495948531205,0.999999805698,7.45591224193e-05,-0.00061785283208,3.60929753349e-05,1793254927520383744
+262,4.366666667,HOLD_POSE2,785.387133514,762,738,718.612866486,682,642,915,800,841,658,635.612866486,657.612866486,0.457797054538,0.00449733503526,0.0495953867171,0.999999806363,7.5233618425e-05,-0.000616688733617,3.61727759956e-05,1793254927537050624
+263,4.383333333,HOLD_POSE2,785.963308043,762,738,718.036691957,682,642,915,800,841,658,635.036691957,657.036691957,0.457798548015,0.00449842107778,0.0495960632165,0.999999807193,7.68125226041e-05,-0.000615140553621,3.62665546691e-05,1793254927553717248
+264,4.400000000,HOLD_POSE2,785.458888787,762,738,718,682,641.458888787,914.458888787,800,841.541111213,658,635,657.541111213,0.457797005969,0.00449948047026,0.04959563781,0.999999806227,7.94263445549e-05,-0.000616399118181,3.59221930412e-05,1793254927570383872
+265,4.416666667,HOLD_POSE2,785.120947164,761.879052836,738,718,682,641.120947164,914.120947164,800,841.879052836,658,635.120947164,657.879052836,0.457795846355,0.00450056306927,0.0495952373137,0.999999805286,8.14689955727e-05,-0.000617678907654,3.5539128361e-05,1793254927587050752
+266,4.433333333,HOLD_POSE2,785.708193395,761.291806605,738,718,682,641.708193395,914.708193395,800,841.291806605,658,635.708193395,657.291806605,0.457796957138,0.00450174212701,0.0495952217955,0.999999804949,8.10381839835e-05,-0.000618304549362,3.51217362505e-05,1793254927603717376
+267,4.450000000,POSE2_TO_POSE3_RETREAT,786,762,738,718,682,642,915,800,841,658,636,658,0.457797816185,0.00449972235729,0.0495948947432,0.999999806103,7.68654004303e-05,-0.0006169361944,3.5710278546e-05,1793254927640706816
+268,4.466666667,POSE2_TO_POSE3_RETREAT,786,762,738,718,682,642,914.422955468,800,841,658,636,658,0.457797986402,0.00450149156223,0.0495949984648,0.999999805995,8.08556295362e-05,-0.000616603137314,3.56685123136e-05,1793254927657373696
+269,4.483333333,POSE2_TO_POSE3_RETREAT,786,762,737.847298919,718.152701081,682,642,914,800,841,658,636,657.847298919,0.4577979771,0.00450250740648,0.0495950033302,0.999999805866,8.3501491881e-05,-0.000616459015121,3.56887443125e-05,1793254927674040320
+270,4.500000000,POSE2_TO_POSE3_RETREAT,786,762,737.275452084,718.724547916,682,642,914,800,841,658,636,657.275452084,0.457797475042,0.00450145536832,0.049594736847,0.999999805715,8.24572331089e-05,-0.000616833496003,3.58791538504e-05,1793254927690707200
+271,4.516666667,POSE2_TO_POSE3_RETREAT,785.693449504,762,737.306550496,718.693449504,681.693449504,642,914,800,841,658,635.693449504,657,0.457797400663,0.00450113247487,0.049594335166,0.999999805487,8.19060840228e-05,-0.000617272608821,3.59295474913e-05,1793254927707373824
+272,4.533333333,POSE2_TO_POSE3_RETREAT,785.102008799,762,737.897991201,718.102008799,681.102008799,642,914,800,841,658,635.102008799,657,0.457797723742,0.00450148720619,0.0495938078399,0.99999980519,8.18132024745e-05,-0.00061777178678,3.5849818486e-05,1793254927724040192
+273,4.550000000,POSE2_TO_POSE3_RETREAT,785,762,738,718,681.480161998,642,914.480161998,800,841,658,635.480161998,657,0.457799050948,0.00450081558609,0.0495951056837,0.999999806153,8.16047460184e-05,-0.000616247963201,3.5669698805e-05,1793254927740706816
+274,4.566666667,POSE2_TO_POSE3_RETREAT,785.059918449,761.940081551,738,718,682,642,914.940081551,800,841,658,636,657,0.457800186672,0.00449995442709,0.0495964072772,0.999999807149,8.14281474101e-05,-0.00061466198213,3.55320913583e-05,1793254927757373440
+275,4.583333333,POSE2_TO_POSE3_RETREAT,785.635524152,761.364475848,738,718,682,642,914.364475848,800,841,658,636,657,0.457797873209,0.0044993030615,0.0495944671752,0.999999806181,8.17330498092e-05,-0.000616169879943,3.59404444444e-05,1793254927774040064
+276,4.600000000,POSE2_TO_POSE3_RETREAT,786,761.214879969,738,718.214879969,682,642,914.214879969,800,841,658,636,657.214879969,0.457793022294,0.00449942453552,0.0495915579645,0.999999803873,8.09758442609e-05,-0.000620004002256,3.59435097239e-05,1793254927790706432
+277,4.616666667,POSE2_TO_POSE3_RETREAT,786,761.80070959,738,718.80070959,682,642,914.80070959,800,841,658,636,657.80070959,0.457783790944,0.00450088017113,0.049586975771,0.999999799206,7.83851100565e-05,-0.000627853911304,3.52469221653e-05,1793254927807373056
+278,4.633333333,POSE2_TO_POSE3_RETREAT,786,762,738,718.617953726,682,642,915,800,841,658,635.617953726,658,0.457763468261,0.00450207678014,0.0495785885791,0.999999790069,7.8990847914e-05,-0.000642188094431,3.48773570522e-05,1793254927824039936
+279,4.650000000,POSE2_TO_POSE3_RETREAT,786,762,738,718.038933439,682,642,915,800,841,658,635.038933439,658,0.457737427149,0.00450313984132,0.0495682396197,0.999999778387,8.124461082e-05,-0.000659865416286,3.46763968965e-05,1793254927840706816
+280,4.666666667,POSE2_TO_POSE3_RETREAT,786,761.46035905,738.53964095,718,682,642,915,800,841,658,635.53964095,657.46035905,0.457685207061,0.00450382185179,0.0495482785217,0.999999758674,8.16684390871e-05,-0.000689072058586,3.40875152564e-05,1793254927857373696
+281,4.683333333,POSE2_TO_POSE3_RETREAT,786,761.117520676,739,718,682,642,915,800,841,658,636,657.117520676,0.457626735996,0.00450466119712,0.0495277190816,0.999999738331,8.24217382531e-05,-0.00071794087527,3.32605883205e-05,1793254927874040064
+282,4.700000000,POSE2_TO_POSE3_RETREAT,786,761.692819859,739,718,682,642,915,800,841,658,636,657.692819859,0.457551266579,0.00450622040922,0.0495075280208,0.999999720418,8.49722757234e-05,-0.000742256312971,3.16153321667e-05,1793254927890706688
+283,4.716666667,POSE2_TO_POSE3_RETREAT,785.726244216,761.726244216,738.726244216,718,682,642,915,800.273755784,841,658,636,658,0.457469833131,0.00450731951938,0.0494915833615,0.999999704366,8.72201607229e-05,-0.000763363664272,3.06030398508e-05,1793254927907373568
+284,4.733333333,POSE2_TO_POSE3_RETREAT,785.13885039,761.13885039,738.13885039,718,682,642,915,800.86114961,841,658,636,658,0.457381566782,0.0045078914973,0.0494805037442,0.999999690748,8.91213010386e-05,-0.000780795556169,3.03159251538e-05,1793254927924039936
+285,4.750000000,POSE2_TO_POSE3_RETREAT,785,761.444776762,738,718,682,642,915,800.555223238,841,658,636,658,0.45728293293,0.00450879816934,0.049476140016,0.999999683822,9.16016613468e-05,-0.000789343108394,3.00252788333e-05,1793254927940706816
+286,4.766666667,POSE2_TO_POSE3_RETREAT,785.026754771,762,738.026754771,718,681.973245229,642,915,800,841,658,635.973245229,658,0.457180011619,0.00450987012766,0.0494740753016,0.999999679324,9.42769651594e-05,-0.000794721036007,2.97080332558e-05,1793254927957373696
+287,4.783333333,POSE2_TO_POSE3_RETREAT,785.598884601,762,738.598884601,718,681.401115399,642,915,800,841,658,635.401115399,658,0.457055113836,0.00451219936256,0.0494764962082,0.999999681577,9.72711010963e-05,-0.000791549771562,2.88708674713e-05,1793254927974040320
+288,4.800000000,POSE2_TO_POSE3_RETREAT,786,762,738.828168343,718.171831657,681.171831657,642,915,800,841,658,635,657.828168343,0.456922070662,0.0045147265346,0.049480007595,0.999999684581,0.000101344538056,-0.000787256975114,2.81830056922e-05,1793254927990706944
+289,4.816666667,POSE2_TO_POSE3_RETREAT,786,762,738.253304558,718.746695442,681.746695442,642,915,800,841,658,635,657.253304558,0.456769922445,0.00451771796904,0.0494860767087,0.999999689325,0.000107949481278,-0.000780333619396,2.78453374241e-05,1793254928007373568
+290,4.833333333,POSE2_TO_POSE3_RETREAT,785.667231967,761.667231967,738,718.667231967,682,642,915,800,841,658,635,657.332768033,0.456601897942,0.00451985678764,0.0494910183301,0.999999692322,0.000112001081105,-0.000775922217118,2.74847052209e-05,1793254928024040192
+291,4.850000000,POSE2_TO_POSE3_RETREAT,785.072329703,761.072329703,738,718.072329703,682,642,915,800,841,658,635,657.927670297,0.456421367059,0.00452132396814,0.049495071783,0.999999693987,0.000114041314452,-0.000773489576856,2.71059834044e-05,1793254928040706560
+292,4.866666667,POSE2_TO_POSE3_RETREAT,785,761,738,718,682,642,914.492919264,800,841,657.492919264,635.507080736,658,0.456209268468,0.00452356186204,0.0494966518973,0.999999694377,0.000119552772482,-0.000772168899158,2.66264579447e-05,1793254928057373440
+293,4.883333333,POSE2_TO_POSE3_RETREAT,785,761,738,718,682,642.083813294,914.083813294,800,841,657.083813294,636,657.916186706,0.455985919354,0.00452622942763,0.0494967083439,0.999999693262,0.000125727314233,-0.000772654135576,2.59596228509e-05,1793254928074040064
+294,4.900000000,POSE2_TO_POSE3_RETREAT,785,761,738,718,682,642.657427497,914.657427497,800,841,657.657427497,636,657.342572503,0.455722356688,0.00453078457097,0.0494898611497,0.999999684482,0.000132969131465,-0.000782793618912,2.42796956166e-05,1793254928090706688
+295,4.916666667,POSE2_TO_POSE3_RETREAT,785,761,738,718,682,643,915,800,841,658,636,657,0.455449493436,0.00453509803958,0.0494879744384,0.999999682032,0.000139927554337,-0.000784754614718,2.27300266958e-05,1793254928107373312
+296,4.933333333,POSE2_TO_POSE3_RETREAT,785,761,738,718,682,643,915,800,841,658,636,657,0.455162839939,0.00453905316951,0.0494934427844,0.999999689051,0.000146465779456,-0.000774589120921,2.13734957907e-05,1793254928124040192
+297,4.950000000,POSE2_TO_POSE3_RETREAT,785.410433168,761,738,718.410433168,682.410433168,643,915,800,841,658,636,657,0.454853241401,0.00454320616972,0.0495015146838,0.999999701285,0.000153578637122,-0.000757273060091,1.95182881441e-05,1793254928140707072
+298,4.966666667,POSE2_TO_POSE3_RETREAT,785.989299528,761,738,718.989299528,682.989299528,643,915,800,841,658,636,657,0.454534226705,0.00454744037166,0.0495106550269,0.999999715298,0.000160927311757,-0.000737022555989,1.74584340125e-05,1793254928157373440
+299,4.983333333,POSE2_TO_POSE3_RETREAT,785.435249454,761,738,719,683,643,915,800,841,658,636,657.564750546,0.454183910771,0.00455232307503,0.0495271461075,0.999999728612,0.000170990133109,-0.000716415005965,1.69937435715e-05,1793254928174040064
+300,5.000000000,POSE2_TO_POSE3_RETREAT,785,761,738,718.857006358,683,643,915,800,840.857006358,658,636,658,0.453822444862,0.00455725968088,0.0495461733616,0.999999744678,0.000180091552737,-0.000691336958641,1.62776824493e-05,1793254928190706688
+301,5.016666667,POSE2_TO_POSE3_RETREAT,785,761,738,718.269891737,683,643,915,800,840.269891737,658,636,658,0.453428179481,0.00456232576683,0.0495726476858,0.999999769776,0.000186048211221,-0.000652394976037,1.4687586723e-05,1793254928207373568
+302,5.033333333,POSE2_TO_POSE3_RETREAT,785.312415429,761.312415429,738,718.312415429,683.312415429,643.312415429,915,800,840.312415429,658,635.687584571,658,0.453003140978,0.0045681052965,0.0495937383526,0.999999785385,0.000193188658606,-0.00062588942374,1.30324178243e-05,1793254928224040448
+303,5.050000000,POSE2_TO_POSE3_RETREAT,785.890632499,761.890632499,738,718.890632499,683.890632499,643.890632499,915,800,840.890632499,658,635.109367501,658,0.452551920797,0.00457449182144,0.0496102486308,0.999999793639,0.000201336269051,-0.000609964726474,1.13218847977e-05,1793254928240707072
+304,5.066666667,POSE2_TO_POSE3_RETREAT,786,762,738,719,684,644,915,800,840.531234511,658,635.468765489,658,0.452051860945,0.00458214362803,0.0496140720319,0.999999790889,0.000212363811671,-0.000610762985852,9.5731139552e-06,1793254928257373952
+305,5.083333333,POSE2_TO_POSE3_RETREAT,785.953593823,761.953593823,738,718.953593823,684,644,914.953593823,800,840.046406177,658,635.953593823,658,0.451538083827,0.00458981579604,0.0496141257967,0.999999785738,0.000223740642903,-0.000615146310781,7.63760103458e-06,1793254928274040576
+306,5.100000000,POSE2_TO_POSE3_RETREAT,785.381309253,761.381309253,738,718.381309253,684,644,914.381309253,800,840.618690747,658,635.381309253,658,0.450997964408,0.0045943740508,0.0496049983525,0.999999783508,0.000231462811029,-0.000615950272312,3.68698930635e-06,1793254928290707200
+307,5.116666667,POSE2_TO_POSE3_RETREAT,785,761,738,718.197761038,684.197761038,644.197761038,914.197761038,800,840.802238962,658,635.197761038,657.802238962,0.450454491235,0.00459907247188,0.0496084177046,0.999999792332,0.000239200678504,-0.000598430523647,8.99550962388e-08,1793254928307373824
+308,5.133333333,POSE2_TO_POSE3_RETREAT,785,761,738,718.790379946,684.790379946,644.790379946,914.790379946,800,840.209620054,658,635.790379946,657.209620054,0.449904321854,0.00460405075458,0.0496368885098,0.999999821354,0.000246969891045,-0.000544324896055,-2.80111138047e-06,1793254928324040192
+309,5.150000000,POSE2_TO_POSE3_RETREAT,785,761.374072309,738,719,685.374072309,645,915,800,840.374072309,658,636,657.374072309,0.449326672236,0.00460871495995,0.0496691084092,0.999999846201,0.000255477311684,-0.000492245689771,-4.93582471983e-06,1793254928340706560
+310,5.166666667,POSE2_TO_POSE3_RETREAT,785,761.952879044,738,719,685.952879044,645,915,800,840.952879044,658,636,657.952879044,0.44873398236,0.00461320726672,0.0497033802336,0.999999867665,0.000264388762255,-0.000441275570332,-6.65657648097e-06,1793254928357373184
+311,5.183333333,POSE2_TO_POSE3_RETREAT,785,762,738,719,686,645.528716436,914.471283564,800,840.471283564,658,635.471283564,657.471283564,0.448068627278,0.00461744476088,0.0497019172481,0.999999866688,0.000272017119147,-0.000438786737146,-9.84031056133e-06,1793254928374040064
+312,5.200000000,POSE2_TO_POSE3_RETREAT,785,762,738,719,686.104099487,646.104099487,914.104099487,800,840.104099487,658,635.104099487,657.104099487,0.44738641328,0.00462212362765,0.0496931930827,0.999999860318,0.000279908026468,-0.000448150247941,-1.32911484746e-05,1793254928390706944
+313,5.216666667,POSE2_TO_POSE3_RETREAT,785,762,738,719,686.67861843,646.67861843,914.67861843,800,840.67861843,658,635.67861843,657.67861843,0.446657116993,0.00462889908085,0.049665967642,0.999999837081,0.000289499252096,-0.0004916573508,-1.73630966324e-05,1793254928407373568
+314,5.233333333,POSE2_TO_POSE3_RETREAT,785,762,737.739230367,719,686.739230367,646.739230367,915,800,840.739230367,658,636,657.739230367,0.445928653697,0.00463019212357,0.0496592262824,0.999999846978,0.000230366843664,-0.000502496133172,-2.17268731097e-05,1793254928424040192
+315,5.250000000,POSE2_TO_POSE3_RETREAT,785,762,737.147389217,719,686.147389217,646.147389217,915,800,840.147389217,658,636,657.147389217,0.445201247862,0.00462452473268,0.0496784913823,0.999999884798,8.39833307299e-05,-0.000471859415963,-2.64611532815e-05,1793254928440706816
+316,5.266666667,POSE2_TO_POSE3_RETREAT,785,761.56578319,737.43421681,719,686.86843362,646.86843362,915,800,840,658,636,657,0.444460099062,0.00459499431016,0.0497165931802,0.999999910769,2.30060221327e-05,-0.000421053583667,-2.54315599256e-05,1793254928457373440
+317,5.283333333,POSE2_TO_POSE3_RETREAT,785,761.012342298,738,719.012342298,687.987657702,648,915,800,840,658,635.987657702,657.012342298,0.443712794383,0.00455812857847,0.0497597496954,0.999999933009,-8.96111054174e-06,-0.000365226508599,-2.2619309522e-05,1793254928474039808
+318,5.300000000,POSE2_TO_POSE3_RETREAT,785,761.586537801,738,719.586537801,687.413462199,648,915,800,840,658,635.413462199,657.586537801,0.442892722731,0.00454758175599,0.0497486474621,0.999999925398,-9.6198372804e-06,-0.000385296412275,-2.56685163893e-05,1793254928490706432
+319,5.316666667,POSE2_TO_POSE3_RETREAT,785,761.835010273,738,720,687.329979453,648,914.835010273,800.164989727,840,658,635.164989727,657.835010273,0.44208579137,0.00454274945609,0.0497497605183,0.999999926431,-4.2451736223e-06,-0.000382451955155,-2.91508754535e-05,1793254928507373312
+320,5.333333333,POSE2_TO_POSE3_RETREAT,785,761.245609376,738,720,688.508781249,648,914.245609376,800.754390624,840,658,635.754390624,657.245609376,0.441312661475,0.00455261690367,0.049782295564,0.999999947879,1.66494763019e-05,-0.000320663761291,-3.37474529366e-05,1793254928524039936
+321,5.350000000,POSE2_TO_POSE3_RETREAT,785,761,738,719.66298057,689,648,914.33701943,800.66298057,840,658,636,657,0.440478378782,0.00456056025342,0.0498075419071,0.999999960202,3.24651799671e-05,-0.000277723267017,-3.75655984323e-05,1793254928540706816
+322,5.366666667,POSE2_TO_POSE3_RETREAT,785,761,738,719.085189864,689,648,914.914810136,800.085189864,840,658,636,657,0.43960040773,0.00456712900103,0.0498275811003,0.999999967356,4.46524143063e-05,-0.000248247829374,-4.0827621352e-05,1793254928557373440
+323,5.383333333,POSE2_TO_POSE3_RETREAT,784.509078034,761,738,719,688.509078034,648,915,800,840,658,635.509078034,657.490921966,0.438671696452,0.00457381230749,0.0497980034271,0.99999995289,5.34192326196e-05,-0.000298919571008,-4.48669518852e-05,1793254928574040064
+324,5.400000000,POSE2_TO_POSE3_RETREAT,784,761,737.933322355,719.066677645,688.066677645,648.066677645,914.933322355,800,840,658,635,657.933322355,0.437737335445,0.00457920798529,0.0497652538631,0.999999934051,5.64500272919e-05,-0.000355428606601,-4.88147740037e-05,1793254928590706688
+325,5.416666667,POSE2_TO_POSE3_RETREAT,784,761,737.358068942,719.641931058,688.641931058,648.641931058,914.358068942,800,840,658,635,657.358068942,0.436826812273,0.00457463131444,0.0497737592729,0.999999936983,2.02417558309e-05,-0.000350741053388,-5.10393016031e-05,1793254928607373312
+326,5.433333333,POSE2_TO_POSE3_RETREAT,784.223419567,761,737,720,689,648.776580433,914.223419567,800,840,658,635,657,0.435902863651,0.00456898781898,0.0497776800372,0.99999993556,3.55204311964e-05,-0.000354789714738,-4.17411141501e-05,1793254928624039936
+327,5.450000000,POSE2_TO_POSE3_RETREAT,784.815187883,761,737,720,689,648.184812117,914.815187883,800,840,658,635,657,0.434956780533,0.00456158546382,0.0497740421612,0.99999992105,0.000135684917814,-0.000373241649385,-1.34455858406e-05,1793254928640706560
+328,5.466666667,POSE2_TO_POSE3_RETREAT,784.203348255,761,737.398325873,720,688.601674127,648.398325873,915,800.398325873,840,658,635,657,0.434013194818,0.00456435327959,0.0497697570533,0.999999919224,0.000152685195183,-0.000371681093778,-9.66341842602e-06,1793254928657373184
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783.04491097,761,737.977544515,720,688.022455485,648.977544515,915,800.977544515,840,658,635,657,0.43307074331,0.00457173970209,0.0497651780166,0.999999925982,0.000131917887383,-0.000361032213648,-1.70135693516e-05,1793254928674039808
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783.554164697,761,738,720.554164697,689.108329394,649,915,801,839.445835303,658,635,657,0.432151874195,0.00457507319157,0.0497917353538,0.999999939038,0.000122450671025,-0.0003263240242,-2.10495420529e-05,1793254928690706432
+331,5.516666667,POSE2_TO_POSE3_RETREAT,784,761,738,720.867273197,689.867273197,648.867273197,914.867273197,800.867273197,839.132726803,658,635,657,0.431224572216,0.00457775200586,0.0498069070483,0.99999994526,0.000116685774375,-0.000308636889806,-2.4638299522e-05,1793254928707373312
+332,5.533333333,POSE2_TO_POSE3_RETREAT,784,761,738,720.281728402,689.281728402,648.281728402,914.281728402,800.281728402,839.718271598,658,635,657,0.430265255343,0.00457875497613,0.0497789505113,0.999999930121,0.000121997026792,-0.000352330267261,-2.71573424024e-05,1793254928724040192
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783.697802527,760.697802527,738,720.302197473,689.302197473,648,914,800,839.697802527,658,635,657,0.429302393131,0.00457829349489,0.0497650080803,0.999999923118,0.000121005071916,-0.000371858297591,-2.90347385998e-05,1793254928740707072
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783.115377907,760.115377907,738,720.884622093,689.884622093,648,914,800,839.115377907,658,635,657,0.428336243387,0.00457647403047,0.0497640609049,0.999999924951,0.000114168164663,-0.000368977845118,-3.03171369332e-05,1793254928757373440
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783.460827266,760.460827266,738,721,690,648,914.460827266,800,839.460827266,658,635,657,0.427332602126,0.00457886525075,0.0497555448063,0.999999915083,0.000114615589182,-0.000394676587697,-3.04552352769e-05,1793254928774040064
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783.964565706,761,738,721,689.964565706,648,915,800,839.964565706,658,635,657,0.426327137187,0.00458214332159,0.0497464384619,0.999999903388,0.000116726447478,-0.000422693094914,-3.04945458673e-05,1793254928790706688
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783.390896713,761,738,721,689.390896713,648,915,800,839.390896713,658,635,657,0.425434655897,0.00458309212844,0.0497567682008,0.99999992093,0.000116770492895,-0.000378674767098,-3.33271874894e-05,1793254928807373568
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783.189176293,761,738,721.189176293,689.189176293,648.189176293,915,800,839,658,635,657.189176293,0.424550383907,0.00458321061756,0.0497772243501,0.999999938903,0.000115892105604,-0.00032790907996,-3.52041949607e-05,1793254928824040192
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783.782945733,761,738,721.782945733,689.782945733,648.782945733,915,800,839,658,635,657.782945733,0.423683669059,0.00458155329841,0.0498193379523,0.999999958488,0.000113040902757,-0.00026271274302,-3.50373790959e-05,1793254928840706816
+340,5.666666667,POSE2_TO_POSE3_RETREAT,784,761,738,721.634724815,690,649,915,800,839,658,635,657.634724815,0.422767041256,0.00458266489339,0.049823634167,0.999999959208,0.000118872476207,-0.000257333909558,-3.51031927269e-05,1793254928857373440
+341,5.683333333,POSE2_TO_POSE3_RETREAT,784,761,738,721.058986845,690,649,915,800,839,658,635,657.058986845,0.421821654859,0.00458537187026,0.049806140909,0.999999949947,0.000129706857004,-0.000286420488491,-3.53030419252e-05,1793254928874040064
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783.482167053,761,738,721,690,649,915,800,839,658,635,657,0.420886650008,0.00458549405992,0.0497977385032,0.99999994573,0.000111151406326,-0.000308098457821,-3.55142181546e-05,1793254928890706688
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783.093996791,760.906003209,738,721.093996791,690,648.906003209,914.906003209,800,839,658,635,657,0.419959434587,0.00458590814292,0.0497917109433,0.999999940919,9.53836321791e-05,-0.000328333078215,-3.5514608771e-05,1793254928907373312
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783.66619529,760.33380471,738,721.66619529,690,648.33380471,914.33380471,800,839,658,635,657,0.419065818494,0.00458930826669,0.0497924859347,0.999999933567,0.000110865418087,-0.000345527146122,-3.44360654033e-05,1793254928924039936
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783.751386035,760.248613965,738,721.751386035,690,648.248613965,914,800,839,658,635,657,0.418190228177,0.00459155902814,0.0497831925193,0.999999924036,0.000123394328978,-0.00036814811972,-3.4201221075e-05,1793254928940706560
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783.154656872,760.845343128,738,721.154656872,690,648.845343128,914,800,839,658,635,657,0.417339878058,0.00459220042478,0.049759801081,0.99999991135,0.0001317885526,-0.000398367974477,-3.51477443305e-05,1793254928957373184
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783.426114009,761,738,721,690.426114009,648.573885991,914,800,839,658,635,657,0.416541455243,0.00459007457422,0.0497718080665,0.99999992288,0.000125953614575,-0.000370186630065,-3.65838736653e-05,1793254928974039808
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783.998697894,761,738,721.001302106,691,648.001302106,914,800,839,658,634.998697894,657,0.415761146573,0.00458698529053,0.049796154571,0.999999940907,0.00011515123242,-0.000321664124623,-3.81870971798e-05,1793254928990706432
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783.423465963,761,738,721.576534037,691,648.576534037,914,800,839,658,634.423465963,657,0.414957780553,0.00458595673772,0.0498009080038,0.999999944383,0.000109003817261,-0.000312909323997,-3.79425151446e-05,1793254929007373568
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783.155017802,761,738,722,690.844982198,649,914,800,839,658,634.155017802,657,0.414160672015,0.00458648157705,0.0497969539325,0.999999942189,0.000108864347007,-0.000319909755969,-3.77989937509e-05,1793254929024040448
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783.74257515,761,738,722,690.25742485,649,914,800,839,658,634.74257515,657,0.413381023281,0.00459134077982,0.0497687036857,0.999999922634,0.000125488587026,-0.000370871337484,-3.79374574317e-05,1793254929040707072
+352,5.866666667,POSE2_TO_POSE3_RETREAT,784,761,738,722,690,648.673046097,914,800,839,658,634.673046097,657,0.412648690567,0.00459424939696,0.0497667063939,0.999999919427,0.000134307635617,-0.000376382906546,-3.79873782798e-05,1793254929057373440
+353,5.883333333,POSE2_TO_POSE3_RETREAT,784,761,738,722,690,648.091145925,914,800,839,658,634.091145925,657,0.411953253141,0.00459563702104,0.0497851801636,0.999999929874,0.000137040490729,-0.000346454274942,-3.79682568071e-05,1793254929074039808
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783.516176462,761,738,722,690.483823538,648,914,800,839,658,634.483823538,657,0.411270872416,0.00459628505932,0.0498008120204,0.9999999387,0.00012819477064,-0.000323653001781,-3.76179105041e-05,1793254929090706688
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,761,738,722,691,648,914,800,839,658,634.942321008,657,0.410590364616,0.00459649615031,0.0498120913541,0.999999944605,0.000118310220531,-0.000308873740361,-3.72725824244e-05,1793254929107373568
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783,761,738,722,691,648,914,800,839,658,634.366910832,657,0.409904901582,0.00459401812636,0.0497890398297,0.999999929551,0.000118403613001,-0.00035421871957,-3.75244810264e-05,1793254929124040448
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783.213809888,761,738,722,691,648.213809888,914,800,838.786190112,658,634,657,0.409264956922,0.00459078977915,0.0497779911849,0.999999922828,0.000117965611584,-0.000372823383744,-3.78392412233e-05,1793254929140707328
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783.803875877,761,738,722,691,648.803875877,914,800,838.196124123,658,634,657,0.408705114178,0.00458624103628,0.0497880648429,0.999999933175,0.000116592479727,-0.000344371255358,-3.82646233965e-05,1793254929157373952
+359,5.983333333,POSE2_TO_POSE3_RETREAT,784,761,738.386703271,722,691,648.613296729,914,800,838,658,634.386703271,657,0.408157706327,0.00458443012416,0.0498028136466,0.999999940475,0.000113066648804,-0.000323812188284,-3.75586620794e-05,1793254929174040576
+360,6.000000000,POSE2_TO_POSE3_RETREAT,784,761,738.965926981,722,691,648.034073019,914,800,838,658,634.965926981,657,0.407616489144,0.00458398224219,0.049819889975,0.999999946278,0.000108469095336,-0.000307182683612,-3.62894608174e-05,1793254929190707200
+361,6.016666667,POSE2_TO_POSE3_RETREAT,784,761,739,722,691,648,914,800,838,658,635,657,0.407085728983,0.00458421731983,0.0498149063202,0.999999943353,0.00010433826767,-0.000317859783822,-3.70542096774e-05,1793254929207373568
+362,6.033333333,POSE2_TO_POSE3_RETREAT,784,761,738.880941885,722,691,648,913.880941885,800,838.119058115,658,635,657,0.406559392796,0.00458523758622,0.0498043411504,0.999999937308,0.000101626500584,-0.000337060003021,-3.80312602859e-05,1793254929224039936
+363,6.050000000,POSE2_TO_POSE3_RETREAT,784,761,738.293159918,722,691,648,913.293159918,800,838.706840082,658,635,657,0.406047900221,0.00458918103508,0.0497772301453,0.999999920397,0.000104386633497,-0.000383095941454,-3.93436424008e-05,1793254929240706560
+364,6.066666667,POSE2_TO_POSE3_RETREAT,784,761,738.291589711,722,691,648.291589711,913.291589711,800,838.708410289,658,635,657,0.405573231937,0.00459295414829,0.0497636813525,0.999999910433,0.000110581725972,-0.0004065849899,-3.99368219237e-05,1793254929257373184
+365,6.083333333,POSE2_TO_POSE3_RETREAT,784,761,738.873322015,722,691,648.873322015,913.873322015,800,838.126677985,658,635,657,0.405135205221,0.00459655777097,0.0497636274664,0.999999908899,0.000120194730798,-0.000407639043128,-3.98143681336e-05,1793254929274039808
+366,6.100000000,POSE2_TO_POSE3_RETREAT,784,761,738.54952848,722,691,648.54952848,914,800,838.45047152,658,635,657,0.404768228369,0.00459747556078,0.0497837116985,0.999999921919,0.000123761834198,-0.000373146859901,-4.00848721468e-05,1793254929290706688
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783.973716434,761,738,722,691,648,914,800,839,658,635,657.026283566,0.404422198591,0.0045976310541,0.0498095090845,0.999999937136,0.000125713322997,-0.000329079291844,-4.03893715296e-05,1793254929307373568
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783.399191188,761,738,722,691,648,914,800,839,658,635,657.600808812,0.404100536269,0.00459748170643,0.0498375405764,0.999999948365,0.000129071590704,-0.000291685966188,-3.91212039396e-05,1793254929324040448
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783.180758051,761,738,722,691,648,914,800,838.819241949,658,635,657.819241949,0.40378009168,0.00459855123598,0.049855433647,0.99999995428,0.000133002945848,-0.000268812799716,-3.85948347961e-05,1793254929340706816
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783.773056265,761,738,722,691,648,914,800,838.226943735,658,635,657.226943735,0.403462419608,0.00460239583937,0.0498502441038,0.999999950735,0.000138239075381,-0.000278998352927,-3.9757352548e-05,1793254929357373440
+371,6.183333333,POSE2_TO_POSE3_RETREAT,784,761,738,722.355536122,691,648.355536122,914,800,838,658,635,657,0.40316070466,0.00460318379486,0.0498394380933,0.999999944184,0.000141594069157,-0.000299903942148,-4.05181881296e-05,1793254929374040064
+372,6.200000000,POSE2_TO_POSE3_RETREAT,784,761,738,722.931917262,691,648.931917262,914,800,838,658,635,657,0.402868901616,0.0046020730816,0.0498251433543,0.999999935204,0.000143780576021,-0.000327468395773,-4.10295146794e-05,1793254929390706688
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,784,761,739,722,691,648,913,800,838,658,635,657,0.402185622411,0.00458026879519,0.0498038664531,0.999999927908,0.000115632422571,-0.000360136461033,-3.33902376244e-05,1793254929440707072
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,783.010379583,761,738.989620417,722.010379583,691.989620417,648,913,800,838,658,634.989620417,657,0.401603592212,0.00457080607953,0.0498267085293,0.999999948664,8.17129820446e-05,-0.00030862609043,-2.72960139358e-05,1793254929507373312
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783,761,738.435102141,722,691.435102141,648,913,800,838,658,634.435102141,657,0.40150601279,0.00456942940765,0.0498324118546,0.999999951815,8.09257233179e-05,-0.000298453865659,-2.73244784309e-05,1793254929524039936
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,784,761,738.503832511,723,691,648,913,800,838,658,634.503832511,657,0.400988924051,0.00457392517761,0.0498474145051,0.999999961265,9.4367307614e-05,-0.00026000548007,-3.10294518095e-05,1793254929924040448
+405,6.750000000,POSE2_TO_POSE3_RETREAT,784,761,738,722.92789834,691,647.92789834,913,800,838,658,634,657,0.400987327456,0.00457458119511,0.049845756614,0.999999960639,9.40579171669e-05,-0.000262435109075,-3.16630961907e-05,1793254929940706816
+406,6.766666667,POSE2_TO_POSE3_RETREAT,784,761,738,722.340343706,691,647.340343706,913,800,838,658,634,657,0.400988580331,0.00457277700692,0.0498466007897,0.999999961227,9.27935439421e-05,-0.000260691730227,-3.12246107061e-05,1793254929957373184
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+408,6.800000000,POSE2_TO_POSE3_RETREAT,783.172899384,761,738,722,691,647.827100616,913,800,838.827100616,658,634.827100616,657,0.400987992862,0.00457226383918,0.0498469765588,0.999999961774,8.80811442769e-05,-0.000260231651373,-3.1212048179e-05,1793254929990706432
+409,6.816666667,POSE2_TO_POSE3_RETREAT,783.403495711,761,738.403495711,722,691,648,913,800,838.596504289,658,635,657,0.400988766784,0.00457224617903,0.0498481608459,0.999999962104,8.88819696192e-05,-0.000258695968977,-3.11096671656e-05,1793254930007373312
+410,6.833333333,POSE2_TO_POSE3_RETREAT,783.977455435,761,738.977455435,722,691,648,913,800,838.022544565,658,635,657,0.400990258153,0.00457206288914,0.0498498791241,0.999999962507,9.12045990192e-05,-0.000256348028852,-3.08922419948e-05,1793254930024040192
+411,6.850000000,POSE2_TO_POSE3_RETREAT,783.44640507,761,739,722,691,648,913,800.55359493,838.55359493,658,635,657,0.400990511897,0.00457179617118,0.0498497414944,0.999999962583,9.01832546281e-05,-0.00025642577974,-3.07638888674e-05,1793254930040706560
+412,6.866666667,POSE2_TO_POSE3_RETREAT,783.132659923,761,738.867340077,722,691,647.867340077,913,800.867340077,838.867340077,658,634.867340077,657,0.400990361857,0.00457154485612,0.0498494353836,0.99999996257,8.92196359377e-05,-0.000256828806526,-3.06367839726e-05,1793254930057373184
+413,6.883333333,POSE2_TO_POSE3_RETREAT,783.721477923,761,738.278522077,722,691,647.278522077,913,800.278522077,838.278522077,658,634.278522077,657,0.400988997372,0.00457135823344,0.0498488108545,0.999999962297,8.89246224811e-05,-0.000258009295852,-3.05014490096e-05,1793254930074039808
+414,6.900000000,POSE2_TO_POSE3_RETREAT,783.693553054,761,738,722,691,647.306446946,912.693553054,800,838,658,634.306446946,657,0.4009890107,0.00457154151692,0.0498488990003,0.999999962387,8.89566861697e-05,-0.000257637549955,-3.05848131947e-05,1793254930090706688
+415,6.916666667,POSE2_TO_POSE3_RETREAT,783.112038909,761,738,722,691,647.887961091,912.112038909,800,838,658,634.887961091,657,0.400990260755,0.00457205682868,0.0498496268442,0.999999962803,8.92823347679e-05,-0.000255872515528,-3.08644820424e-05,1793254930107373312
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fd8f1ce5e9d459336f056c84271aac4405984e06
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_02/simulation_data.csv
@@ -0,0 +1,417 @@
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+398,6.633333333,pose2_to_pose3_retreat,0.575668730534,0.0101817403621,1.04002034785,0.546239878236,0.0188559782011,1.03969205802
+399,6.650000000,pose2_to_pose3_retreat,0.57566837177,0.0101817703939,1.04002041592,0.546239519283,0.0188560074553,1.03969212248
+400,6.666666667,pose2_to_pose3_retreat,0.575668245888,0.0101817809313,1.0400204398,0.546239393335,0.0188560177199,1.03969214509
+401,6.683333333,pose2_to_pose3_retreat,0.575668117927,0.0101817916429,1.04002046408,0.546239265306,0.0188560281541,1.03969216808
+402,6.700000000,pose2_to_pose3_retreat,0.575668047027,0.0101817975778,1.04002047753,0.546239194369,0.0188560339353,1.03969218081
+403,6.716666667,pose2_to_pose3_retreat,0.575667782104,0.0101818197542,1.04002052779,0.546238929307,0.0188560555375,1.03969222841
+404,6.733333333,pose2_to_pose3_retreat,0.57566761449,0.010181833785,1.04002055959,0.546238761605,0.018856069205,1.03969225852
+405,6.750000000,pose2_to_pose3_retreat,0.575667464214,0.0101818438604,1.04002057198,0.546238611096,0.0188560784711,1.03969227043
+406,6.766666667,pose2_to_pose3_retreat,0.575667212958,0.0101818570247,1.04002056901,0.546238359224,0.0188560895714,1.03969226816
+407,6.783333333,pose2_to_pose3_retreat,0.575667197911,0.0101818578131,1.04002056883,0.546238344139,0.0188560902362,1.03969226802
+408,6.800000000,pose2_to_pose3_retreat,0.575666917492,0.0101818725055,1.04002056551,0.546238063032,0.0188561026248,1.03969226549
+409,6.816666667,pose2_to_pose3_retreat,0.575666790881,0.0101818558748,1.04002060432,0.54623793664,0.0188560867404,1.03969230455
+410,6.833333333,pose2_to_pose3_retreat,0.575666734369,0.0101818261744,1.04002066024,0.546237880729,0.0188560590837,1.03969236048
+411,6.850000000,pose2_to_pose3_retreat,0.575666709304,0.0101817676953,1.04002062463,0.546237856326,0.0188560029457,1.03969232744
+412,6.866666667,pose2_to_pose3_retreat,0.575666708756,0.0101817387729,1.04002058698,0.546237856032,0.0188559749498,1.03969229142
+413,6.883333333,pose2_to_pose3_retreat,0.57566670875,0.0101817384643,1.04002058658,0.546237856029,0.0188559746511,1.03969229103
+414,6.900000000,pose2_to_pose3_retreat,0.575666708185,0.0101817086851,1.04002054782,0.546237855727,0.0188559458259,1.03969225394
+415,6.916666667,pose2_to_pose3_retreat,0.575666707958,0.0101816966969,1.04002053221,0.546237855605,0.0188559342217,1.03969223901
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..940d6991c785050d4dc9d616b353a92f0743c1c6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92925bf57482e0fd1f40feee8680bb39f30f89f2cb5449223ff52726e9608f72
+size 26495803
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1ea76e236170204446ecd21ec06716181248f6d5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_03/franka_data.csv
@@ -0,0 +1,419 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,783,761,739,723,691,648,913,800,839,658,635,657,0.400988626665,0.00457197025887,0.0498498290682,0.999999962798,8.84647670097e-05,-0.000256247816857,-3.02407497571e-05,1793254930225629952
+1,0.016666667,BASELINE,783,761,738.426095086,722.426095086,691,648,913,800,839,658,635,657,0.400990170775,0.00457358138909,0.0498503680525,0.999999963012,9.11735710943e-05,-0.000254416764947,-3.05844854795e-05,1793254930242296832
+2,0.033333333,BASELINE,783.151848102,761,738.151848102,722.151848102,691.151848102,648,913,800,838.848151898,658,635,657,0.400991294876,0.00457419565918,0.0498508349999,0.999999963226,9.22605851994e-05,-0.000253162885845,-3.07346383263e-05,1793254930258963712
+3,0.050000000,BASELINE,783.741432661,761,738.741432661,722.741432661,691.741432661,648,913,800,838.258567339,658,635,657,0.400991208204,0.00457193625516,0.0498510942847,0.999999963459,8.86724239335e-05,-0.000253572837336,-3.03267448817e-05,1793254930275630080
+4,0.066666667,BASELINE,784,761,738.674727306,722.674727306,692,648,913,800,838.325272694,658,635,657,0.400989788156,0.00457148984511,0.0498505182234,0.999999963123,8.82198113955e-05,-0.000255053519607,-3.03243324793e-05,1793254930292296704
+5,0.083333333,BASELINE,784,761,738.09537453,722.09537453,692,648,913,800,838.90462547,658,635,657,0.400987326568,0.00457245961818,0.0498492896484,0.999999962341,9.02164685568e-05,-0.000257370581209,-3.0638653289e-05,1793254930308963328
+6,0.100000000,BASELINE,784,761,738.480045768,722.480045768,691.519954232,648,913,800,839,658,635,657,0.400989231804,0.0045717293601,0.0498506153761,0.999999963,8.92999625194e-05,-0.000255133403279,-3.05431874522e-05,1793254930325629952
+7,0.116666667,BASELINE,783.944030467,761,739,723,691,648,913,800.055969533,838.944030467,658,635,657,0.400991741409,0.00457067643975,0.0498522085138,0.999999963853,8.78614499322e-05,-0.000252292792961,-3.0360816334e-05,1793254930342296576
+8,0.133333333,BASELINE,783.355952642,761,739,723,691,648,913,800.644047358,838.355952642,658,635,657,0.400991815533,0.00456974095225,0.0498515584486,0.999999963955,8.69179920753e-05,-0.000252247678321,-3.01199648983e-05,1793254930358963200
+9,0.150000000,BASELINE,783.228818431,761,738.771181569,723,691,648,913,800.771181569,838.228818431,658,635,657,0.400991337152,0.00456940623281,0.0498509279818,0.999999963789,8.69772206654e-05,-0.000252887087763,-3.00781726654e-05,1793254930375629824
+10,0.166666667,BASELINE,783.808518707,761,738.191481293,723,691,648,913,800.191481293,838.808518707,658,635,657,0.400990011533,0.00456999276181,0.0498503275684,0.999999963212,8.85740198533e-05,-0.00025457618133,-3.03416279838e-05,1793254930392296448
+11,0.183333333,BASELINE,783.613364442,761,738.386635558,723,691,648,913,800,839,658,634.613364442,657,0.400989869776,0.00457081207371,0.0498504234566,0.999999963231,8.88216135895e-05,-0.000254384320564,-3.06292953822e-05,1793254930408963328
+12,0.200000000,BASELINE,783.036028531,761,738.963971469,723,691,648,913,800,839,658,634.036028531,657,0.400990311936,0.00457174620122,0.0498508627819,0.999999963543,8.84037385309e-05,-0.000253264716378,-3.09289049342e-05,1793254930425629952
+13,0.216666667,BASELINE,783.539065164,761,738.460934836,723,691,648,913,800,838.460934836,658,634.539065164,657,0.400990794445,0.00457159344386,0.0498517894806,0.999999963533,9.01295709741e-05,-0.000252762266507,-3.0349507852e-05,1793254930442296320
+14,0.233333333,BASELINE,784,761,738,722.883143244,691,648,913,800,838,657.883143244,634.883143244,657,0.400991139837,0.00457120832646,0.049852484565,0.999999963558,9.07567541119e-05,-0.00025249736661,-2.9882398225e-05,1793254930458963200
+15,0.250000000,BASELINE,784,761,738,722.293840655,691,648,913,800,838,657.293840655,634.293840655,657,0.400990920011,0.00457017626134,0.0498521120964,0.999999963806,8.63653008321e-05,-0.000253026797559,-3.0105794454e-05,1793254930475629824
+16,0.266666667,BASELINE,784,761,738,722,691,648,913,800,838,657.290546116,634,657,0.4009907484,0.00456982528347,0.0498517270499,0.999999963878,8.53757487716e-05,-0.000253062432014,-3.02492747548e-05,1793254930492296448
+17,0.283333333,BASELINE,784,761,738,722,691,648,913,800,838,657.870044011,634,657,0.400990624739,0.00457015165552,0.0498513294946,0.999999963784,8.77694306593e-05,-0.000252606979597,-3.03132776436e-05,1793254930508963072
+18,0.300000000,BASELINE,783.554121375,761,738.445878625,722.445878625,691,648,913,800,838.445878625,658,634.445878625,657,0.400990690483,0.00457094832286,0.049851539139,0.999999963673,8.95063154745e-05,-0.000252436315545,-3.02942869583e-05,1793254930525629696
+19,0.316666667,BASELINE,783,761,739,722.978939594,691,648,913,800,838.978939594,657.978939594,634.978939594,657,0.400990821619,0.00457183979898,0.0498519209936,0.999999963565,9.10117966352e-05,-0.000252334489184,-3.02487910308e-05,1793254930542296320
+20,0.333333333,BASELINE,783,761,739,722.392860701,691,648,913,800,838.392860701,657.392860701,634.392860701,657,0.400991238192,0.00457162737211,0.0498522137102,0.999999963649,9.14030054297e-05,-0.000251870734351,-3.01358747717e-05,1793254930558963200
+21,0.350000000,BASELINE,783.19145631,761,738.80854369,722,691,648,913,800,838,657,634,657,0.400991216059,0.00457104120971,0.0498521288704,0.999999963728,9.05046442824e-05,-0.000251900181922,-2.99738520409e-05,1793254930575629824
+22,0.366666667,BASELINE,783.772190902,761,738.227809098,722,691,648,913,800,838,657,634,657,0.400990301929,0.00456969515009,0.0498512763645,0.999999963788,8.69842667414e-05,-0.000252932432676,-2.97119836563e-05,1793254930592296448
+23,0.383333333,BASELINE,784,761,738.35130038,722,691,648,913,800,838.35130038,657,634,656.64869962,0.400989751019,0.00456951367365,0.0498505338325,0.999999963487,8.68903523454e-05,-0.000254150195021,-2.97255494955e-05,1793254930608963072
+24,0.400000000,BASELINE,784,761,738.929360922,722,691,648,913,800,838.929360922,657,634,656.070639078,0.400989434563,0.0045700839215,0.0498498622872,0.999999962954,8.90081782855e-05,-0.000255487702965,-2.99169047822e-05,1793254930625629696
+25,0.416666667,BASELINE,784,761,738.495546586,722.504453414,691,648,913,800,838.495546586,657,634,656.504453414,0.400989656704,0.00456934185636,0.0498507776743,0.999999963525,8.71140151042e-05,-0.000253879352913,-3.01036805786e-05,1793254930642296576
+26,0.433333333,BASELINE,783.918963711,761,738.081036289,722.918963711,691,648,913,800,838,657.081036289,634,657,0.400990056322,0.00456849933653,0.0498518412285,0.999999964168,8.48832829333e-05,-0.000252077919208,-3.0262563375e-05,1793254930658963456
+27,0.450000000,BASELINE,783.330459999,761,738.669540001,722.330459999,691,648,913,800,838,657.669540001,634,657,0.400991097818,0.00456817178921,0.0498524491889,0.999999964351,8.40424342091e-05,-0.000251635479211,-3.02507663177e-05,1793254930675629824
+28,0.466666667,BASELINE,783.254101986,761,739,722.254101986,691,648,913,800,838,658,634.254101986,657,0.400991861039,0.00456876892373,0.0498530087849,0.999999964462,8.45165023433e-05,-0.000251041193034,-3.02029471724e-05,1793254930692296448
+29,0.483333333,BASELINE,783.83361602,761,739,722.83361602,691,648,913,800,838,658,634.83361602,657,0.400992267894,0.00457055023875,0.0498535064437,0.999999964477,8.66744998633e-05,-0.000250252447257,-3.0108996859e-05,1793254930708963328
+30,0.500000000,BASELINE,784,761,739,723,691,648,913,800,838,658,634.589612243,657,0.400991485278,0.00457027204571,0.0498528248174,0.999999964222,8.62530444136e-05,-0.000251423695645,-3.00423947151e-05,1793254930725630208
+31,0.516666667,BASELINE,784,761,739,723,691,648,913,800,838,658,634.013944953,657,0.400990223613,0.0045691644065,0.0498516682459,0.999999963854,8.47927402253e-05,-0.000253384311948,-2.99868067728e-05,1793254930742296832
+32,0.533333333,BASELINE,783.440036235,761,738.440036235,722.440036235,691,648,913,800,838.559963765,658,634.559963765,657,0.400989905146,0.00456825348489,0.0498518464354,0.999999963803,8.52193254408e-05,-0.000253474896222,-2.97017371561e-05,1793254930758963456
+33,0.550000000,BASELINE,783.138225021,760.861774979,738,722,691,648,913,800,838.861774979,658,635,657,0.400989726204,0.00456770537073,0.0498520194549,0.999999963822,8.56688391234e-05,-0.000253267948294,-2.95240621484e-05,1793254930775630336
+34,0.566666667,BASELINE,783.730941079,760.269058921,738,722,691,648,913,800,838.269058921,658,635,657,0.400989929036,0.00456833412899,0.0498520665225,0.999999964046,8.60397215174e-05,-0.000252235344214,-2.9718238151e-05,1793254930792296960
+35,0.583333333,BASELINE,784,760.31566005,738,722.31566005,691,648,913,800,838.31566005,658,635,657,0.400989266721,0.0045696051006,0.0498513118967,0.999999963771,8.66519462465e-05,-0.000253059054921,-3.01862867018e-05,1793254930808963328
+36,0.600000000,BASELINE,784,760.893731039,738,722.893731039,691,648,913,800,838.893731039,658,635,657,0.4009878852,0.00457140994981,0.0498498908164,0.999999963077,8.74648009925e-05,-0.000255425936099,-3.08820078993e-05,1793254930825629952
+37,0.616666667,BASELINE,784,761,738,722.531001308,691,648,913,800,838.531001308,658,634.531001308,657,0.400989614751,0.00456974706659,0.0498512570016,0.999999963833,8.57438226097e-05,-0.000253097633274,-3.03915945795e-05,1793254930842296576
+38,0.633333333,BASELINE,784,761,738.044714155,722,691,648,913,800,838,658,634.044714155,657,0.400991821117,0.00456763818998,0.0498530884589,0.999999964792,8.38596894017e-05,-0.000250002119905,-2.97040551464e-05,1793254930858963456
+39,0.650000000,BASELINE,784,761,738.633563478,722,691,648,913,800,838,658,634.633563478,657,0.400991302496,0.00456960697269,0.0498529420188,0.999999964415,8.69353183813e-05,-0.000250439751554,-2.98688394256e-05,1793254930875630080
+40,0.666666667,BASELINE,784,761,739,722,691,648,913,800,838,657.782338836,635,657,0.400990587041,0.00457061104832,0.0498525592698,0.999999964103,8.8329890749e-05,-0.000251193356728,-2.98983372185e-05,1793254930892296704
+41,0.683333333,BASELINE,784,761,739,722,691,648,913,800,838,657.206069753,635,657,0.400989547292,0.00457002571948,0.0498517871899,0.999999963908,8.69548360279e-05,-0.000252467544451,-2.97049435833e-05,1793254930908963584
+42,0.700000000,BASELINE,783.640570119,761,738.640570119,722,691,648,913,800,838,657.359429881,635,657,0.400989541459,0.00457006623094,0.0498516713472,0.999999963977,8.72594870526e-05,-0.000252067638953,-2.98829938915e-05,1793254930925630208
+43,0.716666667,BASELINE,783.081065269,761,738.081065269,722,691,648,913,800,838,657.918934731,635,657,0.400990111151,0.0045704551135,0.0498519207959,0.999999964192,8.84991385028e-05,-0.000250735857217,-3.0267806747e-05,1793254930942296832
+44,0.733333333,BASELINE,783,761,738.514979283,722,691,648,913,800.514979283,838.514979283,658,635,657,0.400991933967,0.00457025359649,0.0498532399375,0.999999964706,8.70804924705e-05,-0.000249188590931,-3.01593330813e-05,1793254930958963456
+45,0.750000000,BASELINE,783,761,739,722,691,648,913,800.886253928,838.886253928,658,634.886253928,657,0.400993343744,0.00456987861982,0.0498542940666,0.999999965097,8.55314173271e-05,-0.000248172704943,-3.0000202852e-05,1793254930975630080
+46,0.766666667,BASELINE,783,761,739,722,691,648,913,800.301841313,838.301841313,658,634.301841313,657,0.400992165843,0.0045691998232,0.049853501638,0.999999964785,8.53063963622e-05,-0.000249506680265,-2.99773092713e-05,1793254930992296704
+47,0.783333333,BASELINE,783,761,739,722.280034382,691,648,913,800,838,658,634.280034382,657,0.400990628174,0.00456881722786,0.0498522351938,0.999999964288,8.54933159197e-05,-0.00025143034956,-2.9953369022e-05,1793254931008963328
+48,0.800000000,BASELINE,783,761,739,722.859200223,691,648,913,800,838,658,634.859200223,657,0.400988706202,0.00456875103332,0.0498504624081,0.99999996359,8.6120268452e-05,-0.000253983927456,-2.99283107232e-05,1793254931025629952
+49,0.816666667,BASELINE,783.435439706,761,738.564560294,723,691,648,913,800,838,658,635,657,0.40098893705,0.00456960304152,0.0498510666614,0.999999963657,8.71329437462e-05,-0.000253352767896,-3.01041379644e-05,1793254931042296832
+50,0.833333333,BASELINE,783.989033867,761,738.010966133,723,691,648,913,800,838,658,635,657,0.400989855014,0.00457075002741,0.0498524194244,0.999999963966,8.82596138736e-05,-0.000251711375335,-3.03407141746e-05,1793254931058963456
+51,0.850000000,BASELINE,783.40157924,761,738.59842076,723,691,648,913,800,838,658,635,657,0.400990544053,0.00457190007168,0.0498529848721,0.999999964156,8.88660389196e-05,-0.000250736561126,-3.03788972423e-05,1793254931075630080
+52,0.866666667,BASELINE,783,761,739,722.816764546,691,648,913,800,838,658,634.816764546,657,0.40099037044,0.00457276738195,0.0498528189934,0.99999996407,8.92475886043e-05,-0.000250935418783,-3.04512373755e-05,1793254931092296704
+53,0.883333333,BASELINE,783,761,739,722.237653396,691,648,913,800,838,658,634.237653396,657,0.400988333088,0.00457302385232,0.0498510731018,0.999999963384,8.9143300561e-05,-0.000253669965718,-3.05973730071e-05,1793254931108963328
+54,0.900000000,BASELINE,783.340732819,761,738.659267181,722,691.340732819,648,913,800,838,658,634.340732819,657,0.400988960531,0.00457211103847,0.0498513287216,0.999999963546,8.86798648085e-05,-0.000253203925885,-3.05303309369e-05,1793254931125629952
+55,0.916666667,BASELINE,783.918614457,761,738.081385543,722,691.918614457,648,913,800,838,658,634.918614457,657,0.40099144266,0.00457038440699,0.0498529773864,0.999999964294,8.79664635427e-05,-0.000250510289024,-3.03149179445e-05,1793254931142296576
+56,0.933333333,BASELINE,783.505261266,761,738.494738734,722.494738734,691.505261266,648,913,800.494738734,838,658,635,657,0.400992317924,0.00456993876551,0.049853666155,0.999999964607,8.7797416464e-05,-0.000249341518717,-3.01169236182e-05,1793254931158963200
+57,0.950000000,BASELINE,783,761,738.927947216,723,691,648,913,800.927947216,838.072052784,658,635,657,0.400992749424,0.00456966925491,0.0498540121877,0.999999964789,8.76047440596e-05,-0.000248695877647,-2.99570702489e-05,1793254931175629824
+58,0.966666667,BASELINE,783,761,738.34005329,723,691,648,913,800.34005329,838.65994671,658,635,657,0.400991889647,0.00456915741405,0.0498530309746,0.999999964547,8.66041134186e-05,-0.00025000594335,-3.00498347268e-05,1793254931192296704
+59,0.983333333,BASELINE,783.244203237,761,738.244203237,723,691,648,913,800,838.755796763,658,635,656.755796763,0.400990850664,0.00456944341432,0.0498522391934,0.999999964158,8.74148728725e-05,-0.000251278984716,-3.00213043011e-05,1793254931208963584
+60,1.000000000,BASELINE,783.823469102,761,738.823469102,723,691,648,913,800,838.176530898,658,635,656.176530898,0.400989565799,0.00457082410411,0.0498517073248,0.999999963563,9.07109764843e-05,-0.000252501226484,-2.98263494397e-05,1793254931225630208
+61,1.016666667,BASELINE,783.600218937,761,738.600218937,723,691,648,913,800,838.399781063,658,635,656.399781063,0.400989476277,0.00457011090598,0.0498518296291,0.999999963792,8.88221478873e-05,-0.000252286809668,-2.96144614598e-05,1793254931242296576
+62,1.033333333,BASELINE,783.025201795,761,738.025201795,723,691,648,913,800,838.974798205,658,635,656.974798205,0.400989910709,0.00456847989365,0.0498522386771,0.999999964373,8.46606071733e-05,-0.000251442662057,-2.93951511954e-05,1793254931258963200
+63,1.050000000,BASELINE,783.548959044,761,738.548959044,723,691,648,913,800,838.451040956,658,634.451040956,657,0.4009911235,0.00456883234435,0.049852837416,0.999999964574,8.55522392943e-05,-0.000250308319083,-2.9652134819e-05,1793254931275630080
+64,1.066666667,BASELINE,784,761,739,723,691,648,913,800,838,658,634.126988425,657.126988425,0.400992062091,0.00456958887722,0.0498533072295,0.999999964706,8.6821241502e-05,-0.000249303103144,-2.99543504748e-05,1793254931292296704
+65,1.083333333,BASELINE,784,761,739,723,691,648,913,800,838,658,634.719338262,657.719338262,0.400991865108,0.0045714930391,0.0498532727204,0.999999964657,8.86243537022e-05,-0.000248819830953,-3.03423185254e-05,1793254931308963328
+66,1.100000000,BASELINE,784,761,739,722.696039782,691,648,913,800,838,658,635,657.696039782,0.400991310603,0.00457225181624,0.0498531888255,0.99999996441,9.01638933886e-05,-0.000249253897016,-3.03907062903e-05,1793254931325629952
+67,1.116666667,BASELINE,784,761,739,722.118376482,691,648,913,800,838,658,635,657.118376482,0.400990434163,0.00457197922365,0.0498530604607,0.999999963984,9.14660972837e-05,-0.000250513986683,-3.01333166164e-05,1793254931342296832
+68,1.133333333,BASELINE,784,761,738.543119657,722.456880343,691,648,913,800,838.456880343,658,635,657,0.40099046133,0.00457080092629,0.0498524291676,0.999999964024,8.9462642023e-05,-0.000251109154083,-2.98758934308e-05,1793254931358963712
+69,1.150000000,BASELINE,784,761,738.031785089,723,691,648,913,800,839,658,635,657,0.400990740211,0.0045694562131,0.049851773676,0.99999996419,8.67575446973e-05,-0.000251426138629,-2.96449853419e-05,1793254931375630592
+70,1.166666667,BASELINE,784,761,738.611310261,723,691,648,913,800,839,658,635,657,0.400991343394,0.00456926643704,0.049852934955,0.999999964575,8.66435084924e-05,-0.000249902577434,-2.98711507871e-05,1793254931392296960
+71,1.183333333,BASELINE,784,761,739,722.80579241,691,648,913,800,838.80579241,658,634.80579241,657,0.400991552135,0.0045694984269,0.0498535318413,0.999999964743,8.63656544397e-05,-0.000249298069488,-3.01044893247e-05,1793254931408963584
+72,1.200000000,BASELINE,784,761,739,722.216026635,691,648,913,800,838.216026635,658,634.216026635,657,0.400990957484,0.00457058946121,0.0498529791837,0.999999964471,8.57541394069e-05,-0.000250565470782,-3.03524379166e-05,1793254931425630208
+73,1.216666667,BASELINE,783.63382386,761,739,722,691,648,913,800,838,658,634.36617614,657,0.40098986715,0.00457058860949,0.0498525735729,0.999999964217,8.62583176403e-05,-0.000251434758268,-3.01167555463e-05,1793254931442296832
+74,1.233333333,BASELINE,783.055992644,761,739,722,691,648,913,800,838,658,634.944007356,657,0.400988490305,0.00456995663186,0.0498522529573,0.999999963971,8.74073826653e-05,-0.000252073930171,-2.96015275087e-05,1793254931458963200
+75,1.250000000,BASELINE,783,761,738.48884623,722.51115377,691,648,913,800,838,658,635,657,0.400989167922,0.00457000084947,0.0498520434702,0.999999963962,8.75402612128e-05,-0.000252054492889,-2.96754224517e-05,1793254931475630336
+76,1.266666667,BASELINE,783.081389395,761,738.081389395,722.918610605,691,648,913,800,838,658,635,657,0.400990035515,0.00457016458973,0.0498519568708,0.999999964004,8.76409245992e-05,-0.000251837279868,-2.98144550651e-05,1793254931492297216
+77,1.283333333,BASELINE,783.678462272,761,738.678462272,722.321537728,691,648,913,800,838,658,635,657,0.400990710077,0.00457062591769,0.0498525733375,0.999999964205,8.82283223774e-05,-0.000250814711566,-2.99656875915e-05,1793254931508963584
+78,1.300000000,BASELINE,783.733850081,761,738.733850081,722,691,648,913,800,838,658,635,657,0.400991711014,0.00457018568323,0.0498535316185,0.999999964594,8.78241044141e-05,-0.000249390494044,-3.00471722504e-05,1793254931525630208
+79,1.316666667,BASELINE,783.157114636,761,738.157114636,722,691,648,913,800,838,658,635,657,0.400993092818,0.0045686933641,0.0498548887821,0.9999999652,8.62627134183e-05,-0.0002474975692,-3.00472641321e-05,1793254931542296832
+80,1.333333333,BASELINE,783.419401918,761,738,722.419401918,691.419401918,648,913,800,838.419401918,658,635,657,0.40099135379,0.00456947711489,0.0498531981146,0.999999964559,8.6628705515e-05,-0.000249971115011,-2.98511091665e-05,1793254931558963456
+81,1.350000000,BASELINE,783.995836563,761,738,722.995836563,691.995836563,648,913,800,838.995836563,658,635,657,0.400988446258,0.00457111307308,0.0498503662764,0.999999963437,8.77163494541e-05,-0.000254079557312,-2.95814753344e-05,1793254931575630080
+82,1.366666667,BASELINE,783.444891587,761,738.555108413,722.444891587,691.444891587,648,913,800,839,658,635,657,0.400989392977,0.00457041405267,0.0498516855795,0.99999996379,8.86999356933e-05,-0.000252354776324,-2.95022564738e-05,1793254931592296704
+83,1.383333333,BASELINE,783,761,738.874938408,722,691.125061592,648,913,800,838.874938408,658,635,657,0.400990070442,0.00456967635854,0.049852624269,0.999999964074,8.89365113192e-05,-0.00025114539166,-2.94750504771e-05,1793254931608963328
+84,1.400000000,BASELINE,783,761,738.262907529,722,691.737092471,648,913,800,838.262907529,658,635,657,0.400989590293,0.00456885422217,0.0498519633151,0.99999996406,8.62672984862e-05,-0.000252108123139,-2.96449797807e-05,1793254931625629952
+85,1.416666667,BASELINE,783,761,738,722.328397125,691.671602875,648,913,800,838,658,634.671602875,657,0.400988779929,0.00456858892362,0.0498515160631,0.999999963928,8.53555542924e-05,-0.000252935090896,-2.96881742828e-05,1793254931642296832
+86,1.433333333,BASELINE,783,761,738,722.90409385,691.09590615,648,913,800,838,658,634.09590615,657,0.400987720895,0.00456874295208,0.0498512297394,0.999999963711,8.57672727899e-05,-0.000253659821665,-2.9635931077e-05,1793254931658963968
+87,1.450000000,BASELINE,783.479036159,761,738.479036159,723,691,648,913,800.479036159,838,657.520963841,634.479036159,657,0.400989982881,0.00456873762201,0.0498531938032,0.999999964494,8.51230501301e-05,-0.000250774765382,-2.9629842383e-05,1793254931675630336
+88,1.466666667,BASELINE,784,761,738.944501981,722.944501981,691,648,913,800.944501981,838,657.055498019,635,657,0.400992445162,0.00456876234006,0.0498552042818,0.999999965313,8.44232346537e-05,-0.00024772364741,-2.96505384735e-05,1793254931692296960
+89,1.483333333,BASELINE,784,761,738.351873801,722.351873801,691,648,913,800.351873801,838,657.648126199,635,657,0.400990421042,0.00456938617378,0.0498533103235,0.999999964661,8.52282216872e-05,-0.00025004890779,-2.9841175848e-05,1793254931708963328
+90,1.500000000,BASELINE,784,761,738.234093627,722,691,648,913,800.234093627,838,658,635,657,0.400989223484,0.00456981646456,0.0498522447198,0.999999964205,8.63563019519e-05,-0.000251481879758,-2.98308259452e-05,1793254931725629952
+91,1.516666667,BASELINE,784,761,738.810326006,722,691,648,913,800.810326006,838,658,635,657,0.400989233983,0.00456996388327,0.0498523897949,0.999999964042,8.79565979696e-05,-0.000251610730401,-2.95267237475e-05,1793254931742296576
+92,1.533333333,BASELINE,784,761,739,722.386874232,691,648,913,800.613125768,838,658,635,657,0.400989235585,0.00456923990379,0.0498519049462,0.999999964081,8.71857047129e-05,-0.000251720150257,-2.95454260098e-05,1793254931758963456
+93,1.550000000,BASELINE,784,761,739,722.963577488,691,648,913,800.036422512,838,658,635,657,0.400989232822,0.00456808835213,0.0498511110103,0.999999964218,8.52513313036e-05,-0.000251820035947,-2.97225199145e-05,1793254931775630080
+94,1.566666667,BASELINE,784,761,739,723,691,648,913,800,838,658,634.448899982,657,0.400989294664,0.00456942136514,0.0498514705063,0.999999964048,8.69747448176e-05,-0.000251898381773,-2.97651125334e-05,1793254931792296960
+95,1.583333333,BASELINE,784,761,738.862686221,723,691,648,913,800,838,658,634.137313779,657,0.400989693053,0.00457044952835,0.0498520204469,0.999999964009,8.80261396203e-05,-0.000251679624136,-2.98450218259e-05,1793254931808963840
+96,1.600000000,BASELINE,784,761,738.28303786,723,691,648,913,800,838,658,634.71696214,657,0.400991161542,0.00456995610937,0.0498529333918,0.999999964462,8.61183946572e-05,-0.000250508472461,-3.00743496723e-05,1793254931825630208
+97,1.616666667,BASELINE,784,761,738.29345436,722.70654564,691,648,913,800,838,658,635,657,0.400991871667,0.00456999989817,0.0498536008865,0.999999964739,8.58909510346e-05,-0.000249463661604,-3.02015034792e-05,1793254931842296832
+98,1.633333333,BASELINE,784,761,738.866934828,722.133065172,691,648,913,800,838,658,635,657,0.400991858127,0.00457055631255,0.0498540341628,0.999999964849,8.72669195339e-05,-0.000248539410372,-3.02311586405e-05,1793254931858963456
+99,1.650000000,BASELINE,783.558696651,761,738.558696651,722.441303349,691,648,913,800,838.441303349,658,635,656.558696651,0.400991318035,0.00457073422732,0.0498539049221,0.999999964793,8.69419468345e-05,-0.000248870616285,-3.02968918649e-05,1793254931875630080
+100,1.666666667,BASELINE,783,761,738,723,691,648,913,800,838.983522076,658,634.983522076,656.016477924,0.400990608801,0.00457076165949,0.0498535837991,0.999999964684,8.60711193676e-05,-0.000249604623129,-3.0368896355e-05,1793254931892296704
+101,1.683333333,BASELINE,783,761,738,723,691,648,913,800,838.389499544,658,634.389499544,656.610500456,0.400989547332,0.00456952294717,0.0498524941791,0.999999964466,8.40808158605e-05,-0.000251161684046,-3.02786491491e-05,1793254931908963328
+102,1.700000000,BASELINE,783,761,738,723,691,648,913,800,838,658,634,657.198053996,0.400988964509,0.00456906589931,0.0498520364352,0.999999964282,8.39529190354e-05,-0.000251955001916,-3.01235452598e-05,1793254931925630208
+103,1.716666667,BASELINE,783,761,738,723,691,648,913,800,838,658,634,657.773287733,0.400989293235,0.00457009747593,0.0498527820547,0.999999964163,8.73718434375e-05,-0.000251293825317,-2.98449264426e-05,1793254931942296832
+104,1.733333333,BASELINE,783,761,738.348979496,722.651020504,691,648,913,800.348979496,838,658,634.348979496,657.651020504,0.400990178712,0.00456963823992,0.0498533933758,0.999999964374,8.76588518097e-05,-0.000250367961164,-2.97122512065e-05,1793254931958963456
+105,1.750000000,BASELINE,783,761,738.924969259,722.075030741,691,648,913,800.924969259,838,658,634.924969259,657.075030741,0.400991426354,0.00456820923423,0.0498539173364,0.999999964802,8.5908557171e-05,-0.000249269918369,-2.96745118684e-05,1793254931975630080
+106,1.766666667,BASELINE,783.500193375,761,739,722.500193375,691.500193375,648,913,801,838.500193375,658,635,657,0.400992124433,0.0045680604825,0.0498544511458,0.999999965122,8.61769803444e-05,-0.000247894727706,-2.96370417707e-05,1793254931992296704
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,761,738,722,691,648,913,800,838,658,635,657,0.400990760637,0.00456797106235,0.049853629433,0.999999964814,8.36231437452e-05,-0.000250002033677,-2.96349173701e-05,1793254932034826496
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,761,738,722.573292767,691,648,913,800,838.573292767,658,635,657,0.400990744331,0.00456851570303,0.049853624572,0.999999964906,8.50398268182e-05,-0.000249146537377,-2.97051718976e-05,1793254932051493376
+109,1.816666667,POSE1_TO_POSE2_PRESS,783,761,738.147634456,722.852365544,691,648,913,800,839,658,634.852365544,656.852365544,0.400990623256,0.00456894431074,0.0498536443251,0.999999964924,8.61249789881e-05,-0.000248704493394,-2.96693750058e-05,1793254932068160000
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,761,738.72502967,722.27497033,691,648,913,800,839,658,634.27497033,656.27497033,0.4009901972,0.00456903514907,0.0498537357293,0.999999964734,8.62450520956e-05,-0.0002494660001,-2.93248647077e-05,1793254932084826880
+111,1.850000000,POSE1_TO_POSE2_PRESS,783,761,739,722,691.309851625,648,913,800,838.690148375,658,634,656.309851625,0.400989803628,0.00456860109342,0.0498535469757,0.999999964556,8.60125072655e-05,-0.000250264031236,-2.92855054138e-05,1793254932101493248
+112,1.866666667,POSE1_TO_POSE2_PRESS,783,761,739,722,691.901426075,648,913,800,838.098573925,658,634,656.901426075,0.40098943959,0.00456768979444,0.0498531034975,0.999999964388,8.54593556794e-05,-0.000251095271015,-2.95235950758e-05,1793254932118159616
+113,1.883333333,POSE1_TO_POSE2_PRESS,783,761,739,722,691.517310023,648,913,800,838,658,634.482689977,657,0.400989413867,0.00456796149931,0.0498528978293,0.999999964593,8.4346485477e-05,-0.00025060396644,-2.99678229763e-05,1793254932134826240
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,761,738.938545583,722,691,648,913,800.061454417,838,658,635,657,0.400989437451,0.00456851990544,0.0498527264781,0.999999964781,8.35109549425e-05,-0.000250079634473,-3.04009385363e-05,1793254932151492608
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,761,738.363441177,722,691,648,913,800.636558823,838,658,635,657,0.400989307763,0.00456949758801,0.0498524445283,0.999999964223,8.59288950073e-05,-0.000251489490283,-3.03966760936e-05,1793254932168159232
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,761,738.211521994,722.211521994,691,648,913,800.788478006,838,657.788478006,635,657,0.4009914936,0.00456979047865,0.0498532727631,0.999999964294,8.71995276091e-05,-0.000250810115264,-3.00577505603e-05,1793254932184825856
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,761,738.786242596,722.786242596,691,648,913,800.213757404,838,657.213757404,635,657,0.400997655359,0.00456890753178,0.0498560072656,0.999999965442,8.65001498159e-05,-0.000246543379202,-2.91441842223e-05,1793254932201492480
+118,1.966666667,POSE1_TO_POSE2_PRESS,783.371388464,761,738.628611536,722.628611536,691,648,913,800,838,657.371388464,634.628611536,657,0.401016130743,0.00456846270073,0.049862554204,0.999999968733,8.46769291762e-05,-0.000233505141586,-2.89607114327e-05,1793254932218159360
+119,1.983333333,POSE1_TO_POSE2_PRESS,783.962708086,761,738.037291914,722.037291914,691,648,913,800,838,657.962708086,634.037291914,657,0.401041898087,0.00456827731578,0.0498713588151,0.999999973025,8.21881841157e-05,-0.000215272540494,-2.92095899415e-05,1793254932234826496
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.45836037,761,738.54163963,722.54163963,691,648,913,800,838.54163963,657.45836037,634.54163963,657,0.401097732223,0.0045674276212,0.0498893002254,0.999999980332,8.31082393798e-05,-0.000177729595257,-2.90036260161e-05,1793254932251493120
+121,2.016666667,POSE1_TO_POSE2_PRESS,783,761,739,723,691,648,913,800,839,657.119170058,634.880829942,657,0.401158606172,0.00456647704481,0.0499072437942,0.999999985903,8.35373755227e-05,-0.000142824894764,-2.85898629158e-05,1793254932268160000
+122,2.033333333,POSE1_TO_POSE2_PRESS,783,761,739,723,691,648,913,800,839,657.694529119,634.305470881,657,0.40123102554,0.00456531145893,0.0499228413684,0.999999988761,8.1208909686e-05,-0.000122995179994,-2.74978325807e-05,1793254932284826368
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.2759369,761,738.7240631,722.7240631,691,648,913,800,838.7240631,657.7240631,634,657,0.401310583228,0.00456443729219,0.0499367735016,0.999999991209,8.00252804834e-05,-0.000102363973853,-2.64313630748e-05,1793254932301492992
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.864190842,761,738.135809158,722.135809158,691,648,913,800,838.135809158,657.135809158,634,657,0.401398220366,0.00456389296601,0.0499488206174,0.9999999932,8.01374258983e-05,-8.08256071068e-05,-2.53938244616e-05,1793254932318159616
+125,2.083333333,POSE1_TO_POSE2_PRESS,783.55428741,761,738,722.44571259,691,648,913.44571259,800.44571259,838,657.44571259,634.44571259,656.55428741,0.40149451821,0.0045633104399,0.0499513399082,0.9999999936,7.82878635801e-05,-7.79223783873e-05,-2.44790705867e-05,1793254932334826240
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,761,738,723,691,648,913.974918689,801,838.025081311,658,635,656.025081311,0.401594607992,0.00456274845342,0.0499509649451,0.999999993584,7.59849797595e-05,-8.06331205758e-05,-2.36007772483e-05,1793254932351492864
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,761,738,723,691,648,913.398456904,801,838.601543096,658,635,656.601543096,0.40172090848,0.0045628900778,0.0499498356818,0.999999993293,7.6661309409e-05,-8.379036764e-05,-2.27137904555e-05,1793254932368159488
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,761,738,722.822422323,691,648,913,800.822422323,839,658,634.822422323,657,0.401856179612,0.00456184363405,0.0499498033559,0.99999999334,7.48846253065e-05,-8.5110242875e-05,-2.16614847611e-05,1793254932384826368
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,761,738,722.247344096,691,648,913,800.247344096,839,658,634.247344096,657,0.402011531154,0.00455813774711,0.049952226481,0.999999994121,6.76169676539e-05,-8.23172341189e-05,-2.02391194172e-05,1793254932401493248
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,761,738,722.336444997,691,648,913,800,838.663555003,658,634,657,0.402177153867,0.00455505832986,0.0499513099231,0.999999993983,6.38520602596e-05,-8.72498038554e-05,-1.85349421756e-05,1793254932418159616
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,761,738,722.926808326,691,648,913,800,838.073191674,658,634,657,0.402350528351,0.00455245171503,0.0499478728741,0.999999993091,6.27307120085e-05,-9.80129430151e-05,-1.6618078585e-05,1793254932434826240
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,761,738,723,691,648,913,800,838.507642517,658,634.507642517,657,0.402567877388,0.00455037765129,0.0499497251146,0.999999993707,5.78446963918e-05,-9.49290114115e-05,-1.51060915491e-05,1793254932451492608
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,761,738,722.913303123,691,648,913,800.086696877,839,658,634.913303123,657,0.402797696684,0.00454822926507,0.049952166167,0.999999994413,5.28217389521e-05,-9.05590923994e-05,-1.35459157962e-05,1793254932468159232
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,761,738,722.336685442,691,648,913,800.663314558,839,658,634.336685442,657,0.403062816783,0.00454523498153,0.0499537045121,0.999999994634,5.00356853117e-05,-8.99961757381e-05,-1.13896304265e-05,1793254932484825856
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,761,738,722,691,648,913.243570631,800.756429369,839,658,634.243570631,657,0.403342924759,0.00454227405795,0.0499573230681,0.999999995378,4.71148175456e-05,-8.33027476356e-05,-9.21859575514e-06,1793254932501492736
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,761,738,722,691,648,913.828932251,800.171067749,839,658,634.828932251,657,0.40364406449,0.00453935994698,0.0499638606844,0.999999996695,4.40047717393e-05,-6.80066667342e-05,-7.02686422378e-06,1793254932518159616
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,761,738.410228837,722.410228837,691,648,914,800.410228837,839,658,635,657,0.403981029061,0.00453696463152,0.0499729695991,0.999999997933,3.98895916347e-05,-5.02010888408e-05,-4.72653118887e-06,1793254932534826496
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,761,738.9898469,722.9898469,691,648,914,800.9898469,839,658,635,657,0.404332786203,0.00453478353404,0.0499831402387,0.99999999888,3.53593775846e-05,-3.13593049022e-05,-2.38135512714e-06,1793254932551493376
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,761,739,722.43219633,691,648,913.43219633,801,838.43219633,658,635,657,0.404725955818,0.00453047756882,0.0499905033975,0.999999999424,3.0643099857e-05,-1.45885794592e-05,1.97650619269e-07,1793254932568159744
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,761,739,722.144688286,691,648,913.144688286,800.855311714,838,658,635,657,0.40512611968,0.00452615412252,0.0499933657104,0.999999999645,2.56551909028e-05,-6.60457679071e-06,2.86532881423e-06,1793254932584826112
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,761,739,722.718480934,691,648,913.718480934,800.281519066,838,658,635,657,0.405544836684,0.00452189118826,0.0499830282404,0.999999999484,1.98715401116e-05,-2.45699914435e-05,5.78361978685e-06,1793254932601492736
+142,2.366666667,POSE1_TO_POSE2_PRESS,783.300424185,761,738.699575815,722.699575815,691,648,914,800,838.300424185,658,635,657,0.405963553671,0.00451762057307,0.0499662426974,0.999999998283,1.55540580218e-05,-5.58102757419e-05,8.78755430084e-06,1793254932618159360
+143,2.383333333,POSE1_TO_POSE2_PRESS,783.890218198,761,738.109781802,722.109781802,691,648,914,800,838.890218198,658,635,657,0.40638227069,0.00451334255907,0.0499432463423,0.999999994866,1.2648795047e-05,-9.98369719632e-05,1.18739813648e-05,1793254932634825984
+144,2.400000000,POSE1_TO_POSE2_PRESS,783.52817034,761,738.47182966,722.47182966,691,648,914,800.47182966,839,658,635,657,0.406858309372,0.00450706984378,0.0499276519897,0.999999991895,5.7378533784e-06,-0.000126268731586,1.52837617496e-05,1793254932651493120
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,761,738.948845495,723,691,648,914,800.948845495,839,658,635,657,0.40735559291,0.00450058188938,0.0499165863348,0.999999989539,-1.7671852985e-06,-0.000143413277932,1.87452833866e-05,1793254932668159744
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,761,738.373772844,723,691,648,914,800.373772844,839,658,635,657,0.407936194791,0.00449656182914,0.0499345647215,0.999999994053,-5.97407022431e-06,-0.000106653397873,2.19793181195e-05,1793254932684826624
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,761,738.201359738,722.798640262,691.201359738,648,913.798640262,800,839,658,635,657,0.408538812224,0.00449051398071,0.0499557926741,0.999999997397,-1.30334190453e-05,-6.60719085455e-05,2.59007306674e-05,1793254932701493248
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,761,738.776603567,722.223396433,691.776603567,648,913.223396433,800,839,658,635,657,0.409182308024,0.00448070094215,0.0499830544091,0.999999999025,-2.53892130538e-05,-1.83944701642e-05,3.10984638617e-05,1793254932718159872
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,761,738.638827604,722,691.638827604,648,913.361172396,800.361172396,839,658,635,657,0.409813309579,0.00447293705868,0.0499974232492,0.99999999933,7.05296731384e-06,2.77812230613e-06,3.58083274605e-05,1793254932734826752
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,761,738.048338129,722,691.048338129,648,913.951661871,800.951661871,839,658,635,657,0.41043637821,0.00446647423367,0.0500036060779,0.999999996858,6.79384642305e-05,7.12214600416e-06,4.02084305983e-05,1793254932751493376
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,761,738.530918775,722,691,648,914,801,839,658,635,657,0.41105268399,0.00446189127071,0.0499782197842,0.999999990539,0.000120411539207,-4.95641906007e-05,4.43438386251e-05,1793254932768159744
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,761,738.891490906,722,690.891490906,648,914,800.891490906,839,658,635.108509094,657,0.4116879033,0.00445694343467,0.0499540260816,0.999999981161,0.000159307653905,-9.98597965495e-05,4.82408815363e-05,1793254932784826624
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,761,738.316758393,722,690.316758393,648,914,800.316758393,839,658,635.683241607,657,0.412406977634,0.00444970772476,0.0499470502249,0.999999983519,0.00014309127144,-9.9316853406e-05,5.12151588613e-05,1793254932801493504
+154,2.566666667,POSE1_TO_POSE2_PRESS,783.264395985,761,738,722,690.264395985,648,914,800.264395985,839,658,635.735604015,656.735604015,0.413164517882,0.00444086673815,0.0499573737222,0.99999999369,7.1667282551e-05,-7.57001399604e-05,4.18646211704e-05,1793254932818159872
+155,2.583333333,POSE1_TO_POSE2_PRESS,783.853435649,761,738,722,690.853435649,648,914,800.853435649,839,658,635.146564351,656.146564351,0.413969289333,0.00443005468078,0.049988938562,0.999999997286,-6.75444282267e-05,-2.37518537672e-05,1.73808226893e-05,1793254932834826496
+156,2.600000000,POSE1_TO_POSE2_PRESS,783.56316994,761,738,722,691,648,914,800.56316994,839,658,635,656.43683006,0.414739908539,0.00443660328869,0.0499804638286,0.99999999578,-8.21297085826e-05,-3.80978587185e-05,1.55992217569e-05,1793254932851493120
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,761,738.018167812,722,690.981832188,648,914,800.018167812,839,658,635,657,0.415500151687,0.00444917772944,0.0499587850214,0.999999995503,-5.51235617793e-05,-7.42040868387e-05,2.11950488375e-05,1793254932868159744
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,761,738.593776929,722,690.406223071,648,914,800.593776929,839,658,635,657,0.416289129058,0.00447020018108,0.0499389019965,0.999999994146,-1.85903627762e-05,-0.000104206868967,2.2422014368e-05,1793254932884826368
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,761.168754595,738.831245405,722,690.168754595,648,914,800.831245405,839,658,635,657,0.41710389427,0.00447969226302,0.049933304602,0.999999993624,8.82210258006e-06,-0.000109809589034,2.48257159295e-05,1793254932901492736
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,761.742217876,738.257782124,722,690.742217876,648,914,800.257782124,839,658,635,657,0.417980504054,0.00446153211425,0.0499619671277,0.999999997827,1.4361145639e-05,-5.6895873825e-05,3.0051475709e-05,1793254932918159360
+161,2.683333333,POSE1_TO_POSE2_PRESS,783,761.675150883,738.324849117,722,691,648,914,800.324849117,839,658,635.324849117,657,0.418849247726,0.00444953974586,0.0499771348309,0.999999998743,5.72958596321e-06,-3.71893409662e-05,3.31246234083e-05,1793254932934825984
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,761.085033206,738.914966794,722,691,648,914,800.914966794,839,658,635.914966794,657,0.419711567969,0.0044425839265,0.0499812827949,0.999999998308,-1.44735472868e-05,-4.45994657591e-05,3.4439969267e-05,1793254932951493120
+163,2.716666667,POSE1_TO_POSE2_PRESS,783.4953799,761.4953799,738.5046201,721.5046201,690.5046201,648,914.4953799,801,839,658,636,657,0.420610531224,0.00444241209042,0.0499747980924,0.999999998389,-2.28852262462e-05,-3.91342924175e-05,3.41491497491e-05,1793254932968159744
+164,2.733333333,POSE1_TO_POSE2_PRESS,783.926130386,761.926130386,738,721.073869614,690.073869614,648,914.926130386,800.926130386,839.073869614,658,635.926130386,657,0.421521661113,0.00444331447796,0.0499710255613,0.999999998734,-2.66205089142e-05,-2.61288971916e-05,3.37668523073e-05,1793254932984826368
+165,2.750000000,POSE1_TO_POSE2_PRESS,783.349611438,761.349611438,738,721.650388562,690.650388562,648,914.349611438,800.349611438,839.650388562,658,635.349611438,657,0.422473601677,0.00444375490451,0.0499978886604,0.999999999054,-1.20430295495e-05,2.34346670033e-05,3.46020733061e-05,1793254933001492736
+166,2.766666667,POSE1_TO_POSE2_PRESS,783,761,738,721.774786838,690.774786838,648,914,800,839.774786838,658,635,657,0.423407338387,0.00444643728986,0.0500079118078,0.999999998581,-1.1589647855e-06,4.01147882759e-05,3.50359496812e-05,1793254933018159616
+167,2.783333333,POSE1_TO_POSE2_PRESS,783,761,738,721.202572745,690.202572745,648,914,800,839.202572745,658,635,657,0.424313027351,0.00445257401064,0.0499919885231,0.999999999366,4.03441212499e-06,6.12920493787e-06,3.48514478579e-05,1793254933034826240
+168,2.800000000,POSE1_TO_POSE2_PRESS,783.385178286,761,738,721,690,648,914,800,839.385178286,658,635.385178286,657,0.425267319582,0.00445069607517,0.0499924489103,0.999999999328,-5.72269388605e-06,7.41965993729e-06,3.54304060635e-05,1793254933051492864
+169,2.816666667,POSE1_TO_POSE2_PRESS,783.981443915,761,738,721,690,648,914,800,839.981443915,658,635.981443915,657,0.426248247566,0.00444442590708,0.0500018879606,0.999999998663,-2.36730390945e-05,2.80422690312e-05,3.64277594812e-05,1793254933068159488
+170,2.833333333,POSE1_TO_POSE2_PRESS,783.442663226,761,738,721,690,648,914,800,840,658,636,657,0.42717449802,0.00443728803502,0.0500023878337,0.999999998626,-3.42149497689e-05,1.56418594318e-07,3.97086812984e-05,1793254933084826368
+171,2.850000000,POSE1_TO_POSE2_PRESS,783,761,738,721,689.736177492,648.131911254,914,800,840,658,636,657,0.42809512299,0.00443229886736,0.0499947649642,0.999999997954,-3.50599164881e-05,-3.29247165621e-05,4.2174544087e-05,1793254933101492992
+172,2.866666667,POSE1_TO_POSE2_PRESS,783,761,738,721,688.591462751,648.704268624,914,800,840,658,636,657,0.429002828693,0.00443457719272,0.0499609793056,0.999999996069,-4.32173277019e-06,-7.8150268861e-05,4.16740516713e-05,1793254933118159616
+173,2.883333333,POSE1_TO_POSE2_PRESS,783,761,738,721,688.571505926,649,914,800,840,657.714247037,636,657,0.429961348273,0.00443772209689,0.0499503341913,0.999999995552,4.51867799217e-06,-8.48426057611e-05,4.09615797817e-05,1793254933134826240
+174,2.900000000,POSE1_TO_POSE2_PRESS,783,761,738,721,689.753989187,649,914,800,840,657.123005406,636,657,0.430974191165,0.00444179343053,0.0499644278394,0.999999997882,-1.00510693474e-05,-5.03404042308e-05,4.0022488015e-05,1793254933151492864
+175,2.916666667,POSE1_TO_POSE2_PRESS,783,761,738,720.541796296,690,649,914,800,840,657.458203704,636,657,0.431923217129,0.00444261701553,0.0499545815152,0.999999996753,-1.66411304723e-05,-6.76842466224e-05,4.04513970143e-05,1793254933168159232
+176,2.933333333,POSE1_TO_POSE2_PRESS,783,761.036660323,738,720.036660323,689.963339677,648.963339677,914.036660323,800.036660323,840,658,635.963339677,657,0.432858156499,0.00444212646491,0.0499405773997,0.999999994482,-2.09599108789e-05,-9.43312927372e-05,4.12023804969e-05,1793254933184826112
+177,2.950000000,POSE1_TO_POSE2_PRESS,783,761.613393353,738,720.613393353,689.386606647,648.386606647,914.613393353,800.613393353,840,658,635.386606647,657,0.433832547753,0.00443484523318,0.0499579701196,0.999999997239,-2.27003053184e-05,-5.73851651631e-05,4.14038879277e-05,1793254933201492736
+178,2.966666667,POSE1_TO_POSE2_PRESS,783,761.806847119,738,721,689.193152881,648.193152881,914.806847119,800.806847119,840,658,635.193152881,657,0.434783555637,0.00442976960916,0.0499725019827,0.99999999832,-2.48066966545e-05,-3.16170270161e-05,4.17658668278e-05,1793254933218159104
+179,2.983333333,POSE1_TO_POSE2_PRESS,783,761.220933349,738,721,689.779066651,648.779066651,914.220933349,800.220933349,840,658,635.779066651,657,0.435687015491,0.00442917891017,0.0499812165261,0.999999998308,-2.76573136937e-05,-2.85784272064e-05,4.24541517219e-05,1793254933234825984
+180,3.000000000,POSE1_TO_POSE2_PRESS,783.362839326,761,738,720.637160674,689.274321348,649,914.362839326,800,840,658,636,657.362839326,0.436599628555,0.0044321453492,0.0499675090564,0.999999996697,-2.33942629755e-05,-6.45919935408e-05,4.34239265828e-05,1793254933251492864
+181,3.016666667,POSE1_TO_POSE2_PRESS,783.945315897,761,738,720.054684103,688.109368205,649,914.945315897,800,840,658,636,657.945315897,0.43751778227,0.00443726502784,0.0499402288866,0.999999991179,-1.48251010741e-05,-0.000124244977079,4.45640953764e-05,1793254933268159744
+182,3.033333333,POSE1_TO_POSE2_PRESS,784,761.521686716,738,720.521686716,689.043373432,649,915,800,840,658,636,657.478313284,0.438473254938,0.00443619033331,0.0499619563492,0.99999999625,-2.53020532254e-05,-7.01805171453e-05,4.39728854726e-05,1793254933284826368
+183,3.050000000,POSE1_TO_POSE2_PRESS,784.097357328,761.902642672,738,721,690,649,915,800.097357328,840,658,636,657,0.439416564209,0.00443451817104,0.0499824577988,0.999999998254,-3.53304384047e-05,-1.8873422038e-05,4.34396079594e-05,1793254933301492992
+184,3.066666667,POSE1_TO_POSE2_PRESS,784.672696056,761.327303944,738,721,690,649,915,800.672696056,840,658,636,657,0.440281173344,0.00443306362834,0.049972011117,0.99999999771,-3.34682793824e-05,-3.89489732244e-05,4.40714624349e-05,1793254933318159616
+185,3.083333333,POSE1_TO_POSE2_PRESS,784.745164797,761,738,720.745164797,689.490329595,649,915,801,840.254835203,658,636,657,0.441142259241,0.00443113726486,0.0499694848792,0.999999997664,-2.60120993127e-05,-4.49709197147e-05,4.44101007217e-05,1793254933334826240
+186,3.100000000,POSE1_TO_POSE2_PRESS,784.15405194,761,738,720.15405194,688.30810388,649,915,801,840.84594806,658,636,657,0.441998695846,0.0044285882921,0.0499774103708,0.999999998427,-1.11741124145e-05,-3.24478866198e-05,4.43618141946e-05,1793254933351492864
+187,3.116666667,POSE1_TO_POSE2_PRESS,784,761,738,720,688.428307195,648.571692805,915,800.571692805,841,658,636,657,0.442860886582,0.00443040311748,0.0499896649326,0.999999998877,-1.36181581638e-05,-9.56762642188e-06,4.43734507071e-05,1793254933368159232
+188,3.133333333,POSE1_TO_POSE2_PRESS,784,761,738,720,688.985077136,648,915,800.007461432,840.992538568,658,636,657,0.443722982718,0.00443382443384,0.0500025674756,0.999999998659,-2.1783584393e-05,1.53321265254e-05,4.44062330211e-05,1793254933384826112
+189,3.150000000,POSE1_TO_POSE2_PRESS,784,761,738,720,687.844792114,648,915,800.577603943,840.422396057,658,636,657,0.444424991188,0.00444240181661,0.0499492660359,0.999999995584,-2.04199878133e-06,-8.27760685723e-05,4.44408704815e-05,1793254933401492992
+190,3.166666667,POSE1_TO_POSE2_PRESS,784,761.153497993,738,720,687,648,915,800.846502007,840.153497993,657.846502007,636,657,0.445138319865,0.00445060707883,0.0499043633998,0.999999986632,1.59477468522e-05,-0.000156663523114,4.40177374837e-05,1793254933418159616
+191,3.183333333,POSE1_TO_POSE2_PRESS,784,761.745835403,738,720,687,648,915,800.254164597,840.745835403,657.254164597,636,657,0.445884012342,0.00445774847789,0.0498834723097,0.999999985678,2.89291160135e-05,-0.000161305695644,4.22858736952e-05,1793254933434826240
+192,3.200000000,POSE1_TO_POSE2_PRESS,784.330651736,761.669348264,738,720,687.330651736,648,915,800.330651736,841,657.330651736,636,657,0.446622306763,0.00446212015185,0.0498749076336,0.999999985482,3.35155261242e-05,-0.000161588729097,4.24476441249e-05,1793254933451492864
+193,3.216666667,POSE1_TO_POSE2_PRESS,784.909815329,761.090184671,738,720,687.909815329,648,915,800.909815329,841,657.909815329,636,657,0.447355040895,0.00446441015016,0.0498756072682,0.999999985949,3.17924362802e-05,-0.000158595512307,4.40326358447e-05,1793254933468159488
+194,3.233333333,POSE1_TO_POSE2_PRESS,785,761.487939616,738,720,687.024120768,647.512060384,915,801,841,658,636,657.487939616,0.448024891543,0.0044673344537,0.0498433205757,0.999999976679,3.49812514774e-05,-0.00020839394276,4.46225583468e-05,1793254933484826112
+195,3.250000000,POSE1_TO_POSE2_PRESS,784.934769369,762,738,720,686,647,915,800.934769369,841,658,636,658,0.448680256765,0.00447003074621,0.0498087871402,0.999999963884,3.90206389509e-05,-0.00026205308448,4.51314192988e-05,1793254933501492992
+196,3.266666667,POSE1_TO_POSE2_PRESS,784.362465752,762,738,720,686,647,915,800.362465752,841,658,636,658,0.449313175663,0.00447004517564,0.0498040813999,0.999999961554,4.26297357672e-05,-0.000270035688426,4.64367872803e-05,1793254933518159872
+197,3.283333333,POSE1_TO_POSE2_PRESS,784.216684648,762,738,719.783315352,686,646.783315352,915,800,841,658,636,657.783315352,0.449938178134,0.00447071392788,0.0498082389392,0.999999961863,4.69808476867e-05,-0.00026783558043,4.82738084026e-05,1793254933534826496
+198,3.300000000,POSE1_TO_POSE2_PRESS,784.807661851,762,738,719.192338149,686,646.192338149,915,800,841,658,636,657.192338149,0.450549506017,0.00447251293164,0.0498277065605,0.99999996655,5.26136869903e-05,-0.000248046254605,5.10291861499e-05,1793254933551493120
+199,3.316666667,POSE1_TO_POSE2_PRESS,785,761.609584738,738,719,685.609584738,646,915,800,841,658,635.609584738,657,0.451123107847,0.00447516039347,0.0498309475939,0.999999964673,5.70434557207e-05,-0.000254198940628,5.27505294717e-05,1793254933568160000
+200,3.333333333,POSE1_TO_POSE2_PRESS,785,761.030799148,738,719,685.030799148,646,915,800,841,658,635.030799148,657,0.451678507397,0.00447821722551,0.0498263595097,0.999999959461,6.08927589121e-05,-0.000272868310874,5.397296476e-05,1793254933584826624
+201,3.350000000,POSE1_TO_POSE2_PRESS,785,761.543007825,738,719.543007825,685,645.456992175,915,800.543007825,841,658,635.543007825,657,0.452148609893,0.00447664426164,0.0497802591501,0.999999933073,5.97021376266e-05,-0.00035668484874,5.53697838949e-05,1793254933601493504
+202,3.366666667,POSE1_TO_POSE2_PRESS,785,762,738,720,685,645,915.119692444,800.880307556,841,658,636,657,0.452613781388,0.00447446628759,0.049739054851,0.99999990534,5.75848883873e-05,-0.000427560978858,5.65376440933e-05,1793254933618159872
+203,3.383333333,POSE1_TO_POSE2_PRESS,785,762,738,720,685,645,915.708759235,800.291240765,841,658,636,657,0.453078415983,0.00447093619377,0.0497261999714,0.999999903099,5.29446901574e-05,-0.000433332524772,5.6769207782e-05,1793254933634826240
+204,3.400000000,POSE1_TO_POSE2_PRESS,785,762,738,719.707191828,684.707191828,644.707191828,915.707191828,800,841,658.292808172,636,657,0.453540763087,0.00446738832631,0.0497251939334,0.999999906708,4.74825353525e-05,-0.00042554487883,5.69229385751e-05,1793254933651492864
+205,3.416666667,POSE1_TO_POSE2_PRESS,785,762,738,719.12804983,684.12804983,644.12804983,915.12804983,800,841,658.87195017,636,657,0.454000873253,0.00446382307842,0.0497357747457,0.999999915717,4.12165986944e-05,-0.000404497850753,5.70005574203e-05,1793254933668159488
+206,3.433333333,POSE1_TO_POSE2_PRESS,785,762,738,719,684,644,915,800,841,658.54893999,636,657,0.454411601033,0.00446162704625,0.04973344874,0.999999916326,-1.07356951164e-05,-0.0004068213674,4.15898081573e-05,1793254933684826112
+207,3.450000000,POSE1_TO_POSE2_PRESS,785,761.970127376,738,719,684,644,915.029872624,800,841,658,636,657.029872624,0.454804230266,0.00445969829801,0.0497262294373,0.999999909982,-6.91380997259e-05,-0.000418008909153,2.28984842978e-05,1793254933701492992
+208,3.466666667,POSE1_TO_POSE2_PRESS,785,761.396558116,738,719,684,644,915.603441884,800,841,658,636,657.603441884,0.455122591438,0.00445556018778,0.0496966328508,0.999999889312,-8.89688234325e-06,-0.000469782078805,2.45198234669e-05,1793254933718159616
+209,3.483333333,POSE1_TO_POSE2_PRESS,785,761.181782458,738,719,684,644,915.818217542,800,841,658,636,658,0.455427080325,0.00445457027778,0.0496674046628,0.999999864858,3.4423358276e-05,-0.000518086809951,2.61616506977e-05,1793254933734826240
+210,3.500000000,POSE1_TO_POSE2_PRESS,785,761.770812129,738,719,684,644,915.229187871,800,841,658,636,658,0.455700491089,0.00446063328086,0.0496390018021,0.99999984279,3.98355289084e-05,-0.00055862119695,2.78493773784e-05,1793254933751492864
+211,3.516666667,POSE1_TO_POSE2_PRESS,785,762,738,718.646448525,684,644,915.353551475,800,841,658,636,657.646448525,0.455971923954,0.0044757846944,0.0496244242389,0.999999830499,5.26581800591e-05,-0.000579175052248,2.8017530128e-05,1793254933768159232
+212,3.533333333,POSE1_TO_POSE2_PRESS,785,762,738,718.067715511,684,644,915.932284489,800,841,658,636,657.067715511,0.456242097097,0.00449672463552,0.049618652185,0.999999824879,7.02006633062e-05,-0.000587003050929,2.72178466297e-05,1793254933784825856
+213,3.550000000,POSE1_TO_POSE2_PRESS,785.509630882,762,738,718.509630882,684,643.490369118,915.490369118,800,841,658,636,657,0.45649782691,0.00450698167738,0.0496254870655,0.999999832093,7.81828701116e-05,-0.000573556757936,2.70888811049e-05,1793254933801492736
+214,3.566666667,POSE1_TO_POSE2_PRESS,786,762,738,718.912164456,683.912164456,643,915.087835544,800,841,658,635.912164456,657,0.456743971279,0.00451331650583,0.0496331792185,0.999999839599,8.24989533328e-05,-0.000559682890511,2.73955572099e-05,1793254933818159616
+215,3.583333333,POSE1_TO_POSE2_PRESS,786,762,738,718.328072369,683.328072369,643,915.671927631,800,841,658,635.328072369,657,0.456946772783,0.00450548939746,0.0496362764367,0.999999840457,7.32594948759e-05,-0.000559320638471,2.96613937013e-05,1793254933834826240
+216,3.600000000,POSE1_TO_POSE2_PRESS,786,761.745388217,738,718.254611783,683,643,916,800,841,658,635.254611783,657.254611783,0.457133904897,0.00450160472698,0.0496352324214,0.999999839033,6.8721258477e-05,-0.000562363343049,3.09721893225e-05,1793254933851492608
+217,3.616666667,POSE1_TO_POSE2_PRESS,786,761.164508274,738,718.835491726,683,643,916,800,841,658,635.835491726,657.835491726,0.457300957715,0.00450277203037,0.0496288816891,0.999999834735,7.02073277616e-05,-0.000569769274375,3.10591631013e-05,1793254933868159232
+218,3.633333333,POSE1_TO_POSE2_PRESS,785.584876209,761.415123791,738,719,683,643,916,800,841,658,636,657.584876209,0.457442253843,0.00450182702553,0.0496203065473,0.99999982968,6.78399784036e-05,-0.000578848588795,3.11641979577e-05,1793254933884825856
+219,3.650000000,POSE1_TO_POSE2_PRESS,785.005737194,761.994262806,738,719,683,643,916,800,841,658,636,657.005737194,0.457573373511,0.00450004744864,0.0496108525425,0.999999824248,6.3950145029e-05,-0.000588589055904,3.12763687332e-05,1793254933901492480
+220,3.666666667,POSE1_TO_POSE2_PRESS,785.568653063,761.431346937,738,719,683,643,916,800,841,658,636,657,0.457687195901,0.00450001573717,0.0496050463405,0.99999981897,6.36347633873e-05,-0.000597507352605,3.15487284312e-05,1793254933918159104
+221,3.683333333,POSE1_TO_POSE2_PRESS,786,761.146389731,738,719,683,643,916,800.146389731,841,658,636,657,0.457795355014,0.00450037541281,0.0496013343119,0.999999815253,6.40017140771e-05,-0.000603645190727,3.17889693131e-05,1793254933934825728
+222,3.700000000,POSE1_TO_POSE2_PRESS,786,761.734364066,738,719,683,643,916,800.734364066,841,658,636,657,0.457886952897,0.00450186295405,0.0496038292618,0.999999816438,6.63190371598e-05,-0.000601420588923,3.19274889717e-05,1793254933951492608
+223,3.716666667,POSE1_TO_POSE2_PRESS,786,762,738,719,683,643,916,801,841,658,636,657.317401639,0.457968013925,0.0045012814354,0.0496057551238,0.999999817933,6.58237816659e-05,-0.000598958421826,3.24165876117e-05,1793254933968159488
+224,3.733333333,POSE1_TO_POSE2_PRESS,786,762,738,719,683,643,916,801,841,658,636,657.896370936,0.458040391643,0.00449899482443,0.0496072120062,0.999999819677,6.30107072852e-05,-0.000596300479191,3.31945950566e-05,1793254933984826368
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+226,3.766666667,POSE1_TO_POSE2_PRESS,785,761.051744281,738,718.948255719,683,642.948255719,916,800.051744281,841,658,635,657,0.458141283373,0.00449791178218,0.0496037352347,0.999999816927,6.2311968158e-05,-0.000600958202744,3.33401796414e-05,1793254934018159616
+227,3.783333333,POSE1_TO_POSE2_PRESS,785,761.625226776,738,718.374773224,683,642.374773224,916,800.625226776,841,658,635,657,0.458172992033,0.00450137428276,0.0496014913819,0.999999813926,6.53466346177e-05,-0.00060563572822,3.29249919522e-05,1793254934034826240
+228,3.800000000,POSE1_TO_POSE2_PRESS,785,761.795213026,738,718.204786974,683,642,916,800.795213026,841,658,635,657.204786974,0.458202271065,0.00450354881267,0.0496001425452,0.999999812198,6.71135456676e-05,-0.000608306517098,3.25977606841e-05,1793254934051492864
+229,3.816666667,POSE1_TO_POSE2_PRESS,785,761.204190088,738,718.795809912,683,642,916,800.204190088,841,658,635,657.795809912,0.458226967726,0.00450329418107,0.0496004817431,0.999999812922,6.64894219742e-05,-0.000607192524742,3.24364185732e-05,1793254934068159488
+230,3.833333333,POSE1_TO_POSE2_PRESS,785,761.380005064,738,719,682.619994936,642,915.619994936,800,841,658,635,658,0.458245252499,0.00450367111229,0.0495999147589,0.999999812929,6.657724073e-05,-0.00060717906564,3.22933940073e-05,1793254934084826112
+231,3.850000000,POSE1_TO_POSE2_PRESS,785,761.960596143,738,719,682.039403857,642,915.039403857,800,841,658,635,658,0.45826015275,0.00450438141454,0.0495988694458,0.999999812558,6.70408589703e-05,-0.000607746524045,3.21600383791e-05,1793254934101492736
+232,3.866666667,POSE1_TO_POSE2_PRESS,785,762,738,718.465522422,682,642,915,800.534477578,841,658,635.534477578,657.465522422,0.458268497454,0.00450458203526,0.0495986756882,0.999999811573,6.81941306764e-05,-0.000609227265806,3.23449137231e-05,1793254934118159616
+233,3.883333333,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,801,841,658,636,657.109857816,0.458275786511,0.00450507651899,0.0495986368542,0.999999810803,6.96331015703e-05,-0.000610318837794,3.24901905053e-05,1793254934134826240
+234,3.900000000,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,801,841,658,636,657.693814362,0.458280579712,0.00450699933846,0.0495989990303,0.999999811167,7.20883255116e-05,-0.00060944395252,3.23645835642e-05,1793254934151492864
+235,3.916666667,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,800.722205329,841,658,636,658,0.458283697622,0.00450748887509,0.0495984443076,0.999999810775,7.22637787716e-05,-0.000610072277754,3.22474243674e-05,1793254934168159744
+236,3.933333333,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,800.138198753,841,658,636,658,0.458284968866,0.00450639851028,0.0495968788912,0.999999809548,6.99262506475e-05,-0.000612357585537,3.21395770683e-05,1793254934184826368
+237,3.950000000,POSE1_TO_POSE2_PRESS,785.438453718,762,738,718,682,642,915.438453718,800,841,658,636,658,0.458285948985,0.00450724937983,0.0495957362868,0.999999808868,7.16925750502e-05,-0.000613279600813,3.18116045261e-05,1793254934201492992
+238,3.966666667,POSE1_TO_POSE2_PRESS,785.987176991,761.987176991,738,718,682,642,915.987176991,800,841,658,635.987176991,658,0.458286806368,0.00450868604149,0.0495947336065,0.999999808343,7.46399533547e-05,-0.000613804493112,3.14231539547e-05,1793254934218159616
+239,3.983333333,POSE1_TO_POSE2_PRESS,785.412956522,761.412956522,738,718,682,642,915.412956522,800,841,658,635.412956522,658,0.458286241433,0.00450942295193,0.0495941185559,0.999999807413,7.35978444059e-05,-0.00061544546457,3.13744375293e-05,1793254934234826240
+240,4.000000000,POSE1_TO_POSE2_PRESS,785.166111591,761,738,718,682,642,915,800,841,658,635.166111591,658,0.458285454927,0.00451016260422,0.0495933195093,0.999999806361,7.32911639863e-05,-0.000617194719271,3.12570271857e-05,1793254934251493120
+241,4.016666667,POSE1_TO_POSE2_PRESS,785.757593268,761,738,718,682,642,915,800,841,658,635.757593268,658,0.45828410103,0.00451090927769,0.0495920492953,0.999999805001,7.48677314847e-05,-0.000619221260077,3.09637089642e-05,1793254934268160000
+242,4.033333333,POSE1_TO_POSE2_PRESS,785.659078584,761.340921416,737.659078584,718,682,642,915.340921416,800.340921416,841,658,635.659078584,658,0.458283928277,0.0045104108556,0.0495914282756,0.999999804398,7.49526253757e-05,-0.000620170460453,3.12118763351e-05,1793254934284826624
+243,4.050000000,POSE1_TO_POSE2_PRESS,785.081412481,761.918587519,737.081412481,718,682,642,915.918587519,800.918587519,841,658,635.081412481,658,0.45828457574,0.00450904780676,0.0495912580732,0.999999804325,7.4001662306e-05,-0.000620371527571,3.1836065377e-05,1793254934301493248
+244,4.066666667,POSE1_TO_POSE2_PRESS,785,761.506002383,737.493997617,718.493997617,682,642,915.506002383,800.506002383,841,658,635,658,0.458286374942,0.00450928540331,0.0495919575203,0.999999805517,7.38344831086e-05,-0.000618481045486,3.15617163263e-05,1793254934318159616
+245,4.083333333,POSE1_TO_POSE2_PRESS,785,761.068828088,738,719,682,642,915,800,841,658,635.068828088,658,0.458288162153,0.00450983992822,0.0495927081735,0.999999806703,7.38604163111e-05,-0.000616577747025,3.11598552788e-05,1793254934334825984
+246,4.100000000,POSE1_TO_POSE2_PRESS,785,761.64212261,738,719,682,642,915,800,841,658,635.64212261,658,0.458288476601,0.00451079270005,0.0495927884563,0.999999806354,7.43593091523e-05,-0.000617095420945,3.09038264073e-05,1793254934351492864
+247,4.116666667,POSE1_TO_POSE2_PRESS,785.224734722,762,738,718.775265278,682,642,915,800,841,658.224734722,636,658,0.458289187839,0.00451121040283,0.0495930882909,0.999999806446,7.4741273488e-05,-0.000616897928976,3.0951430794e-05,1793254934368159488
+248,4.133333333,POSE1_TO_POSE2_PRESS,785.822826453,762,738,718.177173547,682,642,915,800,841,658.822826453,636,658,0.458290558272,0.00451073918315,0.0495937528721,0.999999807269,7.49289818632e-05,-0.000615512315398,3.15034681182e-05,1793254934384826112
+249,4.150000000,POSE1_TO_POSE2_PRESS,786,761.596763992,738,718,682,641.596763992,915.403236008,800,841,658.596763992,635.596763992,657.596763992,0.458289767695,0.00451015033301,0.0495933661524,0.999999806494,7.49921151435e-05,-0.000616744376789,3.18540077593e-05,1793254934401492736
+250,4.166666667,POSE1_TO_POSE2_PRESS,786,761.02379728,738,718,682,641.02379728,915.97620272,800,841,658.02379728,635.02379728,657.02379728,0.458288067502,0.00450951196971,0.0495925369177,0.999999805042,7.50028120769e-05,-0.000619078273924,3.21197326609e-05,1793254934418159616
+251,4.183333333,HOLD_POSE2,786,762,738,718,682,642,915,800,840,657,635,657,0.458288275804,0.0045147212881,0.0495928084912,0.999999804908,7.8608611833e-05,-0.000618933787589,3.04346288799e-05,1793254934447748352
+252,4.200000000,HOLD_POSE2,785.411187395,762,738,718.588812605,682,642,915,800,840.588812605,657.588812605,635.588812605,657,0.458289817556,0.00451370852417,0.0495934707375,0.999999805727,7.78101197166e-05,-0.000617709971958,3.04345815924e-05,1793254934464414720
+253,4.216666667,HOLD_POSE2,785,761.825174461,738,718.825174461,682,642,915,800.174825539,841,658,635.825174461,657,0.458290673074,0.00451306478122,0.04959383283,0.999999806218,7.69114888164e-05,-0.000617023554731,3.04979725827e-05,1793254934481081344
+254,4.233333333,HOLD_POSE2,785,761.245642418,738,718.245642418,682,642,915,800.754357582,841,658,635.245642418,657,0.458289940016,0.00451327529081,0.0495935000918,0.999999805954,7.5781044846e-05,-0.000617581169632,3.07082178817e-05,1793254934497747712
+255,4.250000000,HOLD_POSE2,785,761.331451709,738,718.331451709,682,642,915,800.668548291,841,658,635.331451709,657.331451709,0.458289250983,0.00451431266669,0.0495930314289,0.999999805439,7.63840896551e-05,-0.000618340598139,3.06918472072e-05,1793254934514414336
+256,4.266666667,HOLD_POSE2,785,761.906752228,738,718.906752228,682,642,915,800.093247772,841,658,635.906752228,657.906752228,0.458288594339,0.00451595836755,0.0495924627665,0.999999804738,7.82624611099e-05,-0.00061924850075,3.05087552942e-05,1793254934531080960
+257,4.283333333,HOLD_POSE2,785.475436161,761.524563839,738,718.524563839,682,642,915,800,841,658,636,658,0.458288878255,0.00451566486205,0.0495922852053,0.999999804788,7.93155648879e-05,-0.000619022619433,3.07273170947e-05,1793254934547747840
+258,4.300000000,HOLD_POSE2,785.954487571,761.045512429,738,718.045512429,682,642,915,800,841,658,636,657.954487571,0.458289369828,0.00451510083803,0.0495922480354,0.999999805004,8.01140547833e-05,-0.000618558270111,3.09789113944e-05,1793254934564414720
+259,4.316666667,HOLD_POSE2,785.351690576,761.648309424,738,718.648309424,682,642,915,800,841,658,636,657.351690576,0.458290176283,0.00451581760016,0.0495930035507,0.999999805474,7.97496077102e-05,-0.000617859434822,3.06836224987e-05,1793254934581081344
+260,4.333333333,HOLD_POSE2,785,761.759564777,738,718.759564777,682,642,915,800,841,658,635.759564777,657,0.458290838053,0.00451559334779,0.0495934541122,0.999999805866,7.90012800382e-05,-0.000617321671404,3.06749732941e-05,1793254934597747968
+261,4.350000000,HOLD_POSE2,785,761.182384717,738,718.182384717,682,642,915,800,841,658,635.182384717,657,0.458291297182,0.00451405114463,0.0495934775664,0.999999806147,7.77153031798e-05,-0.000617009499456,3.10677812495e-05,1793254934614414336
+262,4.366666667,HOLD_POSE2,785,761,738,718,682,642,915,800,841,658,635.391886508,657.391886508,0.458290803008,0.00451430415972,0.0495928809524,0.999999805601,7.86342558525e-05,-0.000617791706481,3.07985445677e-05,1793254934631081216
+263,4.383333333,HOLD_POSE2,785,761,738,718,682,642,915,800,841,658,635.964813981,657.964813981,0.458289868434,0.00451538651692,0.0495919978835,0.999999804668,8.05718261993e-05,-0.000619079486951,3.022346121e-05,1793254934647747840
+264,4.400000000,HOLD_POSE2,785,761.554885505,738,718,682,642,915,800,841,658,635.445114495,658,0.458290596189,0.00451432947556,0.0495923294902,0.999999804858,7.87069066189e-05,-0.000618987714421,3.07162736201e-05,1793254934664414464
+265,4.416666667,HOLD_POSE2,785,762,738,718.143233007,682,642,915.143233007,800,841,658.143233007,635,658,0.458291526093,0.00451363109127,0.0495927805095,0.999999805264,7.73113608573e-05,-0.000618492974515,3.09909496154e-05,1793254934681081088
+266,4.433333333,HOLD_POSE2,785,762,738,718.722909229,682,642,915.722909229,800,841,658.722909229,635,658,0.458292740533,0.00451445211847,0.0495933532074,0.999999806116,7.81041765953e-05,-0.000617045413584,3.0388028549e-05,1793254934697747968
+267,4.450000000,HOLD_POSE2,785.300841573,761.699158427,738,718.699158427,682,642,915.699158427,800,841,658.699158427,635.300841573,657.699158427,0.458292309227,0.00451444195148,0.0495929253009,0.999999805781,7.7186542337e-05,-0.000617715286475,3.01453021646e-05,1793254934714414592
+268,4.466666667,HOLD_POSE2,785.877176935,761.122823065,738,718.122823065,682,642,915.122823065,800,841,658.122823065,635.877176935,657.122823065,0.458290370841,0.00451367062356,0.0495915810971,0.999999804352,7.47025741409e-05,-0.000620324186231,3.0232421844e-05,1793254934731081472
+269,4.483333333,POSE2_TO_POSE3_RETREAT,786,762,738,718,682,642,915,800,841,658,635,658,0.458290709332,0.00451304811427,0.049592744116,0.999999804613,7.93304388861e-05,-0.00061930182706,3.07527525387e-05,1793254934763181312
+270,4.500000000,POSE2_TO_POSE3_RETREAT,786,762,738.58095605,718.58095605,682,642,915.58095605,800.58095605,841,658,635.58095605,658,0.458289745336,0.00451457769665,0.0495916780117,0.999999803777,8.08379059596e-05,-0.000620447133108,3.09395186482e-05,1793254934779847936
+271,4.516666667,POSE2_TO_POSE3_RETREAT,785.838738516,762,739,719,682,642,915.838738516,800.838738516,841,658,635.838738516,658,0.458289335114,0.00451579440753,0.049591065594,0.999999803276,8.18973033563e-05,-0.000621113141344,3.09856576114e-05,1793254934796514304
+272,4.533333333,POSE2_TO_POSE3_RETREAT,785.260116813,762,739,719,682,642,915.260116813,800.260116813,841,658,635.260116813,658,0.458290358115,0.00451620137728,0.0495916273603,0.99999980365,8.17970536872e-05,-0.000620538681025,3.06678400435e-05,1793254934813180160
+273,4.550000000,POSE2_TO_POSE3_RETREAT,785.316303413,762,738.683696587,718.683696587,682,642,915,800.316303413,841,658,635,658,0.458291613705,0.00451623810832,0.0495923641251,0.999999804554,8.15144377041e-05,-0.000619126285788,3.05069582211e-05,1793254934829846528
+274,4.566666667,POSE2_TO_POSE3_RETREAT,785.890925699,762,738.109074301,718.109074301,682,642,915,800.890925699,841,658,635,658,0.458293059244,0.00451597247254,0.0495932438078,0.999999805886,8.10828866885e-05,-0.000617029565359,3.04742428023e-05,1793254934846513408
+275,4.583333333,POSE2_TO_POSE3_RETREAT,785.523218708,762,738,718,682,642,915.476781292,801,841,658,635.476781292,657.523218708,0.458292692843,0.00451485709462,0.0495930379856,0.999999806403,7.80005426684e-05,-0.000616586189077,3.05110955856e-05,1793254934863180288
+276,4.600000000,POSE2_TO_POSE3_RETREAT,785.064270073,762,738,718,682,642,915.935729927,800.935729927,841,658,636,657,0.458291641691,0.00451379505072,0.0495923804828,0.999999806443,7.50840340537e-05,-0.000616882469963,3.0526725491e-05,1793254934879846912
+277,4.616666667,POSE2_TO_POSE3_RETREAT,785.643753018,762,738,718,682,642,915.356246982,800.356246982,841,658,636,657,0.458288504461,0.004514756516,0.0495901409073,0.999999804262,7.84755749976e-05,-0.000620002850018,3.02415636907e-05,1793254934896513280
+278,4.633333333,POSE2_TO_POSE3_RETREAT,785.777986091,762,738,718.222013909,682,641.777986091,915,800,841,658,635.777986091,657.222013909,0.458281057926,0.00451608215222,0.0495863340933,0.99999980032,8.11639018582e-05,-0.000626002450844,2.98902635917e-05,1793254934913179904
+279,4.650000000,POSE2_TO_POSE3_RETREAT,785.201675446,762,738,718.798324554,682,641.201675446,915,800,841,658,635.201675446,657.798324554,0.458266734468,0.00451798894372,0.0495800262314,0.999999793517,8.2730017372e-05,-0.000636596801852,2.94334179535e-05,1793254934929846272
+280,4.666666667,POSE2_TO_POSE3_RETREAT,785,762,738,718.629790021,682,641.370209979,915,800,841,658,635,658,0.458234591837,0.00451813681369,0.0495661228777,0.999999778586,8.20828942302e-05,-0.000659724671822,2.92112533463e-05,1793254934946513152
+281,4.683333333,POSE2_TO_POSE3_RETREAT,785,762,738,718.060286749,682,641.939713251,915,800,841,658,635,658,0.458192856699,0.00451733781236,0.0495481306803,0.999999758583,8.02443294467e-05,-0.000689599649073,2.91154233455e-05,1793254934963180032
+282,4.700000000,POSE2_TO_POSE3_RETREAT,785,761.466765823,738,718,682,642,915,800,841,658,635.533234177,657.466765823,0.458133049736,0.00452007094072,0.0495280026813,0.999999738943,8.43244115071e-05,-0.000717085894196,2.81347606537e-05,1793254934979846400
+283,4.716666667,POSE2_TO_POSE3_RETREAT,785.125678367,761.125678367,738,718,682,642,915,800,841,658,635.874321633,657,0.458068358534,0.00452229115527,0.0495088156596,0.999999720116,8.76223209892e-05,-0.000742534763772,2.70712311667e-05,1793254934996513024
+284,4.733333333,POSE2_TO_POSE3_RETREAT,785.70400356,761.70400356,738,718,682,642,915,800,841,658,635.29599644,657,0.457993781948,0.00452115794149,0.0494939283912,0.999999705932,8.55794190295e-05,-0.000761664329778,2.60865396436e-05,1793254935013180160
+285,4.750000000,POSE2_TO_POSE3_RETREAT,786,761.718910431,738,718.281089569,681.718910431,642,915,800.281089569,841,658,635.281089569,657.281089569,0.457911326382,0.00452133423374,0.0494837618962,0.999999696146,8.67256882636e-05,-0.0007742985445,2.54642994857e-05,1793254935029847040
+286,4.766666667,POSE2_TO_POSE3_RETREAT,786,761.14312363,738,718.85687637,681.14312363,642,915,800.85687637,841,658,635.85687637,657.85687637,0.457820610416,0.00452288342582,0.0494785447102,0.999999691226,9.12155179304e-05,-0.000780122964348,2.52220571787e-05,1793254935046513664
+287,4.783333333,POSE2_TO_POSE3_RETREAT,785.558330028,761.441669972,738,718.558330028,681.441669972,642,915.441669972,801,841,658,636,658,0.457715429432,0.00452316663555,0.0494782220129,0.999999689245,9.16403980104e-05,-0.000782611657021,2.5118111793e-05,1793254935063180032
+288,4.800000000,POSE2_TO_POSE3_RETREAT,785.029022741,762,738,718,682,642,915.970977259,800.970977259,841,658,635.970977259,657.970977259,0.457604030623,0.00452320305213,0.0494794397547,0.999999688264,9.09657993876e-05,-0.000783946537992,2.49976558724e-05,1793254935079846144
+289,4.816666667,POSE2_TO_POSE3_RETREAT,785.608406372,762,738,718,682,642,915.391593628,800.391593628,841,658,635.391593628,657.391593628,0.457465460691,0.00452650092814,0.0494791661912,0.999999687628,9.49408361058e-05,-0.000784326370969,2.36965820122e-05,1793254935096513024
+290,4.833333333,POSE2_TO_POSE3_RETREAT,785.812855626,762,738,718,682,642,915.187144374,800.187144374,841,658,635.187144374,657.187144374,0.457317416739,0.00452988773285,0.0494790510345,0.999999686114,9.98444958139e-05,-0.00078567838223,2.26585308831e-05,1793254935113179904
+291,4.850000000,POSE2_TO_POSE3_RETREAT,785.235464013,762,738,718,682,642,915.764535987,800.764535987,841,658,635.764535987,657.764535987,0.457149616877,0.00453345997783,0.0494792661994,0.999999682757,0.000106684588115,-0.000789057651234,2.21689542984e-05,1793254935129846528
+292,4.866666667,POSE2_TO_POSE3_RETREAT,785.332352574,762,738,718,682,642,915.667647426,800.667647426,841,658,635.667647426,657.667647426,0.456965616422,0.00453577421986,0.0494791994871,0.99999968016,0.000112078173881,-0.000791611948073,2.16439463399e-05,1793254935146513408
+293,4.883333333,POSE2_TO_POSE3_RETREAT,785.893575501,762,738,718,682,642,915.106424499,800.106424499,841,658,635.106424499,657.106424499,0.456770459617,0.00453722215461,0.0494789386637,0.999999678095,0.000116475642098,-0.00079359813872,2.10945389692e-05,1793254935163180032
+294,4.900000000,POSE2_TO_POSE3_RETREAT,785.509780455,762,738,718.490219545,682,642,915,800,841,658,635.490219545,657.490219545,0.456534901566,0.00454102414795,0.0494810140585,0.999999675226,0.000123669287574,-0.000796147234304,2.00687439668e-05,1793254935179846656
+295,4.916666667,POSE2_TO_POSE3_RETREAT,785,761.909098298,738,718.909098298,682,642,915,800,841,658,636,658,0.456286801364,0.00454525688466,0.0494836651086,0.999999673553,0.000131361463098,-0.000797043831716,1.89784036279e-05,1793254935196513280
+296,4.933333333,POSE2_TO_POSE3_RETREAT,785,761.331188386,738,718.331188386,682,642,915,800,841,658,636,658,0.45602215644,0.00454884610395,0.0494864713762,0.999999679511,0.000138219015829,-0.000788381425778,1.8139497522e-05,1793254935213179904
+297,4.950000000,POSE2_TO_POSE3_RETREAT,785.245444395,761,738,718,682,642,915,800,841,658,636,657.754555605,0.455740673661,0.00455249058259,0.0494890253341,0.999999682834,0.000144938907166,-0.0007829634031,1.71290626182e-05,1793254935229846528
+298,4.966666667,POSE2_TO_POSE3_RETREAT,785.820362777,761,738,718,682,642,915,800,841,658,636,657.179637223,0.45543658849,0.00455620923878,0.049491240602,0.999999682717,0.000151474007378,-0.000781900501388,1.58883748948e-05,1793254935246513664
+299,4.983333333,POSE2_TO_POSE3_RETREAT,785.594933392,761,738,718.405066608,682,642.405066608,915,800,841,658,636,657,0.455105511069,0.00456091066084,0.04949691198,0.999999689945,0.000158987531218,-0.000771130108967,1.381610497e-05,1793254935263180032
+300,5.000000000,POSE2_TO_POSE3_RETREAT,785.005782539,761,738,718.994217461,682,642.994217461,915,800,841,658,636,657,0.454762166915,0.00456605870493,0.0495041540017,0.999999700271,0.000166945703629,-0.000755948105881,1.13659190015e-05,1793254935279846400
+301,5.016666667,POSE2_TO_POSE3_RETREAT,785,761,738,718.426335189,682,643,915,800,841,658,635.426335189,657.573664811,0.454387964979,0.00457124327727,0.0495156515939,0.999999711589,0.000176564307076,-0.000738612375373,9.94371060315e-06,1793254935296513280
+302,5.033333333,POSE2_TO_POSE3_RETREAT,785,761.15253826,738,718.15253826,682.15253826,643.15253826,915.15253826,800,841,658,635,657.84746174,0.454004928893,0.00457684061814,0.0495305904836,0.999999726417,0.000186387610454,-0.000715788548223,8.48021191192e-06,1793254935313180160
+303,5.050000000,POSE2_TO_POSE3_RETREAT,785,761.730080594,738,718.730080594,682.730080594,643.730080594,915.730080594,800,841,658,635,657.269919406,0.45359813127,0.00458358701029,0.0495550000289,0.999999750963,0.000196735392232,-0.000677733199509,6.87327936963e-06,1793254935329846784
+304,5.066666667,POSE2_TO_POSE3_RETREAT,785,762,738,719,683.306376173,644,915.693623827,800,841,658,635,657,0.45316657576,0.00458959678665,0.0495791668952,0.999999771042,0.00020642481509,-0.00064441849495,5.46820441149e-06,1793254935346513152
+305,5.083333333,POSE2_TO_POSE3_RETREAT,785,762,738,719,683.881577868,644,915.118422132,800,841,658,635,657,0.452713296738,0.00459496023046,0.0496031208288,0.999999787488,0.000215536571266,-0.000615263398761,4.24024641178e-06,1793254935363179520
+306,5.100000000,POSE2_TO_POSE3_RETREAT,785,761.53212903,738,719,683.53212903,644,915,800,840.53212903,658,635.46787097,657.46787097,0.452199699619,0.00459903032759,0.0496147897489,0.999999789796,0.000222902726785,-0.000608862943833,2.97823310704e-06,1793254935379846144
+307,5.116666667,POSE2_TO_POSE3_RETREAT,785.055738669,761,738,719,683.055738669,644,915,800,840,658,636,658,0.451666280829,0.00460320082365,0.0496210000243,0.999999787733,0.000230281772006,-0.000609509132543,1.4568334256e-06,1793254935396513024
+308,5.133333333,POSE2_TO_POSE3_RETREAT,785.631470489,761,738,719,683.631470489,644,915,800,840,658,636,658,0.451093829245,0.00461143606768,0.0496059986641,0.999999777981,0.000242003011702,-0.00062085957783,-2.40204886721e-06,1793254935413179904
+309,5.150000000,POSE2_TO_POSE3_RETREAT,785.79306948,761,737.79306948,718.79306948,684,644.20693052,915,800,840,658,635.79306948,657.79306948,0.450525881597,0.00461806503481,0.0496046858573,0.99999978148,0.000251611972899,-0.000611306942719,-5.97300082951e-06,1793254935429846784
+310,5.166666667,POSE2_TO_POSE3_RETREAT,785.218092886,761,737.218092886,718.218092886,684,644.781907114,915,800,840,658,635.218092886,657.218092886,0.44996594467,0.00462183708163,0.0496277194761,0.999999807442,0.000257464040164,-0.000564576142766,-9.03184043043e-06,1793254935446513664
+311,5.183333333,POSE2_TO_POSE3_RETREAT,785,761,737.356522199,718.356522199,684.356522199,645,915,800,840,658,635.356522199,657.356522199,0.449385630493,0.0046247262729,0.0496597881692,0.999999834597,0.000265876949772,-0.000509895990404,-1.10226437631e-05,1793254935463180288
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,784.690021328,761,737.309978672,719,686.690021328,646,915,800,840,658,635,657,0.446652891702,0.00464449228186,0.0496721946797,0.999999836665,0.000304663651603,-0.00048301880305,-2.33092312853e-05,1793254935529846528
+316,5.266666667,POSE2_TO_POSE3_RETREAT,784.734131693,761,737,718.734131693,686.734131693,646.265868307,915,800,840,658,635,657,0.445908678856,0.00464096128999,0.049664109328,0.999999830842,0.000300262982463,-0.000497398468024,-2.74230317944e-05,1793254935546513152
+317,5.283333333,POSE2_TO_POSE3_RETREAT,784.159836906,761,737,718.159836906,686.159836906,646.840163094,915,800,840,658,635,657,0.4451762187,0.00462855832278,0.0496785483239,0.999999847378,0.000280374430794,-0.000474943689362,-3.26102449696e-05,1793254935563179776
+318,5.300000000,POSE2_TO_POSE3_RETREAT,784,761,737.426160566,718.426160566,686.852321132,647.426160566,915,800,840,658,635,657,0.444432943914,0.00459677083873,0.0497133528602,0.999999898091,0.000136754689686,-0.000429142223517,-3.08780588804e-05,1793254935579846400
+319,5.316666667,POSE2_TO_POSE3_RETREAT,784.016357095,761,737.983642905,719,687.983642905,648,915,800,840,658,635,657,0.443682521721,0.00455846010823,0.0497546203992,0.999999927679,-4.89551507355e-05,-0.000376206761408,-2.6705240627e-05,1793254935596513280
+320,5.333333333,POSE2_TO_POSE3_RETREAT,784.595742594,761,737.404257406,719,687.404257406,648,915,800,840,658,635,657,0.442829636389,0.00455293361569,0.0497480073743,0.999999923571,-4.09711213031e-05,-0.000387629492699,-3.03754434917e-05,1793254935613179904
+321,5.350000000,POSE2_TO_POSE3_RETREAT,784.826268625,761,737.173731375,719,687.34746275,648,915,800,840,658,635.173731375,657,0.441994209816,0.00455118594698,0.0497536553066,0.999999928338,-3.02128526067e-05,-0.000375826316063,-3.4143313599e-05,1793254935629846528
+322,5.366666667,POSE2_TO_POSE3_RETREAT,784.251503998,761,737.748496002,719,688.496992004,648,915,800,840,658,635.748496002,657,0.441199084265,0.00455816113602,0.0497876058505,0.999999951011,-1.30506621743e-05,-0.000310409555247,-3.81366338245e-05,1793254935646513152
+323,5.383333333,POSE2_TO_POSE3_RETREAT,784,761,737.677360141,719,689,648,915,800,840,658,635.677360141,657,0.440363122632,0.00456597957285,0.049811315571,0.99999996249,5.56681991645e-06,-0.000270620793767,-4.18767238077e-05,1793254935663179776
+324,5.400000000,POSE2_TO_POSE3_RETREAT,784,761,737.103699283,719,689,648,915,800,840,658,635.103699283,657,0.439495389656,0.00457445407492,0.0498270577013,0.999999967205,2.53165505181e-05,-0.00025077119038,-4.54197949096e-05,1793254935679846656
+325,5.416666667,POSE2_TO_POSE3_RETREAT,784,761,737,719.485910631,689,648,915,800,840,658,635.485910631,657,0.438567713723,0.00457976562507,0.0497973189224,0.999999952198,3.81585343389e-05,-0.000302895734207,-4.90178275706e-05,1793254935696513024
+326,5.433333333,POSE2_TO_POSE3_RETREAT,783.922998793,761,737.077001207,720,689,648,915,800,840,658,635.922998793,657.077001207,0.437626901834,0.00458307497863,0.0497646201722,0.999999932928,4.51709536765e-05,-0.000359689398621,-5.222541134e-05,1793254935713179648
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783.345167763,761,737.654832237,720,689,648,915,800,840,658,635.345167763,657.654832237,0.436686680614,0.00457790108204,0.0497779424936,0.999999939298,2.41806759365e-05,-0.000343556065476,-5.28145644981e-05,1793254935729846272
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783.231341999,761,737.768658001,720,689,648.231341999,915,800,840,657.768658001,635.231341999,657.768658001,0.435734579869,0.00457336109967,0.0497820327886,0.999999937454,4.85642586297e-05,-0.000347751311644,-4.2455238495e-05,1793254935746512896
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783.805891681,761,737.194108319,720,689,648.805891681,915,800,840,657.194108319,635.805891681,657.194108319,0.4347648551,0.00456976156067,0.0497724269026,0.999999917035,0.000140262279478,-0.000382105039837,-1.58532837477e-05,1793254935763179520
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783.61873563,761,737.38126437,720,688.61873563,649,915,800,840,657.38126437,635.61873563,657,0.433831566489,0.00457215352685,0.0497685575073,0.999999914508,0.00016040710047,-0.000380951918524,-1.1380092634e-05,1793254935779846144
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783.042943061,761,737.957056939,720,688.042943061,649,915,800,840,657.957056939,635.042943061,657,0.432916868344,0.00457760247102,0.0497676149772,0.999999924053,0.000144044138134,-0.000361682538845,-1.81974114449e-05,1793254935796513024
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783.548804507,761,738,720,689.097609014,649,915,800,840,658,635,657.548804507,0.432004541184,0.0045816559419,0.049794719426,0.999999939214,0.000130202522935,-0.000322654922714,-2.26535929016e-05,1793254935813179904
+333,5.550000000,POSE2_TO_POSE3_RETREAT,784,761,738,720,689.862061379,648.862061379,915,800,840,658,635,657.862061379,0.431065648,0.00458440406363,0.0498089702096,0.999999945843,0.000120528048302,-0.000305098331372,-2.65090834086e-05,1793254935829846528
+334,5.566666667,POSE2_TO_POSE3_RETREAT,784,761,738,720,689.285331177,648.285331177,915,800,840,658,635,657.285331177,0.430041638793,0.00458335753825,0.0497751423617,0.999999926829,0.000123463127213,-0.000360907791492,-2.90590533364e-05,1793254935846513152
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,783.775166472,761,738,721,690.550332944,648.224833528,915,800,839.224833528,658,635,657,0.423451008915,0.0045880759682,0.0498225601337,0.999999958653,0.000123619645912,-0.00025708575574,-3.63093403961e-05,1793254935963179776
+342,5.700000000,POSE2_TO_POSE3_RETREAT,784,761,738,721,690.649966616,648,915,800,839.350033384,658,635,657,0.422516736407,0.00458732789302,0.0498205766534,0.99999995594,0.000128481821889,-0.000265150813972,-3.61562096656e-05,1793254935979846400
+343,5.716666667,POSE2_TO_POSE3_RETREAT,784,761,738,721,690.075966527,648,915,800,839.924033473,658,635,657,0.421570703827,0.0045855594655,0.0497941023304,0.99999994154,0.000131802151116,-0.000313459006614,-3.59306007371e-05,1793254935996513024
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783.486853355,761,738,721,690,648,915,800.513146645,839.486853355,658,635,657,0.420683570782,0.00458809800819,0.04979334991,0.999999941499,0.000111023740707,-0.000321547021718,-3.58153449916e-05,1793254936013179648
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783.102314615,761,738.102314615,721.102314615,690.102314615,648.102314615,915,800.897685385,839,658,634.897685385,657,0.419799124243,0.0045917666428,0.0497950857996,0.999999941223,9.56750320262e-05,-0.000327324272238,-3.54918836203e-05,1793254936029846528
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783.681004532,761,738.681004532,721.681004532,690.681004532,648.681004532,915,800.318995468,839,658,634.318995468,657,0.418885356121,0.0045976381964,0.0497901397566,0.99999993032,0.00012272164335,-0.000350906649933,-3.41206481784e-05,1793254936046513152
+347,5.783333333,POSE2_TO_POSE3_RETREAT,784,760.741098716,738.741098716,721.741098716,690.741098716,648.741098716,915,800,839,658,634.258901284,657,0.417992629719,0.00460003528317,0.0497799303926,0.999999920496,0.00013870214316,-0.000372286759161,-3.42496381382e-05,1793254936063179776
+348,5.800000000,POSE2_TO_POSE3_RETREAT,784,760.164176289,738.164176289,721.164176289,690.164176289,648.164176289,915,800,839,658,634.835823711,657,0.417125749961,0.00459816451151,0.0497632558335,0.999999912965,0.000141089593662,-0.000390961712638,-3.62214286609e-05,1793254936079846400
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783.580768982,760.419231018,738.419231018,721.419231018,690.419231018,648,915,800,839,658,634.580768982,657,0.416339717911,0.00459387910018,0.0497776641991,0.99999992641,0.000130739059222,-0.000358727373912,-3.74456040174e-05,1793254936096513024
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783,761,738.99481349,721.99481349,691,648,915,800,839,658,634.00518651,657,0.41558551133,0.00458866260539,0.0498041926326,0.99999994557,0.000115364589789,-0.000306724594466,-3.83629577487e-05,1793254936113179648
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783,761,738.412344843,721.412344843,691,648,915,800,839,658,634.587655157,657,0.414794249256,0.00458671601497,0.0498036008311,0.999999946252,0.000104754077713,-0.000308319263887,-3.82289418904e-05,1793254936129846272
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783,761,738,721.16820362,691,648.16820362,915,800,839,658,635,657,0.41400368163,0.00458623342044,0.0497963749954,0.999999942461,0.00010223679305,-0.000321192476429,-3.82172508658e-05,1793254936146512896
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783,761,738,721.74409807,691,648.74409807,915,800,839,658,635,657,0.413214797038,0.00458929924915,0.0497730696308,0.999999926832,0.000119335817684,-0.000361402547897,-3.8502049906e-05,1793254936163179520
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783,761,738,721.680815651,690.680815651,648.680815651,915,800,839,658,634.680815651,657,0.412472904296,0.00459346109588,0.0497745017207,0.999999924745,0.000131533388978,-0.00036293235152,-3.8595291396e-05,1793254936179846400
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,761,738,721.106375711,690.106375711,648.106375711,915,800,839,658,634.106375711,657,0.411768591552,0.00459849944134,0.0497957166539,0.999999933863,0.000139811207659,-0.00033352907395,-3.85353419889e-05,1793254936196513024
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783.479463418,761,738,721.479463418,690.479463418,648,915,800,838.520536582,658,634.479463418,657,0.411098058087,0.00459987806436,0.0498084378907,0.999999941643,0.000128550071996,-0.000314201457582,-3.82937252293e-05,1793254936213179648
+357,5.950000000,POSE2_TO_POSE3_RETREAT,784,761,738,722,691,648,915,800,838.067125753,658,635,657,0.410435382015,0.00460011136308,0.0498154737495,0.999999946558,0.000114569200671,-0.000303828399686,-3.80226836128e-05,1793254936229846272
+358,5.966666667,POSE2_TO_POSE3_RETREAT,784,761,738,722,691,648,915,800,838.64890401,658,635,657,0.409774089546,0.0045979403786,0.0497937197658,0.999999933452,0.000113781919791,-0.000344553454458,-3.78425894092e-05,1793254936246512896
+359,5.983333333,POSE2_TO_POSE3_RETREAT,784,761,738.22744835,722,691,648.22744835,915,800,838.77255165,658,634.77255165,657,0.409149102051,0.00459448511501,0.0497840163706,0.9999999281,0.000113197297338,-0.000359927965,-3.79117854846e-05,1793254936263179520
+360,6.000000000,POSE2_TO_POSE3_RETREAT,784,761,738.801070648,722,691,648.801070648,915,800,838.198929352,658,634.198929352,657,0.408579370398,0.0045890751926,0.0497926538435,0.999999936199,0.000112921119093,-0.000336719215971,-3.83603987701e-05,1793254936279846400
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783.637882863,761,739,722,691,649,914.637882863,800,838.362117137,658,634.362117137,657,0.408033181357,0.00458516372329,0.049807852933,0.99999994353,0.000111163097402,-0.000314899827771,-3.76916652653e-05,1793254936296513024
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783.083512982,761,739,722,691,649,914.083512982,800,838.916487018,658,634.916487018,657,0.407499491347,0.00458204780191,0.0498265356718,0.999999950273,0.000108618345521,-0.000293818067293,-3.64297177118e-05,1793254936313179648
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783,761,739,722,691,649,914,800,839,658,635,657,0.406963143437,0.00458489935622,0.0498161460802,0.999999944028,0.000107499620622,-0.000314584879359,-3.77278122276e-05,1793254936329846528
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783,761,738.871947995,722.128052005,691,648.871947995,914,800,839,658,634.871947995,656.871947995,0.406435110053,0.00458843460772,0.0497986408647,0.999999933905,0.000106877039121,-0.000345282609466,-3.93236439891e-05,1793254936346513408
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783,761,738.293427698,722.706572302,691,648.293427698,914,800,839,658,634.293427698,656.293427698,0.405937984183,0.00459065165995,0.0497742433098,0.999999919411,0.000107110062252,-0.000384804867243,-4.03695595999e-05,1793254936363180032
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783.282674194,761,738,722.717325806,690.717325806,648,914,800,838.717325806,658,634.282674194,656.282674194,0.405478131563,0.00459408243273,0.049765385403,0.999999912373,0.000112434273888,-0.000401154321063,-4.10885593951e-05,1793254936379846912
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783.856286942,761,738,722.143713058,690.143713058,648,914,800,838.143713058,658,634.856286942,656.856286942,0.405056641956,0.00459876241065,0.0497725214682,0.999999914094,0.000122998521877,-0.000393653480876,-4.14710855325e-05,1793254936396513792
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783.55798079,761,738,722,690.44201921,648,914,800,838.44201921,658,635,657,0.404690634079,0.00460072452903,0.049793274739,0.99999992576,0.000129921941049,-0.000360434507726,-4.10723401167e-05,1793254936413180160
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783.031177077,761,738,722.031177077,691,648.031177077,914,800.031177077,838.968822923,658,635,657,0.404344607129,0.00460165786681,0.0498184267108,0.999999939122,0.000135290425072,-0.000319087457492,-4.04435858806e-05,1793254936429846528
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783.609353914,761,738,722.609353914,691,648.609353914,914,800.609353914,838.390646086,658,635,657,0.404023734191,0.00460048203417,0.0498408863405,0.999999949218,0.000134731770962,-0.000285975131523,-4.03616358698e-05,1793254936446513152
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783.813759417,761,738.186240583,722.813759417,691,648.813759417,914,800.813759417,838,658,634.813759417,657,0.403706171673,0.00460063002315,0.0498536837008,0.99999995372,0.000135730812492,-0.000269242055896,-4.05728652931e-05,1793254936463179776
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783.239560373,761,738.760439627,722.239560373,691,648.239560373,914,800.239560373,838,658,634.239560373,657,0.40339550514,0.0046035356701,0.049846353549,0.999999948269,0.000139974695972,-0.000286628662956,-4.13948179789e-05,1793254936479846400
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783.343837451,760.656162549,738.656162549,722,691,648,914,800,838.343837451,657.656162549,634.343837451,657,0.403098698948,0.00460510839314,0.0498362329347,0.999999941691,0.000141682852135,-0.000307795858285,-4.24942028401e-05,1793254936496513280
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783.933820537,760.066179463,738.066179463,722,691,648,914,800,838.933820537,657.066179463,634.933820537,657,0.402811815036,0.00460572690569,0.0498241146894,0.999999934017,0.000141575737528,-0.000331669494932,-4.37921953385e-05,1793254936513179904
+375,6.250000000,POSE2_TO_POSE3_RETREAT,784,760.514042074,738.514042074,722,691,648,914,800,838.485957926,657.514042074,634.485957926,657,0.402568181062,0.00460527923318,0.0498162489019,0.999999929728,0.000140145594641,-0.000344811985231,-4.4816512845e-05,1793254936529846272
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783.90718556,761,739,722,691,648,914,800,838,658,634.09281444,657,0.402337692393,0.00460412734609,0.0498098861284,0.999999926979,0.000135304136695,-0.000354439642132,-4.59034348203e-05,1793254936546512896
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783.329540539,761,739,722,691,648,914,800,838,658,634.670459461,657,0.402147326175,0.00460000054331,0.0498085680513,0.999999930199,0.000113516315554,-0.000352789344031,-4.7498000659e-05,1793254936563179520
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783,761,738.752576139,722,691,648,914,800,838,658,634.752576139,657,0.401976301052,0.00458797364263,0.0498109378212,0.999999937019,6.6386390522e-05,-0.000345361143467,-4.77581385798e-05,1793254936579846144
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783,761,738.176515795,722,691,648,914,800,838,658,634.176515795,657,0.40183096542,0.00456545357318,0.0498182059104,0.999999944292,-1.44037466997e-05,-0.000330258542036,-4.62458452925e-05,1793254936596513024
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783,761,738,722,691,648,914,800,838,658,634,657,0.401704879632,0.00455799568722,0.04982565372,0.999999948588,-3.80876739717e-05,-0.000315024887025,-4.61844694023e-05,1793254936613179904
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783,761,738,722,691,648,914,800,838,658,634,657,0.401587298284,0.00455719216137,0.0498331809286,0.999999953319,-3.65425045997e-05,-0.000299733334495,-4.6764098039e-05,1793254936629846528
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783.577456263,761,738,722,691,648,913.422543737,800,838.577456263,658,634,657,0.40148967634,0.00456543683877,0.0498380303901,0.99999995656,4.43821730416e-05,-0.000289688453903,-3.14770419262e-05,1793254936646513152
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783.842650056,761,738,722,691,648,913,800,838.842650056,658,634,657,0.401395169515,0.00457227109036,0.0498396296881,0.999999953829,0.000104198550485,-0.000284697804327,-2.07954638968e-05,1793254936663180032
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783.266922831,761,738,722,691,648,913,800,838.266922831,658,634,657,0.401308577477,0.00457518833195,0.0498326365079,0.999999951141,0.000106426512935,-0.000293049101566,-2.26519320382e-05,1793254936679846656
+385,6.416666667,POSE2_TO_POSE3_RETREAT,783,761,738,722,691,648,913,800,838.312746828,658,634.312746828,657,0.401238744685,0.00457633283318,0.0498303276023,0.999999950282,0.000107744541731,-0.000295422034299,-2.35238054697e-05,1793254936696513024
+386,6.433333333,POSE2_TO_POSE3_RETREAT,783,761,738,722,691,648,913,800,838.895824292,658,634.895824292,657,0.401183398162,0.00457594502175,0.0498320676672,0.999999951046,0.000108276046595,-0.000292627417289,-2.35446197501e-05,1793254936713179648
+387,6.450000000,POSE2_TO_POSE3_RETREAT,783,761,738,722,691,648,913,800,838.522873798,658,635,657,0.401141165466,0.0045744167162,0.0498345744609,0.999999952819,0.000107070291422,-0.000286935614163,-2.3776608332e-05,1793254936729846784
+388,6.466666667,POSE2_TO_POSE3_RETREAT,783,761,738.057705035,722.057705035,691,648,913,800,838,658,635,657,0.401102916729,0.0045728404901,0.0498371608472,0.999999954662,0.000105743584934,-0.000280919871172,-2.4041169927e-05,1793254936746513408
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783,761,738.63524977,722.63524977,691,648,913,800,838,658,635,657,0.401074859386,0.00457306752261,0.0498389617413,0.999999955463,0.000106731679584,-0.000277663325241,-2.41853427767e-05,1793254936763180288
+390,6.500000000,POSE2_TO_POSE3_RETREAT,783,761,738.784668772,722.784668772,691,648,913,800,838,658,635,657,0.40105005031,0.00457420284459,0.0498400658665,0.999999956005,0.000107901828773,-0.000275208991523,-2.46447809447e-05,1793254936779847168
+391,6.516666667,POSE2_TO_POSE3_RETREAT,783,761,738.200239163,722.200239163,691,648,913,800,838,658,635,657,0.40103080908,0.00457689506184,0.0498399756631,0.999999956115,0.00010938403685,-0.000274129726694,-2.56446141032e-05,1793254936796513792
+392,6.533333333,POSE2_TO_POSE3_RETREAT,783.38104963,761,738.38104963,722,691,648,913.38104963,800,838.38104963,658,635,657,0.401017865222,0.0045765672688,0.0498404260155,0.999999956417,0.000109699486166,-0.000272897167903,-2.5670410048e-05,1793254936813180160
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783.960701418,761,738.960701418,722,691,648,913.960701418,800,838.960701418,658,635,657,0.401008203539,0.0045746654535,0.0498411581043,0.999999956819,0.000109406823552,-0.000271584712699,-2.51885400892e-05,1793254936829846528
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783.459975581,761,739,722.540024419,691,648,913.459975581,800,838.459975581,657.459975581,634.459975581,657,0.401003927744,0.00457463607096,0.0498428169617,0.999999957852,0.000108378471809,-0.000268161408924,-2.53015144924e-05,1793254936846513152
+395,6.583333333,POSE2_TO_POSE3_RETREAT,783.119112912,761,738.880887088,722.880887088,691,648,913,800,838.119112912,657.119112912,634.119112912,657,0.401000450249,0.00457510863179,0.0498445213852,0.99999995878,0.000108111917952,-0.000264765948897,-2.54963310026e-05,1793254936863179776
+396,6.600000000,POSE2_TO_POSE3_RETREAT,783.697389446,761,738.302610554,722.302610554,691,648,913,800,838.697389446,657.697389446,634.697389446,657,0.400998540136,0.00457699116884,0.0498461416355,0.999999959167,0.000110988242565,-0.000262069609749,-2.58398699657e-05,1793254936879846656
+397,6.616666667,POSE2_TO_POSE3_RETREAT,784,761,738,722.273094404,691,648,913,800,838.726905596,658,634.726905596,657,0.400996246811,0.00457702699883,0.0498466452245,0.999999959419,0.000110753538497,-0.000261197246755,-2.59225748001e-05,1793254936896513536
+398,6.633333333,POSE2_TO_POSE3_RETREAT,784,761,738,722.845976503,691,648,913,800,838.154023497,658,634.154023497,657,0.400993532817,0.00457503561778,0.0498459230055,0.999999959526,0.000107103722264,-0.000262327141984,-2.57189506237e-05,1793254936913180416
+399,6.650000000,POSE2_TO_POSE3_RETREAT,783.568072719,761,738,722.568072719,691,648,913.431927281,800,838.431927281,658,634.431927281,657,0.400993377784,0.00457476976176,0.0498460986319,0.999999959955,0.000105807534442,-0.000261197930099,-2.58797812982e-05,1793254936929847040
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e14488370c2eeeea5639bb851ff66a56ebea44b8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,419 @@
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+349,5.816666667,pose2_to_pose3_retreat,0.587811164364,0.0101817008753,1.04002063825,0.558382312971,0.0188559415414,1.03969234101
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+352,5.866666667,pose2_to_pose3_retreat,0.585946695828,0.0101817596982,1.04002061702,0.556517843989,0.0188559990952,1.03969232631
+353,5.883333333,pose2_to_pose3_retreat,0.585341956096,0.0101817551596,1.04002061683,0.555913104687,0.0188559957765,1.03969231975
+354,5.900000000,pose2_to_pose3_retreat,0.584756448722,0.01018175398,1.04002052612,0.555327596706,0.018855992427,1.0396922261
+355,5.916666667,pose2_to_pose3_retreat,0.584191280095,0.0101817288323,1.0400204402,0.554762428253,0.0188559679921,1.03969214343
+356,5.933333333,pose2_to_pose3_retreat,0.583646312813,0.0101817641142,1.04002042213,0.554217461339,0.0188560045939,1.03969212725
+357,5.950000000,pose2_to_pose3_retreat,0.583119923222,0.0101818194171,1.04002033792,0.553691069409,0.0188560518062,1.03969203887
+358,5.966666667,pose2_to_pose3_retreat,0.582614824068,0.0101817246658,1.04002060232,0.553185971752,0.0188559621537,1.03969230389
+359,5.983333333,pose2_to_pose3_retreat,0.582129567817,0.0101817213378,1.04002044781,0.552700715612,0.0188559593346,1.03969215282
+360,6.000000000,pose2_to_pose3_retreat,0.58166479881,0.0101816468839,1.04002034967,0.552235947243,0.0188558871153,1.03969205656
+361,6.016666667,pose2_to_pose3_retreat,0.581219822756,0.010181577719,1.04002045482,0.551790972449,0.0188558222513,1.03969216238
+362,6.033333333,pose2_to_pose3_retreat,0.58079025262,0.0101816950785,1.040020538,0.551361402413,0.0188559400234,1.03969224757
+363,6.050000000,pose2_to_pose3_retreat,0.580372448558,0.0101815923547,1.04002054446,0.550943597081,0.0188558328912,1.03969225136
+364,6.066666667,pose2_to_pose3_retreat,0.579968167,0.0101816700191,1.04002055828,0.550539317173,0.0188559159642,1.03969226025
+365,6.083333333,pose2_to_pose3_retreat,0.579581728182,0.0101817434247,1.04002055546,0.550152876951,0.0188559846645,1.03969225898
+366,6.100000000,pose2_to_pose3_retreat,0.579222306754,0.0101817728297,1.04002061467,0.549793454821,0.0188560118185,1.03969232164
+367,6.116666667,pose2_to_pose3_retreat,0.578891855323,0.0101817302431,1.04002060443,0.549463004172,0.0188559719346,1.03969231272
+368,6.133333333,pose2_to_pose3_retreat,0.57858937649,0.0101816520559,1.04002044417,0.549160526203,0.0188558966855,1.03969215261
+369,6.150000000,pose2_to_pose3_retreat,0.578309329795,0.0101816091504,1.04002019716,0.548880478954,0.0188558519622,1.0396919073
+370,6.166666667,pose2_to_pose3_retreat,0.578047123972,0.0101816925083,1.04002049702,0.548618272774,0.0188559339421,1.03969220275
+371,6.183333333,pose2_to_pose3_retreat,0.577795733282,0.0101816871507,1.04002053906,0.548366882234,0.0188559291484,1.03969224624
+372,6.200000000,pose2_to_pose3_retreat,0.577553897413,0.0101816803534,1.04002046907,0.548125045949,0.0188559210047,1.03969217799
+373,6.216666667,pose2_to_pose3_retreat,0.577324302817,0.0101817360923,1.04002045753,0.547895451041,0.018855975767,1.03969216864
+374,6.233333333,pose2_to_pose3_retreat,0.577108511779,0.0101818068122,1.04002056074,0.547679659858,0.0188560460044,1.03969227224
+375,6.250000000,pose2_to_pose3_retreat,0.576911945005,0.0101817933519,1.04002056988,0.54748309252,0.0188560304809,1.03969227735
+376,6.266666667,pose2_to_pose3_retreat,0.576735267285,0.0101817609175,1.04002034399,0.547306414362,0.0188559964467,1.03969204851
+377,6.283333333,pose2_to_pose3_retreat,0.576581026164,0.0101818700221,1.04002053521,0.547152172367,0.0188561026887,1.03969224238
+378,6.300000000,pose2_to_pose3_retreat,0.576445627173,0.0101817432086,1.04002054453,0.547016774713,0.0188559803171,1.03969224935
+379,6.316666667,pose2_to_pose3_retreat,0.57632789263,0.0101817544124,1.04002052523,0.546899040853,0.0188559940823,1.03969223652
+380,6.333333333,pose2_to_pose3_retreat,0.576224830938,0.0101817574114,1.04002051417,0.546795979375,0.0188559979061,1.0396922281
+381,6.350000000,pose2_to_pose3_retreat,0.57613395285,0.0101817536243,1.04002048429,0.546705101528,0.0188559948402,1.03969219589
+382,6.366666667,pose2_to_pose3_retreat,0.576052454009,0.0101817666815,1.0400204431,0.546623602748,0.0188560078658,1.03969214887
+383,6.383333333,pose2_to_pose3_retreat,0.575979761508,0.0101817669508,1.04002057862,0.546550907193,0.0188559974323,1.03969227529
+384,6.400000000,pose2_to_pose3_retreat,0.575917088239,0.0101819012584,1.04002032894,0.54648823447,0.0188561341469,1.03969204019
+385,6.416666667,pose2_to_pose3_retreat,0.575863196452,0.0101819146788,1.04002071917,0.546434341485,0.0188561431795,1.0396924218
+386,6.433333333,pose2_to_pose3_retreat,0.575818131974,0.0101817806089,1.04002067023,0.546389278959,0.0188560157282,1.0396923727
+387,6.450000000,pose2_to_pose3_retreat,0.575782243594,0.0101816943624,1.04002045428,0.546353392691,0.0188559368722,1.03969216269
+388,6.466666667,pose2_to_pose3_retreat,0.575753449856,0.0101817603208,1.04002053057,0.546324598083,0.0188559998763,1.03969223886
+389,6.483333333,pose2_to_pose3_retreat,0.575730364486,0.0101818233566,1.04002056091,0.546301511041,0.0188560569638,1.03969226192
+390,6.500000000,pose2_to_pose3_retreat,0.575711985447,0.0101817304703,1.04002055907,0.546283134542,0.0188559728177,1.03969226342
+391,6.516666667,pose2_to_pose3_retreat,0.575697972552,0.0101817832163,1.04002055569,0.546269121367,0.0188560246444,1.03969226088
+392,6.533333333,pose2_to_pose3_retreat,0.575687631732,0.010181820585,1.04002059031,0.546258779958,0.0188560599586,1.03969229401
+393,6.550000000,pose2_to_pose3_retreat,0.575680589461,0.0101817243415,1.04002067359,0.546251738933,0.0188559678635,1.03969237523
+394,6.566666667,pose2_to_pose3_retreat,0.575676213902,0.0101816445793,1.04002061573,0.546247362865,0.018855886281,1.03969231492
+395,6.583333333,pose2_to_pose3_retreat,0.575673308072,0.0101816223168,1.04002057812,0.54624445642,0.0188558618673,1.03969227563
+396,6.600000000,pose2_to_pose3_retreat,0.575671398325,0.0101817497512,1.04002058558,0.546242545368,0.0188559848318,1.03969228201
+397,6.616666667,pose2_to_pose3_retreat,0.575670024994,0.0101818413914,1.04002059095,0.546241171098,0.0188560732577,1.03969228661
+398,6.633333333,pose2_to_pose3_retreat,0.575669251622,0.0101818187181,1.04002054537,0.546240398339,0.0188560527668,1.03969224377
+399,6.650000000,pose2_to_pose3_retreat,0.575668598174,0.0101817707088,1.04002048799,0.546239745852,0.0188560081524,1.03969218994
+400,6.666666667,pose2_to_pose3_retreat,0.575668165616,0.0101817389285,1.04002045,0.54623931393,0.0188559786194,1.0396921543
+401,6.683333333,pose2_to_pose3_retreat,0.575668155391,0.0101817381773,1.0400204491,0.54623930372,0.0188559779212,1.03969215346
+402,6.700000000,pose2_to_pose3_retreat,0.575668137966,0.010181736897,1.04002044757,0.54623928632,0.0188559767315,1.03969215202
+403,6.716666667,pose2_to_pose3_retreat,0.575667961208,0.0101817239105,1.04002043205,0.546239109822,0.0188559646633,1.03969213746
+404,6.733333333,pose2_to_pose3_retreat,0.575667909673,0.0101817201242,1.04002042752,0.546239058363,0.0188559611448,1.03969213322
+405,6.750000000,pose2_to_pose3_retreat,0.575667896937,0.0101817191885,1.0400204264,0.546239045646,0.0188559602752,1.03969213217
+406,6.766666667,pose2_to_pose3_retreat,0.575667810522,0.0101817128395,1.04002041882,0.546238959358,0.0188559543752,1.03969212505
+407,6.783333333,pose2_to_pose3_retreat,0.575667701067,0.0101817187347,1.04002042853,0.54623884972,0.0188559596476,1.03969213467
+408,6.800000000,pose2_to_pose3_retreat,0.575667563363,0.010181733171,1.04002045048,0.546238711613,0.0188559727003,1.03969215616
+409,6.816666667,pose2_to_pose3_retreat,0.575667388593,0.010181751493,1.04002047835,0.546238536333,0.0188559892663,1.03969218343
+410,6.833333333,pose2_to_pose3_retreat,0.57566720326,0.0101817709223,1.0400205079,0.546238350458,0.0188560068336,1.03969221235
+411,6.850000000,pose2_to_pose3_retreat,0.575667067516,0.0101817851531,1.04002052954,0.546238214317,0.0188560197004,1.03969223353
+412,6.866666667,pose2_to_pose3_retreat,0.575667047178,0.0101817872853,1.04002053278,0.546238193919,0.0188560216283,1.03969223671
+413,6.883333333,pose2_to_pose3_retreat,0.575666883364,0.0101818016319,1.04002057553,0.546238029773,0.0188560348102,1.03969227846
+414,6.900000000,pose2_to_pose3_retreat,0.57566675372,0.0101818049068,1.04002065687,0.546237900286,0.0188560385388,1.03969235779
+415,6.916666667,pose2_to_pose3_retreat,0.575666708935,0.01018174493,1.04002059927,0.546237856128,0.0188559808044,1.03969230318
+416,6.933333333,pose2_to_pose3_retreat,0.575666707958,0.0101816966969,1.04002053221,0.546237855605,0.0188559342217,1.03969223901
+417,6.950000000,pose2_to_pose3_retreat,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f85c98b63a84a68ae78fb9d46000ec3fd9f6205a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8aa313cdd2bfc87a183a3569f517da5c8708408a59337b475de2690ec4d84234
+size 26481037
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..71d87d8cda6a6075bce2afbbc08ea1af0c4db091
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_04/franka_data.csv
@@ -0,0 +1,419 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,783,761,739,723,691,648,913,800,838.64730403,658,634.35269597,657,0.400991739546,0.0045729912064,0.0498509533681,0.999999962216,0.00010347996887,-0.000253394688984,-2.55200536719e-05,1793254937367580160
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+7,0.116666667,BASELINE,784,760.16607061,738.83392939,722.83392939,691.83392939,648,914,800,838,658,634,657,0.40099407642,0.00457380722075,0.0498533887635,0.999999963012,0.000103273319597,-0.000250279474333,-2.58840484778e-05,1793254937467580160
+8,0.133333333,BASELINE,784,760.743829354,738.256170646,722.256170646,691.256170646,648,914,800,838,658,634,657,0.400991798941,0.00457412382971,0.0498514143646,0.999999962649,0.000101409979363,-0.000252450128031,-2.6222934101e-05,1793254937484246784
+9,0.150000000,BASELINE,784,761,738,722,691,648,914,800,838,658,634,657,0.400990725334,0.00457445263887,0.0498505083625,0.999999962458,0.000101572348381,-0.000253137269436,-2.62461107973e-05,1793254937500913920
+10,0.166666667,BASELINE,784,761,738,722,691,648,914,800,838,658,634,657,0.400990610707,0.00457479116645,0.0498504534241,0.999999962407,0.000103348356779,-0.000252642674653,-2.60178000897e-05,1793254937517581568
+11,0.183333333,BASELINE,783.521695154,761,738.478304846,722.478304846,691,648,913.521695154,800,838,658,634.478304846,657,0.400990958429,0.00457325653352,0.0498510828245,0.999999962492,0.000102948144669,-0.000252503729371,-2.567265834e-05,1793254937534247936
+12,0.200000000,BASELINE,783,761,738.930849165,723,691,648,913,800,838,658,635,657,0.400991497331,0.00457168619687,0.0498518074965,0.999999962627,0.000102122516989,-0.000252337379166,-2.53538391462e-05,1793254937550913792
+13,0.216666667,BASELINE,783,761,738.351806126,723,691,648,913,800,838,658,635,657,0.400992632352,0.00457314866134,0.0498520304815,0.999999962889,0.000101989374329,-0.000251343144581,-2.54346919432e-05,1793254937567580160
+14,0.233333333,BASELINE,783,761,738,722.774207676,691,648,913,800,838,657.774207676,635,657,0.400993259309,0.00457418097399,0.0498523836875,0.999999963028,0.000102341755756,-0.000250634559586,-2.55446866608e-05,1793254937584246528
+15,0.250000000,BASELINE,783,761,738,722.198845635,691,648,913,800,838,657.198845635,635,657,0.400993099686,0.00457454732957,0.0498529385003,0.999999962977,0.000103445821335,-0.000250368214653,-2.56997986593e-05,1793254937600913152
+16,0.266666667,BASELINE,783,761,738,722,691,648,913.376820857,800,838,657.376820857,634.623179143,657,0.400992546672,0.00457485406881,0.0498521231634,0.999999962713,0.000104732823411,-0.000250869260191,-2.58849733142e-05,1793254937617579776
+17,0.283333333,BASELINE,783,761,738,722,691,648,913.9526481,800,838,657.9526481,634.0473519,657,0.4009917859,0.00457512932349,0.0498505842238,0.999999962334,0.000106116437728,-0.000251775579504,-2.60860246304e-05,1793254937634246656
+18,0.300000000,BASELINE,783,761,738,722.542156425,691,648,913.457843575,800,838,657.457843575,634.542156425,657,0.400991835298,0.00457396692141,0.0498514158372,0.999999962589,0.00010367907839,-0.000251806443566,-2.58250299962e-05,1793254937650913536
+19,0.316666667,BASELINE,783,761,738.130330568,722.869669432,691,648,913.130330568,800,838,657,634.869669432,657,0.400991896874,0.00457329455144,0.0498520933897,0.999999962782,0.000101927589702,-0.000251767441414,-2.5680595386e-05,1793254937667580416
+20,0.333333333,BASELINE,783,761,738.709684735,722.290315265,691,648,913.709684735,800,838,657,634.290315265,657,0.400991750306,0.00457475427648,0.0498515083735,0.99999996259,0.000103718640257,-0.000251757983877,-2.60803744183e-05,1793254937684246784
+21,0.350000000,BASELINE,783.285958514,760.714041486,739,722.285958514,691,648,914,800,838,657.285958514,634.285958514,657,0.400991475036,0.00457558698514,0.0498515138625,0.999999962507,0.00010448307434,-0.000251750039653,-2.63083388588e-05,1793254937700913408
+22,0.366666667,BASELINE,783.859138269,760.140861731,739,722.859138269,691,648,914,800,838,657.859138269,634.859138269,657,0.400991070497,0.00457578990859,0.0498521124643,0.999999962535,0.000104216358546,-0.000251743615427,-2.636372999e-05,1793254937717580032
+23,0.383333333,BASELINE,784,760.43545456,738.56454544,723,691,648,913.56454544,800,838,658,635,657,0.400991401118,0.00457516465436,0.0498523581518,0.999999962548,0.000104406893942,-0.000251634112207,-2.61622002077e-05,1793254937734246656
+24,0.400000000,BASELINE,784,760.986906217,738,722.986906217,691,648,913,800,838.013093783,658,634.986906217,657,0.400991963394,0.00457427870365,0.0498524878426,0.999999962562,0.000104695522661,-0.000251485579957,-2.58847245969e-05,1793254937750913536
+25,0.416666667,BASELINE,784,760.395987808,738,722.395987808,691,648,913,800,838.604012192,658,634.395987808,657,0.400992177908,0.00457379644507,0.0498525730843,0.999999962861,0.000102738286079,-0.000251096854381,-2.59499808094e-05,1793254937767579904
+26,0.433333333,BASELINE,784,760.190185319,738,722.190185319,691,648,913,800,838.809814681,658,634,657,0.400991837943,0.00457402483019,0.049852234285,0.999999962804,0.000102252620465,-0.000251514067919,-2.60118368624e-05,1793254937784246784
+27,0.450000000,BASELINE,784,760.766718846,738,722.766718846,691,648,913,800,838.233281154,658,634,657,0.400990371595,0.00457569683835,0.0498510340758,0.999999962025,0.000104756348247,-0.00025356849047,-2.60667857402e-05,1793254937800913408
+28,0.466666667,BASELINE,783.658816556,761,738.341183444,723,691.341183444,648,913,800,838,658,634.341183444,657,0.400990644262,0.00457513970735,0.0498508591488,0.999999962126,0.000104488535798,-0.000253282863623,-2.60248608389e-05,1793254937817580032
+29,0.483333333,BASELINE,783.085758079,761,738.914241921,723,691.914241921,648,913,800,838,658,634.914241921,657,0.400992098798,0.00457306760908,0.0498513810241,0.999999962825,0.000102337129505,-0.000251406892684,-2.59170985931e-05,1793254937834246400
+30,0.500000000,BASELINE,783.503136736,761,739,722.496863264,691.496863264,648,913,800,838,658,634.496863264,657,0.400993470889,0.0045727249573,0.0498525330473,0.999999963339,0.000102348971958,-0.000249351796558,-2.58756700529e-05,1793254937850913024
+31,0.516666667,BASELINE,784,761,739,722.093042113,691.093042113,648.093042113,913,800,838.093042113,658,634.093042113,657,0.400994368861,0.00457273653113,0.0498533936417,0.999999963667,0.000102690095552,-0.000247897309787,-2.58496148953e-05,1793254937867579648
+32,0.533333333,BASELINE,784,761,739,722.673638821,691.673638821,648.673638821,913,800,838.673638821,658,634.673638821,657,0.400992858412,0.00457300941621,0.0498521459866,0.999999963197,0.000102761768083,-0.000249755293985,-2.58429460658e-05,1793254937884246272
+33,0.550000000,BASELINE,783.749519365,761,738.749519365,723,691.749519365,648.749519365,913,800,839,658,635,657,0.400992239886,0.0045732222541,0.0498518060705,0.999999963013,0.000103103562049,-0.000250356430685,-2.58041150205e-05,1793254937900913408
+34,0.566666667,BASELINE,783.177497736,761,738.177497736,723,691.177497736,648.177497736,913,800,839,658,635,657,0.400992766317,0.00457335800964,0.0498526314154,0.999999963196,0.00010379210982,-0.00024934415712,-2.57239974678e-05,1793254937917580032
+35,0.583333333,BASELINE,783.408596793,761,738.408596793,723,691.408596793,648,913.408596793,800.408596793,838.591403207,658,635,657,0.400992442422,0.00457358886045,0.0498527094767,0.999999963198,0.000103016638113,-0.000249635542896,-2.59393250299e-05,1793254937934246656
+36,0.600000000,BASELINE,783.99900042,761,738.99900042,723,691.99900042,648,913.99900042,801,838.00099958,658,635,657,0.400991739037,0.00457385969601,0.0498524529567,0.999999963117,0.000101583233911,-0.000250509945751,-2.62859823304e-05,1793254937950913536
+37,0.616666667,BASELINE,783.420037197,761,738.420037197,723,691.420037197,648,913.420037197,801,838.579962803,658,635,657,0.400992813433,0.00457251214075,0.0498531356591,0.999999963522,0.0001005749981,-0.000249358265854,-2.57120626822e-05,1793254937967580416
+38,0.633333333,BASELINE,783,761,738.158102442,722.841897558,691,648,913,800.841897558,838.841897558,658,635,657,0.400993561279,0.00457213127058,0.0498534597075,0.999999963683,0.00010078198122,-0.000248655382199,-2.54427672753e-05,1793254937984247040
+39,0.650000000,BASELINE,783,761,738.734065493,722.265934507,691,648,913,800.265934507,838.265934507,658,635,657,0.400993446062,0.00457430532349,0.0498528358429,0.999999963199,0.000104200755899,-0.000249138654991,-2.59785856271e-05,1793254938000913408
+40,0.666666667,BASELINE,783,761,739,722.309188084,691,648,913,800.309188084,838.309188084,658,635,657,0.40099307485,0.00457384931172,0.0498524238501,0.999999963237,0.000102749435298,-0.000249566427421,-2.61695726058e-05,1793254938017580032
+41,0.683333333,BASELINE,783,761,739,722.883589716,691,648,913,800.883589716,838.883589716,658,635,657,0.400992484052,0.00457113729831,0.0498521935954,0.999999963707,9.71206726244e-05,-0.000249946593042,-2.60647721125e-05,1793254938034246912
+42,0.700000000,BASELINE,783.471711724,761,738.528288276,723,691.471711724,648,913.471711724,800.528288276,839,658,635,657,0.400993865306,0.00457183996582,0.0498532550158,0.999999963944,9.85879590111e-05,-0.00024840045342,-2.62596296848e-05,1793254938050913536
+43,0.716666667,BASELINE,783.938065088,761,738.061934912,723,691.938065088,648,914,800,838.938065088,658,635,657,0.400995328634,0.00457340613076,0.0498543409584,0.999999964009,0.000101731255113,-0.000246844342821,-2.64741717013e-05,1793254938067580160
+44,0.733333333,BASELINE,783.359406997,761,738.640593003,723,691.359406997,648,914,800,838.359406997,658,635,657,0.40099329479,0.00457493532308,0.0498528923767,0.999999963195,0.000103809702887,-0.000249289945807,-2.62174895386e-05,1793254938084247040
+45,0.750000000,BASELINE,783,761,738.782711107,723,691,648,913.782711107,800,838.217288893,658,634.782711107,657,0.40099224026,0.00457543249802,0.0498520697127,0.99999996286,0.00010472952704,-0.000250267836566,-2.60208523962e-05,1793254938100913664
+46,0.766666667,BASELINE,783,761,738.209231808,723,691,648,913.209231808,800,838.790768192,658,634.209231808,657,0.400992791069,0.00457423794026,0.0498522730832,0.999999963321,0.000103750079427,-0.000248839782612,-2.59226439647e-05,1793254938117580288
+47,0.783333333,BASELINE,783,761,738.363682031,722.636317969,691,648,913,800,839,658,634.363682031,657,0.400993135791,0.00457369010445,0.0498528231929,0.999999963564,0.000102802999394,-0.000248250327117,-2.59736126623e-05,1793254938134246656
+48,0.800000000,BASELINE,783,761,738.936271111,722.063728889,691,648,913,800,839,658,634.936271111,657,0.400993362132,0.00457351376001,0.0498535724773,0.999999963683,0.000101874511926,-0.000248142581096,-2.61102720116e-05,1793254938150913280
+49,0.816666667,BASELINE,783,761,738.470148574,722,691,648,913,800,838.470148574,658,635,657,0.400993217424,0.00457242899603,0.0498532790654,0.999999963779,0.000100046601859,-0.000248505425618,-2.60258723249e-05,1793254938167579904
+50,0.833333333,BASELINE,783,761,738,722,691,648,913,800,838,658,635,657,0.400992935276,0.00457172638629,0.0498528267079,0.999999963766,9.91519801662e-05,-0.000248925730327,-2.59203623105e-05,1793254938184246784
+51,0.850000000,BASELINE,783,761,738,722,691,648,913,800,838,658,635,657,0.400992313851,0.00457287334405,0.0498522685802,0.999999963363,0.000102158202503,-0.000249340530847,-2.58393731771e-05,1793254938200913408
+52,0.866666667,BASELINE,783,761,738,722,691,648,913,800,838,658,634.73104853,657,0.400991987476,0.0045738556424,0.0498521430458,0.999999963141,0.000103551650796,-0.0002496461448,-2.59293850482e-05,1793254938217580032
+53,0.883333333,BASELINE,783,761,738,722,691,648,913,800,838,658,634.157738049,657,0.400991994992,0.0045746516038,0.0498525070557,0.999999963133,0.000103120002678,-0.000249828197721,-2.62129102628e-05,1793254938234246912
+54,0.900000000,BASELINE,783,760.568786015,738,722,691,648,913,800,838,658,634,657,0.400991936045,0.0045739055709,0.0498526423156,0.999999963172,0.000102499983827,-0.000249931179155,-2.61590029421e-05,1793254938250913536
+55,0.916666667,BASELINE,783,760.025407232,738,722.025407232,691.025407232,648,913.025407232,800,838.025407232,658,634,657,0.400991859272,0.0045726844292,0.0498526903487,0.999999963227,0.000101842479507,-0.000249994817814,-2.59974808697e-05,1793254938267580160
+56,0.933333333,BASELINE,783,760.604438749,738,722.604438749,691.604438749,648,913.604438749,800,838.604438749,658,634,657,0.400991943767,0.00457386417914,0.0498527296541,0.999999963246,0.000101926142157,-0.00024985516081,-2.62818672931e-05,1793254938284246784
+57,0.950000000,BASELINE,783,761,738.181849014,722.818150986,691.818150986,648,913.818150986,800,838.818150986,658,634,657,0.400991894916,0.00457424706653,0.0498526604136,0.999999963266,0.000101547196727,-0.000249919531474,-2.64034228239e-05,1793254938300913408
+58,0.966666667,BASELINE,783,761,738.755763789,722.244236211,691.244236211,648,913.244236211,800,838.244236211,658,634,657,0.40099155857,0.00457291192122,0.0498523571486,0.999999963284,0.00010017087008,-0.00025042378501,-2.61739155502e-05,1793254938317579776
+59,0.983333333,BASELINE,783,761,738.671243135,722.328756865,691,648,913,800,838,658,634,657,0.40099217627,0.0045730703215,0.0498527192161,0.999999963405,0.000101531452685,-0.000249400118046,-2.61048726566e-05,1793254938334246400
+60,1.000000000,BASELINE,783,761,738.098932821,722.901067179,691,648,913,800,838,658,634,657,0.400993500758,0.00457433518729,0.0498535741827,0.999999963589,0.000104919623785,-0.000247244519468,-2.61547068095e-05,1793254938350913024
+61,1.016666667,BASELINE,783.492399679,760.507600321,738,722.507600321,691,648,913.492399679,800,838,658,634,657,0.400993038157,0.00457357307051,0.0498534283736,0.999999963654,0.000102177498178,-0.000248129241208,-2.61318686153e-05,1793254938367580160
+62,1.033333333,BASELINE,783.914629374,760.085370626,738.085370626,722.085370626,691,648,913.914629374,800,838,658,634.085370626,657,0.400992400228,0.00457250342077,0.0498532122684,0.999999963698,9.89634537974e-05,-0.000249262082272,-2.60539998911e-05,1793254938384246784
+63,1.050000000,BASELINE,783.335183747,760.664816253,738.664816253,722.664816253,691,648,913.335183747,800,838,658,634.664816253,657,0.400992909138,0.00457210564982,0.0498537998007,0.999999963835,0.000100433006593,-0.000248153529421,-2.57455462915e-05,1793254938400913408
+64,1.066666667,BASELINE,783,761,738.759007214,722.759007214,691,648,913,800,838,658,634.759007214,656.759007214,0.40099334554,0.00457197991679,0.0498538539158,0.999999963892,0.000101790589985,-0.000247374250198,-2.56996126035e-05,1793254938417580032
+65,1.083333333,BASELINE,783,761,738.187316667,722.187316667,691,648,913,800,838,658,634.187316667,656.187316667,0.400993682444,0.00457222748263,0.0498531760592,0.999999963842,0.000102994525408,-0.000247046810504,-2.60139168811e-05,1793254938434246656
+66,1.100000000,BASELINE,783,761,738,722.396767078,691,648,913,800,838,658,634.396767078,656.396767078,0.400992762282,0.00457353620562,0.0498529962819,0.999999963439,0.000103532946639,-0.000248438939377,-2.61150222539e-05,1793254938450913024
+67,1.116666667,BASELINE,783,761,738,722.986890376,691,648,913,800,838,658,634.986890376,656.986890376,0.400991229514,0.00457536206155,0.0498530592331,0.99999996286,0.000103747043275,-0.000250669064394,-2.61122295458e-05,1793254938467579648
+68,1.133333333,BASELINE,783,761,738,722.438716679,691,648,913,800,838,657.438716679,635,657,0.400993480262,0.00457448176236,0.0498541259593,0.999999963607,0.00010276615056,-0.000248091416565,-2.59797792979e-05,1793254938484246528
+69,1.150000000,BASELINE,783,761,738.135917126,722,691,648,913,800,838,657.135917126,635,657,0.400994809157,0.00457338565951,0.0498545489519,0.99999996409,0.000101902523748,-0.000246508404355,-2.5875133496e-05,1793254938500913152
+70,1.166666667,BASELINE,783,761,738.712490404,722,691,648,913,800,838,657.712490404,635,657,0.400992870626,0.00457178923551,0.0498528109619,0.999999963636,0.000101507106782,-0.0002485042342,-2.58701828912e-05,1793254938517580032
+71,1.183333333,BASELINE,783,761,739,722,691,648,913,800,838,658,634.710487599,657,0.400991942044,0.00457202011591,0.04985202825,0.999999963273,0.000101975522971,-0.000249767722639,-2.589908483e-05,1793254938534246912
+72,1.200000000,BASELINE,783,761,739,722,691,648,913,800,838,658,634.133019225,657,0.40099201798,0.00457406847688,0.0498521956805,0.999999963001,0.000103303128274,-0.000250302807001,-2.59616573197e-05,1793254938550913536
+73,1.216666667,BASELINE,783,761,738.5429532,722,691,648,913,800,838,658,634,657,0.400992302736,0.00457290424907,0.0498522986758,0.999999963312,0.000101795088505,-0.000249685430454,-2.58888076237e-05,1793254938567580160
+74,1.233333333,BASELINE,783,761,738.049450703,722,691,648,913,800,838,657.950549297,634.049450703,657,0.400992589811,0.00457103396217,0.0498524231675,0.999999963747,9.96752218041e-05,-0.000248807110861,-2.58004641789e-05,1793254938584246528
+75,1.250000000,BASELINE,783,761,738.626569665,722,691,648,913,800,838,657.373430335,634.626569665,657,0.400992234739,0.00457188933665,0.0498529828209,0.999999963697,0.000100082720819,-0.00024882487577,-2.59792777954e-05,1793254938600913408
+76,1.266666667,BASELINE,783,761,738.796602793,722,691,648,913,800,838,657.203397207,634.796602793,657,0.400992885597,0.00457231297356,0.0498538233319,0.999999963883,0.00010007165714,-0.000248069302135,-2.6084451601e-05,1793254938617580032
+77,1.283333333,BASELINE,783,761,738.220309559,722,691,648,913,800,838,657.779690441,634.220309559,657,0.400995380661,0.00457194508913,0.04985517875,0.999999964499,9.9293226138e-05,-0.000245895936805,-2.60546186604e-05,1793254938634246656
+78,1.300000000,BASELINE,783,761,738,722,691,648,913,800,838,658,634,657,0.400995221833,0.00457160408195,0.0498549701881,0.999999964461,9.9752329508e-05,-0.000245874890978,-2.59273870579e-05,1793254938650913280
+79,1.316666667,BASELINE,783,761,738,722,691,648,913,800,838,658,634,657,0.400993420575,0.00457127970847,0.0498537937173,0.99999996402,0.000100977312479,-0.00024718586281,-2.5739877821e-05,1793254938667580160
+80,1.333333333,BASELINE,783,760.46852749,738,722,691,648,913,800.53147251,838,658,634.53147251,657,0.400993599464,0.0045716955747,0.0498539019931,0.999999964074,9.99774903298e-05,-0.000247363584849,-2.58529231774e-05,1793254938684246784
+81,1.350000000,BASELINE,783.110320271,760.110320271,738,722.110320271,691,648,913,800.889679729,838,658,634.889679729,657,0.400993629367,0.00457214967235,0.0498540330303,0.999999964126,9.90226313226e-05,-0.000247523689309,-2.59841921201e-05,1793254938700913664
+82,1.366666667,BASELINE,783.68667823,760.68667823,738,722.68667823,691,648,913,800.31332177,838,658,634.31332177,657,0.400992274974,0.00457248306121,0.0498537704159,0.999999963987,9.91059141178e-05,-0.000248041417292,-2.60778595157e-05,1793254938717580288
+83,1.383333333,BASELINE,783.737809303,761,738.262190697,723,691,648,913.262190697,800,838.262190697,657.737809303,634.262190697,657,0.400991172691,0.00457280598019,0.0498533522085,0.999999963689,9.99682163812e-05,-0.000248898528272,-2.60525894923e-05,1793254938734246912
+84,1.400000000,BASELINE,783.163303885,761,738.836696115,723,691,648,913.836696115,800,838.836696115,657.163303885,634.836696115,657,0.400990370714,0.00457311642778,0.0498527486629,0.999999963198,0.000101758466326,-0.000250159903493,-2.588564433e-05,1793254938750913536
+85,1.416666667,BASELINE,783,761,738.577552096,722.577552096,691.422447904,648,913.577552096,800.422447904,838.577552096,657.422447904,635,657,0.40099147674,0.00457399855809,0.0498529200225,0.999999963272,0.000102992038233,-0.000249337510995,-2.60603306938e-05,1793254938767580160
+86,1.433333333,BASELINE,783,761,738,722,691.987569355,648,913.012430645,801,838,658,635,657,0.400993291498,0.00457505420602,0.0498533990843,0.999999963565,0.000103968150371,-0.000247720138287,-2.63564413744e-05,1793254938784246784
+87,1.450000000,BASELINE,783,761,738,722,691.408319456,648,913.591680544,801,838,658,635,657,0.400992871463,0.0045736694457,0.0498538762156,0.999999963678,0.000103285318036,-0.000247587622727,-2.60027439155e-05,1793254938800913664
+88,1.466666667,BASELINE,783,761,738,722.169672146,691,648,913.830327854,800.830327854,838.169672146,658,635,657,0.400992169826,0.00457263180792,0.0498537606437,0.999999963609,0.000102384751728,-0.000248270185216,-2.57206271585e-05,1793254938817580288
+89,1.483333333,BASELINE,783,761,738,722.744657885,691,648,913.255342115,800.255342115,838.744657885,658,635,657,0.400990795495,0.00457242337813,0.0498522292194,0.9999999631,0.000100964061559,-0.000250899809856,-2.56095027287e-05,1793254938834246912
+90,1.500000000,BASELINE,783,761,738.326252913,723,691,648,913,800,838.673747087,658,635,657,0.400990607068,0.00457221341865,0.049852222016,0.999999963155,9.96757452807e-05,-0.000251183260535,-2.57240429076e-05,1793254938850913280
+91,1.516666667,BASELINE,783,761,738.913127636,723,691,648,913,800,838.086872364,658,635,657,0.400991365982,0.00457200223721,0.0498534324116,0.999999963663,9.84931737892e-05,-0.000249592508344,-2.60188515781e-05,1793254938867579904
+92,1.533333333,BASELINE,783,761,739,723,691,648,913,800,838,658,635,657,0.400992697373,0.00457263308112,0.0498541438801,0.999999963841,0.000100057440481,-0.000248270889547,-2.58578680333e-05,1793254938884246528
+93,1.550000000,BASELINE,783,761,738.926854175,722.926854175,691,648,913,800,838,658,634.926854175,657,0.400993856373,0.00457332962043,0.0498546510522,0.999999963936,0.000101726152222,-0.000247226477766,-2.56821482696e-05,1793254938900913408
+94,1.566666667,BASELINE,783,761,738.347710935,722.347710935,691,648,913,800,838,658,634.347710935,657,0.40099313476,0.00457346858709,0.0498543446336,0.999999963885,0.000100815952675,-0.000247776217065,-2.59523052536e-05,1793254938917580032
+95,1.583333333,BASELINE,783,760.770232517,738.229767483,722.229767483,691,648,913,800,838,658,634.229767483,657.229767483,0.400992809447,0.00457360799073,0.0498538568538,0.999999963875,0.000100714823378,-0.000247837011467,-2.61318150524e-05,1793254938934246912
+96,1.600000000,BASELINE,783,760.195255293,738.804744707,722.804744707,691,648,913,800,838,658,634.804744707,657.804744707,0.400993079546,0.00457374805093,0.0498530965913,0.999999963928,0.000101829265995,-0.000247163200085,-2.61751337699e-05,1793254938950913792
+97,1.616666667,BASELINE,783,760.388113994,738.611886006,722.611886006,691,648,913,800,838,658,634.611886006,657.611886006,0.400993204857,0.00457306620974,0.0498532488501,0.999999964,0.00010153983405,-0.000246990419037,-2.61673739736e-05,1793254938967580416
+98,1.633333333,BASELINE,783,760.975798493,738.024201507,722.024201507,691,648,913,800,838,658,634.024201507,657.024201507,0.400993255718,0.004571961742,0.0498538703327,0.999999964082,0.000100528521452,-0.000247075270784,-2.61333493012e-05,1793254938984246784
+99,1.650000000,BASELINE,783,761,738.55561727,722.55561727,691,648,913,800,838,658,634.55561727,657,0.400993154819,0.00457110461233,0.0498538284295,0.999999964227,9.92510026265e-05,-0.000247044174721,-2.57824958979e-05,1793254939000913152
+100,1.666666667,BASELINE,783,761,738.865322184,722.865322184,691,648,913.134677816,800,838,658,635,657,0.40099281734,0.00457053329819,0.0498535302831,0.999999964282,9.79350653409e-05,-0.000247365343192,-2.56144900771e-05,1793254939017579776
+101,1.683333333,BASELINE,783,761,738.287644503,722.287644503,691,648,913.712355497,800,838,658,635,657,0.400991723111,0.00457086718285,0.0498524829886,0.999999964034,9.65303657205e-05,-0.000248861606859,-2.60926908006e-05,1793254939034246400
+102,1.700000000,BASELINE,783,761,738,722,691,648,913.706497678,800,838,658,634.706497678,657,0.400991840364,0.00457171114923,0.0498525598258,0.999999963897,9.80524753315e-05,-0.000248801795578,-2.62678991709e-05,1793254939050913280
+103,1.716666667,BASELINE,783,761,738,722,691,648,913.121910314,800,838,658,634.121910314,657,0.40099315912,0.00457306099628,0.0498537515366,0.999999963854,0.000102477289103,-0.000247198725063,-2.61426105994e-05,1793254939067579904
+104,1.733333333,BASELINE,783.458441461,761,738.458441461,722.458441461,691,648,913,800,838,658,634.458441461,657,0.400994251965,0.00457266517113,0.0498545530504,0.999999964288,0.000101880639653,-0.000245708568836,-2.58990982203e-05,1793254939084246528
+105,1.750000000,BASELINE,784,761,739,723,691,648,913.037584998,800,838,658,635,657,0.40099517825,0.00457190611631,0.0498551894592,0.999999964798,0.000100136386269,-0.000244371642311,-2.56591704372e-05,1793254939100913408
+106,1.766666667,BASELINE,784,761,739,723,691,648,913.615402566,800,838,658,635,657,0.400994566062,0.00457253750571,0.049854930497,0.999999964606,0.00010091465394,-0.000244809543957,-2.5918514594e-05,1793254939117580032
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,761,739,723,691,648,913,800,838,658,635,657,0.400993548046,0.004575230014,0.0498545228747,0.999999964204,0.000101853361222,-0.000246007387041,-2.64217071512e-05,1793254939157954048
+108,1.800000000,POSE1_TO_POSE2_PRESS,783.594726557,761,738.405273443,723,691,648,913,800,838,658,635,657,0.400995367318,0.00457442346538,0.0498554874321,0.999999964633,0.000101871256098,-0.000244284740061,-2.61024293498e-05,1793254939174620416
+109,1.816666667,POSE1_TO_POSE2_PRESS,783.81572336,761,738,722.81572336,691,648,913.18427664,800,838,658,634.81572336,657,0.400996267265,0.00457361308143,0.0498559366378,0.999999964851,0.000101782857346,-0.000243458876941,-2.57971125626e-05,1793254939191286784
+110,1.833333333,POSE1_TO_POSE2_PRESS,783.237246556,761,738,722.237246556,691,648,913.762753444,800,838,658,634.237246556,657,0.400995200616,0.0045727944929,0.0498552834157,0.999999964624,0.00010146707782,-0.000244551392002,-2.5521660782e-05,1793254939207953408
+111,1.850000000,POSE1_TO_POSE2_PRESS,783,761,738,722,691,648,913.660175731,800,838,658,634.339824269,657,0.400994514767,0.00457274281917,0.0498547710319,0.999999964534,0.000100702219231,-0.000245214355405,-2.57003561118e-05,1793254939224620800
+112,1.866666667,POSE1_TO_POSE2_PRESS,783,761,738,722,691,648,913.084082474,800,838,658,634.915917526,657,0.400994093676,0.00457322435692,0.0498543565684,0.99999996454,9.96251302939e-05,-0.000245578665156,-2.61948054781e-05,1793254939241288704
+113,1.883333333,POSE1_TO_POSE2_PRESS,783,760.510842881,738,722,691,648,913,800,838,658,635,656.510842881,0.400993384722,0.00457303735329,0.0498542060934,0.999999964376,9.94368477044e-05,-0.000246316035171,-2.62255013437e-05,1793254939257955072
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,760.064221688,738.064221688,722,691,648,913,800,838,657.935778312,634.935778312,656.064221688,0.400992645641,0.00457272177839,0.0498540664801,0.99999996413,9.95977867612e-05,-0.000247260688491,-2.61285893616e-05,1793254939274621184
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,760.658369159,738.658369159,722,691,648,913,800,838,657.341630841,634.341630841,656.658369159,0.400992063899,0.00457228803783,0.0498536442306,0.999999963434,0.000101386984048,-0.000249389672139,-2.56326804903e-05,1793254939291287552
+116,1.933333333,POSE1_TO_POSE2_PRESS,783.24564408,761,738.75435592,722,691,648,913,800,838,657.24564408,634.24564408,657,0.400993083552,0.00457278375278,0.049853985206,0.999999963261,0.000102823394092,-0.000249502736076,-2.55763629964e-05,1793254939307953664
+117,1.950000000,POSE1_TO_POSE2_PRESS,783.823621049,761,738.176378951,722,691,648,913,800,838,657.823621049,634.823621049,657,0.400996269741,0.00457453693195,0.0498553587513,0.999999963797,0.000103782516671,-0.000246888453739,-2.61147705332e-05,1793254939324620288
+118,1.966666667,POSE1_TO_POSE2_PRESS,783.59962435,761,738.40037565,722,691,648,913.40037565,800.40037565,838,658,635,657,0.401012002986,0.00457350537757,0.0498610778428,0.999999966743,0.000101979939419,-0.000235456437254,-2.59615018378e-05,1793254939341286912
+119,1.983333333,POSE1_TO_POSE2_PRESS,783.023406554,761,738.976593446,722,691,648,913.976593446,800.976593446,838,658,635,657,0.401033246809,0.00457125078812,0.0498687054676,0.999999970544,9.89644432534e-05,-0.000220151734207,-2.55044538887e-05,1793254939357953536
+120,2.000000000,POSE1_TO_POSE2_PRESS,783,761,739,722,691,648,913.436493567,800.436493567,838.563506433,658,635,657,0.401080936718,0.00457198074148,0.0498836720119,0.999999976961,0.000100118317514,-0.000188180561017,-2.53455868484e-05,1793254939374620672
+121,2.016666667,POSE1_TO_POSE2_PRESS,783,761,738.851214,722.148786,691,648.148786,913.148786,800.148786,838.851214,658,635,657,0.401135073885,0.00457244424457,0.0498993867033,0.999999982239,0.000100550267095,-0.000157448819237,-2.49449532312e-05,1793254939391287296
+122,2.033333333,POSE1_TO_POSE2_PRESS,783,761,738.27197014,722.72802986,691,648.72802986,913.72802986,800.72802986,838.27197014,658,635,657,0.40120462425,0.00457177127077,0.0499163668848,0.999999986119,9.83828524909e-05,-0.000132344521777,-2.38083299098e-05,1793254939407954176
+123,2.050000000,POSE1_TO_POSE2_PRESS,783,761,738,723,691,648.693792822,913.693792822,800.693792822,838.306207178,658,634.693792822,657,0.401283730636,0.00456959663731,0.0499304591052,0.999999989064,9.6152658528e-05,-0.000110047118326,-2.27257994702e-05,1793254939424620544
+124,2.066666667,POSE1_TO_POSE2_PRESS,783,761,738,723,691,648.116559543,913.116559543,800.116559543,838.883440457,658,634.116559543,657,0.401371295117,0.0045660928745,0.0499419951702,0.999999991288,9.38668982594e-05,-9.02341177929e-05,-2.16911470869e-05,1793254939441286912
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,760.542069149,738.457930851,723,691,648,913.457930851,800,838.542069149,658,634.457930851,657,0.401466100845,0.00456572517967,0.0499460473709,0.999999991863,9.24696734633e-05,-8.53746473698e-05,-2.08583396928e-05,1793254939457953792
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,760,738.967347001,723,691,648,914,800,838.032652999,658,634.967347001,657,0.401563698073,0.0045660025658,0.0499479755607,0.999999992058,9.1230755671e-05,-8.46067142239e-05,-2.0056450528e-05,1793254939474620416
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,760,738.376807891,723,691,648,914,800,838.623192109,658,634.376807891,657,0.401677685603,0.00456374438994,0.0499459665193,0.999999991904,8.88554946173e-05,-8.91010372199e-05,-1.89102491915e-05,1793254939491287296
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,760.209682626,738,723,691,648,913.790317374,800,838.790317374,658,634.209682626,657,0.401806016145,0.00456243666058,0.0499463000053,0.999999992036,8.68448271282e-05,-8.98075118313e-05,-1.79114681831e-05,1793254939507953920
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,760.789035417,738,723,691,648,913.210964583,800,838.210964583,658,634.789035417,657,0.401959633387,0.00456280456729,0.0499507633639,0.999999992685,8.5476937819e-05,-8.38360147436e-05,-1.71725891216e-05,1793254939524620544
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,761,738.366376232,722.633623768,691.366376232,648,913,800,838,658,635,657,0.40212882974,0.00456159089431,0.049951144635,0.999999992603,8.39491263472e-05,-8.66186363296e-05,-1.56030785306e-05,1793254939541287936
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,761,738.942564904,722.057435096,691.942564904,648,913,800,838,658,635,657,0.402306947789,0.00455947149915,0.04994918822,0.999999992062,8.23297322213e-05,-9.4414472831e-05,-1.3557890648e-05,1793254939557955328
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,761,739,722.517194699,691.482805301,648,913.517194699,800.517194699,838,658,635,657,0.402516456447,0.0045574573779,0.049949780383,0.999999992596,7.8327531755e-05,-9.23439491641e-05,-1.20353751545e-05,1793254939574621440
+133,2.216666667,POSE1_TO_POSE2_PRESS,783.094262299,761,738.905737701,722.905737701,691,648,914,801,838,657.905737701,634.905737701,656.905737701,0.402734523786,0.00455511070678,0.0499506906088,0.999999993182,7.37075691579e-05,-8.9967914708e-05,-1.04054448242e-05,1793254939591287296
+134,2.233333333,POSE1_TO_POSE2_PRESS,783.685081228,761,738.314918772,722.314918772,691,648,914,801,838,657.314918772,634.314918772,656.314918772,0.402979368532,0.00455095082287,0.0499517899003,0.999999993501,6.72230935523e-05,-9.17369558981e-05,-7.90482889587e-06,1793254939607953920
+135,2.250000000,POSE1_TO_POSE2_PRESS,783.729462961,761,738,722.270537039,691,648,913.729462961,801,838,657,634.270537039,656.270537039,0.403252292639,0.00454699647807,0.0499560158316,0.99999999449,6.17167350364e-05,-8.4733177363e-05,-5.54674305075e-06,1793254939624620544
+136,2.266666667,POSE1_TO_POSE2_PRESS,783.150128772,761,738,722.849871228,691,648,913.150128772,801,838,657,634.849871228,656.849871228,0.403557267153,0.00454327674057,0.0499638105807,0.999999996058,5.73268220686e-05,-6.77159020411e-05,-3.35134444462e-06,1793254939641287168
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,760.575071432,738.424928568,723,691,648,913.424928568,800.575071432,838.424928568,657.424928568,635,657,0.403894089402,0.00454188790579,0.0499714388083,0.999999997039,5.57386940963e-05,-5.3047610086e-05,-1.32075457782e-06,1793254939657953792
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,760.001510072,738.998489928,723,691,648,913.998489928,800.001510072,838.998489928,657.998489928,635,657,0.40424205144,0.00454131438125,0.0499790087893,0.999999997712,5.51305829811e-05,-3.92009529405e-05,6.52187947122e-07,1793254939674620160
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,760.587959927,739,722.412040073,691,648,914,800.587959927,838.412040073,658,635,657,0.40461738158,0.00453503640971,0.0499860357586,0.999999998513,4.87597769707e-05,-2.41858320625e-05,3.39636619081e-06,1793254939691287040
+140,2.333333333,POSE1_TO_POSE2_PRESS,783.1744354,761,738.8255646,722.1744354,691,648,914,800.8255646,838,658,635,657,0.405003433131,0.00452977005128,0.0499900017427,0.999999998928,4.35358373261e-05,-1.45528985982e-05,6.07605980284e-06,1793254939707953664
+141,2.350000000,POSE1_TO_POSE2_PRESS,783.753860842,761,738.246139158,722.753860842,691,648,914,800.246139158,838,658,635,657,0.405414209007,0.00452688733661,0.0499868643054,0.99999999897,4.1009918586e-05,-1.74230570893e-05,8.60131109924e-06,1793254939724620288
+142,2.366666667,POSE1_TO_POSE2_PRESS,783.668617911,761,738.331382089,722.668617911,691,648.331382089,914,800.331382089,838.331382089,658,635,657,0.405830154741,0.00452248624009,0.0499731326184,0.999999998385,3.50148944689e-05,-4.32613215046e-05,1.15332412323e-05,1793254939741286912
+143,2.383333333,POSE1_TO_POSE2_PRESS,783.092502892,761,738.907497108,722.092502892,691,648.907497108,914,800.907497108,838.907497108,658,635,657,0.40624991857,0.00451696378503,0.0499515768456,0.999999995838,2.64578597529e-05,-8.60620353039e-05,1.47655128378e-05,1793254939757953536
+144,2.400000000,POSE1_TO_POSE2_PRESS,783,761,739,722,691,648.518610829,914,800.518610829,839,658,635,657,0.406730112856,0.00451176825311,0.0499342265051,0.999999993117,2.02152303165e-05,-0.000114216086128,1.765829356e-05,1793254939774620160
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,761,738.943372795,722,691,648,914,800.056627205,839,658,635,657,0.407227327974,0.00450668448137,0.0499201125415,0.999999990528,1.42226632903e-05,-0.000135350400875,2.05599970636e-05,1793254939791287040
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,761,738.351389728,722,691,648,914,800.648610272,839,658,635,657,0.407776181339,0.0045020661096,0.0499289906325,0.999999992889,6.40900466233e-06,-0.000116605736582,2.41599672903e-05,1793254939807953920
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,761,738.234858313,722,691,648,914,801,839,658,635,657,0.408355621569,0.00449607387565,0.0499468039718,0.99999999624,-2.58913274646e-06,-8.20810070593e-05,2.7861528574e-05,1793254939824620544
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,761,738.812730239,722,691,648,914,801,839,658,635,657,0.408979734279,0.00448807509843,0.0499776673563,0.999999999108,-1.3317216311e-05,-2.45092884965e-05,3.1711464646e-05,1793254939841287168
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,761,739,722,691,648,914,800.611446039,839,658,635,657,0.409609067566,0.0044799524017,0.0499926658827,0.999999999103,-2.18407269533e-05,-1.70281048873e-06,3.62503899721e-05,1793254939857954304
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,761,739,722,691,648,914,800.036604322,839,658,635,657,0.410240903781,0.00447177029342,0.0500000581832,0.999999998715,-2.9307280013e-05,4.43586861571e-06,4.11196432437e-05,1793254939874621440
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,761,739,722,691,648,914,800.551322322,839,658,635,657,0.410862286649,0.00446652462682,0.0499800842381,0.999999992374,0.000106848450537,-4.25675535555e-05,4.49867770213e-05,1793254939891288064
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,761,739,722,691,648,914,801,839,658,635,657,0.411501475135,0.00446097520056,0.0499595814621,0.999999972314,0.000213270248126,-8.67304517157e-05,4.86297320178e-05,1793254939907954688
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,761,739,722,691,648,914,801,839,658,635,657,0.412199947201,0.00445381386372,0.0499433442247,0.999999973917,0.000193221909327,-0.000110227880058,5.1773143417e-05,1793254939924621056
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,761,738.701917802,722,691,648,914,801,839,658,635,657,0.412944541179,0.00444356997496,0.0499510801612,0.999999989149,0.000108330563537,-9.13999121507e-05,4.01516138067e-05,1793254939941287424
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,761,738.129146762,722,691,648,914,801,839,658,635,657,0.413731637521,0.00443048545072,0.049980907866,0.999999998666,-3.63149444852e-05,-3.35682265962e-05,1.49238885526e-05,1793254939957953792
+156,2.600000000,POSE1_TO_POSE2_PRESS,783.446163433,761,738.446163433,722,691,648,914,801,839,658,635,657,0.414501111924,0.00443359604525,0.0499795421186,0.999999997138,-6.4099548747e-05,-3.75355487052e-05,1.43977370412e-05,1793254939974620672
+157,2.616666667,POSE1_TO_POSE2_PRESS,783.977123435,761,738.977123435,722,690.977123435,648,914,801,839,658,635,657,0.415266486798,0.00444222783092,0.0499684266795,0.999999996364,-5.66080862038e-05,-6.02741339134e-05,2.08368822927e-05,1793254939991287040
+158,2.633333333,POSE1_TO_POSE2_PRESS,783.383860132,761,738.383860132,722,690.383860132,648,914,801,839,658,635,657,0.416057557174,0.00447096852377,0.0499406375269,0.999999994357,-1.78049422752e-05,-0.000102473005257,2.1647060472e-05,1793254940007953664
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,761,738.202779847,722,690.202779847,648.202779847,914.202779847,801,839,658,635,657,0.416875326547,0.00448468941995,0.0499312116722,0.999999993326,9.52448191548e-06,-0.000112668138851,2.37405050059e-05,1793254940024620288
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,761,738.777278477,722,690.777278477,648.777278477,914.777278477,801,839,658,635,657,0.417742038208,0.00447087729962,0.0499554478563,0.999999997417,1.58212557738e-05,-6.41967380588e-05,2.81863243837e-05,1793254940041287168
+161,2.683333333,POSE1_TO_POSE2_PRESS,783,761,739,721.648543413,690.648543413,648.648543413,914.648543413,800.648543413,839,658,635,657,0.418601300299,0.00446010001265,0.0499725591895,0.999999998674,1.36178809638e-05,-3.90581442032e-05,3.06663005359e-05,1793254940057953792
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,761,739,721.074568256,690.074568256,648.074568256,914.074568256,800.074568256,839,658,635,657,0.419455845793,0.00445124417767,0.0499851595475,0.999999999061,6.03278599494e-06,-2.86923094132e-05,3.19016374123e-05,1793254940074620416
+163,2.716666667,POSE1_TO_POSE2_PRESS,783,761.501976644,738.498023356,722.003953288,690,648.501976644,914,800.501976644,839,658,635,657,0.420333080655,0.00444885456249,0.0499702722454,0.99999999849,-8.33664037592e-06,-4.4171893305e-05,3.16069066787e-05,1793254940091287040
+164,2.733333333,POSE1_TO_POSE2_PRESS,783,761.918774949,738,722.918774949,690,648.918774949,914,800.918774949,839,658,635,657,0.421228032801,0.00444788105506,0.0499584225678,0.999999997944,-2.12566352283e-05,-5.17946273772e-05,3.12764275788e-05,1793254940107953920
+165,2.750000000,POSE1_TO_POSE2_PRESS,783,761.324884951,738,722.324884951,690,648.324884951,914,800.324884951,839,658,635,657,0.422213427201,0.00444975166458,0.0499916501898,0.999999999204,-1.86346347835e-05,1.45295764703e-05,3.21622788141e-05,1793254940124620544
+166,2.766666667,POSE1_TO_POSE2_PRESS,783.26153226,761.26153226,738,722,690.26153226,648,914.26153226,800.26153226,839,658,635,657,0.42316287266,0.00445407177276,0.0500032180673,0.999999998803,-6.316242756e-06,3.58095766072e-05,3.27398456383e-05,1793254940141287168
+167,2.783333333,POSE1_TO_POSE2_PRESS,783.838924453,761.838924453,738,722,690.838924453,648,914.838924453,800.838924453,839,658,635,657,0.424068901691,0.00446135021026,0.0499886268608,0.999999999297,1.77127568833e-05,2.68842227685e-06,3.29450888399e-05,1793254940157953792
+168,2.800000000,POSE1_TO_POSE2_PRESS,783.586263476,761.586263476,738,721.586263476,690.586263476,648,914.586263476,800.586263476,839,658,635.413736524,657,0.425009430536,0.00445995876757,0.0499901319142,0.999999999374,1.00212552975e-05,5.57699391805e-06,3.34659306018e-05,1793254940174620672
+169,2.816666667,POSE1_TO_POSE2_PRESS,783.012449705,761.012449705,738,721.012449705,690.012449705,648,914.012449705,800.012449705,839,658,635.987550295,657,0.425963307519,0.00445521289361,0.0499978647122,0.999999999118,-9.94310792836e-06,2.2397955608e-05,3.41088794012e-05,1793254940191287808
+170,2.833333333,POSE1_TO_POSE2_PRESS,783,761,738,721,690,648.579111735,914.579111735,800,839.579111735,658,636,657,0.426926678635,0.00444476735378,0.0500078625032,0.999999998833,-2.60874392766e-05,1.53996417679e-05,3.76452903426e-05,1793254940207953920
+171,2.850000000,POSE1_TO_POSE2_PRESS,783,761.166710244,738,721,689.833289756,649,915,800,840,658,636,657,0.42787189077,0.00443775328821,0.050003140544,0.999999998768,-2.77768299866e-05,-9.02279449401e-06,4.01348603735e-05,1793254940224620288
+172,2.866666667,POSE1_TO_POSE2_PRESS,783,761.743590023,738,721,689.256409977,649,915,800,840,658,636,657,0.428771906918,0.00443949293624,0.0499620789052,0.999999996373,5.88989841075e-06,-7.50153835736e-05,3.9890927748e-05,1793254940241286912
+173,2.883333333,POSE1_TO_POSE2_PRESS,783,761.682965402,738,721,689.317034598,649,915,800.317034598,840,658,636,657,0.429727505052,0.00444353112235,0.0499514436222,0.999999995763,1.42672514616e-05,-8.22062509203e-05,3.88836299675e-05,1793254940257953792
+174,2.900000000,POSE1_TO_POSE2_PRESS,783,761.112269384,738,721,689.887730616,649,915,800.887730616,840,658,636,657,0.430727574647,0.00444940838348,0.0499651526641,0.999999998406,2.41041111081e-06,-4.23494796524e-05,3.72655589034e-05,1793254940274620672
+175,2.916666667,POSE1_TO_POSE2_PRESS,783.475051807,761,738,721,690.475051807,649,915,801,840,658,636,657,0.431662824414,0.00445237861692,0.0499572756874,0.999999997499,-1.96425110223e-06,-5.96828469125e-05,3.78888484945e-05,1793254940291287296
+176,2.933333333,POSE1_TO_POSE2_PRESS,783.934960002,761.065039998,738,720.934960002,690.869920003,649,915,801,840,658,635.934960002,657,0.43259083247,0.00445294928345,0.0499461554347,0.999999995556,-5.33418172994e-06,-8.56527967721e-05,3.90256028453e-05,1793254940307953920
+177,2.950000000,POSE1_TO_POSE2_PRESS,783.356068709,761.643931291,738,720.356068709,689.712137419,649,915,801,840,658,635.356068709,657,0.433587043505,0.00444018674467,0.0499511773659,0.999999996694,-1.52431159794e-05,-6.92017917565e-05,3.98822990553e-05,1793254940324620288
+178,2.966666667,POSE1_TO_POSE2_PRESS,783.222385696,761.777614304,738.222385696,720.222385696,689,648.777614304,915,801,840,658,635.222385696,657,0.434566848976,0.00443273750285,0.0499623806052,0.99999999773,-2.14226266128e-05,-4.94194705038e-05,4.04835268524e-05,1793254940341286912
+179,2.983333333,POSE1_TO_POSE2_PRESS,783.800142052,761.199857948,738.800142052,720.800142052,689,648.199857948,915,801,840,658,635.800142052,657,0.435520438635,0.00443377886735,0.0499834615289,0.999999998643,-2.16425480919e-05,-2.43137285736e-05,4.06765181955e-05,1793254940357953792
+180,3.000000000,POSE1_TO_POSE2_PRESS,784,761.375512663,738.624487337,721,688.624487337,648,915,801,840,658,636,657,0.436423810146,0.00443794516024,0.0499694256832,0.999999997079,-1.52275084088e-05,-6.22074674658e-05,4.17183876757e-05,1793254940374620672
+181,3.016666667,POSE1_TO_POSE2_PRESS,784,761.9496215,738.0503785,721,688.0503785,648,915,801,840,658,636,657,0.43730062289,0.00444376412389,0.0499368177435,0.999999990152,-5.30345810689e-06,-0.000133419540157,4.32092004221e-05,1793254940391287296
+182,3.033333333,POSE1_TO_POSE2_PRESS,784,761.461816452,738,720.461816452,688.538183548,648.538183548,915,800.461816452,840,658,636,657,0.438253726759,0.00444349319304,0.0499563025781,0.99999999592,-1.84546148844e-05,-7.80700541122e-05,4.15168296179e-05,1793254940407953920
+183,3.050000000,POSE1_TO_POSE2_PRESS,784,761,738,720,689.251665709,649,915,800.125832855,840,657.874167145,636,657,0.439203476658,0.0044421605228,0.0499748769232,0.999999998349,-3.08021127996e-05,-2.72498354468e-05,4.01431318203e-05,1793254940424620288
+184,3.066666667,POSE1_TO_POSE2_PRESS,784,761,738,720,690.41036357,649,915,800.705181785,840,657.294818215,636,657,0.440114689372,0.00443911250212,0.0499721099302,0.999999997968,-3.22532832119e-05,-3.66307248151e-05,4.10215335757e-05,1793254940441287168
+185,3.083333333,POSE1_TO_POSE2_PRESS,784,761,738,720,689.874768653,648.718692163,915,801,840,657,636,657,0.441003700082,0.00443550673393,0.0499709090715,0.999999997898,-2.76824891567e-05,-4.13625656903e-05,4.15595776775e-05,1793254940457953792
+186,3.100000000,POSE1_TO_POSE2_PRESS,784,761,738,720,687.58362221,648.145905552,915,801,840,657,636,657,0.441869705996,0.00443132305256,0.0499713309723,0.999999998134,-1.68720010142e-05,-4.12772669681e-05,4.17449581339e-05,1793254940474620416
+187,3.116666667,POSE1_TO_POSE2_PRESS,784,761,738,720,687.8607051,648,915,800.56964745,840,657.43035255,636,657.43035255,0.442733626346,0.00443351979601,0.0499846515169,0.99999999886,-1.46884036043e-05,-1.67643029608e-05,4.22190080551e-05,1793254940491287040
+188,3.133333333,POSE1_TO_POSE2_PRESS,784,761,738,720,688.983946144,648,915,800,840,658,635.991973072,657.991973072,0.443594921299,0.00443796266282,0.0500015128121,0.999999998866,-1.50784991919e-05,1.44319997965e-05,4.27944473551e-05,1793254940507953664
+189,3.150000000,POSE1_TO_POSE2_PRESS,784,761,738,720,687.79503581,648,915,800,840,658,635.397517905,657.397517905,0.44431648397,0.004447178352,0.0499549648454,0.999999996086,1.19228934965e-05,-7.60785995739e-05,4.35688783651e-05,1793254940524620544
+190,3.166666667,POSE1_TO_POSE2_PRESS,784,761.189131325,738,719.810868675,686.810868675,648,915,800.189131325,840,658,635,657.189131325,0.445057397092,0.00445460356725,0.0499140860037,0.999999988603,2.90999803731e-05,-0.000141647685874,4.33842740456e-05,1793254940541287424
+191,3.183333333,POSE1_TO_POSE2_PRESS,784,761.760024371,738,719.239975629,686.239975629,648,915,800.760024371,840,658,635,657.760024371,0.445837369246,0.00445841471119,0.0498846502862,0.999999986494,2.64467036412e-05,-0.000156872326793,4.12638569792e-05,1793254940557954304
+192,3.200000000,POSE1_TO_POSE2_PRESS,784,762,738,719,686.334174869,648,915,800.665825131,840.334174869,658,635.334174869,657.665825131,0.446593469182,0.00446431355553,0.049872191626,0.999999985574,2.92575407098e-05,-0.000162190437993,4.11201944051e-05,1793254940574620672
+193,3.216666667,POSE1_TO_POSE2_PRESS,784,762,738,719,686.910687581,648,915,800.089312419,840.910687581,658,635.910687581,657.089312419,0.447332257351,0.00447172636392,0.0498720444363,0.9999999856,3.6030858891e-05,-0.000160324504047,4.24100401769e-05,1793254940591287296
+194,3.233333333,POSE1_TO_POSE2_PRESS,784.503005186,762,738,719,686.496994814,647.496994814,915,800.503005186,841,658,636,657,0.447994942543,0.00447630374408,0.0498437748282,0.999999976927,4.42179140708e-05,-0.000205771120024,4.30111653976e-05,1793254940607953920
+195,3.250000000,POSE1_TO_POSE2_PRESS,785,762,738,719.094943659,686,647,915,801,841,658,636,657,0.448645014389,0.00447972272171,0.0498140775591,0.999999965558,5.16154536869e-05,-0.000253618876472,4.35487376975e-05,1793254940624620288
+196,3.266666667,POSE1_TO_POSE2_PRESS,785,762,738,719.670303262,686,647,915,801,841,658,636,657,0.449301854881,0.00447991028302,0.0498032423657,0.999999961195,5.37066691174e-05,-0.000269729814196,4.4403581924e-05,1793254940641287168
+197,3.283333333,POSE1_TO_POSE2_PRESS,785,762,738,719.755098925,686,646.755098925,915,800.755098925,840.755098925,658,636,657.244901075,0.449956202116,0.00447995664895,0.0498045153571,0.999999960392,5.5931088518e-05,-0.000271968263105,4.60628395744e-05,1793254940657953792
+198,3.300000000,POSE1_TO_POSE2_PRESS,785,762,738,719.181523531,686,646.181523531,915,800.181523531,840.181523531,658,636,657.818476469,0.450607203173,0.00447981352079,0.0498220383779,0.999999964445,5.83342767692e-05,-0.000255588863539,4.88016760592e-05,1793254940674620416
+199,3.316666667,POSE1_TO_POSE2_PRESS,785,762,738,719.405216905,685.594783095,646,915.405216905,800.405216905,840.405216905,658,636,657.594783095,0.451193890745,0.00447958236396,0.0498240542379,0.999999961796,5.96153039675e-05,-0.000264984335488,5.13467031055e-05,1793254940691287040
+200,3.333333333,POSE1_TO_POSE2_PRESS,785,762,738,719.998052925,685.001947075,646,915.998052925,800.998052925,840.998052925,658,636,657.001947075,0.451750800644,0.00447931044905,0.0498188901428,0.999999955742,6.03767605762e-05,-0.000286313806058,5.38019948424e-05,1793254940707953664
+201,3.350000000,POSE1_TO_POSE2_PRESS,785,761.422397326,738,719.422397326,685,645.422397326,915.422397326,801,841,658,635.422397326,657,0.452231220228,0.00448440065522,0.049773494966,0.999999929411,6.62975898879e-05,-0.000365907770636,5.38003151711e-05,1793254940724620800
+202,3.366666667,POSE1_TO_POSE2_PRESS,785,761.156562064,738,719,684.843437936,645,915,800.843437936,841,658,635.156562064,657.156562064,0.45271566307,0.00448722839592,0.0497365218403,0.999999905183,6.98951890024e-05,-0.000426441299102,5.38158663689e-05,1793254940741287168
+203,3.383333333,POSE1_TO_POSE2_PRESS,785,761.734052068,738,719,684.265947932,645,915,800.265947932,841,658,635.734052068,657.734052068,0.453211600474,0.00448392583831,0.0497225483897,0.999999901584,6.72009170462e-05,-0.000435213368764,5.38995117221e-05,1793254940757953536
+204,3.400000000,POSE1_TO_POSE2_PRESS,785.308581508,762,738,719,684,645,915,800.308581508,841,658,636,658,0.453702780665,0.00447994530094,0.0497215220535,0.999999905072,6.2019083494e-05,-0.000427892707579,5.40138677514e-05,1793254940774620416
+205,3.416666667,POSE1_TO_POSE2_PRESS,785.880583628,762,738,719,684,645,915,800.880583628,841,658,636,658,0.454189899831,0.00447538600634,0.0497315480227,0.99999991428,5.4713743066e-05,-0.000406834485649,5.4154439927e-05,1793254940791287296
+206,3.433333333,POSE1_TO_POSE2_PRESS,785.531630039,762,738,719,684,644.531630039,915,800.531630039,841,658,635.531630039,658,0.454609199361,0.00447084582975,0.0497284423211,0.999999914648,-7.56660198294e-06,-0.000411389977602,3.74924797453e-05,1793254940807953920
+207,3.450000000,POSE1_TO_POSE2_PRESS,785,761.940963235,738,719,683.940963235,644,915,800,841,658,635.059036765,658,0.455002314492,0.00446606881525,0.0497187729744,0.999999905284,-7.67512417526e-05,-0.000428007481881,1.87221473681e-05,1793254940824620544
+208,3.466666667,POSE1_TO_POSE2_PRESS,785,761.361614929,738,719,683.361614929,644,915,800,841,658,635.638385071,658,0.45532236748,0.00445916000774,0.0496817927664,0.999999875953,-7.89451255843e-05,-0.000491368728954,2.0443167863e-05,1793254940841287424
+209,3.483333333,POSE1_TO_POSE2_PRESS,785,761.216724588,738,719,683.216724588,644,915,800.216724588,841,658,636,658,0.455639554555,0.00445735272506,0.0496512594519,0.999999851562,-5.90113869513e-05,-0.00054123158891,2.14747273204e-05,1793254940857954048
+210,3.500000000,POSE1_TO_POSE2_PRESS,785,761.793388634,738,719,683.793388634,644,915,800.793388634,841,658,636,658,0.455951981848,0.00446401813231,0.0496314332386,0.999999838073,-2.32775978036e-06,-0.000568676119256,2.13612193886e-05,1793254940874620416
+211,3.516666667,POSE1_TO_POSE2_PRESS,785.368360452,762,738,719,683.631639548,644,915,800.631639548,841,658,636,657.631639548,0.456255773593,0.00446979987178,0.0496235696358,0.999999831637,3.37647877695e-05,-0.000578809874165,2.37867197677e-05,1793254940891287040
+212,3.533333333,POSE1_TO_POSE2_PRESS,785.942387501,762,738,719,683.057612499,644,915,800.057612499,841,658,636,657.057612499,0.456554743884,0.00447508823387,0.0496223851124,0.999999830133,5.83607283759e-05,-0.000579278511363,2.76298240218e-05,1793254940907953920
+213,3.550000000,POSE1_TO_POSE2_PRESS,785.46845097,762,738,718.46845097,683,643.46845097,915.53154903,800,841,658.53154903,636,657.53154903,0.456815583025,0.00449776134746,0.0496247216404,0.999999832277,8.10692236953e-05,-0.000572885412591,2.59881648023e-05,1793254940924620544
+214,3.566666667,POSE1_TO_POSE2_PRESS,785.119653948,762,738,718.119653948,683,643,915.880346052,800,841,658.880346052,636,658,0.457064570268,0.00451824795646,0.0496278223426,0.999999834313,9.93088737424e-05,-0.000566502552329,2.42088879756e-05,1793254940941287168
+215,3.583333333,POSE1_TO_POSE2_PRESS,785.697253045,762,738,718.697253045,683,643,915.302746955,800,841,658.302746955,636,658,0.457284478583,0.00452294338824,0.0496323443201,0.999999836046,0.000101251054255,-0.000563088680998,2.42447829387e-05,1793254940957954048
+216,3.600000000,POSE1_TO_POSE2_PRESS,785.726004842,762,738,718.726004842,683,643,915,800,841,658.273995158,636,657.726004842,0.457483847426,0.00452476768017,0.0496287188839,0.999999833207,9.99289730481e-05,-0.000568340051788,2.42879745289e-05,1793254940974620672
+217,3.616666667,POSE1_TO_POSE2_PRESS,785.150206722,762,738,718.150206722,683,643,915,800,841,658.849793278,636,657.150206722,0.45766059223,0.00452342943964,0.0496161191519,0.999999825166,9.50113396599e-05,-0.000583136101314,2.43392032759e-05,1793254940991287296
+218,3.633333333,POSE1_TO_POSE2_PRESS,785,762,738,718,683,642.575820107,915,800.424179893,841,658.575820107,636,657.424179893,0.457823571894,0.00451969946629,0.0496112792112,0.999999822243,8.99946428234e-05,-0.000588878784829,2.52240918787e-05,1793254941007953920
+219,3.650000000,POSE1_TO_POSE2_PRESS,785,762,738,718,683,642.001931674,915,800.998068326,841,658.001931674,636,657.998068326,0.457981693333,0.00451512536332,0.0496091779839,0.999999821151,8.4942982993e-05,-0.000591426205321,2.64032094184e-05,1793254941024620544
+220,3.666666667,POSE1_TO_POSE2_PRESS,785,761.407644203,738,718.592355797,682.407644203,642,915,800.407644203,841,658,636,658,0.458104165443,0.00451524181773,0.0496085906083,0.99999982008,8.25973535245e-05,-0.000593559621622,2.65413928478e-05,1793254941041287168
+221,3.683333333,POSE1_TO_POSE2_PRESS,785,761.181143422,738,719,682.181143422,642,915,800.181143422,841,658,636,658,0.458219316267,0.00451576041239,0.0496080967707,0.999999819154,8.1406651202e-05,-0.000595276123391,2.66751641526e-05,1793254941057953792
+222,3.700000000,POSE1_TO_POSE2_PRESS,785,761.757772873,738,719,682.757772873,642,915,800.757772873,841,658,636,658,0.458318745555,0.0045171224038,0.0496077959899,0.999999818561,8.2717520385e-05,-0.000596085438228,2.68069779813e-05,1793254941074620416
+223,3.716666667,POSE1_TO_POSE2_PRESS,785,761.666839852,738,718.666839852,682.666839852,642,915,800.666839852,841,658,636,658,0.458402854123,0.00451855998316,0.0496051596118,0.999999816226,8.48771440248e-05,-0.000599691916948,2.67265132562e-05,1793254941091287040
+224,3.733333333,POSE1_TO_POSE2_PRESS,785,761.092352297,738,718.092352297,682.092352297,642,915,800.092352297,841,658,636,658,0.458475865007,0.00452005231544,0.0496008314239,0.999999812599,8.76515703576e-05,-0.000605324545349,2.64922827553e-05,1793254941107953920
+225,3.750000000,POSE1_TO_POSE2_PRESS,785,761.495449027,738,718,682,642,915,800,841,658,635.504550973,657.504550973,0.458531725823,0.0045182041465,0.0495963647796,0.999999807998,8.51370410507e-05,-0.000613207529308,2.70411493452e-05,1793254941124620800
+226,3.766666667,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,800.08400138,841,658,635,657,0.458582083323,0.00451611806604,0.0495918797382,0.999999803216,8.2231055211e-05,-0.000621323051074,2.76427459301e-05,1793254941141287424
+227,3.783333333,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,800.661973739,841,658,635,657,0.458619396435,0.00451639569417,0.0495874424678,0.999999798812,8.29805996021e-05,-0.000628271210071,2.76723391302e-05,1793254941157953792
+228,3.800000000,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,800.760593984,841,658,635.239406016,657.239406016,0.458652240116,0.00451834115095,0.0495844691411,0.999999795468,8.48298196243e-05,-0.000633341447756,2.73244652892e-05,1793254941174620416
+229,3.816666667,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,800.18392259,841,658,635.81607741,657.81607741,0.458678787446,0.00452263617634,0.0495835581585,0.999999793659,8.82282175467e-05,-0.000635766146502,2.64448313562e-05,1793254941191287040
+230,3.833333333,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,800.399446646,841,658,636,658,0.458700689366,0.00452278027575,0.0495823568406,0.999999793262,8.85159417908e-05,-0.000636355899503,2.63217303249e-05,1793254941207953920
+231,3.850000000,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,800.985952436,841,658,636,658,0.458720415859,0.00452098051429,0.0495810195598,0.99999979353,8.7346950852e-05,-0.000636086355248,2.65529104185e-05,1793254941224620544
+232,3.866666667,POSE1_TO_POSE2_PRESS,785.565956446,761.434043554,738.565956446,718,682,642,915,801,841,658,636,658,0.45872907888,0.00451897071433,0.0495795640492,0.99999979154,8.62846711558e-05,-0.000639335436515,2.69228696422e-05,1793254941241287424
+233,3.883333333,POSE1_TO_POSE2_PRESS,785.854908949,761,738.854908949,718,682,642,915.145091051,800.854908949,841,658,636,658,0.458736025817,0.00451873783954,0.0495778640632,0.99999978921,8.66093679888e-05,-0.000642924256308,2.69693921793e-05,1793254941257954048
+234,3.900000000,POSE1_TO_POSE2_PRESS,785.277887671,761,738.277887671,718,682,642,915.722112329,800.277887671,841,658,636,658,0.458738672248,0.00452381014363,0.0495754449212,0.999999786038,9.10552429552e-05,-0.000647267421922,2.60429185853e-05,1793254941274620928
+235,3.916666667,POSE1_TO_POSE2_PRESS,785,761,738,718,682,642,915.702472362,800,841,658,635.702472362,658,0.458741851507,0.004525970778,0.0495744271961,0.99999978463,9.2963679635e-05,-0.000649177148649,2.58310192824e-05,1793254941291287808
+236,3.933333333,POSE1_TO_POSE2_PRESS,785,761,738,718,682,642,915.128548892,800,841,658,635.128548892,658,0.458745525752,0.00452542654364,0.0495747113523,0.999999784887,9.25148992802e-05,-0.000648826271218,2.62829417557e-05,1793254941307954176
+237,3.950000000,POSE1_TO_POSE2_PRESS,785.458417204,761.458417204,738,718,682,641.541582796,915,800,841,658,635.458417204,657.541582796,0.458747887877,0.00452416264823,0.0495752308824,0.999999785464,9.12050039875e-05,-0.000648120270534,2.63297561862e-05,1793254941324620544
+238,3.966666667,POSE1_TO_POSE2_PRESS,785.951819536,762,738,718,681.951819536,641.048180464,915,800,841,658,636,657,0.458749843232,0.00452291864232,0.0495757148541,0.999999786065,8.99204310593e-05,-0.000647374521784,2.62722104814e-05,1793254941341287168
+239,3.983333333,POSE1_TO_POSE2_PRESS,785.372715434,762,738,718,681.372715434,641.627284566,915,800,841,658,636,657,0.458751489467,0.00452418273445,0.0495750583691,0.999999785941,9.16537265314e-05,-0.000647320261309,2.63531419788e-05,1793254941357953792
+240,4.000000000,POSE1_TO_POSE2_PRESS,785,761.795040681,738,718,681.204959319,641.795040681,915,800,841,658,635.795040681,657,0.458751609715,0.00452546013345,0.0495737904631,0.999999784944,9.35901402746e-05,-0.000648584464019,2.63004110292e-05,1793254941374620672
+241,4.016666667,POSE1_TO_POSE2_PRESS,785,761.21994721,738,718,681.78005279,641.21994721,915,800,841,658,635.21994721,657,0.4587489742,0.00452676156313,0.0495714183975,0.999999782362,9.58933633343e-05,-0.00065222966729,2.60063002878e-05,1793254941391287296
+242,4.033333333,POSE1_TO_POSE2_PRESS,785.352789742,761.352789742,738,718,682,641.352789742,915.352789742,800.352789742,841,658,635,657.352789742,0.458749564105,0.00452603167221,0.0495714044741,0.999999782357,9.61291817457e-05,-0.000652199126681,2.60925688846e-05,1793254941407953920
+243,4.050000000,POSE1_TO_POSE2_PRESS,785.924067247,761.924067247,738,718,682,641.924067247,915.924067247,800.924067247,841,658,635,657.924067247,0.458752151559,0.00452404375518,0.049572850982,0.999999783951,9.50846266332e-05,-0.000649892144878,2.6414411888e-05,1793254941424620800
+244,4.066666667,POSE1_TO_POSE2_PRESS,785.483332036,762,738,718,682,641.483332036,915.483332036,800.483332036,841,658,635.516667964,657.483332036,0.458751057934,0.00452473087363,0.0495719422025,0.999999782871,9.58478842338e-05,-0.00065142669598,2.67420357725e-05,1793254941441287424
+245,4.083333333,POSE1_TO_POSE2_PRESS,785,762,738,718,682,641.109369127,915,800.109369127,841,658,636,657.109369127,0.458750177505,0.0045255737577,0.0495711971131,0.999999782006,9.65615511575e-05,-0.000652638655894,2.69732167293e-05,1793254941457954304
+246,4.100000000,POSE1_TO_POSE2_PRESS,785,762,738,718,682,641.688462947,915,800.688462947,841,658,636,657.688462947,0.458752636235,0.00452532446854,0.0495727057013,0.999999783837,9.58720227579e-05,-0.000649935981238,2.67863831082e-05,1793254941474620672
+247,4.116666667,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,800.735332853,841,658,636,657.735332853,0.458753222876,0.00452596147626,0.0495727831831,0.99999978399,9.64660080246e-05,-0.000649617714329,2.6673213897e-05,1793254941491287040
+248,4.133333333,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,800.162493186,841,658,636,657.162493186,0.458751629697,0.00452763046825,0.0495711943168,0.999999782187,9.8554487874e-05,-0.000652075798241,2.6645817857e-05,1793254941507953664
+249,4.150000000,POSE1_TO_POSE2_PRESS,785,762,738.422192272,718,682,641.577807728,915,800,841,658,636,657.422192272,0.458751129005,0.00452899410507,0.0495710085483,0.99999978146,9.90956417668e-05,-0.000653115922471,2.64475795094e-05,1793254941524620544
+250,4.166666667,POSE1_TO_POSE2_PRESS,785,761.988629413,738.988629413,718,682,641,915,800.011370587,841,658,636,658,0.458751074926,0.00453020499128,0.0495713703783,0.999999781169,9.9043741776e-05,-0.000653579568842,2.61871601696e-05,1793254941541287168
+251,4.183333333,POSE1_TO_POSE2_PRESS,785,761.40933677,738.40933677,718,682,641,915,800.59066323,841,658,636,658,0.458751720044,0.00452982593409,0.0495713319225,0.999999781262,9.99743926133e-05,-0.000653295030894,2.61999921994e-05,1793254941557954816
+252,4.200000000,HOLD_POSE2,785,761,738,718,682,642,915,801,841,658,636,658,0.458751974257,0.00453094275043,0.0495697385447,0.999999780771,9.8971611176e-05,-0.00065423356087,2.53012785966e-05,1793254941598579712
+253,4.216666667,HOLD_POSE2,785.573613967,761.573613967,738,718,682,642,915,800.426386033,841,658,635.426386033,658,0.458752697556,0.00453048976538,0.0495704285859,0.999999781222,9.86803214108e-05,-0.000653591240179,2.52429975842e-05,1793254941615245312
+254,4.233333333,HOLD_POSE2,785.848496808,762,738,718,682,641.848496808,915,800.151503192,841,658,635.151503192,658,0.458753491821,0.00452999810046,0.0495711389176,0.999999781841,9.85422586241e-05,-0.000652665250947,2.51923851624e-05,1793254941631911168
+255,4.250000000,HOLD_POSE2,785.258225894,762,738,718,682,641.258225894,915,800.741774106,841,658,635.741774106,658,0.458754491614,0.00452939441481,0.0495719080123,0.999999782951,9.88479557437e-05,-0.000650917730358,2.51639816989e-05,1793254941648577792
+256,4.266666667,HOLD_POSE2,785,761.674000019,738.325999981,718,682,641,915,800.674000019,841,658,635.674000019,657.674000019,0.458754876946,0.00453049977323,0.0495724528194,0.999999783158,0.000100332500046,-0.000650367034126,2.52810529762e-05,1793254941665244416
+257,4.283333333,HOLD_POSE2,785,761.094475305,738.905524695,718,682,641,915,800.094475305,841,658,635.094475305,657.094475305,0.458754784424,0.00453293422668,0.0495728232017,0.999999782662,0.00010273381407,-0.000650747088284,2.55112575283e-05,1793254941681911040
+258,4.300000000,HOLD_POSE2,785.480267675,761.480267675,738.519732325,718,682,641,915.480267675,800,841,658,635.480267675,657.480267675,0.458755207993,0.00453064964444,0.0495729264697,0.999999782988,0.000100601845549,-0.000650559259263,2.59936655226e-05,1793254941698577920
+259,4.316666667,HOLD_POSE2,785.944521954,761.944521954,738,718.055478046,681.944521954,641,915.944521954,800,841,658,635.944521954,658,0.458755524648,0.00452802218099,0.0495728442806,0.999999783296,9.80781142266e-05,-0.00065045541175,2.64066712081e-05,1793254941715245312
+260,4.333333333,HOLD_POSE2,785.355868768,761.355868768,738,718.644131232,681.355868768,641,915.355868768,800,841,658,635.355868768,658,0.458753847721,0.00453093296728,0.0495714797536,0.999999781946,0.000100275143114,-0.00065222169032,2.56805838974e-05,1793254941731911424
+261,4.350000000,HOLD_POSE2,785.229139447,761,738,718.770860553,681.229139447,641,915,800.229139447,841,658,635,658,0.458753296259,0.00453265265527,0.0495709497633,0.999999781267,0.000102063647404,-0.000652998209125,2.53442797154e-05,1793254941748578048
+262,4.366666667,HOLD_POSE2,785.808575364,761,738,718.191424636,681.808575364,641,915,800.808575364,841,658,635,658,0.458754465349,0.00453255145386,0.0495716955694,0.999999781622,0.000103227620331,-0.000652261634518,2.56038557768e-05,1793254941765244672
+263,4.383333333,HOLD_POSE2,786,761,738,718,681.613549651,641,915,801,841,658,635.386450349,658,0.458756213491,0.00453263491971,0.0495728454167,0.99999978293,0.000102667990865,-0.000650336641694,2.57192574623e-05,1793254941781911040
+264,4.400000000,HOLD_POSE2,786,761,738,718,681.036444697,641,915,801,841,658,635.963555303,658,0.458758247308,0.00453280949081,0.0495741945971,0.999999784703,0.000101258025271,-0.000647825344745,2.57635309944e-05,1793254941798577664
+265,4.416666667,HOLD_POSE2,786,761.53850774,738,718,681.53850774,641,915,800.46149226,841,658,636,658,0.458756588961,0.00453368607943,0.049572078448,0.999999782876,0.000102040406404,-0.000650538222109,2.52054670787e-05,1793254941815244544
+266,4.433333333,HOLD_POSE2,786,762,738,718,681.883855366,641,915,800.116144634,841,658,636,657.883855366,0.458755244255,0.00453432817173,0.0495704404207,0.999999781335,0.00010279206871,-0.000652802157753,2.47728572271e-05,1793254941831911168
+267,4.450000000,HOLD_POSE2,786,762,738,718,681.294694516,641,915,800.705305484,841,658,636,657.294694516,0.458756190501,0.00453382251981,0.0495717009446,0.999999781977,0.000102816763603,-0.000651803530215,2.5016535982e-05,1793254941848578048
+268,4.466666667,POSE2_TO_POSE3_RETREAT,785,762,738,718,682,641,915,800,841,658,636,658,0.458753635048,0.00452825444699,0.0495701562424,0.999999780524,9.51176611333e-05,-0.000655143292289,2.63116083354e-05,1793254941885746176
+269,4.483333333,POSE2_TO_POSE3_RETREAT,785.570771615,761.429228385,738,718,682,641,915,800,841,658,636,658,0.458754828621,0.00453208817753,0.0495710471556,0.999999781412,0.000102115085275,-0.00065275565368,2.56556141251e-05,1793254941902412544
+270,4.500000000,POSE2_TO_POSE3_RETREAT,785.852971947,761.147028053,738,718,682,641,915,800,841,658,636,657.852971947,0.458755502832,0.00453480670653,0.0495714225286,0.999999781899,0.000106619138868,-0.000651304811914,2.52084548379e-05,1793254941919079168
+271,4.516666667,POSE2_TO_POSE3_RETREAT,785.260082698,761.739917302,738,718,682,641,915,800,841,658,636,657.260082698,0.458754602085,0.00453414339819,0.049570234531,0.99999978131,0.000103562071258,-0.00065269479734,2.53945853502e-05,1793254941935745280
+272,4.533333333,POSE2_TO_POSE3_RETREAT,785,761.674955907,738,718,682,641,915,800,841,658,636,657.325044093,0.45875509889,0.00453409802238,0.0495707875311,0.99999978156,0.000102268864583,-0.000652512326041,2.54756360879e-05,1793254941952411648
+273,4.550000000,POSE2_TO_POSE3_RETREAT,785,761.09589538,738,718,682,641,915,800,841,658,636,657.90410462,0.458756687858,0.00453453555037,0.0495727010912,0.999999782471,0.000102354085427,-0.000651101006462,2.5474568757e-05,1793254941969078272
+274,4.566666667,POSE2_TO_POSE3_RETREAT,785,761.483914938,738.483914938,718,681.516085062,641,915,800,841,658,636,657.516085062,0.458755507184,0.00453500990018,0.0495717039308,0.999999781729,0.000103864810067,-0.000652008671394,2.52886797383e-05,1793254941985745152
+275,4.583333333,POSE2_TO_POSE3_RETREAT,785,762,738.936761025,718,681,641,915.063238975,800.063238975,841,658,636,657,0.458754056219,0.00453537182506,0.0495703592283,0.999999780858,0.000105281659773,-0.000653122740543,2.51051456357e-05,1793254942002412032
+276,4.600000000,POSE2_TO_POSE3_RETREAT,785,762,738.362568365,718,681,641,915.637431635,800.637431635,841,658,636,657,0.45875486279,0.0045347663393,0.0495708741416,0.999999781636,0.000103654073306,-0.000652185752463,2.5237020544e-05,1793254942019078656
+277,4.616666667,POSE2_TO_POSE3_RETREAT,785.216587088,762,738,718,681,641.216587088,915.783412912,801,841,658,635.783412912,657,0.458752398069,0.00453387474811,0.0495696586881,0.999999780679,0.000102600081071,-0.000653817383369,2.52509446073e-05,1793254942035745280
+278,4.633333333,POSE2_TO_POSE3_RETREAT,785.804245058,762,738,718,681,641.804245058,915.195754942,801,841,658,635.195754942,657,0.458744328756,0.0045324929828,0.049565478659,0.999999776729,0.000102528807408,-0.000659849737053,2.50627877083e-05,1793254942052411904
+279,4.650000000,POSE2_TO_POSE3_RETREAT,786,762,738.387525163,718,681.387525163,642,915.387525163,800.612474837,841,658,635,657,0.458722375454,0.00453406580023,0.0495550372457,0.99999976574,0.000104165847533,-0.000676058233045,2.47943510416e-05,1793254942069078528
+280,4.666666667,POSE2_TO_POSE3_RETREAT,786,762,738.968618585,718,681.968618585,642,915.968618585,800.031381415,841,658,635,657,0.458693487117,0.00453711442734,0.0495414682796,0.999999750864,0.00010665618788,-0.000697349697683,2.44858147209e-05,1793254942085745152
+281,4.683333333,POSE2_TO_POSE3_RETREAT,785.45803985,762,739,718,682,641.45803985,915.45803985,800,841,658,635,657.54196015,0.458642202484,0.00453535139474,0.0495224036999,0.999999729285,0.000106486856664,-0.000727661852451,2.44590489816e-05,1793254942102411520
+282,4.700000000,POSE2_TO_POSE3_RETREAT,785,762,739,718,681.885279366,641,915,800,841,658,635,658,0.458586658819,0.00453435945599,0.0495033279217,0.999999708462,0.000106521934027,-0.000755747079813,2.40008382398e-05,1793254942119078400
+283,4.716666667,POSE2_TO_POSE3_RETREAT,785,762,739,718,681.313071226,641,915,800,841,658,635,658,0.458519229407,0.00453753790826,0.0494854585774,0.999999695248,0.00010797764474,-0.000772898094187,2.17579478829e-05,1793254942135745280
+284,4.733333333,POSE2_TO_POSE3_RETREAT,785,762,738.729271099,718,681,641,915,800.270728901,841,658,635.270728901,658,0.458444394919,0.00453987491101,0.0494714742756,0.999999682403,0.000110059475189,-0.000789089095522,2.04721820562e-05,1793254942152411648
+285,4.750000000,POSE2_TO_POSE3_RETREAT,785,762,738.131466375,718,681,641,915,800.868533625,841,658,635.868533625,658,0.458360614137,0.0045411953328,0.0494621836127,0.999999670115,0.000112897739871,-0.000804120274948,2.03427476409e-05,1793254942169078272
+286,4.766666667,POSE2_TO_POSE3_RETREAT,785.447643335,762,738,718.447643335,681.447643335,641,915,800.552356665,841,658,636,657.552356665,0.45827129416,0.00454276406738,0.0494630210335,0.999999671133,0.000114865754364,-0.000802588573566,1.97678128153e-05,1793254942185744896
+287,4.783333333,POSE2_TO_POSE3_RETREAT,786,761.978463231,738,718.978463231,682,641.021536769,915,800,841,658,635.978463231,657,0.458179406473,0.00454441391576,0.0494667617623,0.999999675931,0.000116683996026,-0.000796341180026,1.9087377202e-05,1793254942202411520
+288,4.800000000,POSE2_TO_POSE3_RETREAT,786,761.403179254,738,718.403179254,682,641.596820746,915,800,841,658,635.403179254,657,0.458061649072,0.00454634945927,0.0494717387039,0.999999681323,0.000120959278786,-0.000788900313697,1.89235184658e-05,1793254942219078144
+289,4.816666667,POSE2_TO_POSE3_RETREAT,786,761.171578394,738,718,682,641.828421606,915,800.171578394,841,658.171578394,635.171578394,657.171578394,0.457934293761,0.00454776623923,0.0494765905666,0.999999686176,0.000124440956877,-0.00078218369831,1.87241250411e-05,1793254942235744768
+290,4.833333333,POSE2_TO_POSE3_RETREAT,786,761.745102963,738,718,682,641.254897037,915,800.745102963,841,658.745102963,635.745102963,657.745102963,0.457784454035,0.00454796774334,0.0494811494136,0.999999689892,0.000126063505429,-0.000777163742315,1.84414867077e-05,1793254942252411392
+291,4.850000000,POSE2_TO_POSE3_RETREAT,785.668739779,762,738,718,682,641.331260221,915,801,841,658.668739779,635.668739779,658,0.457613958815,0.00455021780007,0.0494823604952,0.999999688923,0.000130436035574,-0.00077770371877,1.78146153073e-05,1793254942269078272
+292,4.866666667,POSE2_TO_POSE3_RETREAT,785.072476503,762,738,718,682,641.927523497,915,801,841,658.072476503,635.072476503,658,0.457426939503,0.00455410666722,0.0494808934169,0.999999684168,0.000137008508633,-0.000782691554629,1.69123627456e-05,1793254942285745152
+293,4.883333333,POSE2_TO_POSE3_RETREAT,785,761.498593623,738,718,682,642,915,800.498593623,841,658,635,658,0.457207949289,0.00455854851509,0.0494761090982,0.999999673577,0.000142864533924,-0.000795106114428,1.55702558075e-05,1793254942302411520
+294,4.900000000,POSE2_TO_POSE3_RETREAT,785,761,738.073287051,718,682,642,915,800.073287051,841,658,635,657.926712949,0.456981140227,0.00456263560129,0.0494720108488,0.999999664059,0.000148594051223,-0.00080597643036,1.42665978903e-05,1793254942319078144
+295,4.916666667,POSE2_TO_POSE3_RETREAT,785,761,738.652727621,718,682,642,915,800.652727621,841,658,635,657.347272379,0.456730883465,0.00456374409045,0.0494758210139,0.99999966876,0.000154134521526,-0.000799084177021,1.36488313838e-05,1793254942335745024
+296,4.933333333,POSE2_TO_POSE3_RETREAT,785,761.237879178,738.762120822,718,682,642,915,800.762120822,841,658,635.237879178,657.237879178,0.456462973666,0.00456675226502,0.0494795915723,0.999999671272,0.000161531636579,-0.000794481038926,1.2759946496e-05,1793254942352411648
+297,4.950000000,POSE2_TO_POSE3_RETREAT,785,761.831573072,738.168426928,718,682,642,915,800.168426928,841,658,635.831573072,657.831573072,0.456168658838,0.00457260194934,0.0494833028877,0.999999670529,0.000171705881831,-0.000793301912146,1.14655284207e-05,1793254942369078016
+298,4.966666667,POSE2_TO_POSE3_RETREAT,785.412980332,761.587019668,738,718,682,642,915,800,841,658,635.587019668,658,0.455851301045,0.00457619963083,0.0494862594811,0.999999673774,0.000179804555287,-0.000787411593673,1.02131879086e-05,1793254942385744640
+299,4.983333333,POSE2_TO_POSE3_RETREAT,785.989521457,761.010478543,738,718,682,642,915,800,841,658,635.010478543,658,0.455524817096,0.00457890540682,0.0494889171669,0.999999678529,0.000187081198613,-0.000779655408466,8.97751223857e-06,1793254942402411264
+300,5.000000000,POSE2_TO_POSE3_RETREAT,786,761,738,718,682,642.563111689,915,800,840.436888311,658,635.563111689,658,0.455167942394,0.004583523362,0.0494975908365,0.999999685503,0.000194925955684,-0.000768723897973,7.88945046645e-06,1793254942419078400
+301,5.016666667,POSE2_TO_POSE3_RETREAT,785.862787303,761.137212697,738,718,682.137212697,643,915,800,840.137212697,658,636,657.862787303,0.454799444408,0.00458884511293,0.0495052914077,0.999999692029,0.000202605689445,-0.000758191175994,6.30192070913e-06,1793254942435745024
+302,5.033333333,POSE2_TO_POSE3_RETREAT,785.286878704,761.713121296,738,718,682.713121296,643,915,800,840.713121296,658,636,657.286878704,0.454395583224,0.00459630386519,0.0495095247394,0.999999697412,0.000209724186514,-0.000749121390625,3.1087576613e-06,1793254942452411648
+303,5.050000000,POSE2_TO_POSE3_RETREAT,785,761.702025651,738,718.297974349,683,643,915,800,841,658,635.702025651,657.297974349,0.453976915104,0.00460138838906,0.0495237448081,0.999999712989,0.000217422530721,-0.000725773883583,1.33153973461e-06,1793254942469078272
+304,5.066666667,POSE2_TO_POSE3_RETREAT,785,761.108294645,738,718.891705355,683,643,915,800,841,658,635.108294645,657.891705355,0.453543550201,0.00460411635576,0.0495478772874,0.999999737683,0.00022569640715,-0.000688254915857,9.59728288707e-07,1793254942485744640
+305,5.083333333,POSE2_TO_POSE3_RETREAT,785,761,738,718.530918387,683.469081613,643,915,800,840.530918387,658,635.469081613,658,0.453079921573,0.00461111920327,0.049577412724,0.999999761644,0.000235603788501,-0.000648999792633,-1.09301025895e-06,1793254942502411264
+306,5.100000000,POSE2_TO_POSE3_RETREAT,785,761,738,718.042838997,684,643.042838997,915,800,840.042838997,658,635.957161003,657.957161003,0.452604569138,0.0046189089606,0.0496066619056,0.999999782499,0.000245886994534,-0.000611988206252,-3.39838560581e-06,1793254942519078144
+307,5.116666667,POSE2_TO_POSE3_RETREAT,785,761,738,718.616964698,684,643.616964698,915,800,840.616964698,658,635.383035302,657.383035302,0.452067549439,0.00462463055888,0.0496174125551,0.999999782552,0.000256311726392,-0.000607604255754,-4.18630429976e-06,1793254942535744768
+308,5.133333333,POSE2_TO_POSE3_RETREAT,785,761,737.801843889,718.801843889,684,644,915,800,840.801843889,658,635,657.198156111,0.451504729096,0.00462982300818,0.0496188546843,0.999999778606,0.000265316946139,-0.000610211461641,-5.99600912175e-06,1793254942552411392
+309,5.150000000,POSE2_TO_POSE3_RETREAT,785,761,737.206489489,718.206489489,684,644,915,800,840.206489489,658,635,657.793510511,0.450890192128,0.00463395479307,0.0496016381489,0.999999766642,0.000271476793611,-0.000626832241902,-9.85385512552e-06,1793254942569078016
+310,5.166666667,POSE2_TO_POSE3_RETREAT,785,761,737.377293701,718,684,644.377293701,915,800,840,658,635,657.622706299,0.450301016626,0.00463756633085,0.0496120312331,0.999999782113,0.000279674230714,-0.000597815692251,-1.31268444792e-05,1793254942585744896
+311,5.183333333,POSE2_TO_POSE3_RETREAT,785,761,737.954932495,718,684,644.954932495,915,800,840,658,635,657.045067505,0.449725308226,0.00464090161433,0.0496370851823,0.999999809848,0.000288953638616,-0.000544565459926,-1.60892714851e-05,1793254942602411520
+312,5.200000000,POSE2_TO_POSE3_RETREAT,785,761,738,718,685.057398564,645.528699282,915,800,840,658,635.528699282,657,0.449110258873,0.00464553758088,0.0496744044598,0.999999837689,0.000298522538123,-0.00048494042354,-1.8408582469e-05,1793254942619077888
+313,5.216666667,POSE2_TO_POSE3_RETREAT,785,761,738,718.105171636,686,646,915,800,840,658,636,657.105171636,0.448478909469,0.00465097478647,0.0497057089409,0.999999857553,0.000308540582367,-0.000435034048053,-2.10165020054e-05,1793254942635744768
+314,5.233333333,POSE2_TO_POSE3_RETREAT,785,761,738,718.695640128,686,646,915,800,840,658,636,657.695640128,0.447787708108,0.00465960128785,0.0497044698239,0.999999854805,0.000320518091378,-0.000432462036103,-2.52072783615e-05,1793254942652411392
+315,5.250000000,POSE2_TO_POSE3_RETREAT,784.719406856,761,738,719,686.280593144,646.280593144,915,800,840,658,635.719406856,657.719406856,0.447046062595,0.00466274567558,0.0496900599302,0.999999842849,0.000327545550711,-0.000454018923514,-2.97195567341e-05,1793254942669078016
+316,5.266666667,POSE2_TO_POSE3_RETREAT,784.140321085,761,738,719,686.859678915,646.859678915,915,800,840,658,635.140321085,657.140321085,0.446250754931,0.00466005823797,0.049661639075,0.999999819558,0.000329307189804,-0.000501243930148,-3.45738467228e-05,1793254942685744640
+317,5.283333333,POSE2_TO_POSE3_RETREAT,784,761,738,719,686.564863138,647,915,800,840,658,635,657,0.445498984659,0.00462843327465,0.049673830563,0.999999867385,0.000167596693999,-0.000485769119488,-3.42024639543e-05,1793254942702411520
+318,5.300000000,POSE2_TO_POSE3_RETREAT,784,761,737.99052027,719,686.018959459,647.00947973,915,800,840,658,635,657.00947973,0.444760228962,0.00458795132158,0.049699134759,0.999999897252,-4.28896554748e-05,-0.000450133920837,-3.21863821213e-05,1793254942719078144
+319,5.316666667,POSE2_TO_POSE3_RETREAT,784,761,737.413473161,719,687.173053678,647.586526839,915,800,840,658,635,657.586526839,0.443967041645,0.00457126844554,0.0497318929221,0.99999991531,-4.35814064903e-05,-0.000408009972933,-3.17581947478e-05,1793254942735744768
+320,5.333333333,POSE2_TO_POSE3_RETREAT,784,761,737,719,687.832819372,648,915,800,840,658,635,658,0.443166629612,0.00456182130642,0.0497544617437,0.999999927077,-3.88410220103e-05,-0.00037849470006,-3.28398478798e-05,1793254942752411392
+321,5.350000000,POSE2_TO_POSE3_RETREAT,784,761,737,719,687.243048852,648,915,800,840,658,635,658,0.442347955394,0.00457066426155,0.0497512745129,0.999999926557,-2.03695877299e-05,-0.000380850938518,-3.77379919904e-05,1793254942769078272
+322,5.366666667,POSE2_TO_POSE3_RETREAT,784,761,737.340438649,719.340438649,687.680877297,648,915,800,840,658,635,658,0.441517399675,0.00457522971536,0.0497739945821,0.999999941475,-4.76879077343e-06,-0.000339557762222,-4.15549048064e-05,1793254942785744896
+323,5.383333333,POSE2_TO_POSE3_RETREAT,784,761,737.919521784,719.919521784,688.839043568,648,915,800,840,658,635,658,0.440678515163,0.00457679667813,0.0498148754399,0.999999963143,8.81971401254e-06,-0.000267666730051,-4.46138836572e-05,1793254942802411520
+324,5.400000000,POSE2_TO_POSE3_RETREAT,784,761,737.505701288,720,688.505701288,648,915,800,840,658,635,657.505701288,0.439792850405,0.00458428730786,0.049821189767,0.999999964705,2.54366323051e-05,-0.000259963600507,-4.85948691475e-05,1793254942819078400
+325,5.416666667,POSE2_TO_POSE3_RETREAT,783.931604406,760.931604406,737.068395594,720,688,648.068395594,915,800,840,658,635,657,0.438891833111,0.00459158136359,0.0498175093567,0.99999996138,4.09176531591e-05,-0.000269811127004,-5.2604289952e-05,1793254942835745024
+326,5.433333333,POSE2_TO_POSE3_RETREAT,783.357396855,760.357396855,737.642603145,720,688,648.642603145,915,800,840,658,635,657,0.437933118303,0.00459035079532,0.0497811748709,0.999999942073,4.4383349206e-05,-0.000332833659118,-5.5723430843e-05,1793254942852411648
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783,760.223896225,737.776103775,720,688,648.776103775,915,800,840,658,635,657,0.436994566314,0.00458721127712,0.0497671712767,0.999999931957,7.73284104456e-05,-0.000357776368694,-4.58411700218e-05,1793254942869078528
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783,760.816869386,737.183130614,720,688,648.183130614,915,800,840,658,635,657,0.436089251144,0.00458092499111,0.049789978557,0.999999936092,0.000158868100296,-0.000319947219949,-1.45270274683e-05,1793254942885745152
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783.399133352,761,737,720,688,648,915,800,840,658,635.399133352,657,0.435110021682,0.00457999281745,0.0497818913087,0.999999924047,0.00018150753818,-0.00034480856657,-8.21983026456e-06,1793254942902411520
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783.976612076,761,737,720,688,648,915,800,840,658,635.976612076,657,0.434097765037,0.00458145303047,0.0497599994091,0.999999905027,0.000177828480775,-0.000397682006223,-1.30865269032e-05,1793254942919078144
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783.447265516,761,737.552734484,720,688.552734484,648.552734484,915,800,839.447265516,658,635.447265516,657,0.433186263629,0.00458339285172,0.0497759334818,0.999999922348,0.000150973676197,-0.000363549064524,-1.85447458064e-05,1793254942935744768
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783.131509623,761,738,720,689.131509623,649,915,800,839.131509623,658,635,657.131509623,0.432275168352,0.00458557223928,0.0497920744531,0.999999937035,0.000128397936953,-0.000329972152831,-2.3726997563e-05,1793254942952411392
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783.719695327,761,738,720,689.719695327,649,915,800,839.719695327,658,635,657.719695327,0.431350715189,0.00458851323813,0.0498033895308,0.999999943529,0.000124078541807,-0.000311079103394,-2.7864231848e-05,1793254942969078272
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783.696970543,761,738,720.303029457,689.696970543,648.696970543,915,800,839.696970543,658,635,658,0.430379423349,0.00458836557866,0.0497919137761,0.999999937118,0.000123631656522,-0.000330976597222,-3.05403105442e-05,1793254942985744896
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783.118053473,761,738,720.881946527,689.118053473,648.118053473,915,800,839.118053473,658,635,658,0.429365488143,0.00458540590669,0.0497596885252,0.999999916892,0.000126710426827,-0.000386190230402,-3.18861066325e-05,1793254943002411776
+336,5.600000000,POSE2_TO_POSE3_RETREAT,782.540664912,761,738,721,689,648.459335088,914.540664912,800,839,657.540664912,635,657.540664912,0.428384940694,0.00458569429187,0.0497667062773,0.999999920759,0.000122373571063,-0.000377456521878,-3.21518090932e-05,1793254943019078400
+337,5.616666667,POSE2_TO_POSE3_RETREAT,782.03620946,761,738,721,689,648.96379054,914,800,839.03620946,657.03620946,635,657,0.427412021632,0.004587013267,0.0497812660847,0.999999929216,0.000116965826448,-0.000356161327925,-3.22013684775e-05,1793254943035744768
+338,5.633333333,POSE2_TO_POSE3_RETREAT,782.611258003,761,738,721,689,648.388741997,914,800,839.611258003,657.611258003,635,657,0.42642535162,0.00459128730051,0.0497584694144,0.999999915062,0.000123889760013,-0.000391698517852,-3.31516932503e-05,1793254943052411392
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783,761,738,721,689,648,914,800,839.808985011,658,635,657,0.425480937434,0.00459396589375,0.0497532075154,0.99999991421,0.000127092644007,-0.000392733352152,-3.4470984435e-05,1793254943069078272
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783,761,738,721,689,648,914,800,839.219403413,658,635,657,0.424624692908,0.00459331548612,0.0497845331828,0.999999940055,0.000122531289696,-0.000321776528561,-3.65601509015e-05,1793254943085744896
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783.363410088,761,738,721,689.363410088,648,914.363410088,800,839,658,635,657,0.423729205326,0.0045927333445,0.0498109471327,0.999999954008,0.000127211960647,-0.000272789079754,-3.72511375467e-05,1793254943102411520
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783.942212125,761,738,721,689.942212125,648,914.942212125,800,839,658,635,657,0.422810458569,0.00459219166395,0.0498344499222,0.999999961833,0.000137370349572,-0.000236822810781,-3.71134275766e-05,1793254943119078144
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783.48149597,761,738,721,690,648.51850403,915,800,839,658,635,657,0.421840189061,0.00459323190456,0.0498084440406,0.999999948568,0.000139757379551,-0.000286316096426,-3.68073627195e-05,1793254943135745024
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,760.905912035,738,721,690,648.905912035,914.905912035,800,839,658,635,657,0.420880015933,0.00459464048347,0.049784291938,0.999999934047,0.00013756594271,-0.000334140388898,-3.64951514798e-05,1793254943152411904
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,760.332516405,738,721,690,648.332516405,914.332516405,800,839,658,635,657,0.420000387958,0.00459703164529,0.0497975570774,0.999999939694,0.00011644166135,-0.000325175648262,-3.62467542597e-05,1793254943169078528
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783,760.248928545,738,721,690,648,914.248928545,800,839,658,634.751071455,657,0.419115618,0.0046000368593,0.0497980171398,0.999999936283,0.000114951780504,-0.000336074747622,-3.56816544651e-05,1793254943185745408
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783,760.841484954,738,721,690,648,914.841484954,800,839,658,634.158515046,657,0.418223749978,0.00460388972777,0.0497808007179,0.999999919434,0.000140565771931,-0.000374394442664,-3.46793696466e-05,1793254943202412032
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783,761,738,721,690,648,914.576051866,800,839,658,634.423948134,657,0.417375515726,0.00460389733025,0.0497704671379,0.99999991452,0.000148384601261,-0.000384235978646,-3.61070739309e-05,1793254943219078656
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783,760.997314607,738,721,690.002685393,648,914,800,839,657.997314607,635,657,0.416543488186,0.00460248635644,0.0497628264361,0.999999914575,0.000149567432079,-0.00038341012461,-3.84154594318e-05,1793254943235745280
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783,760.427000314,738,721,690.572999686,648,914,800,839,657.427000314,635,657,0.415768830703,0.00459806174353,0.0497930676012,0.999999938625,0.000121775467668,-0.000326155123211,-3.92931237913e-05,1793254943252411904
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783,760.149846411,738,721,690.850153589,648.149846411,914.149846411,800,839,657,634.850153589,657,0.414988357658,0.00459416884708,0.0498117392038,0.999999951612,0.000102676581606,-0.000290947182568,-3.9796150114e-05,1793254943269078528
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783,760.746156492,738,721,690.253843508,648.746156492,914.746156492,800,839,657,634.253843508,657,0.414190557105,0.00459186018561,0.0497959395886,0.999999941582,0.000109478501665,-0.000321427902729,-3.91829522899e-05,1793254943285745152
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783,761,738,721.330199839,690,648.669800161,914.669800161,800,839,657.330199839,634,657,0.413418767575,0.00459363289405,0.049781765756,0.99999993175,0.00012172068421,-0.000346649558871,-3.89753858581e-05,1793254943302411776
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783,761,738,721.905150787,690,648.094849213,914.094849213,800,839,657.905150787,634,657,0.412666258014,0.00459843080038,0.0497687969887,0.999999922013,0.000137995304025,-0.00036797308361,-3.90684820332e-05,1793254943319078144
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,760.51836645,738,721.51836645,690,648,914,800,839,658,634,657.48163355,0.411971283546,0.00460196675599,0.0497879936353,0.999999929567,0.000145539782683,-0.000343773788088,-3.87842049427e-05,1793254943335745024
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783,760.058046841,738,721.058046841,690.058046841,648,914,800,839,658,634,657.941953159,0.411286064921,0.00460447754149,0.0498104053134,0.999999938706,0.000147709519981,-0.000315112571543,-3.83946504694e-05,1793254943352411648
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783,760.631158425,738,721.631158425,690.631158425,648,914,800,839,658,634,657.368841575,0.410586552971,0.0046001039344,0.0498049586033,0.999999939032,0.000117491778322,-0.000326661398216,-3.77324806625e-05,1793254943369078272
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783,761,738.212664591,722,690.787335409,648,914,800,839,657.787335409,634.212664591,657,0.409915479116,0.00459742402477,0.049796755148,0.99999993605,0.000103991588656,-0.000340123123269,-3.74424097262e-05,1793254943385744896
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783,761,738.809328426,722,690.190671574,648,914,800,839,657.190671574,634.809328426,657,0.409295754776,0.00459780235182,0.0497835739578,0.999999928265,0.000120677562313,-0.000357038885245,-3.78242217279e-05,1793254943402411520
+360,6.000000000,POSE2_TO_POSE3_RETREAT,783.389852796,761,739,722,690.389852796,648.389852796,914.389852796,800,839,657.389852796,634.610147204,657,0.408725400178,0.00459484598126,0.0497921719239,0.999999933399,0.000124341473284,-0.000341006481505,-3.81464990126e-05,1793254943419078400
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783.962797423,761,739,722,690.962797423,648.962797423,914.962797423,800,839,657.962797423,634.037202577,657,0.408178231704,0.00459032349166,0.049810998328,0.999999943937,0.000121889658546,-0.000309500187164,-3.84408162128e-05,1793254943435745280
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783.460569322,761,738.460569322,722,691,649,915,800,839,657.460569322,634.539430678,657,0.407644329649,0.00458922546427,0.0498229599769,0.999999948561,0.000117084031584,-0.000296148789703,-3.82908082373e-05,1793254943452411904
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783.118667575,761,738.118667575,722.118667575,691,648.881332425,914.881332425,800,838.881332425,657.118667575,634.881332425,657,0.407110019553,0.0045885176449,0.0498268926301,0.999999949096,0.000112822519074,-0.000295998955891,-3.82507867096e-05,1793254943469078272
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783.707199571,761,738.707199571,722.707199571,691,648.292800429,914.292800429,800,838.292800429,657.707199571,634.292800429,657,0.406570446025,0.00458841328976,0.0498009219499,0.999999934179,0.000111362613585,-0.000343128991232,-3.87684249271e-05,1793254943485744896
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783.719282478,761,738.719282478,722.719282478,690.719282478,648.280717522,914,800,838.280717522,658,634.280717522,657,0.406061890945,0.00459050085742,0.0497807201157,0.999999921511,0.000113128476227,-0.000377621485722,-3.9784215904e-05,1793254943502411520
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783.160629793,761,738.160629793,722.160629793,690.160629793,648.839370207,914,800,838.839370207,658,634.839370207,657,0.405584046905,0.00459475862243,0.0497662299505,0.999999912334,0.000118088134714,-0.000399601695171,-4.12932221692e-05,1793254943519078144
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783,761,738.424892699,722,690.424892699,648.575107301,914,800,839,658,635,657,0.40516826564,0.00459899541187,0.0497710549589,0.999999914135,0.000125724211615,-0.000392669723096,-4.16396317259e-05,1793254943535744768
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783,761,738.979374217,722,691,648,914,800,839,658,634.979374217,657,0.404779513868,0.00460308975337,0.0497842897469,0.999999920543,0.000134197543137,-0.00037307026292,-4.15095121525e-05,1793254943552411392
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783,761,738.400771289,722,691,648,914,800,839,658,634.400771289,657,0.404444403182,0.00460355953864,0.0498141555456,0.999999936611,0.000136100783394,-0.000326434041293,-4.11808045028e-05,1793254943569078272
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783,761,738,722,691,648,914,800,839,658,634.180701255,657,0.404113442499,0.00460410835051,0.0498387346226,0.999999947806,0.000138128166261,-0.000289182452096,-4.10108391054e-05,1793254943585745152
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783,761,738,722,691,648,914,800,839,658,634.768640848,657,0.403791834541,0.00460483526106,0.0498513992468,0.999999952004,0.00014043532406,-0.000273080596987,-4.11986242329e-05,1793254943602411776
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783.350354708,761,738,722,691,648,914,800,839,657.649645292,634.649645292,657,0.403480032577,0.00460669330261,0.0498523418184,0.999999950449,0.000144721210779,-0.000276448987255,-4.16439082241e-05,1793254943619078400
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783.9280292,761,738,722,691,648,914,800,839,657.0719708,634.0719708,657,0.403174592981,0.00460928525318,0.0498456788007,0.99999994505,0.000150290951527,-0.000292450207314,-4.22562645835e-05,1793254943635744768
+374,6.233333333,POSE2_TO_POSE3_RETREAT,784,761,738,722,691,648,914,800,839,657.505998894,634,657,0.402898773604,0.00460985714698,0.0498327278684,0.999999938383,0.000147645953761,-0.000315584297029,-4.2911618151e-05,1793254943652411648
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783.916192227,761,738.083807773,722,691,648,914,800,838.916192227,658,634.083807773,657,0.40263380494,0.00461022721043,0.049819970158,0.999999931676,0.000143998989834,-0.000337647384185,-4.36742024426e-05,1793254943669078016
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783.339575783,761,738.660424217,722,691,648,914,800,838.339575783,658,634.660424217,657,0.402407852749,0.00461110097611,0.0498136107521,0.99999992864,0.000141334845766,-0.000347443511831,-4.50313452884e-05,1793254943685744896
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783,760.758117889,739,722.241882111,691,648,914,800,838.241882111,658,635,657,0.4022002283,0.00460987937533,0.0498099067007,0.999999930817,0.000109475955452,-0.0003525123618,-4.60072034746e-05,1793254943702411520
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783,760.169724348,739,722.830275652,691,648,914,800,838.830275652,658,635,657,0.402018859516,0.00460565602943,0.0498100066129,0.999999936748,3.57937432024e-05,-0.000350809085426,-4.6436847004e-05,1793254943719078400
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783,760.412699378,738.587300622,722.587300622,691,648,914,800,838.587300622,658,634.587300622,657,0.401866312123,0.00459195797953,0.0498133770128,0.99999994082,3.50414620223e-06,-0.0003408348108,-4.6679982616e-05,1793254943735745280
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783,760.992702986,738.007297014,722.007297014,691,648,914,800,838.007297014,658,634.007297014,657,0.401725448641,0.00457441897883,0.049818073236,0.9999999452,-1.20052938081e-05,-0.000327507556029,-4.68475098091e-05,1793254943752411904
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783,761,738,722,691,648,914,800,838,658,634.567768719,657,0.40161800152,0.00456370875591,0.0498271223102,0.999999950948,4.37146018083e-05,-0.00030869739494,-2.99915507015e-05,1793254943769078784
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783.146551772,761,738.146551772,722,691,648,913.853448228,800,838,658,635,657,0.401513638313,0.00455933049897,0.049834041481,0.999999952562,9.03340857622e-05,-0.000293916307438,-1.81629973913e-05,1793254943785745152
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783.736779123,761,738.736779123,722,691,648,913.263220877,800,838,658,635,657,0.401417322481,0.00457385843389,0.0498343446071,0.999999951567,0.000106655124346,-0.000291544468382,-2.22112315764e-05,1793254943802411520
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783.67922971,761,739,722.32077029,691.32077029,648,913,800,838,658,634.67922971,657,0.401331411017,0.00457674332153,0.0498327253405,0.999999950586,0.000110870596349,-0.000293229710158,-2.34911066041e-05,1793254943819078400
+385,6.416666667,POSE2_TO_POSE3_RETREAT,783.100258241,761,739,722.899741759,691.899741759,648,913,800,838,658,634.100258241,657,0.401253874445,0.00457025624384,0.0498295586612,0.999999949742,0.000105341802425,-0.000298180662695,-2.25426160926e-05,1793254943835745024
+386,6.433333333,POSE2_TO_POSE3_RETREAT,783.475538843,761,739,722.524461157,691.524461157,648,913,800,838.475538843,658,634.475538843,657,0.401195894518,0.00457335950542,0.0498295891193,0.99999994967,0.00010896179041,-0.000297008447634,-2.39253844753e-05,1793254943852411392
+387,6.450000000,POSE2_TO_POSE3_RETREAT,784,761,739,722,691,648,913,800,838.948230694,658,634.948230694,657,0.401143693907,0.00457795240285,0.0498304052976,0.999999949865,0.000113871573757,-0.000294357381514,-2.56240752881e-05,1793254943869078272
+388,6.466666667,POSE2_TO_POSE3_RETREAT,784,761,739,722,691,648,913,800,838.360633139,658,634.360633139,657,0.401108918132,0.00457717457505,0.0498324235075,0.999999951413,0.000112299382982,-0.00028967290204,-2.55392065502e-05,1793254943885745152
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783.776248013,761,739,722,691,648,913,800,838,658,634,657,0.401078582063,0.0045757816875,0.0498349645534,0.999999953176,0.00011002411579,-0.000284425339295,-2.53897591137e-05,1793254943902412032
+390,6.500000000,POSE2_TO_POSE3_RETREAT,783.196967285,761,739,722,691,648,913,800,838,658,634,657,0.401055300427,0.00457341150622,0.0498383363548,0.999999955278,0.000106631701631,-0.000278283070645,-2.51376999294e-05,1793254943919078400
+391,6.516666667,POSE2_TO_POSE3_RETREAT,783,761,739,722,691,648,913,800,838,658,634.379045993,657,0.401035192747,0.0045745941937,0.0498391962394,0.999999955797,0.000107328630399,-0.000276072666419,-2.58814713833e-05,1793254943935745024
+392,6.533333333,POSE2_TO_POSE3_RETREAT,783,761,739,722,691,648,913,800,838,658,634.953375867,657,0.401016720284,0.00457760731348,0.0498387619885,0.99999995551,0.000110132382118,-0.000275887952564,-2.71382931756e-05,1793254943952411904
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783,761,739,722.528127254,691,648,913,800,838,657.471872746,635,657,0.401006943601,0.00457630229837,0.0498387989945,0.999999955699,0.000109771207656,-0.000275421211687,-2.63601971925e-05,1793254943969078528
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783,761,739,723,691,648,913,800,838,657.105789405,635,657,0.400999286537,0.00457508088065,0.0498392578498,0.999999956132,0.000109319200216,-0.000274091168002,-2.56951782159e-05,1793254943985744896
+395,6.583333333,POSE2_TO_POSE3_RETREAT,783,761,739,723,691,648,913,800,838,657.696626577,635,657,0.400997825339,0.00457599203268,0.0498414599916,0.999999957473,0.000109732829645,-0.000268917102694,-2.63729645375e-05,1793254944002411520
+396,6.600000000,POSE2_TO_POSE3_RETREAT,783,761,738.718232887,723,691,648,913,800.281767113,838.281767113,658,635,657,0.400996815401,0.00457606630477,0.0498435269396,0.999999958573,0.000109015800421,-0.000265069186705,-2.65996693249e-05,1793254944019078400
+397,6.616666667,POSE2_TO_POSE3_RETREAT,783,761,738.139104195,723,691,648,913,800.860895805,838.860895805,658,635,657,0.400996281698,0.00457525737972,0.0498454512117,0.999999959432,0.000107105536037,-0.000262620815431,-2.63503274527e-05,1793254944035745024
+398,6.633333333,POSE2_TO_POSE3_RETREAT,783.43556103,761,738,722.56443897,691,648,913.43556103,800.56443897,839,657.56443897,634.56443897,657,0.400993580232,0.00457699845249,0.0498452323053,0.999999958748,0.000110472089185,-0.000263809499909,-2.65501216066e-05,1793254944052411648
+399,6.650000000,POSE2_TO_POSE3_RETREAT,783.991118521,761,738.008881479,722,691,648,913.991118521,800,839,657.008881479,634,657,0.400990258396,0.00457950739831,0.0498443694476,0.999999957582,0.000115429980777,-0.000266061309722,-2.68835182471e-05,1793254944069078272
+400,6.666666667,POSE2_TO_POSE3_RETREAT,783.413553731,761,738.586446269,722,691,648,913.413553731,800,839,657.586446269,634,657,0.400991093505,0.00457956697729,0.0498456559655,0.999999958455,0.000115469542862,-0.000262764849763,-2.66802069618e-05,1793254944085744896
+401,6.683333333,POSE2_TO_POSE3_RETREAT,783.168136823,761,739,722.168136823,691,648,913,800,839,658,634.168136823,657,0.400991449348,0.00457907813156,0.0498466060364,0.999999959196,0.000114021525742,-0.000260584737893,-2.65182035157e-05,1793254944102411776
+402,6.700000000,POSE2_TO_POSE3_RETREAT,783.760230455,761,739,722.760230455,691,648,913,800,839,658,634.760230455,657,0.400990596722,0.0045772064335,0.0498467077564,0.999999959611,0.000108822579359,-0.000261219496655,-2.64603577516e-05,1793254944119078400
+403,6.716666667,POSE2_TO_POSE3_RETREAT,784,761,738.65623962,723,691,648,913,800,838.65623962,657.65623962,635,657,0.400990321497,0.00457669032286,0.0498468036338,0.999999959792,0.000107207580718,-0.000261188868813,-2.65231064722e-05,1793254944135744768
+404,6.733333333,POSE2_TO_POSE3_RETREAT,784,761,738.078537636,723,691,648,913,800,838.078537636,657.078537636,635,657,0.400990439214,0.00457709673947,0.0498468955351,0.999999959825,0.000108031590772,-0.00026070542085,-2.66679241854e-05,1793254944152411392
+405,6.750000000,POSE2_TO_POSE3_RETREAT,783.505147584,761,738,722.505147584,691,648,913,800,838.494852416,657.494852416,635,657,0.40098913825,0.00457757208728,0.04984619875,0.999999959582,0.000108418517469,-0.000261481336984,-2.66347229405e-05,1793254944169078272
+406,6.766666667,POSE2_TO_POSE3_RETREAT,783,761,738,722.069459678,691,648,913,800,838.930540322,658,635,657,0.400987885637,0.00457768925076,0.0498455594826,0.999999959403,0.00010839580431,-0.000262178846352,-2.65776662025e-05,1793254944185744896
+407,6.783333333,POSE2_TO_POSE3_RETREAT,783,761,738,722.658239543,691,648,913,800,838.341760457,658,635,657,0.400988663385,0.00457504733631,0.0498462780221,0.999999960037,0.000105824552873,-0.000260808688057,-2.65516648909e-05,1793254944202411520
+408,6.800000000,POSE2_TO_POSE3_RETREAT,783.243586783,761,738.243586783,722.756413217,691,648,913,800,838,658,634.756413217,657,0.400989157218,0.0045740034315,0.0498470520904,0.999999960464,0.000104629372707,-0.000259658670936,-2.65080399697e-05,1793254944219078400
+409,6.816666667,POSE2_TO_POSE3_RETREAT,783.824184941,761,738.824184941,722.175815059,691,648,913,800,838,658,634.175815059,657,0.400989258245,0.00457517043212,0.0498479029851,0.99999996061,0.000105338037973,-0.000258813227129,-2.64400321256e-05,1793254944235744768
+410,6.833333333,POSE2_TO_POSE3_RETREAT,784,761,739,722.401914328,691,648,913,800,838,658,634,657,0.400988465476,0.0045771487145,0.0498478284738,0.999999960087,0.000108876931248,-0.00025934871779,-2.66390562426e-05,1793254944252411648
+411,6.850000000,POSE2_TO_POSE3_RETREAT,784,761,739,722.978397647,691,648,913,800,838,658,634,657,0.400987284494,0.00457947937201,0.0498473520181,0.999999959253,0.000113645116425,-0.000260484008803,-2.69540640359e-05,1793254944269078272
+412,6.866666667,POSE2_TO_POSE3_RETREAT,783.447531115,761,739,723,691,648,913,800,838,658,634.552468885,657,0.400986625461,0.00457626777453,0.0498473406812,0.999999959816,0.0001080623848,-0.000260718357269,-2.67513950297e-05,1793254944285744896
+413,6.883333333,POSE2_TO_POSE3_RETREAT,783,760.870037566,739,723,691,648,913,800,838,658,635,657,0.400986400236,0.00457397344151,0.0498473931112,0.999999960316,0.000103854260135,-0.000260530375533,-2.65877106871e-05,1793254944302411520
+414,6.900000000,POSE2_TO_POSE3_RETREAT,783,760.280099101,739,723,691,648,913,800,838,658,635,657,0.400987638466,0.0045756892516,0.0498476071425,0.999999960501,0.000105937537813,-0.000258971781702,-2.6633335607e-05,1793254944319078400
+415,6.916666667,POSE2_TO_POSE3_RETREAT,783,760.304385611,739,722.695614389,691,648,913,800,838,657.695614389,635,657,0.400987951567,0.00457664614611,0.0498480806436,0.999999960503,0.000107235177596,-0.000258417326353,-2.67313266397e-05,1793254944335745024
+416,6.933333333,POSE2_TO_POSE3_RETREAT,783,760.883940024,739,722.116059976,691,648,913,800,838,657.116059976,635,657,0.400987428339,0.00457691697035,0.0498487887089,0.999999960345,0.000107822589742,-0.000258770626164,-2.68766573602e-05,1793254944352411648
+417,6.950000000,POSE2_TO_POSE3_RETREAT,783,761,739,722.46037117,691,648,913,800,838,657.46037117,634.53962883,657,0.400988256871,0.00457556468457,0.0498486985075,0.999999960604,0.000107573368172,-0.000257913201901,-2.64571693401e-05,1793254944369078272
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd861ff5ce3953e3e23908b4b5ae585d07e6b0ff
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,419 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
+1,0.016666667,pose1_baseline,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
+2,0.033333333,pose1_baseline,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
+3,0.050000000,pose1_baseline,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
+4,0.066666667,pose1_baseline,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
+5,0.083333333,pose1_baseline,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
+6,0.100000000,pose1_baseline,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
+7,0.116666667,pose1_baseline,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
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+369,6.150000000,pose2_to_pose3_retreat,0.578425384626,0.0101818624797,1.04002056683,0.548996531398,0.0188560972064,1.03969227729
+370,6.166666667,pose2_to_pose3_retreat,0.578155054621,0.0101818072317,1.04002055549,0.548726202332,0.0188560448843,1.03969225901
+371,6.183333333,pose2_to_pose3_retreat,0.577898125384,0.0101818493843,1.04002057893,0.548469273056,0.0188560867486,1.0396922784
+372,6.200000000,pose2_to_pose3_retreat,0.577650793771,0.0101819168011,1.04002055993,0.548221940541,0.0188561512659,1.03969226381
+373,6.216666667,pose2_to_pose3_retreat,0.577414182395,0.0101818255943,1.0400205008,0.547985329458,0.0188560612731,1.03969221054
+374,6.233333333,pose2_to_pose3_retreat,0.577192925041,0.0101818392239,1.04002042615,0.547764071447,0.0188560724471,1.03969213
+375,6.250000000,pose2_to_pose3_retreat,0.576988618189,0.0101818519464,1.04002032477,0.547559764671,0.0188560853919,1.03969202764
+376,6.266666667,pose2_to_pose3_retreat,0.576804123516,0.0101818979424,1.04002040786,0.547375270934,0.0188561347281,1.0396921151
+377,6.283333333,pose2_to_pose3_retreat,0.57663947514,0.0101817470141,1.04002044848,0.547210623358,0.018855986239,1.03969214852
+378,6.300000000,pose2_to_pose3_retreat,0.576494738252,0.010181801749,1.04002061143,0.547065886577,0.0188560413777,1.03969231251
+379,6.316666667,pose2_to_pose3_retreat,0.576369117697,0.0101817725857,1.04002067484,0.546940266396,0.01885601358,1.03969237851
+380,6.333333333,pose2_to_pose3_retreat,0.576260023507,0.0101817642855,1.04002055897,0.546831171696,0.0188560037904,1.039692269
+381,6.350000000,pose2_to_pose3_retreat,0.576164499612,0.010181826498,1.04002039195,0.546735646673,0.018856062463,1.03969210969
+382,6.366666667,pose2_to_pose3_retreat,0.576079892187,0.0101816302028,1.04002053739,0.546651041481,0.0188558733935,1.03969224571
+383,6.383333333,pose2_to_pose3_retreat,0.576005353632,0.0101816576736,1.04002056071,0.546576502208,0.0188558981889,1.03969226332
+384,6.400000000,pose2_to_pose3_retreat,0.575938824744,0.0101817149053,1.04002054298,0.546509973623,0.0188559565886,1.03969224931
+385,6.416666667,pose2_to_pose3_retreat,0.575880728799,0.0101817327508,1.04002047122,0.546451877596,0.0188559742509,1.03969217992
+386,6.433333333,pose2_to_pose3_retreat,0.575832460506,0.0101817179011,1.0400205074,0.546403609116,0.0188559587232,1.03969221498
+387,6.450000000,pose2_to_pose3_retreat,0.575793053627,0.0101817254311,1.04002067004,0.54636420193,0.0188559650186,1.03969237253
+388,6.466666667,pose2_to_pose3_retreat,0.575762334062,0.0101817934807,1.04002073166,0.546333480631,0.0188560267016,1.0396924213
+389,6.483333333,pose2_to_pose3_retreat,0.575737619869,0.01018173843,1.04002050948,0.546308768761,0.0188559797658,1.03969220539
+390,6.500000000,pose2_to_pose3_retreat,0.575718214987,0.0101817248025,1.04002052067,0.546289364353,0.0188559679459,1.03969222193
+391,6.516666667,pose2_to_pose3_retreat,0.575702825614,0.0101817358477,1.04002049195,0.546273974646,0.0188559781167,1.03969220004
+392,6.533333333,pose2_to_pose3_retreat,0.575691058809,0.0101817489165,1.04002039826,0.546262207437,0.0188559900044,1.03969211139
+393,6.550000000,pose2_to_pose3_retreat,0.575682666081,0.0101817283586,1.04002042084,0.546253814966,0.0188559700879,1.03969212805
+394,6.566666667,pose2_to_pose3_retreat,0.575677208038,0.0101818077246,1.04002044394,0.546248355861,0.0188560456766,1.03969214635
+395,6.583333333,pose2_to_pose3_retreat,0.575674329761,0.0101818523582,1.0400204605,0.546245476982,0.0188560881786,1.03969216041
+396,6.600000000,pose2_to_pose3_retreat,0.57567259262,0.0101818107451,1.04002050704,0.546243740336,0.0188560482346,1.03969220673
+397,6.616666667,pose2_to_pose3_retreat,0.575671419027,0.0101817826318,1.04002053849,0.546242567077,0.0188560212488,1.03969223803
+398,6.633333333,pose2_to_pose3_retreat,0.575670543937,0.010181761669,1.04002056194,0.546241692237,0.0188560011269,1.03969226136
+399,6.650000000,pose2_to_pose3_retreat,0.575669875875,0.0101817645013,1.0400205166,0.546241024073,0.0188560037013,1.03969221831
+400,6.666666667,pose2_to_pose3_retreat,0.575669186648,0.0101817797896,1.0400204283,0.54624033455,0.0188560181328,1.03969213393
+401,6.683333333,pose2_to_pose3_retreat,0.57566879157,0.0101817885532,1.04002037769,0.546239939302,0.0188560264052,1.03969208556
+402,6.700000000,pose2_to_pose3_retreat,0.575668769648,0.0101817890394,1.04002037488,0.546239917371,0.0188560268642,1.03969208288
+403,6.716666667,pose2_to_pose3_retreat,0.5756685326,0.0101817942976,1.04002034451,0.54623968022,0.0188560318277,1.03969205386
+404,6.733333333,pose2_to_pose3_retreat,0.575668100548,0.0101818038813,1.04002028916,0.546239247982,0.0188560408743,1.03969200096
+405,6.750000000,pose2_to_pose3_retreat,0.575667895483,0.0101818030353,1.04002031718,0.546239042739,0.0188560393735,1.03969202764
+406,6.766666667,pose2_to_pose3_retreat,0.575667781351,0.010181800596,1.04002035259,0.546238928476,0.0188560364241,1.03969206138
+407,6.783333333,pose2_to_pose3_retreat,0.575667665584,0.0101817981218,1.0400203885,0.546238812576,0.0188560334323,1.0396920956
+408,6.800000000,pose2_to_pose3_retreat,0.575667599634,0.0101817967123,1.04002040896,0.546238746549,0.0188560317279,1.0396921151
+409,6.816666667,pose2_to_pose3_retreat,0.575667540705,0.0101817954528,1.04002042724,0.546238687553,0.0188560302051,1.03969213252
+410,6.833333333,pose2_to_pose3_retreat,0.575667340933,0.0101817911833,1.04002048922,0.54623848755,0.0188560250424,1.03969219158
+411,6.850000000,pose2_to_pose3_retreat,0.575667070674,0.0101817854072,1.04002057306,0.546238216978,0.0188560180581,1.03969227147
+412,6.866666667,pose2_to_pose3_retreat,0.575666969723,0.0101817820755,1.04002066759,0.546238116643,0.0188560167836,1.03969236516
+413,6.883333333,pose2_to_pose3_retreat,0.575666937956,0.0101817810187,1.04002069778,0.546238085075,0.0188560163921,1.03969239509
+414,6.900000000,pose2_to_pose3_retreat,0.575666929064,0.0101817807229,1.04002070624,0.546238076239,0.0188560162825,1.03969240347
+415,6.916666667,pose2_to_pose3_retreat,0.575666828218,0.0101817773681,1.04002080209,0.546237976025,0.0188560150395,1.0396924985
+416,6.933333333,pose2_to_pose3_retreat,0.575666720232,0.0101817075089,1.04002057268,0.546237867926,0.0188559451383,1.03969227804
+417,6.950000000,pose2_to_pose3_retreat,0.575666707958,0.0101816966969,1.04002053221,0.546237855605,0.0188559342217,1.03969223901
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0a8acf66992e18e61e1bcead805e2dbc518d5537
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f2d3d5276ec39b96f1050a0e96de0c8d61bea5bd54ce3cf111ee2e674a0a243
+size 26486694
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..15103403aa4480d93ee6f778baf2db11cc4f97a6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_05/franka_data.csv
@@ -0,0 +1,419 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,783,761,738,723,691,648,913,800,838,658,635,657,0.400985203332,0.00457587677155,0.0498471106991,0.999999959893,0.000107339739616,-0.000260707416856,-2.68947553251e-05,1793254944499763968
+1,0.016666667,BASELINE,783,761,738,722.406502409,691,648,913,800,838,658,635,657,0.400987835602,0.00457523916887,0.0498485484249,0.9999999608,0.000106411810175,-0.000257644948462,-2.63561697596e-05,1793254944516430848
+2,0.033333333,BASELINE,783,761,738,722,691,648,913,800,838,658,634.818626863,657,0.400989536071,0.00457486276938,0.0498494247164,0.999999961302,0.000106358225976,-0.000255753585854,-2.59618116584e-05,1793254944533097472
+3,0.050000000,BASELINE,783,761,738,722,691,648,913,800,838,658,634.242972775,657,0.400989210931,0.00457505419058,0.0498490805251,0.999999960938,0.000108205351259,-0.000256408050066,-2.58809846791e-05,1793254944549763840
+4,0.066666667,BASELINE,783,761,738.332139165,722.332139165,691,648,913,800,838,658,634,657,0.400988746971,0.00457595661833,0.0498486497228,0.999999960763,0.000108317937413,-0.000257019662107,-2.61317164175e-05,1793254944566430208
+5,0.083333333,BASELINE,783,761,738.906855116,722.906855116,691,648,913,800,838,658,634,657,0.400988181624,0.00457737832746,0.0498481556644,0.999999960725,0.00010716370831,-0.00025759997716,-2.66246010173e-05,1793254944583096832
+6,0.100000000,BASELINE,783,761,738.504756725,723,691,648,913,800,838,658,634.495243275,657,0.400988972246,0.00457605140583,0.0498492590893,0.999999961184,0.000106405924138,-0.000256147502215,-2.64257444951e-05,1793254944599763712
+7,0.116666667,BASELINE,783.084421099,761,738.084421099,723,691,648,913,800,838,657.915578901,635,657,0.400989797338,0.00457465746815,0.0498503423509,0.999999961646,0.00010561323007,-0.000254689108512,-2.62129809436e-05,1793254944616430592
+8,0.133333333,BASELINE,783.662747441,761,738.662747441,723,691,648,913,800,838,657.337252559,635,657,0.400989289679,0.00457598179197,0.0498494999424,0.999999961579,0.000104167680457,-0.000255496383397,-2.67016256076e-05,1793254944633097216
+9,0.150000000,BASELINE,784,761,739,722.759578375,691,648,913.240421625,800,838.240421625,657.240421625,635,657,0.40098943249,0.00457716374689,0.0498496401952,0.999999961607,0.000104590266114,-0.000255176930984,-2.70329922691e-05,1793254944649763840
+10,0.166666667,BASELINE,784,761,739,722.182816585,691,648,913.817183415,800,838.817183415,657.817183415,635,657,0.400990485282,0.00457814653334,0.0498511551515,0.999999961764,0.000107626297858,-0.000253281232411,-2.71443333014e-05,1793254944666430464
+11,0.183333333,BASELINE,783.606949338,761,739,722,691,648,913.606949338,800,839,658,634.606949338,657,0.400989588939,0.00457823176434,0.0498508871393,0.999999961496,0.000108251782895,-0.000254094934462,-2.69220899771e-05,1793254944683097088
+12,0.200000000,BASELINE,783.031497167,761,739,722,691,648,913.031497167,800,839,658,634.031497167,657,0.400987788068,0.00457790047032,0.049849791712,0.999999961031,0.000107758615065,-0.000256165977466,-2.65450414541e-05,1793254944699763712
+13,0.216666667,BASELINE,783.558093932,761,738.441906068,722,691,648,913,800,838.441906068,658,634,657,0.400987738739,0.00457601389402,0.0498491284769,0.999999961058,0.00010546419996,-0.000257016344965,-2.65357027888e-05,1793254944716430336
+14,0.233333333,BASELINE,784,761,738.145253013,722.145253013,691,648,913,800,838,658,634.145253013,657,0.400987744167,0.0045745330108,0.0498487636436,0.999999961113,0.00010381747497,-0.000257475946835,-2.65054721838e-05,1793254944733097216
+15,0.250000000,BASELINE,784,761,738.722738995,722.722738995,691,648,913,800,838,658,634.722738995,657,0.400987610733,0.00457452734302,0.0498492123026,0.999999961182,0.000104408463148,-0.000256983068118,-2.63497141841e-05,1793254944749764096
+16,0.266666667,BASELINE,784,761,738.701208379,722.701208379,691,648,913,800,838,658,635,657,0.40098761661,0.00457524405522,0.0498493908114,0.999999961171,0.000105053488503,-0.000256750973103,-2.64691368416e-05,1793254944766430720
+17,0.283333333,BASELINE,784,761,738.126479507,722.126479507,691,648,913,800,838,658,635,657,0.400987751142,0.00457662789304,0.0498493198337,0.999999961086,0.000105748417731,-0.00025675971465,-2.68426917821e-05,1793254944783097344
+18,0.300000000,BASELINE,783.566468717,761,738.433531283,722.433531283,691,648,913,800.433531283,838,658,634.566468717,657,0.400988102646,0.00457648387646,0.0498496740254,0.99999996123,0.000105868067278,-0.000256155028993,-2.67816218281e-05,1793254944799763968
+19,0.316666667,BASELINE,783.010610838,761,738.989389162,722.989389162,691,648,913,800.989389162,838,658,634.010610838,657,0.40098851537,0.00457590875549,0.0498501481843,0.999999961438,0.000105825394028,-0.000255377256723,-2.65979166948e-05,1793254944816430592
+20,0.333333333,BASELINE,783,761,739,722.395657916,691,648,913,800.395657916,838,658,634.604342084,656.395657916,0.400988197394,0.00457685069549,0.0498500268374,0.999999961304,0.000106451991559,-0.000255625612327,-2.6736733268e-05,1793254944833097216
+21,0.350000000,BASELINE,783,761,739,722,691,648,913,800,838,658,634.793911881,656.206088119,0.400987697895,0.00457686720734,0.0498496975232,0.999999961246,0.000106053647347,-0.000256014690187,-2.67847252013e-05,1793254944849763840
+22,0.366666667,BASELINE,783,761,739,722,691,648,913,800,838,658,634.217933901,656.782066099,0.40098689812,0.00457516975947,0.0498490157461,0.999999961331,0.00010379234678,-0.000256620497536,-2.66584386827e-05,1793254944866430464
+23,0.383333333,BASELINE,783,761,739,722.357301406,691,648,913,800.357301406,838,658,634.357301406,657,0.40098717242,0.0045750203323,0.0498492117372,0.999999961406,0.000103793126735,-0.000256326133991,-2.66898135514e-05,1793254944883097088
+24,0.400000000,BASELINE,783,761,739,722.93208472,691,648,913,800.93208472,838,658,634.93208472,657,0.400988100487,0.00457581315286,0.0498499420073,0.999999961474,0.000105170787667,-0.00025548385527,-2.68171536033e-05,1793254944899763968
+25,0.416666667,BASELINE,783,761,739,722.500523711,691,648,913,800.500523711,838,658,635,657,0.400988853124,0.0045770350544,0.0498503178649,0.999999961578,0.00010672521269,-0.000254393826788,-2.71420592065e-05,1793254944916430848
+26,0.433333333,BASELINE,783,761,738.929827298,722,691.070172702,648,913,800,838.070172702,658,635,657,0.400989363438,0.00457800616645,0.049850546485,0.999999961661,0.000107814301229,-0.000253580802439,-2.74128800227e-05,1793254944933097216
+27,0.450000000,BASELINE,783,761,738.326495997,722,691.673504003,648,913,800,838.673504003,658,635,657,0.400988211222,0.0045766350115,0.0498500172253,0.999999961557,0.000105187902871,-0.000255124618106,-2.70716475177e-05,1793254944949764096
+28,0.466666667,BASELINE,783.264598071,761,738.264598071,722,691.735401929,648,913,800,838.735401929,658,634.735401929,657,0.400987738295,0.00457557371399,0.0498498034912,0.999999961488,0.000104049659582,-0.000255888295848,-2.679478414e-05,1793254944966430720
+29,0.483333333,BASELINE,783.841259668,761,738.841259668,722,691.158740332,648,913,800,838.158740332,658,634.158740332,657,0.400988066515,0.00457487785838,0.0498499618841,0.999999961469,0.000104666527206,-0.000255731888966,-2.65938368955e-05,1793254944983097344
+30,0.500000000,BASELINE,784,761,738.584210016,722.415789984,691,648,913,800,838,658,634.415789984,657,0.400987325742,0.00457421506003,0.0498496525321,0.999999961429,0.000103874450993,-0.000256234115972,-2.63707823362e-05,1793254944999763712
+31,0.516666667,BASELINE,784,761,738.010489245,722.989510755,691,648,913,800,838,658,634.989510755,657,0.40098617893,0.00457356481793,0.049849165515,0.999999961379,0.000102547211298,-0.000256986513913,-2.61393306921e-05,1793254945016430336
+32,0.533333333,BASELINE,783.436297445,761,738.563702555,722.436297445,691,648,913,800,838,658,635,657,0.400987124257,0.00457402222469,0.0498495652727,0.999999961439,0.000103002298783,-0.000256549130157,-2.63473302865e-05,1793254945033097216
+33,0.550000000,BASELINE,783.142945774,761,739,722,691,648,913,800,838,658,634.857054226,657,0.40098820405,0.00457473562739,0.0498500921715,0.999999961617,0.000103624226629,-0.000255584549901,-2.65306887045e-05,1793254945049764096
+34,0.566666667,BASELINE,783.738142792,761,739,722,691,648,913,800,838,658,634.261857208,657,0.400989585998,0.00457619368576,0.0498509690697,0.999999962158,0.000104668987779,-0.000253022130076,-2.66101947853e-05,1793254945066430720
+35,0.583333333,BASELINE,783.67720948,761,739,722.32279052,691,648,913,800,838.32279052,658,634,657,0.400989931907,0.00457662392828,0.049850906872,0.999999962198,0.000105259965654,-0.000252617269637,-2.66416932498e-05,1793254945083097088
+36,0.600000000,BASELINE,783.100848751,761,739,722.899151249,691,648,913,800,838.899151249,658,634,657,0.400989463949,0.00457624676347,0.0498501069613,0.999999961846,0.000105494471216,-0.000253907293843,-2.66354790252e-05,1793254945099763712
+37,0.616666667,BASELINE,783.472477652,761,739,723,691,648,913,800,838.527522348,658,634,657,0.400987976524,0.00457670300058,0.0498493740522,0.999999961295,0.000105977282235,-0.000255849976148,-2.68093340054e-05,1793254945116430592
+38,0.633333333,BASELINE,783.953019838,761,738.953019838,723,691.046980162,648,913.046980162,800,838,658,634.046980162,657,0.400986553483,0.00457719020236,0.0498487737489,0.99999996079,0.000106520347069,-0.000257577352526,-2.69741686002e-05,1793254945133096960
+39,0.650000000,BASELINE,783.35726157,761,738.35726157,723,691.64273843,648,913.64273843,800,838,658,634.64273843,657,0.400988408113,0.00457597445769,0.049849556433,0.999999961349,0.00010715209564,-0.000255172851631,-2.6587537173e-05,1793254945149763584
+40,0.666666667,BASELINE,783,761,738.230571452,722.769428548,692,648,913.769428548,800,838,658,634.769428548,657,0.400988955826,0.00457583262583,0.0498497883821,0.999999961546,0.000107636508291,-0.000254204859029,-2.65018922519e-05,1793254945166430464
+41,0.683333333,BASELINE,783,761,738.806532637,722.193467363,692,648,913.193467363,800,838,658,634.193467363,657,0.400987545814,0.00457729948609,0.0498491953454,0.999999961206,0.000107900215723,-0.000255388716737,-2.68671169148e-05,1793254945183097344
+42,0.700000000,BASELINE,783.381244768,761,739,722.381244768,692,648,913,800,838,657.618755232,634.381244768,657,0.400987342504,0.00457685117898,0.0498495495862,0.999999961088,0.000107721371434,-0.000255942330252,-2.67257894961e-05,1793254945199763968
+43,0.716666667,BASELINE,783.955325104,761,739,722.955325104,692,648,913,800,838,657.044674896,634.955325104,657,0.400987749551,0.0045754341703,0.0498503829649,0.999999961081,0.000107318682197,-0.000256177162974,-2.63282454149e-05,1793254945216430848
+44,0.733333333,BASELINE,783.453901812,760.453901812,738.453901812,722.453901812,691.453901812,648,913.546098188,800,838,657.546098188,635,657,0.400988467957,0.0045758804478,0.0498501248361,0.999999961425,0.000106299441841,-0.000255212636402,-2.67893895481e-05,1793254945233097472
+45,0.750000000,BASELINE,783.134782755,760.26956551,738.134782755,722.134782755,691,648,913.865217245,800.134782755,838,658,635,657,0.400988943117,0.00457631267885,0.0498498377174,0.999999961698,0.000105519353128,-0.000254430985599,-2.71168112249e-05,1793254945249764096
+46,0.766666667,BASELINE,783.711987802,761.423975603,738.711987802,722.711987802,691,648,913.288012198,800.711987802,838,658,635,657,0.400988533579,0.00457618267457,0.0498497577861,0.99999996165,0.000105695060081,-0.000254581842921,-2.67674353399e-05,1793254945266430720
+47,0.783333333,BASELINE,783.712422652,761.712422652,738.712422652,722.712422652,691.287577348,648,913,800.712422652,838,658,634.712422652,657,0.400988302965,0.00457588641378,0.0498498204559,0.999999961665,0.000105377656888,-0.000254667095512,-2.66356195981e-05,1793254945283097088
+48,0.800000000,BASELINE,783.138441941,761.138441941,738.138441941,722.138441941,691.861558059,648,913,800.138441941,838,658,634.138441941,657,0.400988250545,0.00457542457519,0.0498500251448,0.999999961743,0.000104569156607,-0.000254687011209,-2.67204758051e-05,1793254945299763712
+49,0.816666667,BASELINE,783.436890171,761,738.436890171,722,692,648,913,800,838.436890171,657.563109829,634.436890171,657,0.400987915416,0.00457524537297,0.0498501649945,0.999999961701,0.000104115962964,-0.000255051411609,-2.65782173599e-05,1793254945316430592
+50,0.833333333,BASELINE,783.986939645,761,739,722,691.986939645,648,913,800,839,657.013060355,634.986939645,657,0.400987501071,0.00457514429341,0.0498502751095,0.999999961624,0.000103755966648,-0.000255521761341,-2.63748829114e-05,1793254945333097472
+51,0.850000000,BASELINE,783.392585809,761,739,722,691.392585809,648,913,800,839,657.607414191,634.392585809,657,0.400987560593,0.00457452170303,0.0498499791008,0.999999961664,0.000102517299449,-0.000255834115607,-2.66662787366e-05,1793254945349764096
+52,0.866666667,BASELINE,783,761,739,722,691,648,913,800,838.803678011,658,634.196321989,657,0.400988211815,0.00457452928713,0.0498502998901,0.999999961878,0.000102322900569,-0.000255052828661,-2.6856614127e-05,1793254945366430720
+53,0.883333333,BASELINE,783,761,739,722,691,648,913,800,838.225366759,658,634.774633241,657,0.400990014322,0.00457576301967,0.0498518208011,0.999999962427,0.000104160364261,-0.000252143612966,-2.68503133445e-05,1793254945383097088
+54,0.900000000,BASELINE,783,761,738.649650205,722,691,648,913.350349795,800,838.350349795,658,634.649650205,657,0.40098986676,0.00457703259499,0.0498517069441,0.999999962257,0.000105746916123,-0.000252139770129,-2.69842625922e-05,1793254945399763456
+55,0.916666667,BASELINE,783,761,738.075590473,722,691,648,913.924409527,800,838.924409527,658,634.075590473,657,0.400988474014,0.00457832505705,0.0498505492336,0.999999961631,0.000107173252409,-0.000253991104105,-2.72077661249e-05,1793254945416430080
+56,0.933333333,BASELINE,783,761,738.511927242,722,691,648,913.488072758,800,838.488072758,658,634.511927242,657,0.400988483153,0.00457648032374,0.0498507584925,0.999999961842,0.000105969617637,-0.000253701166874,-2.68669431011e-05,1793254945433096960
+57,0.950000000,BASELINE,783,761,738.900663606,722.099336394,691,648,913,800,838,658,634.900663606,657,0.400988913499,0.00457479216527,0.0498512495014,0.999999962177,0.000104739016842,-0.000252918678887,-2.66022844682e-05,1793254945449763840
+58,0.966666667,BASELINE,783,761,738.323591702,722.676408298,691,648,913,800,838,658,634.323591702,657,0.400990347142,0.00457614498329,0.0498520985873,0.999999962506,0.000105296774688,-0.000251329016539,-2.71154859547e-05,1793254945466430720
+59,0.983333333,BASELINE,783.253075451,761,738,722.746924549,691,648,913,800,838,658,634,657,0.400990626458,0.00457715048846,0.0498519417404,0.999999962384,0.000106438914225,-0.000251311219755,-2.73157010851e-05,1793254945483097344
+60,1.000000000,BASELINE,783.829225979,761,738,722.170774021,691,648,913,800,838,658,634,657,0.400989432164,0.00457771261569,0.0498505007238,0.999999961685,0.000108327073094,-0.000253300059851,-2.71163591945e-05,1793254945499763968
+61,1.016666667,BASELINE,784,761,738.414118957,722,691.414118957,648,913,800,838.414118957,658,634,657,0.400988744543,0.00457632129579,0.0498500704213,0.999999961825,0.000106706880877,-0.000253455726976,-2.69218301518e-05,1793254945516430336
+62,1.033333333,BASELINE,784,761,739,722.002650613,691.997349387,648,913,800.002650613,839,658,634.002650613,657,0.400988276861,0.00457412319947,0.0498500713841,0.99999996231,0.000103625307361,-0.000252839686776,-2.6730243329e-05,1793254945533096960
+63,1.050000000,BASELINE,784,761,739,722.581564064,691.418435936,648,913,800.581564064,839,658,634.581564064,657,0.400989220472,0.00457543780148,0.0498512635685,0.99999996238,0.000104150684025,-0.000252345004915,-2.67375162952e-05,1793254945549763584
+64,1.066666667,BASELINE,783.83981203,761,739,722.83981203,691.16018797,648,913,800.83981203,838.83981203,658,635,657,0.400989284871,0.00457677305634,0.0498516203081,0.999999962196,0.000105042335292,-0.000252693498343,-2.68256016966e-05,1793254945566430208
+65,1.083333333,BASELINE,783.261943129,761,739,722.261943129,691.738056871,648,913,800.261943129,838.261943129,658,635,657,0.400987056777,0.00457816216221,0.0498497986733,0.999999961346,0.000106889026517,-0.000255240522927,-2.71244008799e-05,1793254945583096832
+66,1.100000000,BASELINE,783.313677341,761,739,722.313677341,691.686322659,648,913.313677341,800.313677341,838.313677341,658,634.686322659,657,0.400987236486,0.00457794012852,0.0498499856866,0.999999961674,0.000105737446646,-0.000254412233851,-2.72996273917e-05,1793254945599763968
+67,1.116666667,BASELINE,783.887433545,761,739,722.887433545,691.112566455,648,913.887433545,800.887433545,838.887433545,658,634.112566455,657,0.400989412574,0.00457638225282,0.0498518381276,0.999999962967,0.000102099914295,-0.000250785375474,-2.73723962493e-05,1793254945616430848
+68,1.133333333,BASELINE,784,761,739,723,691,648,913.525714189,800.525714189,838.525714189,658,634.474285811,657,0.400989814098,0.00457615852333,0.0498519108993,0.999999962831,0.000103949509239,-0.000250599787891,-2.70440429114e-05,1793254945633097216
+69,1.150000000,BASELINE,783.936908357,761,738.936908357,722.936908357,691,648,913,800,838,658,635,657,0.400989546995,0.00457637288009,0.0498514530305,0.99999996233,0.000106677790107,-0.000251487088728,-2.67291989673e-05,1793254945649763840
+70,1.166666667,BASELINE,783.358259312,761,738.358259312,722.358259312,691,648,913,800,838,658,635,657,0.400987355519,0.00457750612906,0.0498502085525,0.999999961718,0.00010564221953,-0.000254277943216,-2.73247872828e-05,1793254945666430464
+71,1.183333333,BASELINE,783,761,738.219239985,722.219239985,691,648,913,800,838,658,635,657,0.400986786184,0.00457755052147,0.0498499957772,0.99999996162,0.000105276793734,-0.000254796377139,-2.74842591255e-05,1793254945683097088
+72,1.200000000,BASELINE,783,761,738.794870374,722.794870374,691,648,913,800,838,658,635,657,0.400988853757,0.00457582489921,0.0498514601092,0.999999962363,0.000106000736436,-0.000251620828021,-2.69347922888e-05,1793254945699763968
+73,1.216666667,BASELINE,783,761,738.629660324,723,691,648,913,800,838,658,635,657,0.400989234703,0.00457591147569,0.0498516668901,0.999999962386,0.00010648535323,-0.000251340203237,-2.67844119574e-05,1793254945716430848
+74,1.233333333,BASELINE,783,761,738.054280243,723,691,648,913,800,838,658,635,657,0.40098868184,0.00457700138513,0.0498511774214,0.999999962013,0.000106837466,-0.000252662367918,-2.68549878899e-05,1793254945733097216
+75,1.250000000,BASELINE,783,761,738,722.464870489,691,648,912.464870489,800,838,658,635,657,0.400990619273,0.00457597433052,0.0498522154952,0.999999962754,0.000104584114856,-0.000250655071522,-2.69524771615e-05,1793254945749763840
+76,1.266666667,BASELINE,783,760.877639024,738,722.122360976,691,648,912.122360976,800,838,658,635,657,0.400991804234,0.00457493411904,0.0498527982323,0.99999996324,0.000102618051764,-0.000249517020955,-2.70257586241e-05,1793254945766430208
+77,1.283333333,BASELINE,783,760.30383594,738,722.69616406,691,648,912.69616406,800,838,658,635,657,0.400989255962,0.00457465893351,0.0498511139899,0.99999996239,0.000102713219472,-0.000252865531207,-2.69993840713e-05,1793254945783097088
+78,1.300000000,BASELINE,783,760.272515765,738,722.727484235,691,648,913.272515765,800.272515765,838,658,635,657,0.400987949382,0.0045750885328,0.0498503759647,0.999999961937,0.000103369133343,-0.000254398391204,-2.68792073244e-05,1793254945799763712
+79,1.316666667,BASELINE,783,760.85173579,738,722.14826421,691,648,913.85173579,800.85173579,838,658,635,657,0.40098804027,0.00457631133579,0.0498507028646,0.999999961939,0.000104656141845,-0.000253887818112,-2.66534604204e-05,1793254945816430336
+80,1.333333333,BASELINE,783,761,738,722,691.437986407,648,913.562013593,800.562013593,838,658,635,657,0.400988731942,0.00457635375483,0.0498511330625,0.999999962042,0.00010621425321,-0.000252856553215,-2.64093122248e-05,1793254945833096960
+81,1.350000000,BASELINE,783,761,738,722,691.973974341,648,913,800,838,658,634.973974341,657,0.400989583354,0.00457594349454,0.0498515993729,0.999999962184,0.000107687826447,-0.00025169393002,-2.6163378906e-05,1793254945849763584
+82,1.366666667,BASELINE,783,761,738,722,691.399222008,648,913,800,838,658,634.399222008,657,0.400989444822,0.00457455103273,0.0498520777905,0.99999996247,0.000105412498228,-0.000251538669709,-2.60132852989e-05,1793254945866430464
+83,1.383333333,BASELINE,783,761,738,722,691,648,913,800,838,657.823210092,634,657,0.400989341639,0.00457419102698,0.0498522312308,0.999999962584,0.000104148621715,-0.000251599261408,-2.6123857959e-05,1793254945883097088
+84,1.400000000,BASELINE,783,761,738,722,691,648,913,800,838,657.244333297,634,657,0.400989318852,0.00457617921521,0.04985164555,0.999999962318,0.000105185167184,-0.000252150781911,-2.68272839353e-05,1793254945899763968
+85,1.416666667,BASELINE,783.33274735,761,738,722.33274735,691,648,913,800,838,657.33274735,634.33274735,657,0.400988775981,0.00457608974673,0.0498513202012,0.999999962346,0.00010336653956,-0.000252765310026,-2.70840999245e-05,1793254945916430592
+86,1.433333333,BASELINE,783.908516149,761,738,722.908516149,691,648,913,800,838,657.908516149,634.908516149,657,0.400987853266,0.00457448286517,0.0498511849856,0.999999962576,9.94626411678e-05,-0.000253425855604,-2.70147350436e-05,1793254945933097472
+87,1.450000000,BASELINE,783.502141553,761,738,723,691,648,913,800,838,658,634.502141553,657,0.400986953777,0.00457473402431,0.0498506170312,0.999999962186,0.000101499413019,-0.000254190426126,-2.67147725464e-05,1793254945949764096
+88,1.466666667,BASELINE,783,761,738.087628214,723,691,648,913,800.087628214,838,658,634,657,0.400986627097,0.00457539673605,0.0498503032373,0.999999961824,0.000104514641084,-0.000254420211753,-2.64488650828e-05,1793254945966430464
+89,1.483333333,BASELINE,783,761,738.665445727,723,691,648,913,800.665445727,838,658,634,657,0.400989480146,0.00457639821513,0.0498518684955,0.999999962312,0.000106725646263,-0.000251548502455,-2.66171393651e-05,1793254945983097088
+90,1.500000000,BASELINE,783,761,738.756750075,722.756750075,691.243249925,648,913,800.756750075,838,658,634,657,0.400990407735,0.00457658197876,0.0498523181285,0.999999962456,0.000107102154253,-0.000250798744746,-2.67884866187e-05,1793254945999763968
+91,1.516666667,BASELINE,783,761,738.178964237,722.178964237,691.821035763,648,913,800.178964237,838,658,634,657,0.400988687283,0.00457564115744,0.0498512334681,0.999999962132,0.000104955721124,-0.000252967257503,-2.69640600439e-05,1793254946016430336
+92,1.533333333,BASELINE,783.404528232,761,738,722,691.595471768,648,913,800,838,658,634.404528232,657,0.400988694539,0.0045752883431,0.0498511230882,0.999999962095,0.000104887941187,-0.000253165470523,-2.67402118461e-05,1793254946033097216
+93,1.550000000,BASELINE,783.990581503,761,738,722,691.009418497,648,913,800,838,658,634.990581503,657,0.400989477074,0.00457519938664,0.0498514498997,0.999999962188,0.000105752920688,-0.000252479545844,-2.63371301269e-05,1793254946049764352
+94,1.566666667,BASELINE,783.430311981,761,738,722.569688019,691.569688019,648,913,800,838,658,635,657,0.400989120044,0.00457422286574,0.0498509647201,0.999999962551,0.000101493632533,-0.000252779643461,-2.64337559965e-05,1793254946066430976
+95,1.583333333,BASELINE,783,761,738.148627848,722.851372152,691.851372152,648,913,800.148627848,838,658,635,657,0.40098856008,0.00457411716503,0.0498505707349,0.999999962682,9.90650305357e-05,-0.000253205627655,-2.66309682866e-05,1793254946083097600
+96,1.600000000,BASELINE,783,761,738.72741378,722.27258622,691.27258622,648,913,800.72741378,838,658,635,657,0.400987466654,0.00457657374552,0.0498504790694,0.999999962168,0.000102177028567,-0.000253949340574,-2.70956749571e-05,1793254946099763968
+97,1.616666667,BASELINE,783,761,739,722,691,648,913,801,838,657.6962133,635,657,0.400987713499,0.00457712712527,0.0498507439353,0.999999962023,0.000104452771553,-0.000253599815213,-2.70412341128e-05,1793254946116430592
+98,1.633333333,BASELINE,783,761,739,722,691,648,913,801,838,657.121988533,635,657,0.400989153485,0.00457598623081,0.0498513261939,0.99999996221,0.000105984060437,-0.000252277063373,-2.652463591e-05,1793254946133097216
+99,1.650000000,BASELINE,783,761,739,722.463724526,691,648,913,800.536275474,838,657.463724526,635,657,0.400989487574,0.00457625618843,0.0498514841092,0.999999962241,0.000106504376743,-0.000251934452246,-2.65394623217e-05,1793254946149763840
+100,1.666666667,BASELINE,783,761,738.948327462,722.948327462,691,648,913,800,838,658.051672538,635,657,0.400989435097,0.00457675261376,0.0498514865793,0.999999962229,0.000106439167057,-0.00025199193501,-2.66946042921e-05,1793254946166430464
+101,1.683333333,BASELINE,783,761,738.369198404,722.369198404,691,648,913,800,838,658.630801596,635,657,0.400988481729,0.0045756760077,0.049851070732,0.999999962203,0.000103180781596,-0.00025343465741,-2.68187797069e-05,1793254946183097344
+102,1.700000000,BASELINE,783.209457151,761,738,722,691,648,913,800,838,658.790542849,634.790542849,657,0.400987836162,0.00457535694745,0.0498507113477,0.999999962043,0.000102404534056,-0.000254368251656,-2.68978585964e-05,1793254946199763968
+103,1.716666667,BASELINE,783.787279907,761,738,722,691,648,913,800,838,658.212720093,634.212720093,657,0.400987731914,0.00457637015896,0.0498504512632,0.99999996166,0.000105993543597,-0.000254406458315,-2.68976276537e-05,1793254946216430848
+104,1.733333333,BASELINE,783.630228731,761,738,722,691,648,913,800,838,658,634.369771269,657,0.400987737421,0.00457620889007,0.0498506836663,0.999999961665,0.000107036736696,-0.00025396821667,-2.67240871229e-05,1793254946233097472
+105,1.750000000,BASELINE,783.045017241,761,738,722,691,648,913,800,838,658,634.954982759,657,0.400987806873,0.00457536333253,0.0498512030079,0.9999999619,0.000106596658433,-0.000253252381454,-2.64495710455e-05,1793254946249764096
+106,1.766666667,BASELINE,783,761,738.53471675,722,691,648,913,800,838,658,635,657,0.400988517576,0.00457448344697,0.0498509772769,0.999999962014,0.000105861156257,-0.000253117997082,-2.63972072812e-05,1793254946266430464
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,761,739,723,691,648,913,800,838,658,634,657,0.400988900666,0.00457616908516,0.0498523252423,0.999999962304,0.000104484822653,-0.00025250712606,-2.67516898144e-05,1793254946308660480
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,761,738.424423981,722.424423981,691,648,913,800,838.575576019,658,634.575576019,657,0.400989200285,0.00457552441293,0.049852535448,0.999999962332,0.000105863054565,-0.00025185390474,-2.64140249814e-05,1793254946325327360
+109,1.816666667,POSE1_TO_POSE2_PRESS,783,761,738,722,691,648,913,800,838.845563482,658,634.845563482,657,0.400989320722,0.00457486576965,0.0498524495101,0.999999962346,0.000106404618925,-0.000251598424996,-2.6167240884e-05,1793254946341994240
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,761,738,722,691,648,913,800,838.257480268,658,634.257480268,657,0.40098893803,0.00457416789648,0.0498515320224,0.999999962319,0.000104596880963,-0.000252459774997,-2.61756433142e-05,1793254946358660352
+111,1.850000000,POSE1_TO_POSE2_PRESS,783.325714118,761,738,722.325714118,691.325714118,648,913,800,838,658,634,657,0.400988126147,0.00457458708937,0.0498508613678,0.999999962115,0.000104396860644,-0.00025333790215,-2.62956171653e-05,1793254946375326720
+112,1.866666667,POSE1_TO_POSE2_PRESS,783.905100952,761,738,722.905100952,691.905100952,648,913,800,838,658,634,657,0.400986980003,0.00457587627584,0.0498503829518,0.999999961773,0.000105448963318,-0.000254229095633,-2.65024850859e-05,1793254946391993088
+113,1.883333333,POSE1_TO_POSE2_PRESS,783.517319719,761,738,723,691.517319719,648,913,800,838,658,634,656.517319719,0.400988400188,0.00457593017091,0.0498510807274,0.999999962352,0.000103949234892,-0.000252519352455,-2.69304467311e-05,1793254946408659968
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,761,738,722.940367471,691,648,913,800,838,658,634,656.059632529,0.400990036678,0.00457582637904,0.0498519116509,0.999999962962,0.000102319341953,-0.000250721471132,-2.732042344e-05,1793254946425326592
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,761,738,722.365773018,691,648,913,800,838,658,634,656.634226982,0.40098920015,0.0045764503579,0.0498519028612,0.999999962346,0.000103881813338,-0.000252561938362,-2.70083988354e-05,1793254946441992960
+116,1.933333333,POSE1_TO_POSE2_PRESS,783.21396042,761,738.21396042,722,691,648,913,800,838,658,634.21396042,657,0.400991905773,0.00457683362627,0.0498532183455,0.999999962488,0.000105705215998,-0.000251271468219,-2.66975756822e-05,1793254946458659584
+117,1.950000000,POSE1_TO_POSE2_PRESS,783.802695278,761,738.802695278,722,691,648,913,800,838,658,634.802695278,657,0.401000815854,0.00457679526455,0.0498568534368,0.999999963932,0.000107985667378,-0.000244496827973,-2.63888570309e-05,1793254946475326464
+118,1.966666667,POSE1_TO_POSE2_PRESS,783.615920372,761,738.615920372,722.384079628,691,648,913,800,838,658,635,657,0.40102513217,0.00457614529468,0.0498654031574,0.999999968231,0.000106545898496,-0.000226918662437,-2.63269346727e-05,1793254946491993344
+119,1.983333333,POSE1_TO_POSE2_PRESS,783.038241075,761,738.038241075,722.961758925,691,648,913,800,838,658,635,657,0.401057214172,0.00457518703681,0.0498764301527,0.999999973537,0.000103230910784,-0.00020389485739,-2.63894127309e-05,1793254946508660224
+120,2.000000000,POSE1_TO_POSE2_PRESS,783,761,738,722.463825537,691,648,913,800,838,658,635,657,0.401115711046,0.0045751723807,0.0498945054278,0.999999980447,0.000103128391024,-0.000166704250865,-2.60664241071e-05,1793254946525326592
+121,2.016666667,POSE1_TO_POSE2_PRESS,783,761,738,722.113552295,691,648,913,800,838,658,634.886447705,657,0.40117782322,0.00457466074928,0.0499119156252,0.999999985474,0.000102809388103,-0.000133551076865,-2.5423513516e-05,1793254946541993472
+122,2.033333333,POSE1_TO_POSE2_PRESS,783,761,738,722.704352941,691,648,913,800,838,658,634.295647059,657,0.401247259948,0.00457177924098,0.0499244305732,0.999999987268,0.000100623389298,-0.00012158773126,-2.35508526613e-05,1793254946558660096
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.287263667,761,738.287263667,723,691,648,913,800,838,658,634.287263667,657,0.401326474754,0.00457046010628,0.0499348473797,0.999999989154,9.88049891516e-05,-0.000106862759155,-2.25634146291e-05,1793254946575326464
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.862271246,761,738.862271246,723,691,648,913,800,838,658,634.862271246,657,0.401415483981,0.00457070595733,0.0499431625361,0.999999991015,9.7354802334e-05,-8.93715443806e-05,-2.24626794414e-05,1793254946591993088
+125,2.083333333,POSE1_TO_POSE2_PRESS,783.559795588,761,739,722.559795588,691,648,913,800,838,657.559795588,634.559795588,657,0.401518477478,0.00457007895326,0.0499464478236,0.999999991601,9.59836181488e-05,-8.43555058014e-05,-2.16613314541e-05,1793254946608659968
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,761,738.981046839,722,691,648,913,800.018953161,838.018953161,657.018953161,634.018953161,657,0.401626491169,0.00456912819634,0.0499480713033,0.999999991836,9.45955904901e-05,-8.33926673066e-05,-2.06235140614e-05,1793254946625326848
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,761,738.405407718,722,691,648,913,800.594592282,838.594592282,657.594592282,634.594592282,657,0.401752586026,0.00456674317387,0.049947416689,0.999999991883,9.19819774327e-05,-8.6069599984e-05,-1.91216552564e-05,1793254946641993472
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,761,738.174879796,722,691,648,913,800.825120204,839,658,634.825120204,657,0.401888628708,0.00456486503566,0.0499484959928,0.999999992099,8.96396246184e-05,-8.63177476088e-05,-1.77809368823e-05,1793254946658660096
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,761,738.766237414,722,691,648,913,800.233762586,839,658,634.233762586,657,0.402048362207,0.00456419404727,0.0499537046386,0.999999992729,8.79432809114e-05,-8.07817211868e-05,-1.68239761234e-05,1793254946675326720
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,761,738.649748765,722,691,648,913.350251235,800,838.649748765,658,634.350251235,657,0.402221969975,0.00456310357544,0.0499528502942,0.99999999255,8.57611965984e-05,-8.54751400527e-05,-1.54637298819e-05,1793254946691993344
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,761,738.070535584,722,691,648,913.929464416,800,838.070535584,658,634.929464416,657,0.402404647477,0.00456173888396,0.0499480325265,0.999999991747,8.32615797103e-05,-9.68556260236e-05,-1.38398526985e-05,1793254946708659968
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,761,738.503071905,722.503071905,691,648,913.496928095,800,838,658,635,657,0.4026253908,0.00455790712337,0.0499474071739,0.999999992018,7.705901668e-05,-9.94288258308e-05,-1.18120066164e-05,1793254946725326848
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,761,739,722.921828352,691,648,913,800.078171648,838.078171648,658,634.921828352,657,0.402857168307,0.00455412085225,0.0499483615331,0.999999992516,7.12464037355e-05,-9.89798639579e-05,-9.72839985951e-06,1793254946741993472
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,761,739,722.331869575,691,648,913,800.668130425,838.668130425,658,634.331869575,657,0.403126628952,0.00455287208287,0.0499558522008,0.999999993664,7.13484327033e-05,-8.67404536784e-05,-7.64646502361e-06,1793254946758660096
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,761,739,722,691,648,913,800.74640691,838.74640691,658,634.25359309,657,0.403414142164,0.00455024424839,0.049962878251,0.999999995021,6.77596433828e-05,-7.30402464721e-05,-5.57746014095e-06,1793254946775326720
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,761,739,722,691,648,913,800.166725701,838.166725701,658,634.833274299,657,0.403724868642,0.00454584311353,0.0499693068626,0.999999996577,5.94249361426e-05,-5.74616429156e-05,-3.52508164082e-06,1793254946791993344
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,761,738.589512912,722.410487088,691,648,913.410487088,800,838,657.589512912,635,657,0.404067535525,0.00454266522597,0.0499764514264,0.999999997516,5.51029062749e-05,-4.39445543331e-05,-9.66058800103e-07,1793254946808660224
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,761,738.01329673,722.98670327,691,648,913.98670327,800,838,657.01329673,635,657,0.404423097945,0.00453998120952,0.0499838850471,0.999999998137,5.24009455524e-05,-3.1259777344e-05,1.79751538811e-06,1793254946825327104
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,761,738,722.438786768,691,648,913.438786768,800,838.561213232,657.561213232,635,657,0.404825823181,0.004536098364,0.0499895288534,0.99999999864,4.92919937758e-05,-1.64358765848e-05,4.38031651656e-06,1793254946841993984
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,761,738.139566126,722.139566126,691,648,913.139566126,800.139566126,838.860433874,658,635,657,0.40522912024,0.00453230513722,0.0499908651126,0.999999998867,4.58906499292e-05,-1.05833064513e-05,7.00007368573e-06,1793254946858660352
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,761,738.730476951,722.730476951,691,648,913.730476951,800.730476951,838.269523049,658,635,657,0.405630663756,0.00452889330697,0.049978407859,0.999999998513,4.15748255814e-05,-3.3906645451e-05,9.75315191028e-06,1793254946875326720
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,761,739,723,691,648,914,800.684942082,838,658,634.684942082,657,0.406050958746,0.00452332414011,0.0499611287206,0.999999997118,3.54130209257e-05,-6.59192219176e-05,1.28426414036e-05,1793254946891993344
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,761,739,723,691,648,914,800.105669412,838,658,634.105669412,657,0.406486979193,0.00451594578122,0.0499398058385,0.999999993949,2.77031345996e-05,-0.000105218793496,1.62142533471e-05,1793254946908659968
+144,2.400000000,POSE1_TO_POSE2_PRESS,783,761,739,722.529359296,691,648,914,800,838.470640704,658,634.470640704,657,0.40697472925,0.00451210491006,0.0499260163102,0.999999991471,2.22835069615e-05,-0.00012729227502,1.89326371377e-05,1793254946925326848
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,761,739,722,691,648,914,800,839,658,635,656.952814887,0.407481153965,0.00450879015875,0.0499165243226,0.999999989709,1.69434246457e-05,-0.000140816886772,2.15901393395e-05,1793254946941993472
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,761,739,722,691,648,914,800,839,658,635,656.366031697,0.408069148679,0.00450246599839,0.0499369564614,0.999999994606,6.66934597649e-06,-0.000100531425139,2.52181442885e-05,1793254946958660352
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,761,738.782087818,722,691,648,914,800,838.782087818,658,635,656,0.408676935108,0.00449584254996,0.0499608466644,0.999999998027,-4.18167011508e-06,-5.55594802189e-05,2.90224858645e-05,1793254946975326976
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,761,738.202851884,722,691,648,914,800,838.202851884,658,635,656,0.409317538468,0.00448872284746,0.0499904707387,0.99999999932,-1.59893149531e-05,-2.81680320048e-06,3.31192138725e-05,1793254946991993600
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,761,738.375974849,722,691,648,914,800,838.375974849,657.624025151,635,656.375974849,0.409949582669,0.00448230307392,0.0500008873644,0.999999998935,-2.39157012673e-05,1.25741597343e-05,3.74178171626e-05,1793254947008660224
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,761,738.954581025,722,691,648,914,800,838.954581025,657.045418975,635,656.954581025,0.410577013899,0.00447626052674,0.0500009521508,0.999999998652,-2.97502862155e-05,7.83444621265e-06,4.18252208679e-05,1793254947025326848
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,761,738.471576812,722,690.471576812,648,914,800,839,657.528423188,635,657,0.411194506555,0.00446847364437,0.0499697755334,0.99999999045,0.000114697218546,-6.1586068639e-05,4.63806756889e-05,1793254947041993472
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,761,738,722,690.104789954,648,913.895210046,800.104789954,839,658,635,656.895210046,0.411833959921,0.00446102197944,0.0499426870677,0.999999962814,0.000240240454862,-0.000118804399041,5.04156829677e-05,1793254947058660096
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,761,738,722,690.694723443,648,913.305276557,800.694723443,839,658,635,656.305276557,0.412579003591,0.00445581018541,0.0499468462256,0.999999970249,0.000218995679634,-9.40221313184e-05,5.1982803535e-05,1793254947075326976
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,761,738,722,691,648,913.279601591,800.720398409,839,657.720398409,635,656.279601591,0.413350897931,0.00444471254895,0.0499622145497,0.9999999884,0.000133306662252,-6.12127380951e-05,4.10132080199e-05,1793254947091993600
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,761,738,722,691,648,913.859058278,800.140941722,839,657.140941722,635,656.859058278,0.414151588017,0.00442730271652,0.0499896039991,0.999999999435,-2.14947518776e-05,-1.97947539346e-05,1.65987734039e-05,1793254947108659712
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,761,738,722,691,648,914,800,839,657.436168253,635,657,0.41491227913,0.00443766695725,0.0499756503896,0.999999998008,-4.31577322386e-05,-4.37845363825e-05,1.42820657211e-05,1793254947125326336
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,761,738,722,690.975074403,648,914,800.012462798,839,657.987537202,635,656.987537202,0.415661516745,0.00445709520855,0.0499487764018,0.999999995701,-2.18813284934e-05,-8.80872640902e-05,1.89724064357e-05,1793254947141992960
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,761,738,722,689.827990884,648,914,800.586004558,839,657.413995442,635,656.413995442,0.416473895037,0.00448270176929,0.0499384502172,0.999999994749,6.04810900362e-06,-0.000100445500965,1.93717470249e-05,1793254947158660096
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,761,738,721.835517533,689.328964933,648,914,800.835517533,839,657.164482467,635,656.164482467,0.417306977445,0.00449626014064,0.0499386903843,0.999999994828,2.68883801855e-05,-9.58001306524e-05,2.10604677073e-05,1793254947175326976
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,761,738,721.244231197,690.511537605,648,914,800.244231197,839,657.755768803,635,656.755768803,0.418193783446,0.0044785555196,0.0499663484272,0.999999998123,2.93334755539e-05,-4.70333071443e-05,2.60949091929e-05,1793254947191993344
+161,2.683333333,POSE1_TO_POSE2_PRESS,783,761,738,721,690.659972459,648,914,800,839,657.659972459,635,657,0.41906180136,0.00446704017241,0.0499755422878,0.999999998548,2.25651004143e-05,-3.95819934254e-05,2.87791246931e-05,1793254947208660224
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,761,738,721,690.080659238,648,914,800,839,657.080659238,635,657,0.419916597599,0.00445988036906,0.0499717424513,0.999999997639,9.31298110115e-06,-6.1205414522e-05,2.98094286048e-05,1793254947225326848
+163,2.716666667,POSE1_TO_POSE2_PRESS,783,761,738,721.49630959,690,648,914,800,839,657,635,657,0.420827868952,0.00445869200623,0.0499726128823,0.99999999874,-2.44874525142e-06,-4.07626279745e-05,2.91920559709e-05,1793254947241993728
+164,2.733333333,POSE1_TO_POSE2_PRESS,783,761,738,721.925996417,690.074003583,648,914,800,839,657.074003583,635,657,0.421748023952,0.00445869316615,0.0499767986795,0.999999999456,-1.11086467082e-05,-1.2144533704e-05,2.85816323685e-05,1793254947258660352
+165,2.750000000,POSE1_TO_POSE2_PRESS,783,761,738,721.340672094,690.659327906,648,914,800,839,657.659327906,635,657,0.422666441321,0.00446023939916,0.0499986720846,0.999999999218,-2.47559347151e-09,2.59458830812e-05,2.98607048421e-05,1793254947275326976
+166,2.766666667,POSE1_TO_POSE2_PRESS,783,761.243463096,738,721,690.756536904,648,914,800,839,658,635,657,0.423603845215,0.00446383809522,0.0500041180025,0.999999998895,1.17547241438e-05,3.38220414044e-05,3.04597902843e-05,1793254947291993344
+167,2.783333333,POSE1_TO_POSE2_PRESS,783,761.825942532,738,721,690.174057468,648,914,800,839,658,635,657,0.424567687506,0.00447029479555,0.0499866890542,0.999999999248,2.44184667293e-05,-3.74402594687e-07,3.01120108064e-05,1793254947308660224
+168,2.800000000,POSE1_TO_POSE2_PRESS,783,761.596798027,738,721,690,648,914,800,839,658,635,657,0.425538059612,0.00446802774345,0.0499922755724,0.99999999941,1.24279540264e-05,8.09871230531e-06,3.09691275946e-05,1793254947325326848
+169,2.816666667,POSE1_TO_POSE2_PRESS,783,761.021763228,738,721,690,648,914,800,839,658,635,657,0.426511214475,0.00446204288418,0.0500076706067,0.999999998822,-1.0069478124e-05,3.47563406168e-05,3.23397357432e-05,1793254947341993472
+170,2.833333333,POSE1_TO_POSE2_PRESS,783,761,738,721,690.554064323,648,914.554064323,800.554064323,839,658,635,657,0.427418443652,0.00445453185714,0.0499960447268,0.999999999077,-1.96284025526e-05,-1.37769110682e-05,3.56413044832e-05,1793254947358660096
+171,2.850000000,POSE1_TO_POSE2_PRESS,783,761,738,721,690.73484131,648,914.867420655,800.867420655,839.132579345,657.867420655,635.132579345,657,0.428335904564,0.0044491999494,0.0499798851366,0.999999997307,-1.92445619121e-05,-5.97793297695e-05,3.79653318026e-05,1793254947375326976
+172,2.866666667,POSE1_TO_POSE2_PRESS,783,761,738,721,689.55957695,648,914.279788475,800.279788475,839.720211525,657.279788475,635.720211525,657,0.429297384596,0.00445155349582,0.0499518126029,0.999999995457,1.3519039956e-05,-8.69435165237e-05,3.66734362676e-05,1793254947391993600
+173,2.883333333,POSE1_TO_POSE2_PRESS,783,761.304258187,738,721,689.304258187,648,914,800,840,657.304258187,635.695741813,657,0.430277119257,0.00445618760967,0.0499449089623,0.999999995371,2.37835932396e-05,-8.62050275528e-05,3.55236872088e-05,1793254947408660224
+174,2.900000000,POSE1_TO_POSE2_PRESS,783,761.885046063,738,721,689.885046063,648,914,800,840,657.885046063,635.114953937,657,0.431273444862,0.00446289445183,0.0499572449944,0.999999997506,1.35995415646e-05,-6.01067651014e-05,3.45031302342e-05,1793254947425326848
+175,2.916666667,POSE1_TO_POSE2_PRESS,783.462158751,761.537841249,738,721,690,648.462158751,914,800,840,658,635.462158751,657,0.432232983292,0.00446132853196,0.0499494755634,0.999999996815,3.76191576168e-06,-7.16631173819e-05,3.49440029183e-05,1793254947441993216
+176,2.933333333,POSE1_TO_POSE2_PRESS,783.962144684,761,738,720.962144684,689.962144684,649,914,800,840,658,636,657,0.433184466272,0.0044574578941,0.0499391893951,0.999999995446,-5.46757456965e-06,-8.83238077389e-05,3.57326763883e-05,1793254947458659840
+177,2.950000000,POSE1_TO_POSE2_PRESS,783.393587232,761,738,720.393587232,689.393587232,649,914,800,840,658,636,657,0.434150283308,0.00444989674428,0.0499631759238,0.999999998242,-7.3699371511e-06,-4.62761900927e-05,3.63413912614e-05,1793254947475326464
+178,2.966666667,POSE1_TO_POSE2_PRESS,783,761,738,720.184287561,689.184287561,649,914.184287561,800,840,657.815712439,635.815712439,657,0.435108189844,0.00444548357226,0.0499780013732,0.999999998945,-6.89182993467e-06,-2.61621637564e-05,3.71165966853e-05,1793254947491993344
+179,2.983333333,POSE1_TO_POSE2_PRESS,783,761,738,720.783121387,689.783121387,649,914.783121387,800,840,657.216878613,635.216878613,657,0.43604830227,0.00444815162786,0.0499722194072,0.999999997733,-1.05896743826e-06,-5.53867189756e-05,3.82663150508e-05,1793254947508660224
+180,3.000000000,POSE1_TO_POSE2_PRESS,783.367830661,761,738,720.632169339,688.896508018,648.632169339,914.632169339,800,840,657,635.367830661,657,0.436981470484,0.00444986781916,0.0499614440869,0.999999996259,-3.22873393568e-06,-7.71554204701e-05,3.89665940239e-05,1793254947525326848
+181,3.016666667,POSE1_TO_POSE2_PRESS,783.944519814,761,738,720.055480186,687.166440558,648.055480186,914.055480186,800,840,657,635.944519814,657,0.437910695637,0.00445104353078,0.0499478334828,0.999999994691,-9.94248584314e-06,-9.46906004561e-05,3.94116760583e-05,1793254947541993472
+182,3.033333333,POSE1_TO_POSE2_PRESS,784,761,738,720,688.040462371,648,914,800,840,657,635.479768814,657,0.438862165831,0.00445031819246,0.0499672571311,0.99999999754,-1.87108671191e-05,-5.51575272832e-05,3.90798059201e-05,1793254947558660096
+183,3.050000000,POSE1_TO_POSE2_PRESS,784,761,738,720,689,648,914,800,840,657.097552155,635.097552155,657,0.439800158916,0.00444911837553,0.0499842180994,0.999999998774,-2.32760276017e-05,-2.04243485088e-05,3.86349593545e-05,1793254947575326720
+184,3.066666667,POSE1_TO_POSE2_PRESS,784,761,738,720,689,648,914,800,840,657.683451802,635.683451802,657,0.440658831736,0.00444655631706,0.0499712480209,0.999999998455,-5.70496165098e-06,-4.01292520503e-05,3.80385630304e-05,1793254947591993344
+185,3.083333333,POSE1_TO_POSE2_PRESS,784,761,738,720,688.464756437,648.267621781,914.267621781,800,840,657.732378219,636,657,0.44154709904,0.00444377708968,0.0499715152315,0.999999998564,-8.24157979323e-07,-3.74026680735e-05,3.83590864178e-05,1793254947608659968
+186,3.100000000,POSE1_TO_POSE2_PRESS,784,761,738,720,687.300482051,648.849758974,914.849758974,800,840,657.150241026,636,657,0.442470146417,0.00444074264047,0.0499873392166,0.999999999116,-1.08572502202e-05,-8.314071045e-06,3.97571954534e-05,1793254947625326848
+187,3.116666667,POSE1_TO_POSE2_PRESS,784,761,738,720.425681817,687.851363633,648.574318183,914.574318183,800,840,657,636,657,0.443310064124,0.00444567178522,0.0499886004746,0.999999999127,-4.26999510443e-06,-9.03961544901e-06,4.0563671907e-05,1793254947641993728
+188,3.133333333,POSE1_TO_POSE2_PRESS,784,761,738,720.999442958,688.998885917,648.000557042,914.000557042,800,840,657,636,657,0.444121064096,0.00445337117634,0.0499847958871,0.999999998917,8.09887757789e-06,-2.0136420167e-05,4.11643408719e-05,1793254947658660608
+189,3.150000000,POSE1_TO_POSE2_PRESS,784,761,738,719.846878286,687.270317429,648,914,800,840,657.576560857,635.423439143,657,0.444858006956,0.00446281038609,0.0499267290473,0.999999992478,2.74650993065e-05,-0.000112532211608,4.03148385456e-05,1793254947675327232
+190,3.166666667,POSE1_TO_POSE2_PRESS,784,761,738,719,686.156723183,648,914.156723183,800,840,658,635.156723183,657,0.445606934535,0.00447072530827,0.0498835150584,0.999999983174,4.14498507241e-05,-0.0001743080557,3.93753239916e-05,1793254947691993600
+191,3.183333333,POSE1_TO_POSE2_PRESS,784,761,738,719,686.745264946,648,914.745264946,800,840,658,635.745264946,657,0.446389082012,0.00447443571233,0.0498813703327,0.999999986971,4.05883334918e-05,-0.000151499253056,3.81916828498e-05,1793254947708659968
+192,3.200000000,POSE1_TO_POSE2_PRESS,784,761,738,719,687,647.671056921,915,800,840,657.671056921,636,657,0.447140814643,0.00447717999008,0.0498689753984,0.999999985518,4.18638607068e-05,-0.000160421849204,3.84336340556e-05,1793254947725326592
+193,3.216666667,POSE1_TO_POSE2_PRESS,784,761,738,719,687,647.091090363,915,800,840,657.091090363,636,657,0.447869337011,0.00447918699601,0.0498487583114,0.999999979475,4.47702121405e-05,-0.000193559353739,3.97634852322e-05,1793254947741993216
+194,3.233333333,POSE1_TO_POSE2_PRESS,784,761.482946319,738,719,686.034107362,647,915,800,840.482946319,657.482946319,636,657,0.44854070976,0.00448399752218,0.0498219702865,0.999999968906,5.18936248684e-05,-0.000240541970965,4.04346246473e-05,1793254947758659840
+195,3.250000000,POSE1_TO_POSE2_PRESS,784,761.944026221,738,719,685,646.944026221,915,800,840.944026221,658,636,657,0.449201822866,0.00448905753649,0.0497975241809,0.999999956936,5.97755705065e-05,-0.000284366760039,4.11086923246e-05,1793254947775326720
+196,3.266666667,POSE1_TO_POSE2_PRESS,784,761.370113496,738,719,685,646.370113496,915,800,840.370113496,658,636,657,0.449866533839,0.00449159251989,0.0498060775068,0.999999958966,6.74056867791e-05,-0.000275100771369,4.29455548209e-05,1793254947791993600
+197,3.283333333,POSE1_TO_POSE2_PRESS,784.21223035,761,738,719,684.78776965,646,915,800,840.21223035,657.78776965,636,657,0.450517249668,0.00449296016271,0.0498157419335,0.99999996119,7.10613851705e-05,-0.000265650891634,4.47123021418e-05,1793254947808660224
+198,3.300000000,POSE1_TO_POSE2_PRESS,784.809885632,761,738,719,684.190114368,646,915,800,840.809885632,657.190114368,636,657,0.451142549279,0.00449220783439,0.0498274241947,0.999999963914,6.74992661881e-05,-0.000255867054112,4.6351715282e-05,1793254947825326848
+199,3.316666667,POSE1_TO_POSE2_PRESS,785,761,738,719,684,645.607922225,915,800,841,657.392077775,636,657,0.451702971014,0.00449230897361,0.0498062833575,0.999999949696,6.91263836171e-05,-0.000305740822968,4.84916111818e-05,1793254947841993472
+200,3.333333333,POSE1_TO_POSE2_PRESS,785,761,738,719,684,645.032943454,915,800,841,657.967056546,636,657,0.452233127819,0.00449280824822,0.0497698308209,0.999999922514,7.31742356859e-05,-0.000383444362903,5.08649779944e-05,1793254947858660096
+201,3.350000000,POSE1_TO_POSE2_PRESS,785,761,738,718.461151717,684,645,915,800,840.461151717,658,636,657,0.452742869789,0.00449728960296,0.0497395329597,0.999999908667,7.95681173027e-05,-0.000417006338318,4.94094588436e-05,1793254947875326720
+202,3.366666667,POSE1_TO_POSE2_PRESS,785,761.115086089,738,718.115086089,684,645,915,800,840.115086089,657.884913911,635.884913911,657,0.453250868515,0.0044999811256,0.0497169183601,0.999999898929,8.36970020166e-05,-0.000439104205671,4.82213439645e-05,1793254947891993344
+203,3.383333333,POSE1_TO_POSE2_PRESS,785,761.71069673,738,718.71069673,684,645,915,800,840.71069673,657.28930327,635.28930327,657,0.453756769344,0.00449418895811,0.0497248221964,0.999999905653,7.7773393441e-05,-0.000424537085788,4.91213777662e-05,1793254947908659968
+204,3.400000000,POSE1_TO_POSE2_PRESS,785,761.702970063,738,718.702970063,683.702970063,644.702970063,915,800,841,657.297029937,635,657,0.454245938536,0.00448954088058,0.0497310398144,0.999999912795,6.49040463006e-05,-0.000409786202492,4.76744014883e-05,1793254947925326592
+205,3.416666667,POSE1_TO_POSE2_PRESS,785,761.125399304,738,718.125399304,683.125399304,644.125399304,915,800,841,657.874600696,635,657,0.454719304888,0.00448597338116,0.0497356648213,0.99999992004,4.54745418585e-05,-0.000394861757855,4.4010705357e-05,1793254947941993472
+206,3.433333333,POSE1_TO_POSE2_PRESS,784.550301978,761,738,718,683.449698022,644,915,800,841,658,635,657,0.455109663078,0.00448064522567,0.049709112521,0.999999901637,-4.03267788632e-06,-0.000442381821313,3.17408557311e-05,1793254947958660352
+207,3.450000000,POSE1_TO_POSE2_PRESS,784.024114726,761,738,718,683.975885274,644,915,800,841,657.975885274,635.024114726,657,0.455475592626,0.00447503507651,0.049674234952,0.999999869977,-5.95355488629e-05,-0.000506150537241,1.77218060191e-05,1793254947975327488
+208,3.466666667,POSE1_TO_POSE2_PRESS,784.598653222,761,738,718,683.401346778,644,915,800,841,657.401346778,635.598653222,657,0.455809378769,0.00447413339262,0.0496466851105,0.999999849145,-6.14971530016e-05,-0.000545521726997,1.82542339038e-05,1793254947991993856
+209,3.483333333,POSE1_TO_POSE2_PRESS,785,761,738,718.179273154,683,643.820726846,915,800,841,657.179273154,635.820726846,657.179273154,0.456138249278,0.00447431804197,0.0496253732871,0.999999831979,-6.17496545616e-05,-0.000576084781558,1.88353995804e-05,1793254948008660224
+210,3.500000000,POSE1_TO_POSE2_PRESS,785,761,738,718.773985854,683,643.226014146,915,800,841,657.773985854,635.226014146,657.773985854,0.45645572847,0.00447702011126,0.0496185171698,0.999999826288,-5.80415585788e-05,-0.000586236255899,1.9529508004e-05,1793254948025326848
+211,3.516666667,POSE1_TO_POSE2_PRESS,785,761.359067788,738,718.640932212,683,643,915,800,841,658,635.359067788,657.640932212,0.456764723834,0.00447839312191,0.0496215987659,0.999999830675,-5.34468512722e-05,-0.000579077682384,2.14998813715e-05,1793254948041993472
+212,3.533333333,POSE1_TO_POSE2_PRESS,785,761.938246067,738,718.061753933,683,643,915,800,841,658,635.938246067,657.061753933,0.457068518596,0.00447895141269,0.0496307722332,0.999999841006,-4.8308646067e-05,-0.000561307956946,2.42526121005e-05,1793254948058660352
+213,3.550000000,POSE1_TO_POSE2_PRESS,785,762,738,718.510054537,682.489945463,643,915,800,841,658,636,657.510054537,0.457331450106,0.00449981476994,0.0496300667137,0.99999984096,4.83995262716e-05,-0.00056137903811,2.43277133611e-05,1793254948075326976
+214,3.566666667,POSE1_TO_POSE2_PRESS,785,761.916095478,738,718.916095478,682,642.916095478,915,800,841,658,636,658,0.457582208437,0.0045217729508,0.0496273849326,0.999999830142,0.000142037341294,-0.000564776452546,2.38459759354e-05,1793254948091993600
+215,3.583333333,POSE1_TO_POSE2_PRESS,785,761.324572788,738,718.324572788,682,642.324572788,915,800,841,658,636,658,0.457788825221,0.00453569341956,0.0496198800262,0.99999982281,0.000150981255081,-0.000575416030347,2.19287861653e-05,1793254948108660480
+216,3.600000000,POSE1_TO_POSE2_PRESS,785,761,738,718,682.260885934,642,915,800,841,658,636,657.739114066,0.457984276318,0.00454108739483,0.0496144953209,0.999999818072,0.000153408698215,-0.000582975955282,2.14621572377e-05,1793254948125327104
+217,3.616666667,POSE1_TO_POSE2_PRESS,785,761,738,718,682.838971705,642,915,800,841,658,636,657.161028295,0.458166151531,0.00453611437742,0.0496116884763,0.99999981664,0.00014791304815,-0.000586791463953,2.27592021429e-05,1793254948141993728
+218,3.633333333,POSE1_TO_POSE2_PRESS,785,761,738,718,682.58605251,642,915,800,841,658,636,657.41394749,0.458326196228,0.00453405604268,0.0496109068879,0.999999816839,0.000144173710121,-0.000587357480056,2.33885573624e-05,1793254948158660096
+219,3.650000000,POSE1_TO_POSE2_PRESS,785,761,738,718,682.012277522,642,915,800,841,658,636,657.987722478,0.458477812032,0.00453312308375,0.0496109072626,0.999999817671,0.000141112494365,-0.000586668848367,2.37601137371e-05,1793254948175326464
+220,3.666666667,POSE1_TO_POSE2_PRESS,785,761.554340435,738,718,682,642,915,800,841,658,636,657.445659565,0.458590404238,0.0045313800846,0.0496023216717,0.99999980869,0.000136412775789,-0.000602857713288,2.39674550434e-05,1793254948191993344
+221,3.683333333,POSE1_TO_POSE2_PRESS,785,761.871212053,738,718.128787947,682,642,915,800.128787947,841,658,636,657,0.458696972945,0.00452981789089,0.0495934443852,0.999999799521,0.000132176164886,-0.000618786966107,2.4301104571e-05,1793254948208660480
+222,3.700000000,POSE1_TO_POSE2_PRESS,785,761.267302735,738,718.732697265,682,642,915,800.732697265,841,658,636,657,0.458784467775,0.00452898806357,0.0495841835823,0.9999997913,0.000129780212765,-0.000632397015394,2.51139739252e-05,1793254948225326848
+223,3.716666667,POSE1_TO_POSE2_PRESS,785,761.320982844,738.320982844,718.679017156,681.679017156,642,915,800.679017156,841,658,636,657.320982844,0.45885969019,0.00452896210236,0.0495753667292,0.999999782359,0.000128675576217,-0.000646592449982,2.53708235148e-05,1793254948241993472
+224,3.733333333,POSE1_TO_POSE2_PRESS,785,761.896861514,738.896861514,718.103138486,681.103138486,642,915,800.103138486,841,658,636,657.896861514,0.458925166963,0.00452957449952,0.0495669024201,0.999999772787,0.000128596386579,-0.000661252746574,2.51861320912e-05,1793254948258660096
+225,3.750000000,POSE1_TO_POSE2_PRESS,785,762,738.528909714,718,681.471090286,642,915,800.471090286,841,658,636,657.528909714,0.458982737836,0.00452776959324,0.0495648151154,0.999999770766,0.000124034877688,-0.000665168971747,2.51840715728e-05,1793254948275326720
+226,3.766666667,POSE1_TO_POSE2_PRESS,785.046073323,761.953926677,738,718.046073323,682,642,915,800.953926677,841,658,636,657,0.459037268435,0.004525624133,0.0495642655895,0.999999770385,0.000118871919156,-0.000666679536558,2.52551550283e-05,1793254948291993344
+227,3.783333333,POSE1_TO_POSE2_PRESS,785.634164837,761.365835163,738,718.634164837,682,642,915,800.365835163,841,658,636,657,0.459076324022,0.0045256766217,0.0495654394971,0.999999769936,0.00011813778736,-0.000667465318314,2.57179774762e-05,1793254948308660224
+228,3.800000000,POSE1_TO_POSE2_PRESS,785.779931117,761.220068883,738,718.779931117,682,642,915,800,841,658,636,657.220068883,0.459111465419,0.00452767122398,0.0495657551427,0.999999769182,0.000119741860018,-0.000668305308693,2.58122271106e-05,1793254948325326848
+229,3.816666667,POSE1_TO_POSE2_PRESS,785.197627689,761.802372311,738,718.197627689,682,642,915,800,841,658,636,657.802372311,0.459140164037,0.00453286255544,0.0495646580844,0.999999767906,0.000125194629599,-0.000669234526688,2.52998039187e-05,1793254948341993472
+230,3.833333333,POSE1_TO_POSE2_PRESS,785,762,738,718,682,641.620917952,915.379082048,800.379082048,841,658,635.620917952,658,0.459162991784,0.00453446235962,0.049564892226,0.999999768433,0.000125933631885,-0.000668316093095,2.50811534725e-05,1793254948358660096
+231,3.850000000,POSE1_TO_POSE2_PRESS,785,762,738,718,682,641.047081999,915.952918001,800.952918001,841,658,635.047081999,658,0.459182803362,0.00453421701173,0.0495658102733,0.999999769891,0.000124250929808,-0.000666448426025,2.50134291795e-05,1793254948375326720
+232,3.866666667,POSE1_TO_POSE2_PRESS,785.524602105,761.475397895,738,718,682,641,915.475397895,800.475397895,841,658,635,657.475397895,0.459190826455,0.00453221580034,0.0495639213433,0.99999976721,0.000123135477611,-0.000670657737483,2.52332022126e-05,1793254948391993344
+233,3.883333333,POSE1_TO_POSE2_PRESS,786,761,738.100368923,718,682,641,915,800.100368923,841,658,635.100368923,657.100368923,0.459197617036,0.0045309820975,0.049561968714,0.999999764526,0.000122671227705,-0.000674727632244,2.53467323964e-05,1793254948408659968
+234,3.900000000,POSE1_TO_POSE2_PRESS,786,761,738.697285175,718,682,641,915,800.697285175,841,658,635.697285175,657.697285175,0.459203522845,0.00453432185498,0.0495609421666,0.999999763761,0.000125177788387,-0.000675420623755,2.48075272419e-05,1793254948425326592
+235,3.916666667,POSE1_TO_POSE2_PRESS,786,761.283832624,738.716167376,718,682,641,915,800.716167376,841,658,636,658,0.45920778398,0.00453571333294,0.0495600593473,0.999999763187,0.000126221458548,-0.000676087605445,2.44800487506e-05,1793254948441993472
+236,3.933333333,POSE1_TO_POSE2_PRESS,786,761.859711294,738.140288706,718,682,641,915,800.140288706,841,658,636,658,0.45921035285,0.00453510015334,0.0495593244151,0.999999762815,0.000125759906014,-0.00067672782474,2.43704237095e-05,1793254948458660096
+237,3.950000000,POSE1_TO_POSE2_PRESS,786,762,738,718,682,641.435078327,915,800,841,658,636,658,0.459211955756,0.00453469140568,0.0495587654374,0.999999762758,0.000124629471862,-0.000677016306384,2.4491696522e-05,1793254948475326976
+238,3.966666667,POSE1_TO_POSE2_PRESS,785.98944147,761.98944147,738.01055853,718.01055853,682,641.98944147,915,800,841,658,635.98944147,657.98944147,0.459213238111,0.00453437677696,0.0495582696412,0.999999762786,0.00012335447706,-0.000677201596731,2.46831842716e-05,1793254948491993856
+239,3.983333333,POSE1_TO_POSE2_PRESS,785.398685722,761.398685722,738.601314278,718.601314278,682,641.398685722,915,800,841,658,635.398685722,657.398685722,0.459214001304,0.00453561605945,0.0495581317108,0.999999761959,0.000125973459564,-0.00067794141746,2.46466605151e-05,1793254948508660224
+240,4.000000000,POSE1_TO_POSE2_PRESS,785.187807896,761,739,718.812192104,682,641.187807896,915,800.187807896,841,658,635.187807896,657.187807896,0.459214891882,0.00453694964431,0.0495579741533,0.999999761528,0.000128244044169,-0.000678155650342,2.45266353537e-05,1793254948525326592
+241,4.016666667,POSE1_TO_POSE2_PRESS,785.765454443,761,739,718.234545557,682,641.765454443,915,800.765454443,841,658,635.765454443,657.765454443,0.459216046876,0.00453847897545,0.0495577758551,0.99999976193,0.000129791448334,-0.000677278904254,2.42332837486e-05,1793254948541993472
+242,4.033333333,POSE1_TO_POSE2_PRESS,785.658662042,761.341337958,738.658662042,718,682,641.658662042,915,800.658662042,841.341337958,658,636,658,0.459216206411,0.00453924945592,0.0495576530978,0.999999761914,0.000129843628943,-0.000677299520572,2.40605205578e-05,1793254948558660096
+243,4.050000000,POSE1_TO_POSE2_PRESS,785.083983769,761.916016231,738.083983769,718,682,641.083983769,915,800.083983769,841.916016231,658,636,658,0.459215685446,0.00453950118226,0.0495575819807,0.999999761612,0.000128873667271,-0.000677933578303,2.39701922151e-05,1793254948575326720
+244,4.066666667,POSE1_TO_POSE2_PRESS,785,762,738,718,682,641,915,800,841.497003598,658,635.497003598,658,0.459216383261,0.00453818119532,0.0495571863079,0.999999761521,0.00012817243332,-0.000678182512403,2.44700322037e-05,1793254948591993344
+245,4.083333333,POSE1_TO_POSE2_PRESS,785.090541365,762,738.090541365,718,682,641.090541365,915.090541365,800,841,658,635.090541365,658,0.459217047588,0.00453691917966,0.0495568108558,0.999999761341,0.000127694985924,-0.000678521126217,2.49324258971e-05,1793254948608660224
+246,4.100000000,POSE1_TO_POSE2_PRESS,785.669770268,762,738.669770268,718,682,641.669770268,915.669770268,800,841,658,635.669770268,658,0.459216405285,0.00453742197524,0.0495568443602,0.999999760486,0.000128177158082,-0.00067969954621,2.46475214095e-05,1793254948625326848
+247,4.116666667,POSE1_TO_POSE2_PRESS,785.751810515,761.751810515,738.751810515,718,682,641.751810515,915.751810515,800.248189485,841,658,635.751810515,658,0.459215356771,0.00453869332398,0.0495563938132,0.999999759449,0.000129303334525,-0.000681023376113,2.42728816395e-05,1793254948641993472
+248,4.133333333,POSE1_TO_POSE2_PRESS,785.174465045,761.174465045,738.174465045,718,682,641.174465045,915.174465045,800.825534955,841,658,635.174465045,658,0.45921376953,0.00454098394996,0.0495553013033,0.999999758169,0.000131283607916,-0.000682540052951,2.37792323347e-05,1793254948658660096
+249,4.150000000,POSE1_TO_POSE2_PRESS,785,761,738,718,682,641,915,800.599267085,841,658,635,658,0.459215769637,0.00454121053888,0.0495563786506,0.999999759337,0.000131938680172,-0.000680702349835,2.37229112732e-05,1793254948675326720
+250,4.166666667,POSE1_TO_POSE2_PRESS,785,761,738,718,682,641,915,800.024999126,841,658,635,658,0.459219323225,0.00454054330849,0.0495583956419,0.999999761557,0.000132019881712,-0.000677412052013,2.38559726777e-05,1793254948691993344
+251,4.183333333,POSE1_TO_POSE2_PRESS,785.564448366,761.564448366,738,718,682,641.564448366,915.564448366,800.564448366,841,658,635.564448366,658,0.459218787075,0.00453932916989,0.0495576204032,0.999999761506,0.000128137204636,-0.000678230810384,2.39232406529e-05,1793254948708659968
+252,4.200000000,HOLD_POSE2,785,762,738,718,682,641,915,800,841,658,635,658,0.459218304423,0.00454123080126,0.0495564897304,0.999999760578,0.000129939283102,-0.000679265768417,2.36237390997e-05,1793254948749732608
+253,4.216666667,HOLD_POSE2,785,762,738,718,682,641,915,800,841,658,635.575349071,658,0.459218042197,0.00454099179315,0.0495563480201,0.999999760254,0.000129732104899,-0.000679782579147,2.35964965178e-05,1793254948766399232
+254,4.233333333,HOLD_POSE2,785.149575667,762,738,718,682,641,915,800,841,658,636,658,0.459218051244,0.00454120091044,0.0495563889864,0.999999760163,0.000129962471783,-0.00067987364911,2.35817292684e-05,1793254948783065856
+255,4.250000000,HOLD_POSE2,785.720639382,762,738,718,682,641,915,800,841,658,636,658,0.459218824711,0.00454267279656,0.0495569447156,0.999999760724,0.000131425793349,-0.000678765027758,2.36021161505e-05,1793254948799732480
+256,4.266666667,HOLD_POSE2,786,762,738,718,682,641,915,800,841,658,636,658,0.459219146256,0.00454386728669,0.0495572756405,0.999999760552,0.000132667831064,-0.000678781696616,2.3458951996e-05,1793254948816399360
+257,4.283333333,HOLD_POSE2,786,762,738,718,682,641,915,800,841,658,636,658,0.459219035001,0.00454479611788,0.0495573912729,0.999999759679,0.000133697947783,-0.000679876042575,2.31591569595e-05,1793254948833065728
+258,4.300000000,HOLD_POSE2,785.523095518,762,738,717.523095518,682,641,915,800.476904482,841,658,636,657.523095518,0.459219275468,0.00454361565859,0.0495572428345,0.999999760105,0.000132903363095,-0.000679389825586,2.3566758716e-05,1793254948849732608
+259,4.316666667,HOLD_POSE2,785,761.949782027,738,717.050217973,681.949782027,641,915,800.949782027,841,658,636,657,0.459219554475,0.00454220241227,0.0495570103301,0.999999760695,0.000131925858197,-0.000678696495406,2.4027113943e-05,1793254948866399232
+260,4.333333333,HOLD_POSE2,785,761.371209309,738,717.628790691,681.371209309,641,915,800.371209309,841,658,636,657,0.45921949476,0.00454280300726,0.0495564520956,0.999999760259,0.000132884692894,-0.00067916839252,2.35457199388e-05,1793254948883066368
+261,4.350000000,HOLD_POSE2,785.205537705,761.205537705,738,718,681.205537705,641,915,800,841,658,635.794462295,657,0.459219240269,0.0045431793471,0.0495559893703,0.99999975968,0.000133417526886,-0.000679923516527,2.33387870186e-05,1793254948899733248
+262,4.366666667,HOLD_POSE2,785.779016392,761.779016392,738,718,681.779016392,641,915,800,841,658,635.220983608,657,0.459218637104,0.00454315423907,0.04955569762,0.999999758845,0.000133187760467,-0.000681185655883,2.36231775339e-05,1793254948916399616
+263,4.383333333,HOLD_POSE2,785.633953341,762,738,718,682,641,915,800,841,658,635.366046659,657.366046659,0.459219360137,0.00454418625811,0.0495565954662,0.999999759577,0.000132156005668,-0.000680320758423,2.33412000877e-05,1793254948933065984
+264,4.400000000,HOLD_POSE2,785.038427361,762,738,718,682,641,915,800,841,658,635.961572639,657.961572639,0.459220914582,0.00454588100358,0.0495582390856,0.999999761286,0.000130621474095,-0.00067812239456,2.27041593666e-05,1793254948949732864
+265,4.416666667,HOLD_POSE2,785.540497757,761.459502243,738,718,681.459502243,641,915,800.540497757,841,658,635.459502243,657.459502243,0.459220863017,0.00454377475296,0.049557473879,0.999999760507,0.000132693585378,-0.000678843185935,2.34546861816e-05,1793254948966399744
+266,4.433333333,HOLD_POSE2,786,761.118106934,738,718,681.118106934,641,915,800.881893066,841,658.118106934,635.118106934,657.118106934,0.459220597282,0.00454181966482,0.0495566358834,0.999999759738,0.000134039072918,-0.00067968835002,2.41081021757e-05,1793254948983066368
+267,4.450000000,HOLD_POSE2,786,761.695052528,738,718,681.695052528,641,915,800.304947472,841,658.695052528,635.695052528,657.695052528,0.459219929881,0.00454147040264,0.0495561606101,0.999999759694,0.000131595182139,-0.000680234436746,2.40124160625e-05,1793254948999732992
+268,4.466666667,POSE2_TO_POSE3_RETREAT,785,761,738,718,681,641,915,800,841,658,635,657,0.459220025136,0.00454394294354,0.0495564112736,0.999999759552,0.000131619484881,-0.000680466755501,2.31644889344e-05,1793254949037216512
+269,4.483333333,POSE2_TO_POSE3_RETREAT,785,761.586396628,738.586396628,718,681,641,915,800.586396628,841,658,635,657.586396628,0.459220936297,0.0045432416776,0.0495571678724,0.999999760162,0.000133171101312,-0.000679249676091,2.36855568728e-05,1793254949053882880
+270,4.500000000,POSE2_TO_POSE3_RETREAT,785.169147864,761.830852136,738.830852136,718,681.169147864,641,915,800.830852136,841,657.830852136,635.169147864,658,0.459221232499,0.00454312526987,0.0495574367106,0.999999760276,0.000134652159753,-0.000678777525279,2.40185651387e-05,1793254949070549248
+271,4.516666667,POSE2_TO_POSE3_RETREAT,785.743173489,761.256826511,738.256826511,718,681.743173489,641,915,800.256826511,841,657.256826511,635.743173489,658,0.459220056717,0.00454440879742,0.0495565380298,0.999999759211,0.00013596432864,-0.000680088459254,2.39014278361e-05,1793254949087216128
+272,4.533333333,POSE2_TO_POSE3_RETREAT,785.680809406,761.319190594,738,718,681.680809406,641,915,800,841,657.319190594,636,658,0.459219256696,0.00454442624259,0.0495558141718,0.99999975848,0.000135883293725,-0.000681180948788,2.38279350658e-05,1793254949103882752
+273,4.550000000,POSE2_TO_POSE3_RETREAT,785.103179896,761.896820104,738,718,681.103179896,641,915,800,841,657.896820104,636,658,0.459218760916,0.00454341857928,0.0495552318627,0.999999758021,0.000134674223988,-0.000682096570423,2.37897799531e-05,1793254949120548864
+274,4.566666667,POSE2_TO_POSE3_RETREAT,785,762,738,718,681,641,915,800,841,658,636,658,0.459218842734,0.00454330501886,0.0495549250005,0.999999758076,0.000134602677563,-0.000682033915245,2.36514044333e-05,1793254949137215488
+275,4.583333333,POSE2_TO_POSE3_RETREAT,785.074754164,762,738,718,681,641,915,800,841,658,635.925245836,657.925245836,0.459219041134,0.00454354725655,0.049554778256,0.999999758306,0.00013476266433,-0.000681671093837,2.34984081182e-05,1793254949153882368
+276,4.600000000,POSE2_TO_POSE3_RETREAT,785.650131048,762,738,718,681,641,915,800,841,658,635.349868952,657.349868952,0.45921917906,0.00454487007611,0.0495553026472,0.999999758947,0.000134816523594,-0.000680722843596,2.33934583167e-05,1793254949170549248
+277,4.616666667,POSE2_TO_POSE3_RETREAT,785.774343505,762,738,718,681,641,915,800,841,658,635.225656495,657,0.459216652146,0.00454547305719,0.0495545555104,0.999999758318,0.000135013536944,-0.00068160622431,2.33965981651e-05,1793254949187216128
+278,4.633333333,POSE2_TO_POSE3_RETREAT,785.19858762,762,738,718,681,641,915,800,841,658,635.80141238,657,0.459209990814,0.00454495922998,0.0495518356353,0.999999755712,0.000135432649629,-0.000685331326465,2.35674359242e-05,1793254949203882752
+279,4.650000000,POSE2_TO_POSE3_RETREAT,785,762,738,718,681.385388076,641,915,800,841,658,636,657,0.459188722761,0.00454437023569,0.0495412093884,0.999999744331,0.000134023892535,-0.000702020632903,2.32731834095e-05,1793254949220549376
+280,4.666666667,POSE2_TO_POSE3_RETREAT,785,762,738,718,681.973691743,641,915,800,841,658,636,657,0.459159763938,0.00454374166419,0.0495264202565,0.999999727874,0.00013165272039,-0.000725535887878,2.27340502887e-05,1793254949237216000
+281,4.683333333,POSE2_TO_POSE3_RETREAT,785.554915652,761.445084348,738,718,681.445084348,641,915,800,841,658,636,657,0.459109565924,0.00454689082219,0.049507145758,0.999999705054,0.000136148565493,-0.000755557032699,2.20974406737e-05,1793254949253882880
+282,4.700000000,POSE2_TO_POSE3_RETREAT,785.865266134,761,738,718,681,641,915,800,841,658,635.865266134,657.134733866,0.45905460009,0.00454948348324,0.0494880179538,0.999999683417,0.000139884486851,-0.000783034993994,2.13193164296e-05,1793254949270549760
+283,4.716666667,POSE2_TO_POSE3_RETREAT,785.288968502,761,738,718,681,641,915,800,841,658,635.288968502,657.711031498,0.458987267124,0.00454967276452,0.0494700590415,0.999999669043,0.000140076385829,-0.000801180060859,2.00923603249e-05,1793254949287216128
+284,4.733333333,POSE2_TO_POSE3_RETREAT,785.286362774,761.286362774,738,718,681.286362774,641,915,800,841,658,635,657.713637226,0.458910318419,0.00455004058606,0.0494556570782,0.999999655325,0.000140761359858,-0.000818030203435,1.90404798486e-05,1793254949303882496
+285,4.750000000,POSE2_TO_POSE3_RETREAT,785.860722143,761.860722143,738,718,681.860722143,641,915,800,841,658,635,657.139277857,0.458823699117,0.00455058796651,0.049444832359,0.999999642335,0.000141942222142,-0.000833578032586,1.81646739573e-05,1793254949320549120
+286,4.766666667,POSE2_TO_POSE3_RETREAT,785.552483331,762,738,718,682,641,915,800,841,658,635.447516669,657.447516669,0.458731451198,0.00455257684105,0.0494413751161,0.9999996389,0.000144629199756,-0.000837245838179,1.73857990054e-05,1793254949337216256
+287,4.783333333,POSE2_TO_POSE3_RETREAT,785,761.962442475,738,718,681.962442475,641,915,800,840.962442475,658,635.962442475,658,0.458636190325,0.00455494081435,0.0494406166576,0.999999639039,0.000147750392434,-0.00083654853407,1.66661784612e-05,1793254949353883136
+288,4.800000000,POSE2_TO_POSE3_RETREAT,785,761.382997527,738,718,681.382997527,641,915,800,840.382997527,658,635.382997527,658,0.458523455041,0.00455605890052,0.0494447683357,0.999999646011,0.000150180171133,-0.000827741305019,1.6353793249e-05,1793254949370549504
+289,4.816666667,POSE2_TO_POSE3_RETREAT,785,761.19442345,738,718,681.19442345,641,915,800,840,658,635.19442345,657.80557655,0.458400667601,0.00455757110733,0.0494499335175,0.99999965277,0.000153062111586,-0.000819009208539,1.59630286891e-05,1793254949387215872
+290,4.833333333,POSE2_TO_POSE3_RETREAT,785,761.767898388,738,718,681.767898388,641,915,800,840,658,635.767898388,657.232101612,0.458258282311,0.00455985169876,0.0494570746441,0.999999659191,0.000156825594532,-0.00081042359298,1.54194543673e-05,1793254949403882752
+291,4.850000000,POSE2_TO_POSE3_RETREAT,785,761.649265379,738,718,682,641,915,800,840.350734621,658,636,657.350734621,0.458097135401,0.00456197867927,0.0494652337376,0.999999666372,0.000161392486668,-0.000800615182711,1.49423146038e-05,1793254949420549376
+292,4.866666667,POSE2_TO_POSE3_RETREAT,785,761.060064289,738,718,682,641,915,800,840.939935711,658,636,657.939935711,0.457923232347,0.00456400121907,0.0494740849532,0.999999674002,0.000166505621659,-0.000789975386429,1.45103440193e-05,1793254949437216000
+293,4.883333333,POSE2_TO_POSE3_RETREAT,785.520105316,761.520105316,738,718,682,641,915,800.520105316,841,658,635.479894684,658,0.457717581352,0.00456683108101,0.0494798386448,0.999999678906,0.000172883010266,-0.000782375104815,1.375983333e-05,1793254949453882624
+294,4.900000000,POSE2_TO_POSE3_RETREAT,785.901434785,762,738,718,682,641.098565215,915,800.901434785,841,658,635,657.901434785,0.457499876078,0.00457013882846,0.0494837479547,0.999999681032,0.000179545848494,-0.000778159218308,1.29114009882e-05,1793254949470549248
+295,4.916666667,POSE2_TO_POSE3_RETREAT,785.32628444,762,738,718,682,641.67371556,915,800.32628444,841,658,635,657.32628444,0.457241310876,0.00457531415106,0.0494804393846,0.99999967149,0.000186894998587,-0.000788639364161,1.17643303898e-05,1793254949487215872
+296,4.933333333,POSE2_TO_POSE3_RETREAT,785.248225842,761.751774158,738,718,682,642,915,800,841,658,635.248225842,657,0.456966035896,0.00457896335735,0.0494768365324,0.999999663543,0.000193948711382,-0.000796984527425,1.06519704501e-05,1793254949503882496
+297,4.950000000,POSE2_TO_POSE3_RETREAT,785.821896913,761.178103087,738,718,682,642,915,800,841,658,635.821896913,657,0.45666885299,0.00458061169478,0.0494728478515,0.999999657803,0.000200615080288,-0.000802530546062,9.58511921192e-06,1793254949520549376
+298,4.966666667,POSE2_TO_POSE3_RETREAT,786,761.408680544,738,718,682,642,915,800,841,658,636,657,0.456349551262,0.00458411252308,0.049476591989,0.999999658533,0.000207460850114,-0.000799888017301,8.59933719032e-06,1793254949537216000
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,786,762,737.732094068,719,682,642.732094068,915,800,841,658,636,657,0.45488680886,0.0046056955918,0.0495038088351,0.999999685657,0.000234940558858,-0.000757289007539,1.47357650877e-06,1793254949603882752
+303,5.050000000,POSE2_TO_POSE3_RETREAT,785.685993858,761.685993858,738,718.685993858,682,643,915,800,841,658,635.685993858,657.314006142,0.454466512162,0.00461075471139,0.0495122311186,0.999999695125,0.00024087237449,-0.000742784548604,-8.21286920898e-07,1793254949620549376
+304,5.066666667,POSE2_TO_POSE3_RETREAT,785.097522042,761.097522042,738,718.097522042,682,643,915,800,841,658,635.097522042,657.902477958,0.454020189494,0.00461522649937,0.0495187230001,0.99999970003,0.00024821739445,-0.000733703510776,-2.79004127686e-06,1793254949637216256
+305,5.083333333,POSE2_TO_POSE3_RETREAT,785,761.483256592,738,718.483256592,682.483256592,643,915,800,840.516743408,658,635.483256592,658,0.453559616969,0.00462182982499,0.0495480840705,0.999999727572,0.000259712117111,-0.00069093216709,-4.17408803178e-06,1793254949653882624
+306,5.100000000,POSE2_TO_POSE3_RETREAT,785,762,738,718.938357725,683.061642275,643.061642275,915,800,840.061642275,658,635.938357725,657.938357725,0.453089968221,0.00462871622742,0.0495809993783,0.999999755546,0.000272015119246,-0.00064411772312,-5.37287159774e-06,1793254949670549248
+307,5.116666667,POSE2_TO_POSE3_RETREAT,785,762,738,718.36712083,683.63287917,643.63287917,915,800,840.63287917,658,635.36712083,657.36712083,0.452568686742,0.00463444252315,0.0496057429089,0.999999767895,0.000284185732482,-0.000619203507129,-6.00026690728e-06,1793254949687216128
+308,5.133333333,POSE2_TO_POSE3_RETREAT,785,761.79332448,737.79332448,718,684,644,915,800,840.79332448,658,635,657,0.452020802439,0.00464020581015,0.0496197926763,0.999999772157,0.000294939568719,-0.000607157750175,-7.42275266494e-06,1793254949703882752
+309,5.150000000,POSE2_TO_POSE3_RETREAT,785,761.214924761,737.214924761,718,684,644,915,800,840.214924761,658,635,657,0.451425070635,0.00464603562891,0.0496146087636,0.999999762878,0.000303145205788,-0.000618257056958,-1.02752788772e-05,1793254949720549376
+310,5.166666667,POSE2_TO_POSE3_RETREAT,784.627896772,761,737,718,683.627896772,644,915,800,840,658,635,657,0.450814378757,0.00465039429936,0.0496102748933,0.999999762953,0.000311252231838,-0.000614023939505,-1.38054561973e-05,1793254949737216000
+311,5.183333333,POSE2_TO_POSE3_RETREAT,784.035766861,761,737,718,683.035766861,644,915,800,840,658,635,657,0.450194840929,0.00465388307154,0.0496064436581,0.999999768431,0.000319300948319,-0.000600724674873,-1.77363322383e-05,1793254949753882368
+312,5.200000000,POSE2_TO_POSE3_RETREAT,784.544019463,761,737.544019463,718,684.088038927,644.544019463,915,800,840.544019463,658,635.544019463,657.544019463,0.44958261169,0.00465850183992,0.0496453959986,0.999999803824,0.000327365411588,-0.00053364240205,-2.02460324699e-05,1793254949770548736
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,785,761,738,718,685.695391113,645.695391113,915,799.304608887,840.304608887,658,636,658,0.448283938295,0.00466753693126,0.0497035162978,0.999999844445,0.000345146261601,-0.000437427609204,-2.53051600196e-05,1793254949803882240
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,784.156398718,761,738,718,686.843601282,646,915,799.843601282,840,658,635.156398718,657.156398718,0.446818194011,0.00467104647544,0.0496864687087,0.99999985057,0.000293757651911,-0.000459829532878,-3.35140709223e-05,1793254949837215744
+317,5.283333333,POSE2_TO_POSE3_RETREAT,784.432384437,761,737.567615563,718.432384437,686.567615563,646.432384437,915,800,840,658,635.432384437,657,0.446033440204,0.00464574026689,0.0496754275222,0.999999871893,0.000164179143869,-0.000477484256141,-3.56135667912e-05,1793254949853882624
+318,5.300000000,POSE2_TO_POSE3_RETREAT,784.974192981,761,737,719,686.025807019,647,915,800,840,658,636,657,0.445238264856,0.00461103184925,0.0496696519637,0.999999879996,7.10422575271e-06,-0.000488481296589,-3.66510249419e-05,1793254949870549248
+319,5.316666667,POSE2_TO_POSE3_RETREAT,784.397358011,761,737,719,686.602641989,647,915,800,840,658,636,657,0.444464309607,0.00458414892588,0.0497115619402,0.999999904722,-8.43289697085e-06,-0.000435009534107,-3.53744548247e-05,1793254949887215616
+320,5.333333333,POSE2_TO_POSE3_RETREAT,784,761,737,719,687,647.178283455,915,800,840,657.821716545,636,657,0.443669492892,0.00456761728302,0.0497407229138,0.999999919303,-1.32676861664e-05,-0.000399950542455,-3.54535272312e-05,1793254949903882240
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,784,761,737,719.809995317,688,648,915,800,840,658,635,658,0.436569880826,0.00457592336646,0.0497759212674,0.999999930073,0.000116066891709,-0.000354725069322,-2.35042950731e-05,1793254950037215744
+329,5.483333333,POSE2_TO_POSE3_RETREAT,784,760.604089757,737.395910243,720,688.395910243,648,914.604089757,800,839.604089757,658,635,657.604089757,0.435611053141,0.004578172621,0.0497720022299,0.999999919463,0.000153160147961,-0.000370705204883,-1.39210618989e-05,1793254950053882368
+330,5.500000000,POSE2_TO_POSE3_RETREAT,784,760.012441511,737.987558489,720,688.987558489,648,914.012441511,800,839.012441511,658,635,657.012441511,0.434640957528,0.00459034227347,0.0497645448471,0.999999904609,0.00018978781453,-0.000393204672301,-1.23699891604e-05,1793254950070548992
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783.433876148,760.566123852,738,720,688.433876148,648,914.566123852,800,839,658,635,657,0.433685040388,0.00459517465316,0.0497630807485,0.99999991096,0.000184024714588,-0.000379292931909,-1.87719204021e-05,1793254950087215616
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783.143025599,761,738,719.856974401,688.286051199,648.143025599,915,800,839.143025599,658,635,657,0.432738205573,0.00459808680047,0.0497694840009,0.999999921141,0.000170522018213,-0.000357823371462,-2.45503432246e-05,1793254950103882240
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783.7157733,761,738,719.2842267,689.431546601,648.7157733,915,800,839.7157733,658,635,657,0.43181774372,0.00459570311735,0.0497991380098,0.999999940367,0.000136501415486,-0.000315996147254,-2.79421587074e-05,1793254950120548864
+334,5.566666667,POSE2_TO_POSE3_RETREAT,784,761,738,719.297645292,689.702354708,648.702354708,915,800,839.702354708,658,635,657,0.430864191123,0.00459425605265,0.0497991774411,0.99999994034,0.000123503957464,-0.000321133772487,-3.06719738134e-05,1793254950137215488
+335,5.583333333,POSE2_TO_POSE3_RETREAT,784,761,738,719.888505736,689.111494264,648.111494264,915,800,839.111494264,658,635,657,0.429878040357,0.0045937316659,0.0497700430756,0.999999921463,0.000131216738481,-0.000372537226576,-3.27496415315e-05,1793254950153882112
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783.530229858,761,738,720.469770142,689,648,914.530229858,800,839,657.530229858,635,657,0.428904412798,0.00459138884166,0.0497645282382,0.99999991926,0.000132619410331,-0.000377828204949,-3.37469356993e-05,1793254950170548992
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783,761,738,720.951776999,689,648,914,800,839,657,635,657,0.427930026204,0.00458937295634,0.049763872956,0.999999920271,0.000132562010304,-0.000375103886192,-3.43722164347e-05,1793254950187215616
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783,761,738,720.379622211,689,648,914,800,839,657,635,657,0.426915747482,0.00459550438518,0.0497563290157,0.999999909913,0.000132586926353,-0.000401821550777,-3.36857628e-05,1793254950203882240
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783.198560132,761,738,720.198560132,688.801439868,648,914.198560132,800,839,657.198560132,635,657,0.425946663326,0.00459968402705,0.0497562397473,0.999999909996,0.000131900828138,-0.000401782796026,-3.43691454742e-05,1793254950220548864
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783.788627291,761,738,720.788627291,688.211372709,648,914.788627291,800,839,657.788627291,635,657,0.425066690482,0.00460001527253,0.04977084908,0.999999929965,0.000129812801474,-0.000348987603351,-3.77534757416e-05,1793254950237215488
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783.628052842,760.628052842,738,721,688.743894317,648,914.628052842,800,839,657.628052842,635,657,0.424176308354,0.00459840742582,0.0497989593237,0.999999947134,0.000132121529887,-0.000294558623279,-3.88618936633e-05,1793254950253882368
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783.048499088,760.048499088,738,721,689.903001823,648,914.048499088,800,839,657.048499088,635,657,0.423280116218,0.00459571725242,0.0498346052555,0.99999996127,0.000136884357764,-0.000239217728699,-3.86999846104e-05,1793254950270548992
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,760.530638754,738,720.469361246,690,648,914,800,839,657.530638754,634.469361246,657,0.422321149366,0.00459734555151,0.0498164755143,0.999999950763,0.000145255047731,-0.000275524701575,-3.82312971853e-05,1793254950287215616
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,761,738,720.108721829,690,648,914,800,839,657.891278171,634.108721829,657,0.421365137042,0.0045992138992,0.0497978151612,0.999999939656,0.000146353355682,-0.000312788301904,-3.78505916401e-05,1793254950303881984
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,761,738,720.682456016,690,648,914,800,839,657.317543984,634.682456016,657,0.420446281873,0.00460042212116,0.0497978905918,0.999999942002,0.000114937815264,-0.000318345008977,-3.79660225661e-05,1793254950320548864
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783,760.743739147,738,721,690,648,914,800,839,657.256260853,635,657,0.419535334029,0.00460405594302,0.0497963613546,0.999999938302,0.000110743554017,-0.000331236508734,-3.76055639941e-05,1793254950337215488
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783,760.169846782,738,721,690,648,914,800,839,657.830153218,635,657,0.418634187266,0.00461069625977,0.0497928431557,0.999999927106,0.000140289665423,-0.00035321937442,-3.6655247465e-05,1793254950353882368
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783,760,738,721,689.579503206,648,914,800,838.579503206,658,635,657,0.417772833148,0.00461063810268,0.0497787220864,0.999999916641,0.000153598095599,-0.000376509440075,-3.6970426214e-05,1793254950370549248
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783,760.017171328,738,721.017171328,689.034342657,648,914.017171328,800,838.017171328,658,635,657,0.41693009058,0.00460776274093,0.0497614207291,0.999999907333,0.000159452643936,-0.000398092608485,-3.78362469493e-05,1793254950387215360
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783,760.594765781,738,721.594765781,690.189531563,648,914.594765781,800,838.594765781,658,635,657,0.416148841885,0.00460484175924,0.0497857902625,0.999999928873,0.000144807049266,-0.0003460332951,-3.93114518845e-05,1793254950403881984
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783.171134132,761,738,722,691,648,914.828865868,800,839,658,635,657,0.415360398242,0.00460181026343,0.0498028967299,0.999999942707,0.000130270200465,-0.00030981793245,-4.0346691574e-05,1793254950420548864
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783.744619923,761,738,722,691,648,914.255380077,800,839,658,635,657,0.414555038477,0.00459851893849,0.0498029270844,0.999999944144,0.000115989020817,-0.000310853107249,-4.03475341235e-05,1793254950437215488
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783.673847549,761,738,721.673847549,690.673847549,648,914,800,839,658,634.673847549,657,0.413769204302,0.00459843703165,0.0497900648038,0.999999935897,0.000119408858065,-0.000335165688409,-4.0146141731e-05,1793254950453882112
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783.085855016,761,738,721.085855016,690.085855016,648,914,800,839,658,634.085855016,657,0.412999045613,0.00460093169405,0.0497668521222,0.999999918314,0.000137039338029,-0.000378165720195,-3.9782392029e-05,1793254950470548736
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,760.503621084,738,721.496378916,690,648,914,800,839,658,634,657,0.412294400464,0.00460622401467,0.049778016331,0.99999992264,0.00015048158206,-0.000361169915941,-4.03812288136e-05,1793254950487215616
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783.076588432,760.076588432,738,721.923411568,690.076588432,648,914.076588432,800,839,658,634,657,0.411603319307,0.00461113367984,0.0497948394352,0.999999930672,0.000157923512948,-0.0003347345511,-4.08430470686e-05,1793254950503882496
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783.650052049,760.650052049,738,721.349947951,690.650052049,648,914.650052049,800,839,658,634,657,0.410927565409,0.00461045754323,0.0498102428323,0.999999941459,0.000131083582972,-0.000313609112491,-3.93482005113e-05,1793254950520549120
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783.775383218,760.775383218,738,721.224616782,690.775383218,648,914.775383218,800,839,658,634.224616782,656.775383218,0.410252954317,0.00460959170508,0.0498098184288,0.999999941674,0.000119785330906,-0.000317494080978,-3.87514507327e-05,1793254950537215744
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783.199094572,760.199094572,738,721.800905428,690.199094572,648,914.199094572,800,839,658,634.800905428,656.199094572,0.409580132523,0.00460842886025,0.0497846131858,0.999999925404,0.000132819950813,-0.000360536661989,-3.95608087131e-05,1793254950553882368
+360,6.000000000,POSE2_TO_POSE3_RETREAT,783,760.388104589,738,722,690.388104589,648,914,800,839,658,635,656.388104589,0.408980422062,0.00460361305765,0.0497843662879,0.999999926052,0.000135389882754,-0.000357759211943,-3.96622774886e-05,1793254950570549248
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783,760.981062709,738,722,690.981062709,648,914,800,839,658,635,656.981062709,0.408419301947,0.00459686911155,0.0497972931694,0.999999935741,0.000132436231965,-0.000330796545228,-3.93901006634e-05,1793254950587216128
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783.558257337,760.441742663,738,722,691,648,914,800,838.441742663,658,634.441742663,657,0.407888864987,0.00459274186663,0.049816649447,0.999999944,0.000125660318645,-0.000307778589865,-3.85049561825e-05,1793254950603882496
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783.865258358,760,738,722,691,648,914,800,838,658,634.134741642,656.865258358,0.407358223056,0.00459085958392,0.0498275132995,0.999999947967,0.000120718123315,-0.000296684962991,-3.836704497e-05,1793254950620548864
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783.289396839,760,738,722,691,648,914,800,838,658,634.710603161,656.289396839,0.406823596007,0.00459604428471,0.0498098800774,0.999999939151,0.000122192013471,-0.000324203385601,-4.0741644506e-05,1793254950637215488
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783,760.293013647,738.293013647,722,691,648,914,800,838.293013647,658,635,656.293013647,0.406304432686,0.00459814747933,0.0497899777818,0.999999927494,0.00012273692205,-0.000358031869688,-4.19711955079e-05,1793254950653882112
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783,760.882040097,738.882040097,722,691,648,914,800,838.882040097,658,635,656.882040097,0.405800891406,0.00459713762652,0.0497677831886,0.999999912337,0.000122343340242,-0.000398235000365,-4.20439775967e-05,1793254950670548736
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783.462054542,760.537945458,739,722,691,648,914,800,838.537945458,658,634.537945458,657,0.405365836371,0.00460126674006,0.0497707230723,0.999999912092,0.000130163823573,-0.00039633140527,-4.23767351998e-05,1793254950687215616
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783.961833109,760.038166891,738.961833109,722,691,648,914,800,838,658,634.038166891,657,0.404952976787,0.00460635029033,0.0497809653914,0.999999916407,0.000139503493354,-0.000381965449463,-4.2738230869e-05,1793254950703882240
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783.407953357,760.592046643,738.407953357,722,691,648,914,800,838,658,634.592046643,657,0.404608296114,0.00460694225794,0.049804834668,0.999999930698,0.000141577738545,-0.000341677924121,-4.26083950726e-05,1793254950720549120
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783,761,738.161443815,722,691,648,914,800,838.161443815,658,635,657,0.404269111802,0.00460778615707,0.0498279730877,0.99999994238,0.000143972781266,-0.000304482194151,-4.24652926969e-05,1793254950737215744
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783,761,738.774221547,722,691,648,914,800,838.774221547,658,635,657,0.403945293229,0.00460933435833,0.0498490683127,0.999999950194,0.000147264648848,-0.000275929925648,-4.22851023098e-05,1793254950753882368
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783,761,738.634166585,722.365833415,691,648,914,800,838.634166585,658,635,657,0.403630764525,0.0046116720898,0.0498556039943,0.999999951364,0.000150299914578,-0.000269958501572,-4.24775191588e-05,1793254950770548736
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783,761,738.054902996,722.945097004,691,648,914,800,838.054902996,658,635,657,0.403321655577,0.00461447043974,0.0498536455225,0.999999948938,0.000153185477063,-0.000277160922265,-4.288731808e-05,1793254950787215360
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783,760.479259808,738,722.479259808,691,648,914,800,838,658,634.479259808,657,0.403033797895,0.00461638469248,0.0498417320072,0.999999941256,0.000156697358742,-0.00030175863099,-4.33195602952e-05,1793254950803881984
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783,760,738.096019276,722.096019276,691,648,914,800,838,657.903980724,634.096019276,657,0.402756243618,0.00461793282593,0.049829171888,0.999999933015,0.00015964962907,-0.000326440918554,-4.37979983848e-05,1793254950820548608
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783,760,738.671373293,722.671373293,691,648,914,800,838,657.328626707,634.671373293,657,0.402519016656,0.00461811537897,0.0498185873018,0.999999927656,0.000159480910826,-0.000342453048932,-4.4495318749e-05,1793254950837215488
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783,760.253433144,738.746566856,723,691,648,914,800,838,657.253433144,635,657,0.402300785299,0.00461782593062,0.0498119578603,0.999999925029,0.000156899599151,-0.000351124436746,-4.51173646713e-05,1793254950853882368
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783,760.844424751,738.155575249,723,691,648,914,800,838,657.844424751,635,657,0.402107855015,0.00461690780338,0.0498105964461,0.999999926286,0.000151104850973,-0.000350018374164,-4.56391493085e-05,1793254950870548992
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783.426523496,761,738.426523496,723,691,648.426523496,913.573476504,800,838,658,635,657,0.401944797832,0.00461387619617,0.0498131034552,0.999999935886,9.60344409209e-05,-0.000341878582036,-4.60965282834e-05,1793254950887215616
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783.994596009,761,739,723,691,648.994596009,913,800,838,658,635,657,0.401792735921,0.00460993554761,0.0498170153311,0.999999943789,2.39532070979e-05,-0.000331187596419,-4.65014660427e-05,1793254950903882496
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783.42001267,761,739,723,691,648.42001267,913,800,838,658,635,657,0.401674540666,0.004589786294,0.0498233149915,0.999999948851,1.45914018391e-05,-0.000316491636124,-4.38068038462e-05,1793254950920549120
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783,761,738.845500323,723,691,648,913,800,838.154499677,658,634.845500323,657,0.401561503349,0.00457363054271,0.0498286528091,0.999999952602,2.05825198041e-05,-0.000304781041892,-3.84776075171e-05,1793254950937215488
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783,761,738.271180977,723,691,648,913,800,838.728819023,658,634.271180977,657,0.401462481638,0.00456832627896,0.0498313770248,0.999999951975,6.82919086018e-05,-0.00030118254049,-2.59896312852e-05,1793254950953882112
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783,761,738,722.686830704,691,648,913,800,838.686830704,658,634.313169296,657,0.401373478461,0.00457063869029,0.0498326967987,0.999999951063,9.61310689066e-05,-0.000296937071258,-2.14748405484e-05,1793254950970548736
+385,6.416666667,POSE2_TO_POSE3_RETREAT,783,761,738,722.093506914,691,648,913,800,838.093506914,658,634.906493086,657,0.401293437638,0.00457976481417,0.0498327601894,0.999999951406,0.000106194757117,-0.000292112838609,-2.409268812e-05,1793254950987215616
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dfa45713affa02e22b7207aa6da40db5b3e44975
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,419 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a47aebe789737c1186d4c13f1e0bca2fbb977dc4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18cd60a614fa980f0b6692d4e84267109dea3958b91ff1e9bbe7c77739dd1255
+size 26253852
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fa5ababebecedb5115243d1f67ce22b6ebff2e93
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_01/franka_data.csv
@@ -0,0 +1,416 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,782,761,738,720,687,648,913,800,839,657,635,658,0.401029468434,0.00446590444976,0.0698487708832,0.999999987942,2.56293196983e-06,-0.000154026756285,1.96181035305e-05,1793254953086658304
+1,0.016666667,BASELINE,782,760.425737567,737.425737567,720.574262433,687,648,912.425737567,799.425737567,839,657,635,657.425737567,0.401027475167,0.00446575791888,0.0698478738309,0.999999987497,-3.83541282534e-07,-0.000156926711802,1.94667959082e-05,1793254953103324928
+2,0.033333333,BASELINE,782.152337891,760.152337891,737.152337891,720.847662109,686.847662109,648,912.152337891,799.152337891,839,657.152337891,635.152337891,657,0.401026265719,0.00446597582827,0.0698473377048,0.999999987207,-1.54292529374e-06,-0.00015877089054,1.9353365259e-05,1793254953119991296
+3,0.050000000,BASELINE,782.741343291,760.741343291,737.741343291,720.258656709,686.258656709,648,912.741343291,799.741343291,839,657.741343291,635.741343291,657,0.401027303045,0.00446723838402,0.069847836152,0.999999987393,2.42027506418e-06,-0.000157588748591,1.93485066666e-05,1793254953136657664
+4,0.066666667,BASELINE,782.673570466,761,738,720,686,648,913,800,839,658,636,657,0.401028403063,0.00446772053922,0.0698480138233,0.99999998755,3.91658721751e-06,-0.000156554755456,1.93970534689e-05,1793254953153324544
+5,0.083333333,BASELINE,782.091552883,761,738,720,686,648,913,800,839,658,636,657,0.401029552169,0.00446759165571,0.069847940333,0.999999987693,3.48137308891e-06,-0.000155636760067,1.94874156691e-05,1793254953169991168
+6,0.100000000,BASELINE,782,761,738,720,686,648,912.514185011,799.514185011,839.485814989,658,635.514185011,657.485814989,0.40102932386,0.00446736966416,0.0698485893273,0.999999987771,2.87305531738e-06,-0.000155161820057,1.93667768959e-05,1793254953186658304
+7,0.116666667,BASELINE,782,761,738,720,686,648,912.061772685,799.061772685,839.938227315,658,635,657.938227315,0.401028762711,0.0044672370707,0.0698492039222,0.999999987801,2.42347993031e-06,-0.000154992683148,1.92169636015e-05,1793254953203324928
+8,0.133333333,BASELINE,782,761,738,720,686,648,912.633256207,799.633256207,839.366743793,658,635,657.366743793,0.401027576731,0.00446798554593,0.0698484218654,0.999999987538,3.55037382712e-06,-0.000156664431745,1.91514143758e-05,1793254953219991552
+9,0.150000000,BASELINE,782,761,738,720,686.212998095,648,913,799.787001905,839,658,635,657,0.401026861701,0.00446828300099,0.0698477851719,0.999999987387,3.81869762304e-06,-0.000157631532665,1.90775200579e-05,1793254953236657920
+10,0.166666667,BASELINE,782,761,738,720,686.807532867,648,913,799.192467133,839,658,635,657,0.401026990268,0.00446777255794,0.0698474088634,0.999999987439,2.54909212315e-06,-0.000157336420553,1.89886774505e-05,1793254953253324288
+11,0.183333333,BASELINE,782,761,738,720,687,648,913,799,839,658,635,657.39045243,0.401026713898,0.0044674885497,0.069847240584,0.999999987441,2.80476298366e-06,-0.000157321241723,1.89850244534e-05,1793254953269991168
+12,0.200000000,BASELINE,782,761,738,720,687,648,913,799,839,658,635,657.96781192,0.401026243688,0.0044673129343,0.0698471718869,0.999999987418,3.79057368636e-06,-0.000157440065123,1.90221511656e-05,1793254953286657792
+13,0.216666667,BASELINE,782.538413565,760.461586435,738,720,687,648,913,799.538413565,839,658,635,657.461586435,0.401027076209,0.00446739484926,0.069847852158,0.999999987601,2.09790212131e-06,-0.000156333995479,1.87944551055e-05,1793254953303324672
+14,0.233333333,BASELINE,783,760.113191505,738,720.113191505,687,648,913,800,839,658,635,657,0.401028009844,0.00446757029328,0.0698486352364,0.999999987794,9.29179222025e-07,-0.000155121668093,1.86592570048e-05,1793254953319991296
+15,0.250000000,BASELINE,783,760.70741326,738,720.70741326,687,648,913,800,839,658,635,657,0.401029046309,0.00446807859073,0.0698496672902,0.999999987994,2.65914379013e-06,-0.000153765116251,1.89835947345e-05,1793254953336657920
+16,0.266666667,BASELINE,782.706277063,761,738,720.706277063,686.706277063,648,913,799.706277063,839,658,635,657.293722937,0.401028579927,0.00446819827753,0.0698496312482,0.999999987885,3.45510177724e-06,-0.00015443883603,1.91289942637e-05,1793254953353324800
+17,0.283333333,BASELINE,782.127642156,761,738,720.127642156,686.127642156,648,913,799.127642156,839,658,635,657.872357844,0.40102665578,0.00446794101101,0.0698485591507,0.999999987475,3.34507098286e-06,-0.000157081924351,1.91008232795e-05,1793254953369991168
+18,0.300000000,BASELINE,782,761,738,720,686,648,912.550541215,799,839,657.550541215,635,657.550541215,0.401027685514,0.0044675073188,0.0698491105165,0.999999987692,2.51050853147e-06,-0.000155725176026,1.89573999352e-05,1793254953386657792
+19,0.316666667,BASELINE,782.025998267,761,738,720,686.025998267,648,912,799,839,657.025998267,635,657.025998267,0.401029422884,0.0044670511466,0.069850051216,0.999999988055,1.56330552446e-06,-0.000153410361438,1.87928680694e-05,1793254953403324672
+20,0.333333333,BASELINE,782.599855168,761,738,720,686.599855168,648,912,799,839,657.599855168,635,657.599855168,0.401028454764,0.00446717348548,0.0698495137171,0.999999987843,2.56365683019e-06,-0.000154761953129,1.88709011545e-05,1793254953419991296
+21,0.350000000,BASELINE,782.821156271,761,738,720,686.821156271,648,912.178843729,799,839,658,635,657.821156271,0.401027709079,0.00446744186736,0.0698490913582,0.999999987667,3.3339197616e-06,-0.00015587154848,1.89418265071e-05,1793254953436657920
+22,0.366666667,BASELINE,782.230347039,761,738,720,686.230347039,648,912.769652961,799,839,658,635,657.230347039,0.401027475774,0.00446804665845,0.0698489342236,0.999999987579,3.57417530571e-06,-0.000156423706466,1.89963792277e-05,1793254953453324800
+23,0.383333333,BASELINE,782,761,738,720.353610427,686.353610427,648,913,799.353610427,839,658,635,657,0.401027262679,0.00446834227304,0.069848797049,0.999999987524,3.57284815855e-06,-0.000156765267914,1.90664097911e-05,1793254953469991424
+24,0.400000000,BASELINE,782,761,738,720.933189447,686.933189447,648,913,799.933189447,839,658,635,657,0.4010270625,0.00446844031382,0.0698486726294,0.999999987491,3.41714181723e-06,-0.000156972251359,1.91463312061e-05,1793254953486658048
+25,0.416666667,BASELINE,782.507619126,760.492380874,738,720.492380874,686.492380874,648,913,800,839,658,635,657,0.401026375802,0.00446782198387,0.0698482850454,0.999999987462,3.30541850251e-06,-0.000157163749049,1.90972452018e-05,1793254953503324672
+26,0.433333333,BASELINE,782.916567624,760,738,720,686,648,913,799.916567624,839,658,635,657,0.401025859448,0.00446730452993,0.0698480759072,0.99999998745,3.31256688769e-06,-0.000157242477839,1.90825840588e-05,1793254953519991040
+27,0.450000000,BASELINE,782.32832328,760,738,720,686,648,913,799.32832328,839,658,635,657,0.401026757312,0.00446796218181,0.0698491539299,0.999999987534,4.00428068799e-06,-0.00015665110074,1.93779152482e-05,1793254953536657664
+28,0.466666667,BASELINE,782,760.255785473,738,720,686,648,913,799.255785473,839,658,635,657,0.401026519833,0.00446848271082,0.0698491428352,0.999999987447,4.32415027383e-06,-0.000157204760926,1.93555913613e-05,1793254953553324544
+29,0.483333333,BASELINE,782,760.834670256,738,720,686,648,913,799.834670256,839,658,635,657,0.401024848227,0.00446883003096,0.0698477560055,0.999999987139,4.1743191444e-06,-0.000159204792405,1.89320166168e-05,1793254953569991168
+30,0.500000000,BASELINE,782,761,738,720,686,648,913,800,839,658,635,657,0.401025171404,0.00446796648187,0.0698477231962,0.999999987197,2.80519368916e-06,-0.000158885813056,1.87784479723e-05,1793254953586657792
+31,0.516666667,BASELINE,782,761,738,720,686,648,913,800,839,658,635,657,0.401026292048,0.00446661885528,0.0698482316929,0.999999987399,9.48622595638e-07,-0.00015763974682,1.87328215253e-05,1793254953603324672
+32,0.533333333,BASELINE,782,760.436022613,737.436022613,720,686,648,913,799.436022613,839,658,635,657,0.401026630932,0.0044666195984,0.0698484038932,0.999999987378,1.82965764622e-06,-0.000157724589449,1.90726882581e-05,1793254953619991552
+33,0.550000000,BASELINE,782,760.142924163,737.142924163,720,686.142924163,648,912.857075837,799.142924163,839,658,635.142924163,657,0.401026952651,0.00446669572451,0.0698487405087,0.999999987412,2.70566767215e-06,-0.000157467804757,1.93235548173e-05,1793254953636658176
+34,0.566666667,BASELINE,782,760.732595812,737.732595812,720,686.732595812,648,912.267404188,799.732595812,839,658,635.732595812,657,0.401027270707,0.00446692125318,0.0698496125533,0.999999987631,3.39090311615e-06,-0.00015605806261,1.92715756676e-05,1793254953653324800
+35,0.583333333,BASELINE,782,761,738,720,687,648,912,799.683700325,839,658,635.683700325,657,0.401026426109,0.0044671627075,0.0698493802072,0.999999987491,4.41111626384e-06,-0.000156932789521,1.92315853305e-05,1793254953669991424
+36,0.600000000,BASELINE,782,761,738,720,687,648,912,799.104948219,839,658,635.104948219,657,0.401024616788,0.00446741737628,0.0698482314834,0.999999987047,5.70928017463e-06,-0.000159703074516,1.92015428102e-05,1793254953686658048
+37,0.616666667,BASELINE,782,760.528241815,738,720,686.528241815,648,912.471758185,799.471758185,839,658,635,657.471758185,0.401025611395,0.00446682922324,0.0698487041519,0.999999987223,4.72227528088e-06,-0.000158603611077,1.94048192715e-05,1793254953703324672
+38,0.633333333,BASELINE,782,760,738,720,686,648,913,799.951959497,839,657.951959497,635.048040503,657.951959497,0.4010271372,0.00446616912011,0.069849496056,0.999999987525,3.31253529844e-06,-0.000156699414065,1.96028717302e-05,1793254953719991040
+39,0.650000000,BASELINE,782,760,738,720,686,648,913,799.375357257,839,657.375357257,635.624642743,657.375357257,0.401027674147,0.00446677139112,0.0698498489082,0.999999987742,2.82075881567e-06,-0.000155371974374,1.91748374299e-05,1793254953736657920
+40,0.666666667,BASELINE,782.205553251,760.205553251,738,720,686.205553251,648,913,799,839,657.205553251,635.794446749,657.205553251,0.401027545484,0.00446703266084,0.0698495481065,0.999999987774,2.27597978264e-06,-0.000155201500251,1.89354352374e-05,1793254953753324544
+41,0.683333333,BASELINE,782.794499401,760.794499401,738,720,686.794499401,648,913,799,839,657.794499401,635.205500599,657.794499401,0.401026175341,0.00446665790326,0.0698480281254,0.999999987463,1.63234171835e-06,-0.000157188970095,1.90478650657e-05,1793254953769991168
+42,0.700000000,BASELINE,782.623032408,760.623032408,738,720,686.623032408,648,912.623032408,799,839,657.623032408,635,657.623032408,0.401025924032,0.00446648774314,0.0698480817738,0.999999987367,2.14901533444e-06,-0.000157758516845,1.93310141032e-05,1793254953786657792
+43,0.716666667,BASELINE,782.044035978,760.044035978,738,720,686.044035978,648,912.044035978,799,839,657.044035978,635,657.044035978,0.40102627234,0.00446642723329,0.06984897878,0.999999987387,3.28753664655e-06,-0.000157568153763,1.97056569531e-05,1793254953803324416
+44,0.733333333,BASELINE,782,760.531343278,737.468656722,720,686,648,912,799,839,657,635,657,0.401026006672,0.00446714342383,0.0698486645757,0.999999987351,4.3864016092e-06,-0.000157836044515,1.91363175852e-05,1793254953819991040
+45,0.750000000,BASELINE,782.106156845,761,737.106156845,720,686,648,912.106156845,799,839,657.106156845,635,657,0.401025891123,0.00446772220831,0.0698484909299,0.999999987339,5.2127492189e-06,-0.000157944439124,1.86900673548e-05,1793254953836657408
+46,0.766666667,BASELINE,782.679790357,761,737.679790357,720,686,648,912.679790357,799,839,657.679790357,635,657,0.401026659206,0.00446741435818,0.0698493753073,0.999999987452,4.85340293762e-06,-0.00015718435669,1.91280433091e-05,1793254953853324032
+47,0.783333333,BASELINE,782.737964923,761,738,720,686,648,913,799,839,658,635.262035077,657,0.401026720112,0.00446696079089,0.0698495161513,0.99999998745,4.4637352811e-06,-0.000157178706387,1.93484079333e-05,1793254953869991168
+48,0.800000000,BASELINE,782.144839571,761,738,720,686,648,913,799,839,658,635.855160429,657,0.401025887478,0.00446632310495,0.0698487175153,0.999999987304,4.03575548178e-06,-0.000158126306763,1.92938132633e-05,1793254953886658048
+49,0.816666667,BASELINE,782,761,738,720,686.43308545,647.56691455,912.56691455,799,839,658,635.56691455,657.43308545,0.401024353459,0.00446662229647,0.069847667682,0.99999998701,3.83248939861e-06,-0.000159987002665,1.91980655096e-05,1793254953903324928
+50,0.833333333,BASELINE,782,761,738,720,686.993863612,647.006136388,912.006136388,799,839,658,635.006136388,657.993863612,0.401022627114,0.00446721084742,0.0698465610204,0.999999986673,3.68628201605e-06,-0.000162096424932,1.90915320519e-05,1793254953919991552
+51,0.850000000,BASELINE,782,761,738,720,686.417361893,647.582638107,912.582638107,799,839,658,635.582638107,657.417361893,0.401024087816,0.00446655925256,0.0698477160298,0.999999987029,2.09514833932e-06,-0.000159903143864,1.92183639399e-05,1793254953936658432
+52,0.866666667,BASELINE,782.163463204,760.836536796,738,720.163463204,686.163463204,648,913,799.163463204,839,658,635.836536796,657,0.401025380385,0.00446653887351,0.0698487472053,0.999999987328,1.65770330631e-06,-0.000158023824394,1.9215491469e-05,1793254953953325312
+53,0.883333333,BASELINE,782.755626804,760.244373196,738,720.755626804,686.755626804,648,913,799.755626804,839,658,635.244373196,657,0.401026232006,0.00446817392799,0.0698494536127,0.999999987493,4.24593490288e-06,-0.000156967904197,1.88724549124e-05,1793254953969991680
+54,0.900000000,BASELINE,782.659576815,760,738,721,686.659576815,648,913,799.659576815,839,658,635.340423185,657,0.4010259832,0.00446829416404,0.0698489585216,0.99999998733,4.07558176521e-06,-0.000158013740356,1.88210698075e-05,1793254953986658304
+55,0.916666667,BASELINE,782.079956999,760,738,721,686.079956999,648,913,799.079956999,839,658,635.920043001,657,0.401024961185,0.00446735002051,0.0698476192036,0.999999986932,1.96692288598e-06,-0.000160536365046,1.89746121368e-05,1793254954003324672
+56,0.933333333,BASELINE,782,760.495247022,738,720.504752978,686,648,913,799,839,658,636,657,0.401024730837,0.00446858405347,0.069848200507,0.999999987099,4.56823517174e-06,-0.000159444706465,1.89261511668e-05,1793254954019991296
+57,0.950000000,BASELINE,782,761,738,720,686.071290198,648,913,799.071290198,839,658,635.928709802,657,0.401024774751,0.00446973926727,0.0698489654206,0.999999987322,7.01371733759e-06,-0.000157961453406,1.88664328548e-05,1793254954036658176
+58,0.966666667,BASELINE,782,761,738,720,686.658520166,648,913,799.658520166,839,658,635.341479834,657,0.401025886708,0.00446780149093,0.069848834868,0.999999987361,2.87677776258e-06,-0.000157829888977,1.89591846171e-05,1793254954053324800
+59,0.983333333,BASELINE,782,760.75778407,738,720,686.75778407,648,913,799.75778407,839,658,635,657,0.40102608643,0.00446717414224,0.0698485493318,0.999999987324,1.32990566685e-06,-0.000158089557655,1.89352372668e-05,1793254954069991424
+60,1.000000000,BASELINE,782,760.178999144,738,720,686.178999144,648,913,799.178999144,839,658,635,657,0.401025018563,0.00446836768639,0.0698480484397,0.999999987195,3.38203824949e-06,-0.000158892860805,1.87491317141e-05,1793254954086658048
+61,1.016666667,BASELINE,782,760.398571133,738,720,686,648,913,799.398571133,839,658,635,657.398571133,0.4010261669,0.00446790442101,0.0698493001091,0.999999987471,2.66247706352e-06,-0.000157147479047,1.88757768426e-05,1793254954103324672
+62,1.033333333,BASELINE,782,760.97559753,738,720,686,648,913,799.97559753,839,658,635,657.97559753,0.401028307515,0.00446669933971,0.0698513364661,0.999999987918,7.01924362479e-07,-0.000154260955289,1.91424522076e-05,1793254954119991040
+63,1.050000000,BASELINE,782.553107447,761,738,720,686,648,913,799.446892553,839,658,635,658,0.401027246878,0.00446691226566,0.0698504106439,0.999999987733,1.29097681995e-06,-0.000155508016677,1.87113596127e-05,1793254954136657664
+64,1.066666667,BASELINE,782.86730794,761,738,720,686,648,913,799,839,658,635,658,0.401025860523,0.00446717449762,0.0698492840903,0.999999987456,2.05069426064e-06,-0.000157303337881,1.84488488942e-05,1793254954153324288
+65,1.083333333,BASELINE,782.280699218,761,738,720,686,648,913,799,839,658,635,658,0.401023843505,0.00446739119973,0.0698479183216,0.999999986961,3.00909637371e-06,-0.000160349762354,1.8868429124e-05,1793254954169991168
+66,1.100000000,BASELINE,782,761,738,720,686.302928362,648,913,799,839,658,635,658,0.401023831431,0.0044677736894,0.0698479328705,0.999999986952,4.14257287667e-06,-0.000160363394099,1.90147513583e-05,1793254954186657792
+67,1.116666667,BASELINE,782,761,738,720,686.883820447,648,913,799,839,658,635,658,0.401025659071,0.00446830830388,0.0698492139837,0.999999987388,5.43669565584e-06,-0.000157594168524,1.89103350471e-05,1793254954203324416
+68,1.133333333,BASELINE,782,761,738,720,686.538908449,648,913,799,839,658,635,657.538908449,0.401025530311,0.00446873391649,0.0698490288802,0.999999987362,5.23662598167e-06,-0.000157793201107,1.8723007905e-05,1793254954219991296
+69,1.150000000,BASELINE,782,760.962777007,738,720,686.037222993,648,913,799,839,658,635,657,0.401025041486,0.00446903406853,0.0698485614487,0.999999987242,4.69486900022e-06,-0.000158587350058,1.85440436681e-05,1793254954236657920
+70,1.166666667,BASELINE,782,760.390018643,738,720,686.609981357,648,913,799,839,658,635,657,0.401026409212,0.00446792125467,0.0698493058619,0.999999987446,4.61156675491e-06,-0.000157267191805,1.87836163373e-05,1793254954253324544
+71,1.183333333,BASELINE,782.188284736,760.188284736,738,720,686.811715264,648,913,799,839,658,635.188284736,657.188284736,0.401027113971,0.00446685511226,0.0698496641191,0.999999987553,4.38806276432e-06,-0.0001565692905,1.89748035599e-05,1793254954269990912
+72,1.200000000,BASELINE,782.77842287,760.77842287,738,720,686.22157713,648,913,799,839,658,635.77842287,657.77842287,0.401026403769,0.00446588857986,0.069849198209,0.999999987455,3.86532819499e-06,-0.000157199462977,1.90627224668e-05,1793254954286657536
+73,1.216666667,BASELINE,782.63683466,761,738,720,686,648,912.63683466,799,839,658,635.63683466,657.63683466,0.401024901484,0.00446594575436,0.06984844164,0.99999998725,2.66470404146e-06,-0.000158534270621,1.89568167803e-05,1793254954303324416
+74,1.233333333,BASELINE,782.055336071,761,738,720,686,648,912.055336071,799,839,658,635.055336071,657.055336071,0.401022923003,0.00446661837656,0.0698475103284,0.999999986977,1.05653597511e-06,-0.000160292701486,1.87343846792e-05,1793254954319991296
+75,1.250000000,BASELINE,782.517887594,761,738,720,686,648,912.517887594,799,839,658,635,657,0.401022997164,0.00446741330991,0.069847428504,0.999999986967,2.73896931637e-06,-0.000160331306919,1.87734862844e-05,1793254954336657920
+76,1.266666667,BASELINE,782.906774545,760.906774545,738,720.093225455,686,648,913,799,839,657.906774545,635,657.093225455,0.401023190499,0.00446808680839,0.0698475279049,0.99999998699,4.29287919378e-06,-0.000160145227558,1.88247882136e-05,1793254954353324544
+77,1.283333333,BASELINE,782.315492216,760.315492216,738,720.684507784,686,648,913,799,839,657.315492216,635,657.684507784,0.401022867209,0.00446804281869,0.0698481182033,0.999999987062,3.3112751467e-06,-0.000159725081604,1.87943234292e-05,1793254954369991168
+78,1.300000000,BASELINE,782,760.269609984,738,720.730390016,686,648,913,799.269609984,839,657.269609984,635,657.730390016,0.401023162527,0.00446777225715,0.0698485071852,0.999999987142,2.9978181243e-06,-0.000159223573819,1.88403857673e-05,1793254954386657792
+79,1.316666667,BASELINE,782,760.847642339,738,720.152357661,686,648,913,799.847642339,839,657.847642339,635,657.152357661,0.401024165505,0.00446724250704,0.0698486658693,0.999999987232,3.44869298659e-06,-0.000158628991583,1.89739918851e-05,1793254954403324416
+80,1.333333333,BASELINE,782,761,738,720.411982364,686.411982364,648,913,799.588017636,839.411982364,658,635.411982364,657,0.401023916592,0.00446658621915,0.0698482621696,0.999999987158,1.80790153716e-06,-0.00015913270902,1.89097151418e-05,1793254954419991040
+81,1.350000000,BASELINE,782,761,738,720.97142167,686.97142167,648,913,799.02857833,839.97142167,658,635.97142167,657,0.401023219602,0.00446588464076,0.0698476571813,0.999999987019,-5.81540171077e-07,-0.000160029530401,1.87746120724e-05,1793254954436657408
+82,1.366666667,BASELINE,782.562616157,760.437383843,738,720.437383843,686.437383843,648,912.437383843,799,839.437383843,658,635.437383843,657,0.401024050466,0.00446631869418,0.0698483505001,0.999999987063,5.82974327811e-07,-0.000159783992079,1.85325582995e-05,1793254954453324288
+83,1.383333333,BASELINE,782.844846897,760.155153103,738,720.155153103,686,648,912.155153103,799.155153103,839,658,635,657,0.401025034148,0.00446683837406,0.0698490510495,0.999999987177,2.00046489506e-06,-0.000159072666392,1.8382627435e-05,1793254954469990912
+84,1.400000000,BASELINE,782.253342094,760.746657906,738,720.746657906,686,648,912.746657906,799.746657906,839,658,635,657,0.401026216292,0.00446742693224,0.0698495753674,0.999999987463,3.59134735482e-06,-0.000157224318706,1.85079750294e-05,1793254954486657792
+85,1.416666667,BASELINE,782,760.670946624,738,721,686,648,912.670946624,799.670946624,839,658,635,657,0.401026029948,0.00446734798897,0.0698491877442,0.999999987427,4.58294353322e-06,-0.00015740146937,1.87060829201e-05,1793254954503324672
+86,1.433333333,BASELINE,782,760.095375648,738,721,686,648,912.095375648,799.095375648,839,658,635,657,0.40102481837,0.00446676897222,0.0698481169203,0.999999987151,5.1255710704e-06,-0.000159096066942,1.89587007849e-05,1793254954519991296
+87,1.450000000,BASELINE,782,760,738,720.519915107,686,648,912.480084893,799,839,658,635,657,0.401025411638,0.00446708584054,0.0698489959407,0.99999998736,5.01848230881e-06,-0.000157781566435,1.89481903473e-05,1793254954536657920
+88,1.466666667,BASELINE,782,760.056964894,738,720,686,648,912.943035106,799,839,658,635,657,0.401026135241,0.00446762251522,0.0698500040874,0.999999987592,4.76562024836e-06,-0.000156323668221,1.88496429436e-05,1793254954553324544
+89,1.483333333,BASELINE,782,760.647341948,738,720,686,648,912.352658052,799,839,658,635,657,0.401024722567,0.00446855122788,0.0698485949623,0.999999987161,4.35612246504e-06,-0.000159119447604,1.84161044714e-05,1793254954569990912
+90,1.500000000,BASELINE,782,760.766879191,738,720.233120809,686.233120809,648,912,799,839,657.766879191,635.233120809,657,0.401023980939,0.00446890579397,0.0698479812233,0.999999986972,4.43804334942e-06,-0.000160312932599,1.83425859261e-05,1793254954586657536
+91,1.516666667,BASELINE,782,760.187921841,738,720.812078159,686.812078159,648,912,799,839,657.187921841,635.812078159,657,0.40102423481,0.00446840860905,0.0698485474463,0.999999987148,5.24898770652e-06,-0.000159129401092,1.8803159796e-05,1793254954603324416
+92,1.533333333,BASELINE,782,760.388000414,738,720.611999586,686.611999586,648,912,799,839,657.388000414,635.611999586,657,0.401024560816,0.00446839705388,0.069848826176,0.999999987215,5.62948302633e-06,-0.000158680652111,1.89267751301e-05,1793254954619991296
+93,1.550000000,BASELINE,782,760.962464128,738,720.037535872,686.037535872,648,912,799,839,657.962464128,635.037535872,657,0.401024921487,0.00446861888018,0.0698489667438,0.99999998723,5.80311537022e-06,-0.00015858502114,1.88884566553e-05,1793254954636657920
+94,1.566666667,BASELINE,782.538970902,760.461029098,737.461029098,720,686.538970902,648,912,799,839,658,635,657,0.401025288414,0.00446872975695,0.0698491484826,0.999999987267,5.78801160368e-06,-0.000158376159328,1.87071093098e-05,1793254954653324800
+95,1.583333333,BASELINE,782.881624974,760.118375026,737.118375026,720,686.881624974,648,912.118375026,799,839,658,635,657,0.401025319854,0.0044687448343,0.0698491409545,0.999999987275,5.77554447309e-06,-0.000158342059394,1.85498873613e-05,1793254954669991168
+96,1.600000000,BASELINE,782.291237198,760.708762802,737.708762802,720,686.291237198,648,912.708762802,799,839,658,635,657,0.401024011823,0.0044684088455,0.0698483672601,0.999999987165,5.82620207303e-06,-0.000159036374855,1.852873397e-05,1793254954686657792
+97,1.616666667,BASELINE,782,761,738,720,686.293205076,647.706794924,912.706794924,799,839,658,635,657,0.401023330522,0.00446774699281,0.0698479167259,0.999999987061,5.08903703863e-06,-0.000159712240661,1.85648700571e-05,1793254954703324160
+98,1.633333333,BASELINE,782,761,738,720,686.871859089,647.128140911,912.128140911,799,839,658,635,657,0.401023259375,0.00446676789633,0.0698477808034,0.99999998696,3.5848896012e-06,-0.00016037014482,1.86567801478e-05,1793254954719991040
+99,1.650000000,BASELINE,782,760.553360508,738,720,687,647.446639492,912.446639492,799.446639492,839,658,635,657.446639492,0.401024929295,0.00446689728863,0.0698485149819,0.999999987205,3.09064660828e-06,-0.000158861546833,1.85417386968e-05,1793254954736657664
+100,1.666666667,BASELINE,782,760.020282597,738,720,686.979717403,648,913,799.979717403,839,658,635.020282597,657.979717403,0.401027045478,0.00446733282627,0.0698495015674,0.99999998754,2.93755534827e-06,-0.000156757909057,1.83901056507e-05,1793254954753324544
+101,1.683333333,BASELINE,782,760.592958722,738,720,686.407041278,648,913,799.407041278,839,658,635.592958722,657.407041278,0.401027828395,0.00446751928105,0.0698506221841,0.999999987765,4.25245841036e-06,-0.000155231253907,1.88450555203e-05,1793254954769991424
+102,1.700000000,BASELINE,782,761,738,720,686.172219369,648,913,799,839,658,635.827780631,657.172219369,0.401027928271,0.00446774355147,0.069851194698,0.999999987858,5.45753721859e-06,-0.000154559555772,1.91009681652e-05,1793254954786658048
+103,1.716666667,BASELINE,782,761,738,720,686.767661139,648,913,799,839,658,635.232338861,657.767661139,0.401026349603,0.00446806075234,0.0698504202701,0.999999987635,6.39272700198e-06,-0.000155988881465,1.88677545074e-05,1793254954803324672
+104,1.733333333,BASELINE,782,760.648420897,738,720.351579103,687,648,912.648420897,799.351579103,839,658,635,657.648420897,0.401025934029,0.00446848286315,0.0698500170022,0.99999998754,6.66728087066e-06,-0.000156588593798,1.8878739387e-05,1793254954819991296
+105,1.750000000,BASELINE,782,760.07187662,738,720.92812338,687,648,912.07187662,799.92812338,839,658,635,657.07187662,0.401026262686,0.0044689721028,0.0698498512286,0.999999987527,6.51911325266e-06,-0.000156657460976,1.90459797374e-05,1793254954836657920
+106,1.766666667,BASELINE,782.502669402,760.502669402,738,720.497330598,687,648,912.502669402,800,839,658,635,657,0.401025394843,0.00446808268358,0.0698490503772,0.99999998734,4.73289266564e-06,-0.000157957346874,1.86449775085e-05,1793254954853324288
+107,1.783333333,POSE1_TO_POSE2_PRESS,782,761,738,720,687,648,913,799,839,657,635,657,0.401024810528,0.00446639512659,0.0698492717715,0.999999987363,4.90728581071e-06,-0.00015778020939,1.88442624129e-05,1793254954896781312
+108,1.800000000,POSE1_TO_POSE2_PRESS,782,761,738,720,687,648,913,799,839,657.598738762,635,657,0.40102598246,0.0044671700948,0.0698497103251,0.999999987512,4.74027260259e-06,-0.000156843136399,1.87840490222e-05,1793254954913448192
+109,1.816666667,POSE1_TO_POSE2_PRESS,782.189472926,761,738,719.810527074,686.810527074,648,913,799.189472926,839,658,635,657,0.40102608919,0.00446738769617,0.0698496974109,0.999999987471,4.38721855498e-06,-0.000157111771006,1.88092967965e-05,1793254954930115072
+110,1.833333333,POSE1_TO_POSE2_PRESS,782.763942382,761,738,719.236057618,686.236057618,648,913,799.763942382,839,658,635,657,0.401024031503,0.00446647276489,0.0698487671437,0.99999998704,3.65614171929e-06,-0.00015983032403,1.900819603e-05,1793254954946781696
+111,1.850000000,POSE1_TO_POSE2_PRESS,782.660621506,761,738,719.339378494,686.339378494,648,913,799.660621506,839,658,635,657,0.401023673416,0.00446771829181,0.069848539119,0.999999986989,5.69741170185e-06,-0.000160087328384,1.90057359158e-05,1793254954963447808
+112,1.866666667,POSE1_TO_POSE2_PRESS,782.084511142,761,738,719.915488858,686.915488858,648,913,799.084511142,839,658,635,657,0.401024500877,0.00447047083621,0.0698488009403,0.999999987194,9.67251918882e-06,-0.000158627290895,1.88628185255e-05,1793254954980114176
+113,1.883333333,POSE1_TO_POSE2_PRESS,782,760.49853191,738,720.50146809,686.49853191,648,913,799,839,658,635,657,0.401025858448,0.00446961885936,0.0698502127,0.999999987443,8.25387071607e-06,-0.000157128831663,1.88701708701e-05,1793254954996781056
+114,1.900000000,POSE1_TO_POSE2_PRESS,782,760.088174878,738,720.911825122,686,648,913,799,839,658,635.088174878,657,0.401026847456,0.00446828148663,0.0698513646782,0.99999998755,6.23635210752e-06,-0.000156537007361,1.89242729085e-05,1793254955013447680
+115,1.916666667,POSE1_TO_POSE2_PRESS,782,760.669462544,738,720.330537456,686,648,913,799,839,658,635.669462544,657,0.401025265648,0.00446769495344,0.0698499582922,0.99999998683,6.05524543599e-06,-0.000161052423907,1.90953504989e-05,1793254955030114304
+116,1.933333333,POSE1_TO_POSE2_PRESS,782,761,738,720,686.24759479,648,912.75240521,799,839,658,635.75240521,657,0.40102747881,0.00446758574649,0.0698509278919,0.999999986312,5.87162962709e-06,-0.000164217551489,1.93617002348e-05,1793254955046781184
+117,1.950000000,POSE1_TO_POSE2_PRESS,782,761,738,720,686.821567535,648,912.178432465,799,839,658,635.178432465,657,0.401034694478,0.00446810574813,0.0698550295017,0.999999986077,5.68470630292e-06,-0.000165602735975,1.97536371231e-05,1793254955063448064
+118,1.966666667,POSE1_TO_POSE2_PRESS,782,760.602186203,738,720,686.602186203,648,912.397813797,799.397813797,839,658,635,657,0.401055273747,0.00446687867892,0.0698641889233,0.99999998692,3.9282895593e-06,-0.000160409331704,2.03353747969e-05,1793254955080114688
+119,1.983333333,POSE1_TO_POSE2_PRESS,782,760.024914282,738,720,686.024914282,648,912.975085718,799.975085718,839,658,635,657,0.401081881482,0.00446486348713,0.069875629979,0.999999988189,1.46385727725e-06,-0.000152248254731,2.10027336987e-05,1793254955096781312
+120,2.000000000,POSE1_TO_POSE2_PRESS,782,760,738,720,686.565835999,648,913,799.434164001,839,658,635,657,0.401132776658,0.00446576895978,0.0698900350187,0.999999990474,2.00044890518e-06,-0.000136437638281,2.0795650363e-05,1793254955113447936
+121,2.016666667,POSE1_TO_POSE2_PRESS,782,760.153312685,738,720.153312685,687,648,913,799,839,658,635,657.153312685,0.40119068122,0.00446638359241,0.0699043073013,0.999999992633,2.00127067172e-06,-0.00011962655672,2.04775022553e-05,1793254955130114560
+122,2.033333333,POSE1_TO_POSE2_PRESS,782,760.730068847,738,720.730068847,687,648,913,799,839,658,635,657.730068847,0.401264919731,0.00446583108292,0.0699178436666,0.9999999947,1.4845275108e-07,-0.000101005200265,1.99615349349e-05,1793254955146780928
+123,2.050000000,POSE1_TO_POSE2_PRESS,782,761,738,720.694027792,687,648,913,799.305972208,839,658,635.305972208,657.694027792,0.401346496177,0.00446538966694,0.0699264286427,0.999999995846,-1.39284532945e-06,-8.91524392807e-05,1.89134367952e-05,1793254955163447808
+124,2.066666667,POSE1_TO_POSE2_PRESS,782,761,738,720.118874723,687,648,913,799.881125277,839,658,635.881125277,657.118874723,0.40143452821,0.00446504598616,0.069930657604,0.999999996379,-2.66008187564e-06,-8.32543913625e-05,1.73971934525e-05,1793254955180114432
+125,2.083333333,POSE1_TO_POSE2_PRESS,782,761,738,720,687,648,912.532096513,799.532096513,839,658,635.532096513,657,0.401529357391,0.00446516030778,0.0699280842223,0.999999995777,-6.00541413144e-06,-9.04285232891e-05,1.52497717924e-05,1793254955196781312
+126,2.100000000,POSE1_TO_POSE2_PRESS,782,761,738,720,687,648,912.056693699,799,839,658,635.056693699,657,0.40162947908,0.00446550240341,0.0699240560363,0.999999994841,-9.6743875061e-06,-0.000100285986648,1.28926348552e-05,1793254955213447936
+127,2.116666667,POSE1_TO_POSE2_PRESS,782,761,738,720,687,648,912.636109779,799,839,658,635.636109779,657,0.401762070687,0.00446684442153,0.0699229544802,0.99999999453,-1.13355195102e-05,-0.000103483037341,1.01180693934e-05,1793254955230114560
+128,2.133333333,POSE1_TO_POSE2_PRESS,782.213517841,761,738,720,687,648.213517841,913,799,839,658,636,657,0.401907754633,0.00446820511039,0.0699229020594,0.999999994332,-1.33522696469e-05,-0.000105404043092,6.92128952504e-06,1793254955246781184
+129,2.150000000,POSE1_TO_POSE2_PRESS,782.787535539,761,738,720,687,648.787535539,913,799,839,658,636,657,0.402075543444,0.00446959732245,0.0699246209809,0.999999994338,-1.59694391655e-05,-0.000105170596152,3.01165038263e-06,1793254955263447808
+130,2.166666667,POSE1_TO_POSE2_PRESS,782.629083147,761,738,720.370916853,686.629083147,648.629083147,913,799,839,658,635.629083147,657,0.402261753801,0.00447071478203,0.0699278026023,0.999999994673,-2.03999013746e-05,-0.000101174864063,-1.10274897513e-06,1793254955280114432
+131,2.183333333,POSE1_TO_POSE2_PRESS,782.040199307,761,738,720.959800693,686.040199307,648.040199307,913,799,839,658,635.040199307,657,0.40245878948,0.00447167078515,0.0699318437704,0.999999995141,-2.5895934028e-05,-9.4968248427e-05,-5.33747477507e-06,1793254955296781056
+132,2.200000000,POSE1_TO_POSE2_PRESS,782,761,738,720.460012015,686.539987985,648,913,799.539987985,839,658,635,657.539987985,0.402685901799,0.00447129208168,0.0699312542524,0.999999994645,-3.3468565894e-05,-9.73783727369e-05,-1.03495642153e-05,1793254955313447680
+133,2.216666667,POSE1_TO_POSE2_PRESS,782.118925975,761,738,720,686.881074025,648,913,800,839,658,635,657.881074025,0.402924480992,0.00447115439788,0.0699312568796,0.999999994208,-4.00758334131e-05,-9.87123357755e-05,-1.5295688324e-05,1793254955330114304
+134,2.233333333,POSE1_TO_POSE2_PRESS,782.695508427,761,738,720,686.304491573,648,913,800,839,658,635,657.304491573,0.403198707767,0.00447232052606,0.0699348438089,0.999999994538,-4.23826640018e-05,-9.34755507087e-05,-1.97687921127e-05,1793254955346780928
+135,2.250000000,POSE1_TO_POSE2_PRESS,782.728951738,761,738,720.271048262,686,648,913,799.728951738,839,658,635.271048262,657,0.403499717295,0.00447247511046,0.0699426379092,0.999999995379,-4.51079294383e-05,-8.15223268422e-05,-2.37128367619e-05,1793254955363447552
+136,2.266666667,POSE1_TO_POSE2_PRESS,782.15457871,761,738,720.84542129,686,648,913,799.15457871,839,658,635.84542129,657,0.403830698858,0.00447149769612,0.0699551401714,0.999999996542,-4.83014569122e-05,-6.20528690547e-05,-2.70648214869e-05,1793254955380114176
+137,2.283333333,POSE1_TO_POSE2_PRESS,782,761,738,720.571055232,686.428944768,648,913,799,839,658,635.571055232,657,0.404169684483,0.00447253607618,0.0699602078015,0.999999997555,-3.21785951763e-05,-5.63124162283e-05,-2.61346986308e-05,1793254955396780800
+138,2.300000000,POSE1_TO_POSE2_PRESS,782.015726326,761,738,720,686.984273674,648,913,799,839,658,635,657,0.404513098103,0.00447435883805,0.0699626007593,0.999999998141,-9.29567207658e-06,-5.54029943823e-05,-2.37190389179e-05,1793254955413447680
+139,2.316666667,POSE1_TO_POSE2_PRESS,782.598493614,761,738,720,686.401506386,648,913,799,839,658,635,657,0.404909901326,0.00447770017545,0.0699672632911,0.99999999862,8.69542872238e-07,-4.64049453896e-05,-2.45932603633e-05,1793254955430114304
+140,2.333333333,POSE1_TO_POSE2_PRESS,782.821176102,761,738,719.821176102,686,648,913,799,839,658,635,657,0.405316464897,0.00448172391251,0.0699704616746,0.999999998848,1.34755416609e-06,-4.05759477614e-05,-2.56023005375e-05,1793254955446780928
+141,2.350000000,POSE1_TO_POSE2_PRESS,782.246244041,761,738,719.246244041,686,648,913,799,839,658,635,657,0.405744648309,0.00448725921487,0.0699704168604,0.999999998573,-1.96323086189e-05,-4.17666345425e-05,-2.6909974054e-05,1793254955463448320
+142,2.366666667,POSE1_TO_POSE2_PRESS,782.328005892,761,738,719.328005892,686,648,913,799.328005892,839,658,635.328005892,657,0.406193294845,0.00449219276127,0.0699630228347,0.999999997891,-2.1115890197e-05,-5.45066046887e-05,-2.83051011735e-05,1793254955480115200
+143,2.383333333,POSE1_TO_POSE2_PRESS,782.901744853,761,738,719.901744853,686,648,913,799.901744853,839,658,635.901744853,657,0.406657271842,0.0044966754891,0.06995012298,0.999999996645,-7.99339177888e-06,-7.58989830787e-05,-2.97657462773e-05,1793254955496781568
+144,2.400000000,POSE1_TO_POSE2_PRESS,782.511290389,761,738,720,686.488709611,648,913,800,839,658,636,657,0.407150102888,0.00450002601306,0.0699356136124,0.999999994994,3.79663958089e-06,-9.48726733453e-05,-3.15659696537e-05,1793254955513448192
+145,2.416666667,POSE1_TO_POSE2_PRESS,782.077169293,761,738,720,687,648,913,799.922830707,839,658,636,657.077169293,0.407661214051,0.00450329710216,0.0699245920826,0.999999993601,1.46547665585e-05,-0.000107094880173,-3.33789509929e-05,1793254955530114816
+146,2.433333333,POSE1_TO_POSE2_PRESS,782.657555726,761,738,720,687,648,913,799.342444274,839,658,636,657.657555726,0.408252648188,0.00450757585257,0.0699384833918,0.999999996083,2.12315027907e-05,-7.85502011519e-05,-3.48175437527e-05,1793254955546781440
+147,2.450000000,POSE1_TO_POSE2_PRESS,782.764406914,761,738,720,687,648,913,799,839,658,636,657.764406914,0.408859070169,0.00451229673851,0.0699516315653,0.99999999785,2.3238874051e-05,-4.96366394506e-05,-3.60122781288e-05,1793254955563447808
+148,2.466666667,POSE1_TO_POSE2_PRESS,782.189750352,761,738,720,687,648,913,799,839,658,636,657.189750352,0.409487062484,0.00451765394168,0.0699637102234,0.999999998943,1.86700554789e-05,-2.01921868251e-05,-3.68560536128e-05,1793254955580114432
+149,2.483333333,POSE1_TO_POSE2_PRESS,782.382629098,761,737.617370902,719.617370902,687,648,913,799.382629098,839,658,636,657.382629098,0.410116203881,0.00452328932825,0.0699592703038,0.99999999863,2.4678333706e-05,-2.66935968109e-05,-3.76666263008e-05,1793254955596781056
+150,2.500000000,POSE1_TO_POSE2_PRESS,782.953885964,761,737.046114036,719.046114036,687,648,913,799.953885964,839,658,636,657.953885964,0.41074591173,0.00452906185298,0.0699466870868,0.99999999732,3.59008892065e-05,-5.09155309266e-05,-3.84608307006e-05,1793254955613447936
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,761,737.54870584,719,686.45129416,648,913,800,839.54870584,658,636,658,0.411426343224,0.00453668351638,0.0699513411808,0.99999999691,4.97546411703e-05,-4.66481778861e-05,-3.90929517765e-05,1793254955630114816
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,761,738,719,686,648,913,800,839.859532224,658,636,657.859532224,0.412129163276,0.00454432033151,0.0699641177905,0.999999996984,6.03563531824e-05,-2.85615153272e-05,-3.96738814688e-05,1793254955646781440
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,761,738,719,686,648,913,800,839.283662548,658,636,657.283662548,0.412887573659,0.00455150079645,0.0699973796179,0.999999997082,6.01616737578e-05,2.46058151469e-05,-4.01402524346e-05,1793254955663448064
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,761,738,719,686.291278521,648.291278521,913,800,839.291278521,658,636,657,0.41365374805,0.0045589107706,0.0700223060449,0.999999995053,6.56357060345e-05,6.26286475781e-05,-4.07988531474e-05,1793254955680114688
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,761,738,719,686.865318204,648.865318204,913,800,839.865318204,658,636,657,0.414427459508,0.00456654354368,0.0700391408135,0.999999992504,7.66126896414e-05,8.59498329522e-05,-4.1644062679e-05,1793254955696781568
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,761,738,719,687,649,913,800,840,658,635.54936317,657.45063683,0.415157790151,0.00457296754414,0.0699991828514,0.999999995311,8.56274316699e-05,1.37514458788e-05,-4.30842722836e-05,1793254955713447936
+157,2.616666667,POSE1_TO_POSE2_PRESS,783.039019918,761,738,719,687,648.960980082,913.039019918,800,840,658,635,657.960980082,0.415882746386,0.00457870310054,0.0699443591085,0.999999991249,9.31718588949e-05,-8.25804629426e-05,-4.47481889782e-05,1793254955730114304
+158,2.633333333,POSE1_TO_POSE2_PRESS,783.621925472,761,738,719,687,648.378074528,913.621925472,800,840,658,635,657.378074528,0.416718148358,0.00458000750356,0.0699249896492,0.999999989228,8.86063253244e-05,-0.000107166355131,-4.6987979604e-05,1793254955746780928
+159,2.650000000,POSE1_TO_POSE2_PRESS,784,761,738,719,687,648,914,800,840,658,635.201905867,657,0.417564321313,0.00458162169862,0.0699233654168,0.999999989407,8.64809266502e-05,-0.000106468366527,-4.86997285216e-05,1793254955763447808
+160,2.666666667,POSE1_TO_POSE2_PRESS,784,761,738,719,687,648,914,800,840,658,635.776487008,657,0.418430375164,0.00458380770381,0.0699544950987,0.999999993083,8.88594980569e-05,-5.91017118521e-05,-4.94368246302e-05,1793254955780114432
+161,2.683333333,POSE1_TO_POSE2_PRESS,784,761,738,719,687,648,913.649063207,800,840,658,636,657,0.419324753206,0.0045810299763,0.0699845183933,0.999999994971,8.62291157453e-05,-1.3468674431e-05,-4.94081274505e-05,1793254955796781312
+162,2.700000000,POSE1_TO_POSE2_PRESS,784,761,738,719,687,648,913.074697072,800,840,658,636,657,0.420237164248,0.00457509201147,0.0700138372882,0.99999999509,8.04097053866e-05,3.10606269152e-05,-4.88918760631e-05,1793254955813447936
+163,2.716666667,POSE1_TO_POSE2_PRESS,783.4841036,761,738,719,687,648,913,800,840,658,636,657,0.421165440885,0.0045668426803,0.0700319839135,0.999999994851,6.85922319609e-05,5.66459602247e-05,-4.88323405327e-05,1793254955830114560
+164,2.733333333,POSE1_TO_POSE2_PRESS,783.105930854,761,738,719,687,648,913.105930854,800,840,658,636,657,0.422081786763,0.00456054803334,0.0700365485885,0.999999995148,5.96494252204e-05,6.09896155321e-05,-4.92538188422e-05,1793254955846780928
+165,2.750000000,POSE1_TO_POSE2_PRESS,783.682698013,761,738,719,687,648,913.682698013,800,840,658,636,657,0.422934561055,0.00456447728394,0.0699881683884,0.999999996261,6.74692716034e-05,-1.64932115776e-05,-5.15098147332e-05,1793254955863447552
+166,2.766666667,POSE1_TO_POSE2_PRESS,783.741859026,761,738,719,687,648,914,800,840,658,636,657,0.423785224379,0.00457014921215,0.0699287902764,0.99999999014,7.58572521316e-05,-0.00010523936182,-5.3762430212e-05,1793254955880114176
+167,2.783333333,POSE1_TO_POSE2_PRESS,783.168035362,761,738,719,687,648,914,800,840,658,636,657,0.424633306299,0.00457795227548,0.0698559627223,0.999999973242,8.49400093894e-05,-0.000207759531174,-5.60109119491e-05,1793254955896780800
+168,2.800000000,POSE1_TO_POSE2_PRESS,783.417675895,761,738,718.582324105,686.582324105,648,913.582324105,800,840,658,636,657.417675895,0.425599809926,0.00458043128408,0.0698714819,0.999999978728,8.53261614739e-05,-0.000178735233441,-5.75871829679e-05,1793254955913447680
+169,2.816666667,POSE1_TO_POSE2_PRESS,784,761,738,718,686,648,913,800,840,657.99186493,636,657.99186493,0.426615099687,0.00458071064636,0.0699236535218,0.999999990339,8.22321097644e-05,-9.54057789931e-05,-5.88045771007e-05,1793254955930114560
+170,2.833333333,POSE1_TO_POSE2_PRESS,784,761,738,718,686,648,913,800,840,657.413644912,636,657.413644912,0.427612745753,0.0045813420859,0.069980619013,0.9999999944,8.76193036001e-05,-2.37717134548e-05,-5.43795606901e-05,1793254955946781184
+171,2.850000000,POSE1_TO_POSE2_PRESS,784,760.835935289,738,717.835935289,686,648,913,800.164064711,840.164064711,657.164064711,635.835935289,657.164064711,0.428611112059,0.00458170923817,0.0700295541624,0.999999993909,8.71479017878e-05,4.34584142966e-05,-5.19554595406e-05,1793254955963447808
+172,2.866666667,POSE1_TO_POSE2_PRESS,784,760.259508534,738,717.259508534,686,648,913,800.740491466,840.740491466,657.740491466,635.259508534,657.740491466,0.429611288562,0.00458141212786,0.0700583057594,0.999999990961,7.19514418484e-05,9.96196319053e-05,-5.45604815221e-05,1793254955980114432
+173,2.883333333,POSE1_TO_POSE2_PRESS,784,760.314271188,738,717.314271188,686,648,913,800.685728812,841,658,635.314271188,657.685728812,0.430537058396,0.00458164106297,0.0700423563858,0.999999993123,7.07273243838e-05,7.54064777625e-05,-5.53676846115e-05,1793254955996781056
+174,2.900000000,POSE1_TO_POSE2_PRESS,784,760.88588336,738,717.88588336,686,648,913,800.11411664,841,658,635.88588336,657.11411664,0.431401900275,0.00458230075043,0.0699898036181,0.999999995121,8.09444609365e-05,-1.46212391939e-05,-5.4702743211e-05,1793254956013447680
+175,2.916666667,POSE1_TO_POSE2_PRESS,784,761,738,718,686,648,913,800,841,658,636,657.475761911,0.432278883543,0.00458274982766,0.0699251899765,0.999999987183,8.37558118357e-05,-0.000124704580541,-5.53882242875e-05,1793254956030114304
+176,2.933333333,POSE1_TO_POSE2_PRESS,784.068338664,761,738,718,686,648,913,800.068338664,841,658,635.931661336,658,0.433175224857,0.00458295869628,0.0698728319522,0.999999972327,8.39794860975e-05,-0.000212406000341,-5.63694872055e-05,1793254956046780928
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+178,2.966666667,POSE1_TO_POSE2_PRESS,785,761,738,717.775882441,686,648,913.224117559,800.775882441,841,658,635.224117559,658,0.435191082227,0.00458128419103,0.0699892685945,0.999999995593,7.43083571311e-05,1.50719606852e-06,-5.73648198278e-05,1793254956080114688
+179,2.983333333,POSE1_TO_POSE2_PRESS,785,761,738,717.201337197,686,648,913.798662803,800.201337197,841,658,635.798662803,658,0.43615624138,0.00458191395917,0.0700333826133,0.99999999352,7.14130105001e-05,6.77985362652e-05,-5.71322837739e-05,1793254956096781568
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+181,3.016666667,POSE1_TO_POSE2_PRESS,785,761,738,717,686,648,914,800,841,658,636,658,0.437985903516,0.00457980694687,0.0700470589853,0.999999990039,7.0874970063e-05,0.00010689691988,-5.89215512738e-05,1793254956130114304
+182,3.033333333,POSE1_TO_POSE2_PRESS,785,761,738,717,686,648,914,800,841,658,635.44944625,658,0.438819572854,0.00458212385261,0.0699843391678,0.999999995488,7.27681630125e-05,1.30650397482e-05,-5.9641663774e-05,1793254956146780928
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+185,3.083333333,POSE1_TO_POSE2_PRESS,785,761,738,717,685.719711947,648.280288053,914.280288053,800.280288053,841,658,636,658,0.441234715884,0.00459247900658,0.069846461446,0.99999997237,8.9743164533e-05,-0.000209117521198,-5.8964273592e-05,1793254956196781056
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+187,3.116666667,POSE1_TO_POSE2_PRESS,785.436109906,761,738,717,685,648.563890094,915,800.563890094,841,658,636,658,0.442954961538,0.00460256335667,0.0699362099996,0.999999990584,9.99987132357e-05,-7.28336839119e-05,-5.9395994128e-05,1793254956230114560
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+190,3.166666667,POSE1_TO_POSE2_PRESS,784,760.190317729,738,717,684.809682271,648,914.190317729,800,841,658,636,657.190317729,0.445252944619,0.00461264350327,0.0698914590385,0.999999978035,0.000115901612334,-0.000164412875348,-5.88649699237e-05,1793254956280114432
+191,3.183333333,POSE1_TO_POSE2_PRESS,784,760.765894305,738,717,684.234105695,648,914.765894305,800,841,658,636,657.765894305,0.445941800823,0.00461623255222,0.0698449089189,0.999999966704,0.000119579957797,-0.000220453635842,-6.07614338734e-05,1793254956296780800
+192,3.200000000,POSE1_TO_POSE2_PRESS,784,761,738,717,683.653070204,648,915,800,841,658,636,657.653070204,0.446589158477,0.00461834199737,0.0698074125069,0.999999951932,0.000121822044239,-0.000278466657875,-6.1246837025e-05,1793254956313447424
+193,3.216666667,POSE1_TO_POSE2_PRESS,784,761,738,717,683.068292223,648,915,800,841,658,636,657.068292223,0.447208065507,0.0046194370553,0.0697761231401,0.999999933514,0.000123079459618,-0.000337831819523,-6.07648446993e-05,1793254956330114304
+194,3.233333333,POSE1_TO_POSE2_PRESS,784,761,738,717,683,647.487040725,915,800.512959275,841.512959275,658,636,657.512959275,0.44783231902,0.00462169453547,0.069746926229,0.999999915087,0.000123861648174,-0.000388454826126,-5.98979781238e-05,1793254956346781184
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+196,3.266666667,POSE1_TO_POSE2_PRESS,784.671610392,761,737.328389608,717,683,647.671610392,915,800.328389608,841.328389608,658,636,658,0.449126158213,0.00462520832691,0.069745787727,0.999999913015,0.000128009316044,-0.000392624994936,-5.85679397095e-05,1793254956380114432
+197,3.283333333,POSE1_TO_POSE2_PRESS,784.751042904,760.751042904,737,717,682.751042904,647.751042904,915,800,841,658,636,657.751042904,0.449756769681,0.00462503310318,0.0697641310931,0.999999924049,0.000128747605843,-0.000363219634008,-5.8288538936e-05,1793254956396781056
+198,3.300000000,POSE1_TO_POSE2_PRESS,784.174911754,760.174911754,737,717,682.174911754,647.174911754,915,800,841,658,636,657.174911754,0.450345112366,0.00462293957839,0.0697804268789,0.999999933391,0.000126445489448,-0.00033739078642,-5.82760882113e-05,1793254956413447424
+199,3.316666667,POSE1_TO_POSE2_PRESS,784,760,737,716.591008664,681.591008664,647,915,800,841,658,636,657.408991336,0.450849493055,0.00462315600552,0.0697592096601,0.99999992076,0.000130406113771,-0.000371731574837,-5.73607549052e-05,1793254956430114304
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+236,3.933333333,POSE1_TO_POSE2_PRESS,784.862533139,760,737.862533139,717,675.862533139,645,915,799.137466861,841.137466861,658,635.137466861,657.862533139,0.457196247832,0.00468259110387,0.0695230320006,0.999999704521,0.000187697837984,-0.00074210456281,-7.07653564213e-05,1793254957046781184
+237,3.950000000,POSE1_TO_POSE2_PRESS,785,760,737.547586665,717,676,645,915,799.452413335,841.452413335,658,635,658,0.457196892378,0.00468053326353,0.0695229286318,0.999999704625,0.000186572116866,-0.000742338635945,-6.98154292084e-05,1793254957063447808
+238,3.966666667,POSE1_TO_POSE2_PRESS,784.953125481,760,737,717,675.953125481,645,915,800,842,658,635,658,0.457197119198,0.0046782571865,0.0695227456311,0.999999704852,0.000185073348233,-0.000742518936145,-6.86233867669e-05,1793254957080114176
+239,3.983333333,POSE1_TO_POSE2_PRESS,784.374385695,760,737,717,675.374385695,645,915,800,842,658,635,658,0.457195506593,0.00468068067975,0.0695210104336,0.999999701788,0.000188520411277,-0.000745737177247,-6.89923862131e-05,1793254957096780800
+240,4.000000000,POSE1_TO_POSE2_PRESS,784,760,737,717,675,645,915,799.797406681,841.797406681,658,635.202593319,658,0.457195543537,0.00468159968502,0.0695204609476,0.999999700667,0.00018985107991,-0.000746894040869,-6.90763492254e-05,1793254957113447680
+241,4.016666667,POSE1_TO_POSE2_PRESS,784,760,737,717,675,645,915,799.223653515,841.223653515,658,635.776346485,658,0.457198602525,0.00467976240217,0.0695220837373,0.999999703131,0.00018730442092,-0.000744274370328,-6.86381129642e-05,1793254957130114560
+242,4.033333333,POSE1_TO_POSE2_PRESS,784,760,737,717,675,645,915,799.359736734,841,657.640263266,636,658,0.457199762782,0.00467961257712,0.0695222401546,0.999999703676,0.000187399804107,-0.00074350916191,-6.87218127662e-05,1793254957146780928
+243,4.050000000,POSE1_TO_POSE2_PRESS,784,760,737,717,675,645,915,799.9492834,841,657.0507166,636,658,0.457199710078,0.00468054074758,0.069521459812,0.999999703,0.000189182998152,-0.000743928636093,-6.91389400041e-05,1793254957163447296
+244,4.066666667,POSE1_TO_POSE2_PRESS,784,760,737,716.471669887,675,645,915,799.471669887,841.528330113,657.528330113,635.471669887,658,0.457199706149,0.00467954293177,0.0695212213586,0.999999703382,0.000186852928732,-0.000744041738814,-6.87340586008e-05,1793254957180114176
+245,4.083333333,POSE1_TO_POSE2_PRESS,784.106412608,760,737,716.106412608,675,645,915,799.106412608,842,658,635,658,0.457199884433,0.00467909974751,0.0695211572691,0.99999970365,0.00018528099261,-0.000744104774639,-6.84014749006e-05,1793254957196781056
+246,4.100000000,POSE1_TO_POSE2_PRESS,784.684601675,760,737,716.684601675,675,645,915,799.684601675,842,658,635,658,0.457200850198,0.00468191920383,0.0695216400889,0.999999702995,0.000188786651489,-0.000744073687461,-6.87324393589e-05,1793254957213447680
+247,4.116666667,POSE1_TO_POSE2_PRESS,784.73979594,760,737,717,675,645,915,799.73979594,841.73979594,658,635,657.73979594,0.45720113624,0.00468307113369,0.0695216655212,0.999999702494,0.000190127702312,-0.000744400835039,-6.87840687276e-05,1793254957230114816
+248,4.133333333,POSE1_TO_POSE2_PRESS,784.167297983,760,737,717,675,645,915,799.167297983,841.167297983,658,635,657.167297983,0.457200606485,0.004682221718,0.0695211420023,0.999999702188,0.000188870816106,-0.000745157931826,-6.85004434047e-05,1793254957246781952
+249,4.150000000,POSE1_TO_POSE2_PRESS,784,760,737,717,675,645,915,799.419110802,841.419110802,658,635,657.419110802,0.457200259107,0.00468028284494,0.0695211411294,0.999999702138,0.000187612496165,-0.000745595503894,-6.79220859542e-05,1793254957263448576
+250,4.166666667,HOLD_POSE2,784,760,737,717,675,645,915,800,841,658,635,658,0.457201989841,0.00468166458469,0.0695209561298,0.999999702428,0.000189291552048,-0.00074476402023,-6.81178642568e-05,1793254957308601344
+251,4.183333333,HOLD_POSE2,784.57667518,760,737,716.42332482,675,645,915,800,841.57667518,658,635,657.42332482,0.457203752306,0.00468258243529,0.0695225068744,0.999999703738,0.000190844384328,-0.000742578301243,-6.84119061382e-05,1793254957325267456
+252,4.200000000,HOLD_POSE2,784.844306682,759.844306682,737,716.155693318,675,645,915,800,842,658,635.155693318,657,0.457204607204,0.00468293755942,0.0695231593585,0.999999704189,0.000192020097546,-0.000741660412811,-6.84802216184e-05,1793254957341933568
+253,4.216666667,HOLD_POSE2,784.25882066,759.25882066,737,716.74117934,675,645,915,800,842,658,635.74117934,657,0.457202956756,0.00468173927263,0.0695213321873,0.999999702283,0.000192154770801,-0.000744242380723,-6.79254175521e-05,1793254957358600192
+254,4.233333333,HOLD_POSE2,784,759.324814403,737,717,675,645,915,800,842,658,635.675185597,657.324814403,0.457202674175,0.00468088463521,0.0695209085652,0.999999701953,0.000191153683481,-0.000744974946158,-6.75830124338e-05,1793254957375266816
+255,4.250000000,HOLD_POSE2,784,759.906982896,737,717,675,645,915,800,842,658,635.093017104,657.906982896,0.45720347537,0.00468030227513,0.0695215969906,0.999999702871,0.000189252720332,-0.000744242209146,-6.74088934145e-05,1793254957391933696
+256,4.266666667,HOLD_POSE2,784,760,737.482331531,716.517668469,675,645,915,799.517668469,842,658,635.482331531,658,0.457202411812,0.00468009088347,0.0695212395159,0.999999702504,0.000187934788592,-0.000745034636651,-6.77917283837e-05,1793254957408600320
+257,4.283333333,HOLD_POSE2,784,760,737.943760357,716,675,645,915,799,842,658,636,658,0.457201425607,0.00467990836946,0.0695208720069,0.999999702136,0.000186918140155,-0.000745749094552,-6.81708744878e-05,1793254957425266944
+258,4.300000000,HOLD_POSE2,784,760,737.371171173,716,675,645,915,799,842,658,636,658,0.457204405274,0.00467934331209,0.0695222384131,0.999999704025,0.000187649727507,-0.000743084901739,-6.75437631713e-05,1793254957441933568
+259,4.316666667,HOLD_POSE2,784,760,737.208365905,716.208365905,675,645,915,799,841.791634095,658,635.791634095,658,0.457205952795,0.00467915165813,0.0695231574905,0.999999705162,0.000188253859844,-0.000741440866896,-6.70954964256e-05,1793254957458600192
+260,4.333333333,HOLD_POSE2,784,760,737.80070643,716.80070643,675,645,915,799,841.19929357,658,635.19929357,658,0.457204861173,0.00467964810832,0.0695232522347,0.999999704925,0.000188623119262,-0.000741676769331,-6.69768027501e-05,1793254957475266816
+261,4.350000000,HOLD_POSE2,784.386468123,760,737.613531877,717,675,645,915,799.386468123,841.386468123,658,635,658,0.457203657469,0.00467984496891,0.069522399517,0.999999703831,0.000188718864455,-0.000743122369381,-6.70254963703e-05,1793254957491933440
+262,4.366666667,HOLD_POSE2,784.968894086,760,737.031105914,717,675,645,915,799.968894086,841.968894086,658,635,658,0.457202396935,0.00467988992328,0.0695210663909,0.999999702298,0.000188675924872,-0.000745181344054,-6.71590633523e-05,1793254957508599808
+263,4.383333333,HOLD_POSE2,784.456595844,759.456595844,737,716.456595844,675,645,915,800,842,658,635,657.456595844,0.457203499215,0.00467864813838,0.0695215500886,0.999999703055,0.00018842055823,-0.000744282114327,-6.65668422268e-05,1793254957525266432
+264,4.400000000,HOLD_POSE2,784,759.117454115,737,716.117454115,675,645,915,800,842,658,635,657.117454115,0.45720466539,0.00467774870347,0.0695221711109,0.999999703881,0.000188322566486,-0.000743236858142,-6.6115371916e-05,1793254957541933312
+265,4.416666667,HOLD_POSE2,784,759.691451806,737,716.691451806,675,645,915,800,842,658,635,657.691451806,0.457205561748,0.00467846217231,0.0695229274702,0.999999704475,0.000188882876945,-0.000742272753468,-6.63701698229e-05,1793254957558599936
+266,4.433333333,POSE2_TO_POSE3_RETREAT,784,760,737,716,675,645,915,800,842,658,635,658,0.457208772647,0.00467912971512,0.0695246094573,0.999999706871,0.000189486203846,-0.000738896859476,-6.62114606906e-05,1793254957595763456
+267,4.450000000,POSE2_TO_POSE3_RETREAT,784,760,737,716.577883963,675,645,915,800,841.422116037,658,635,657.422116037,0.457207270406,0.00467940912149,0.0695235628335,0.999999705322,0.000188425949544,-0.000741222846453,-6.66308250952e-05,1793254957612430080
+268,4.466666667,POSE2_TO_POSE3_RETREAT,784.154884955,759.845115045,737,717,674.845115045,645,915,799.845115045,841,658,635,657.154884955,0.457206248012,0.00467915577098,0.0695227214066,0.999999704334,0.000187486285228,-0.000742770050647,-6.68881200203e-05,1793254957629096960
+269,4.483333333,POSE2_TO_POSE3_RETREAT,784.729493309,759.270506691,737,717,674.270506691,645,915,799.270506691,841,658,635,657.729493309,0.457206525954,0.00467745870042,0.069522436043,0.999999704879,0.000186873408001,-0.000742206828587,-6.67062222666e-05,1793254957645763328
+270,4.500000000,POSE2_TO_POSE3_RETREAT,784.688177586,759.311822414,737,716.688177586,674,645,915,799.311822414,841,658,635,658,0.457205990966,0.00467721439377,0.0695220642839,0.999999704558,0.000186770447221,-0.000742652719709,-6.68350788773e-05,1793254957662430208
+271,4.516666667,POSE2_TO_POSE3_RETREAT,784.098980698,759.901019302,737,716.098980698,674,645,915,799.901019302,841,658,635,658,0.457204732854,0.00467826236003,0.0695216156737,0.999999703467,0.000187121070958,-0.000743996244346,-6.72403599142e-05,1793254957679096832
+272,4.533333333,POSE2_TO_POSE3_RETREAT,784,760,737,716.482407331,674.482407331,645,915,799.517592669,841,658,635.482407331,658,0.457206044729,0.00467859170616,0.0695221798105,0.999999704449,0.000187476778072,-0.000742599079105,-6.70832632546e-05,1793254957695763712
+273,4.550000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,675,645,915,799.061777389,841,658,635.938222611,658,0.457207601752,0.00467875050014,0.0695227981561,0.99999970566,0.000187687621872,-0.000740934830341,-6.68515887435e-05,1793254957712430592
+274,4.566666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,675,645,915,799.637476619,841,658,635.362523381,658,0.457206881357,0.00467869754518,0.0695221663551,0.99999970531,0.000186684819223,-0.000741652254724,-6.69441291273e-05,1793254957729096960
+275,4.583333333,POSE2_TO_POSE3_RETREAT,784,759.791519777,737,717,675,645,915,799.791519777,841,658,635,657.791519777,0.457203807531,0.0046785505015,0.069520409867,0.999999703855,0.000186490884708,-0.00074365562372,-6.69918979338e-05,1793254957745763328
+276,4.600000000,POSE2_TO_POSE3_RETREAT,784,759.228501535,737,717,675,645,915,799.228501535,841,658,635,657.228501535,0.457196731499,0.00467824345209,0.0695167407548,0.999999700511,0.000187672498061,-0.000747845848771,-6.6963528927e-05,1793254957762429952
+277,4.616666667,POSE2_TO_POSE3_RETREAT,784,759.359710204,737,717,675,645,915,799.359710204,841.359710204,658,635,657.359710204,0.457176228604,0.00467826446052,0.0695079452354,0.999999689444,0.000188478749178,-0.000762314344983,-6.68241599029e-05,1793254957779096832
+278,4.633333333,POSE2_TO_POSE3_RETREAT,784,759.965131168,737,717,675,645,915,799.965131168,841.965131168,658,635,657.965131168,0.457146554091,0.00467850955858,0.0694956479704,0.999999672742,0.000189028598002,-0.000783803720314,-6.66089689872e-05,1793254957795763456
+279,4.650000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,675,645,915,799.455390774,841.455390774,657.455390774,635,658,0.457093067414,0.0046812834891,0.0694770170817,0.999999648298,0.000192742961018,-0.000813495801673,-6.692834887e-05,1793254957812430080
+280,4.666666667,POSE2_TO_POSE3_RETREAT,784,759.878412638,737,717,675,644.878412638,915,799.121587362,841,657.121587362,635,658,0.457034960481,0.00468316964524,0.0694589943763,0.99999962589,0.000195293667877,-0.00083998632668,-6.71097253646e-05,1793254957829096960
+281,4.683333333,POSE2_TO_POSE3_RETREAT,784,759.304833711,737,717,675,644.304833711,915,799.695166289,841,657.695166289,635,658,0.456965087916,0.00468118105151,0.0694446714581,0.999999615634,0.000192799637787,-0.000852711775398,-6.66566376067e-05,1793254957845763584
+282,4.700000000,POSE2_TO_POSE3_RETREAT,784,759.277165795,737,717,675,644.277165795,915,799.722834205,841,658,635,657.722834205,0.456887668366,0.00468021345496,0.0694337975256,0.999999604676,0.000192008487108,-0.000865708564804,-6.57918829433e-05,1793254957862430208
+283,4.716666667,POSE2_TO_POSE3_RETREAT,784,759.868716603,737,717,675,644.868716603,915,799.131283397,841,658,635,657.131283397,0.456801688389,0.00468040396032,0.069426835727,0.999999592937,0.000193148887217,-0.000879013131139,-6.44601806968e-05,1793254957879096576
+284,4.733333333,POSE2_TO_POSE3_RETREAT,784.450128874,760,737,716.549871126,675,645,915,799,841,658,635,657.450128874,0.456702477749,0.00467968840497,0.0694251588621,0.999999589044,0.000194999374906,-0.000883160111265,-6.25713060992e-05,1793254957895763200
+285,4.750000000,POSE2_TO_POSE3_RETREAT,785,760,737,716,675,645,915,799,841,658,635,658,0.456598499775,0.00467875185218,0.0694252627772,0.999999587798,0.000197226609665,-0.000884220986434,-6.04908058139e-05,1793254957912429824
+286,4.766666667,POSE2_TO_POSE3_RETREAT,785,760,737,716,675,645,915,799,841,658,635,658,0.45647545308,0.0046785339085,0.0694306130167,0.999999593919,0.000202797426946,-0.000876183134931,-5.77826529846e-05,1793254957929096704
+287,4.783333333,POSE2_TO_POSE3_RETREAT,784.8176897,760,737,716.1823103,675,645,915,799,841,657.8176897,635,658,0.456343032731,0.00467921147857,0.0694358306454,0.999999599183,0.000208032012709,-0.000869080982209,-5.52641969334e-05,1793254957945763584
+288,4.800000000,POSE2_TO_POSE3_RETREAT,784.229570129,760,737,716.770429871,675,645,915,799,841,657.229570129,635,658,0.456189747335,0.00468188239619,0.0694407530918,0.999999602703,0.000212518171222,-0.000864061627119,-5.31679922798e-05,1793254957962430208
+289,4.816666667,POSE2_TO_POSE3_RETREAT,784,760,737,716.646980862,675,645,915,799,841,657.353019138,635,658,0.456017224035,0.00468223481795,0.0694458220078,0.99999960663,0.000216419818796,-0.000858714331469,-5.01105792035e-05,1793254957979096832
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,784,760,737,716.509488129,675,645,915,799.509488129,841,658,635,658,0.455614414196,0.00467916322607,0.0694506849779,0.999999606977,0.000223832169985,-0.000856803718778,-4.28174456704e-05,1793254958012430336
+292,4.866666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,675,645,915,800,841.086481222,658,635,658,0.455386014548,0.00467730201212,0.069450017233,0.999999602648,0.00022783248692,-0.000860973345171,-3.90042767156e-05,1793254958029096704
+293,4.883333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,675,645,915,800,841.662279933,658,635,658,0.455123510129,0.00467649121115,0.0694513750421,0.999999601642,0.000232216672421,-0.000861180490291,-3.40602086741e-05,1793254958045763328
+294,4.900000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,675.243456792,645,915,799.756543208,841.756543208,658,635,658,0.454848279036,0.00467546062009,0.0694529116808,0.99999960369,0.000236790380877,-0.000857726458399,-2.92566295871e-05,1793254958062429952
+295,4.916666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,675.832262643,645,915,799.167737357,841.167737357,658,635,658,0.454554994882,0.00467411825178,0.0694547019931,0.999999610035,0.000241632931731,-0.000849078962656,-2.46523376094e-05,1793254958079096832
+296,4.933333333,POSE2_TO_POSE3_RETREAT,784,760,737,716.5861769,676,645.4138231,915,799,841,657.5861769,635,658,0.454246309444,0.00467281599315,0.0694631778008,0.99999962557,0.000247737694821,-0.000828919285956,-1.94723679462e-05,1793254958095763712
+297,4.950000000,POSE2_TO_POSE3_RETREAT,784,760,737,716.007502742,676,645.992497258,915,799,841,657.007502742,635,658,0.45393148874,0.00467152971268,0.0694743168502,0.999999644208,0.000254345274018,-0.000804173602986,-1.40630707391e-05,1793254958112430336
+298,4.966666667,POSE2_TO_POSE3_RETREAT,784.567885249,759.432114751,737,716.567885249,676.567885249,645.432114751,915,799.567885249,841,657.567885249,635,658,0.453579315442,0.00466889963456,0.0694940032631,0.999999666562,0.000258899717483,-0.00077445643618,-7.94243621145e-06,1793254958129096960
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+300,5.000000000,POSE2_TO_POSE3_RETREAT,785,759.71710623,737.71710623,716.28289377,677,645,915,799.28289377,841,658,635,658,0.4527983021,0.00466703977303,0.0695163674188,0.999999693672,0.000270629656309,-0.000734442138048,3.22257834442e-06,1793254958162429952
+301,5.016666667,POSE2_TO_POSE3_RETREAT,784.699286441,760,737.699286441,716.300713559,677.300713559,645.300713559,915,799.300713559,841,658,635,658,0.452352921259,0.00466673603153,0.0695171638924,0.999999693544,0.000276024727226,-0.000732565717226,8.3987965456e-06,1793254958179096576
+302,5.033333333,POSE2_TO_POSE3_RETREAT,784.106512179,760,737.106512179,716.893487821,677.893487821,645.893487821,915,799.893487821,841,658,635,658,0.451876347051,0.00466603718715,0.0695129061008,0.999999684939,0.000280182262629,-0.000742589082138,1.35001656395e-05,1793254958195763200
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,784,760,737,716.948732103,678,646,915,799.948732103,841,658,635.948732103,658,0.450844099796,0.00466122279158,0.0695074939971,0.999999683747,0.000223610367373,-0.000763218302071,1.52163291307e-06,1793254958229096448
+305,5.083333333,POSE2_TO_POSE3_RETREAT,784,760,737,716.375561494,678,646,915,799.375561494,841,658,635.375561494,658,0.450312542713,0.00465644911114,0.0695227210822,0.999999697101,0.000217432520645,-0.000747313987838,6.53282576965e-06,1793254958245763328
+306,5.100000000,POSE2_TO_POSE3_RETREAT,784,760,737,716.198781878,678.198781878,646,915,799,841,658,635,658,0.449772589787,0.00465227444594,0.0695434817686,0.999999717867,0.000212706859382,-0.000720338001087,1.16045151279e-05,1793254958262430208
+307,5.116666667,POSE2_TO_POSE3_RETREAT,784,760,737,716.775354083,678.775354083,646,915,799,841,658,635,658,0.449216680366,0.00464923822567,0.0695747592125,0.999999751646,0.000210741115952,-0.000672320001916,1.67911794089e-05,1793254958279096832
+308,5.133333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,679.361762291,646,915,799,841,658,635.361762291,658,0.448636120821,0.00464677305126,0.0696116034441,0.999999791153,0.000200719358161,-0.000614032620216,1.92518357483e-05,1793254958295763456
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,784,760,737,716.465196488,680.534803512,646.534803512,915,799.534803512,841,658,635.465196488,658,0.447351076304,0.00464265710606,0.0696459350942,0.999999827181,0.000173423731445,-0.000561349585792,2.12001221718e-05,1793254958329096448
+311,5.183333333,POSE2_TO_POSE3_RETREAT,784,760,737,716.112648104,681.112648104,647,915,800,841,658,635,658,0.44665114784,0.00464025482746,0.0696335170553,0.999999817482,0.000161120522387,-0.000581876038214,2.22850737877e-05,1793254958345763328
+312,5.200000000,POSE2_TO_POSE3_RETREAT,784,760,737,716.6844475,681.6844475,647,915,800,841,658,635,658,0.445937030223,0.00463624621415,0.0696109753528,0.999999802648,0.000147088131439,-0.000610375636251,2.26159641237e-05,1793254958362429952
+313,5.216666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,682,647,915,799.742929691,840.742929691,658,635,658,0.445229598544,0.00463255240433,0.0696136670759,0.999999804489,0.000177942869048,-0.000599048664267,2.23485148852e-05,1793254958379096576
+314,5.233333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,682,647,915,799.169292822,840.169292822,658,635,658,0.444530400096,0.00462924625548,0.0696474322356,0.999999819818,0.000264073391322,-0.000538677676302,2.13442464849e-05,1793254958395763456
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,784.983151513,760,737,717,683,648,915,799.016848487,841,658,636,657.983151513,0.443029017635,0.0046136717742,0.06973213844,0.999999889279,0.000243576444545,-0.000401791653552,2.59881902713e-05,1793254958429096960
+317,5.283333333,POSE2_TO_POSE3_RETREAT,784.408468107,760,737,717,683,648,915,799.591531893,841,658,636,657.408468107,0.442237006829,0.00460962398875,0.0697578121907,0.999999906534,0.000213216418652,-0.000375180179808,2.6669726028e-05,1793254958445763328
+318,5.300000000,POSE2_TO_POSE3_RETREAT,784,760,737,716.833982401,683.166017599,648,915,800,840.833982401,658,635.833982401,657.166017599,0.441445969313,0.00460425493587,0.0697825209494,0.999999924659,0.000184010881857,-0.000340722438254,2.70260178867e-05,1793254958462429952
+319,5.316666667,POSE2_TO_POSE3_RETREAT,784,760,737,716.259982569,683.740017431,648,915,800,840.259982569,658,635.259982569,657.740017431,0.440657323668,0.00459563891643,0.0698048582732,0.999999946042,0.000157642462269,-0.000286982779983,2.65830346422e-05,1793254958479096832
+320,5.333333333,POSE2_TO_POSE3_RETREAT,784,760,737,716.324682248,684,648,915,800,840,658,635,658,0.439792341931,0.00458878226832,0.0698037592789,0.999999948575,0.000142795495864,-0.000285796424433,2.79090798554e-05,1793254958495763456
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,684,648.497202698,915,800,840,658,635,657.502797302,0.43792941188,0.00458116201426,0.0697327454501,0.999999906609,0.000152758805107,-0.000403115801873,3.07190603352e-05,1793254958529096704
+323,5.383333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,684.073758618,649,915,800,840,658,635,657.073758618,0.43700003867,0.00457875154096,0.0696880340307,0.999999876363,0.000166108068834,-0.000467709391432,3.04930661648e-05,1793254958545763328
+324,5.400000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,684.649251761,649,915,800,840,658,635,657.649251761,0.436114368271,0.00457158802687,0.0697154193061,0.999999898393,0.000143996147091,-0.000426004556694,3.16130556064e-05,1793254958562430464
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,784.596498501,760,737.596498501,717,685,649,915,800,840,658,636,658,0.433453101923,0.00455610659676,0.0698337753995,0.9999999567,0.000122107150186,-0.000265124341071,3.74061833873e-05,1793254958612429824
+328,5.466666667,POSE2_TO_POSE3_RETREAT,784.017321685,760,737.017321685,717,685,649,915,800,840,658,636,658,0.432515523129,0.00454777749519,0.0698497468121,0.999999963199,0.000125428192553,-0.000237541461407,3.79950598904e-05,1793254958629096448
+329,5.483333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,685,649,915,800,840,658,636,658,0.431541484507,0.00454430520202,0.0698276765686,0.999999956886,0.000112774137925,-0.000268528866694,3.74573592055e-05,1793254958645763328
+330,5.500000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,685,649,915,800,840,657.868106511,635.868106511,658,0.430553227724,0.00454070763608,0.069793021315,0.999999942487,0.000102435812827,-0.000321227454434,3.66976865149e-05,1793254958662429696
+331,5.516666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,685,649,915,800,840,657.292599869,635.292599869,658,0.429520929958,0.00453618511146,0.0697199820223,0.999999897035,0.000101542753928,-0.000440876564276,3.53082461284e-05,1793254958679096576
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783.70891474,760,737,717,685,649,915,800,840,657.29108526,635,658,0.428564832639,0.0045292953671,0.0697078156115,0.999999888683,9.27581960721e-05,-0.000461316545798,3.48938051277e-05,1793254958695763200
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783.116770944,760,737,717,685,649,915,800,840,657.883229056,635,658,0.427687546641,0.00451995729668,0.0697586077374,0.99999992462,7.58117583361e-05,-0.000379148252546,3.54877696159e-05,1793254958712430080
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783.462414417,760,737,717.462414417,685.462414417,649,915,800,840,658,635,657.537585583,0.426782632642,0.00451597308123,0.069812573795,0.999999952924,7.58350895061e-05,-0.000294993125005,3.71480593958e-05,1793254958729096704
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783.961683996,760,737.038316004,718,686,649,915,800,840,658,635,657,0.425869611828,0.00451253111385,0.0698628561007,0.999999972576,7.83816719821e-05,-0.000217232975667,3.89029379949e-05,1793254958745763328
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783.38719153,760,737.61280847,718,686,649,915,800,840,658,635,657,0.424938116981,0.00449827386733,0.0698506796091,0.999999969791,5.79058706633e-05,-0.000235790817406,3.83160809077e-05,1793254958762429952
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783,760,737.813381218,718,686,649,915,800,840,658,635,657,0.423987626041,0.00448781381746,0.0698250415336,0.99999995965,4.204479028e-05,-0.000278393811678,3.77978925928e-05,1793254958779096576
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783,760,737.240980961,718,686,649,915,800,840,658,635,657,0.42299786589,0.00448520339355,0.0697715754441,0.999999929951,3.57233344366e-05,-0.000370703350769,3.74216572423e-05,1793254958795763200
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783,759.653777733,737,718,686,649,915,800,839.653777733,658,635.346222267,657.346222267,0.422011160341,0.00447988972807,0.0697137125673,0.999999888037,2.90146318968e-05,-0.000470893692164,3.66491941892e-05,1793254958812430080
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783,759.055811033,737,718,686,649,915,800,839.055811033,658,635.944188967,657.944188967,0.421026675907,0.0044726104872,0.0696526527105,0.999999832767,2.20243555876e-05,-0.000576814298703,3.55886267121e-05,1793254958829096960
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,649,915,800,839,658,636,657.480893428,0.420200662525,0.00446168156284,0.0697112571725,0.999999886883,1.33469758034e-05,-0.000474144138668,3.52466644027e-05,1793254958845763328
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783,759.092291202,737,718.092291202,686.092291202,649.092291202,915,800,839.092291202,658,635.907708798,657.092291202,0.419394011769,0.00445229061616,0.0697811405427,0.999999936722,5.70600343475e-06,-0.000353935502664,3.53928572567e-05,1793254958862429952
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,759.668832652,737,718.668832652,686.668832652,649.668832652,915,800,839.668832652,658,635.331167348,657.668832652,0.418603359967,0.00445294074713,0.0698455687601,0.999999966927,4.41431340978e-06,-0.000254370863232,3.77122467675e-05,1793254958879096576
+344,5.733333333,POSE2_TO_POSE3_RETREAT,782.747469067,759.747469067,737,719,687,649.747469067,915,800,839.747469067,658,635,657.747469067,0.417787606589,0.00444844831462,0.0698725538607,0.99999997594,-2.02325574681e-06,-0.000215910327512,3.87064899723e-05,1793254958895763200
+345,5.750000000,POSE2_TO_POSE3_RETREAT,782.154111669,759.154111669,737,719,687,649.154111669,915,800,839.154111669,658,635,657.154111669,0.416937975121,0.00443701526014,0.0698490041366,0.999999965384,-1.54059216038e-05,-0.000259918493452,3.79122596435e-05,1793254958912429824
+346,5.766666667,POSE2_TO_POSE3_RETREAT,782,759.426225509,737.426225509,719,687,649.426225509,915,800,839.426225509,658,635,657,0.416097652792,0.00443239589618,0.0698184739202,0.999999956378,-2.31108917514e-05,-0.000292238415825,3.61437723065e-05,1793254958929096448
+347,5.783333333,POSE2_TO_POSE3_RETREAT,782,759.99801328,737.99801328,719,686.99801328,649.99801328,915,800,839.99801328,658,635,657.00198672,0.415260495426,0.00443023118464,0.0697854929504,0.999999947609,-2.8727875702e-05,-0.000320621055488,3.40462147176e-05,1793254958945763584
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,782,759.149744986,737,719,686,649,915,800,839.149744986,658,635,657.850255014,0.413572597482,0.00446149129262,0.0697344364235,0.999999903247,1.42797242552e-05,-0.000438136993005,3.65705573361e-05,1793254958979096832
+350,5.833333333,POSE2_TO_POSE3_RETREAT,782,759.726050769,737,719,686,649,915,800,839.726050769,658,635,657.273949231,0.4128780012,0.00447292828122,0.0697619188904,0.999999924665,3.25822322484e-05,-0.000385136787225,3.57631290488e-05,1793254958995763456
+351,5.850000000,POSE2_TO_POSE3_RETREAT,782,760,737,719.310846373,686.310846373,649,914.689153627,800,840,658,635,657.310846373,0.41222492973,0.00447226155824,0.0698045822904,0.999999951664,3.02749117064e-05,-0.000307382375584,3.56530784813e-05,1793254959012430080
+352,5.866666667,POSE2_TO_POSE3_RETREAT,782,760,737,719.903334116,686.903334116,649,914.096665884,800,840,658,635,657.903334116,0.411609481725,0.00446062830506,0.0698610003252,0.999999977837,9.29412004611e-06,-0.000207199495547,3.6174884626e-05,1793254959029096704
+353,5.883333333,POSE2_TO_POSE3_RETREAT,781.515595947,759.515595947,737.484404053,720,687.484404053,649,914,800,840,658,635,657.515595947,0.410937899533,0.00445313504556,0.0698710061023,0.999999979947,5.74493165977e-06,-0.000196774358841,3.67936153112e-05,1793254959045763584
+354,5.900000000,POSE2_TO_POSE3_RETREAT,781.062565156,759.062565156,738,719.937434844,687.937434844,649,914,800,839.937434844,658,635,657.062565156,0.410254568338,0.00444777001333,0.0698665346976,0.999999976843,5.9794275654e-06,-0.000211883502288,3.71845657025e-05,1793254959062430464
+355,5.916666667,POSE2_TO_POSE3_RETREAT,781.635160044,759.635160044,738,719.364839956,687.364839956,649,914,800,839.364839956,658,635,657.635160044,0.409564674533,0.00445317447924,0.0698178094231,0.999999956547,9.35408913139e-06,-0.000292494012466,3.55646120171e-05,1793254959079097088
+356,5.933333333,POSE2_TO_POSE3_RETREAT,781.793136429,760,738,719,686.793136429,649,914.206863571,800,839,658,635,657.793136429,0.408909022263,0.00445764754601,0.0697795973687,0.999999936668,1.05272216078e-05,-0.000354102358386,3.41291281084e-05,1793254959095763456
+357,5.950000000,POSE2_TO_POSE3_RETREAT,781.222998287,760,738,719,686.222998287,649,914.777001713,800,839,658,635,657.222998287,0.408313501867,0.00446048497566,0.0697598476589,0.999999926332,7.8342331172e-06,-0.000382340864332,3.30175933525e-05,1793254959112430080
+358,5.966666667,POSE2_TO_POSE3_RETREAT,781.365426259,760,738,719.365426259,686,649,914.634573741,800,839,658,635,657.365426259,0.407764507736,0.00446320591117,0.0697650041413,0.999999930629,1.28509502185e-05,-0.00037085288531,3.23129692122e-05,1793254959129096704
+359,5.983333333,POSE2_TO_POSE3_RETREAT,781.965597819,760,738,719.965597819,686,649,914.034402181,800,839,658,635,657.965597819,0.407245401442,0.00446585201257,0.0697861600511,0.999999943505,2.28202864099e-05,-0.000333845106943,3.18697392745e-05,1793254959145763328
+360,6.000000000,POSE2_TO_POSE3_RETREAT,782,760,738,719.455929407,686.544070593,649,914,799.455929407,839,657.455929407,635,658,0.40674176867,0.00446867894957,0.0697973543807,0.999999946233,2.79235051705e-05,-0.00032508739412,3.27539165866e-05,1793254959162429952
+361,6.016666667,POSE2_TO_POSE3_RETREAT,782,760,737.880090998,719,686.880090998,649,914.119909002,799.119909002,839,657.119909002,635,658,0.406242979066,0.0044701265844,0.0698034723071,0.999999946414,2.96643868829e-05,-0.000324305118636,3.34514661545e-05,1793254959179096320
+362,6.033333333,POSE2_TO_POSE3_RETREAT,782,760,737.309198011,719,686.309198011,649,914.690801989,799.690801989,839,657.690801989,635,658,0.405758866012,0.00446634523681,0.0697927757801,0.999999939029,1.98722003338e-05,-0.000347058238305,3.31435285023e-05,1793254959195763200
+363,6.050000000,POSE2_TO_POSE3_RETREAT,781.726460398,760,737.273539602,719.273539602,686,649,914.726460398,799.726460398,839,658,635,658,0.405320301931,0.0044651881609,0.0697926331463,0.999999938782,1.40064869768e-05,-0.000348152216157,3.20840997947e-05,1793254959212430336
+364,6.066666667,POSE2_TO_POSE3_RETREAT,781.129728151,760,737.870271849,719.870271849,686,649,914.129728151,799.129728151,839,658,635,658,0.404935554923,0.00446713171597,0.0698049601543,0.999999947088,1.2779982731e-05,-0.000323655472886,3.01367690316e-05,1793254959229096960
+365,6.083333333,POSE2_TO_POSE3_RETREAT,781.44935464,760,738,720,686,649,914,799.44935464,839,658,635,658,0.404586372099,0.00446729689904,0.0698211490812,0.999999956894,2.10008906611e-05,-0.000291342934069,2.98225869482e-05,1793254959245763328
+366,6.100000000,POSE2_TO_POSE3_RETREAT,782,760,738,720,686.02360898,649,914,799.97639102,839,658,635,657.97639102,0.404247353068,0.00446687046614,0.0698378775549,0.999999965771,3.10845517378e-05,-0.000258059479066,2.9963106364e-05,1793254959262430208
+367,6.116666667,POSE2_TO_POSE3_RETREAT,782,760,738,720,686.599603227,649,914,799.400396773,839,658,635,657.400396773,0.403914990157,0.00446416033234,0.0698421294985,0.999999967305,2.3348285529e-05,-0.000252857831174,3.01277802594e-05,1793254959279096832
+368,6.133333333,POSE2_TO_POSE3_RETREAT,782,760,738,720,687,649,914,799.180390052,839,658,635,657.180390052,0.40358991283,0.00446297152898,0.069841299843,0.99999996683,1.64599144207e-05,-0.000255294630867,2.98949763644e-05,1793254959295763456
+369,6.150000000,POSE2_TO_POSE3_RETREAT,782,760,738,720,687,649,914,799.772104815,839,658,635,657.772104815,0.403281448107,0.00446525165784,0.0698288831443,0.999999961667,1.15049115468e-05,-0.000275148590323,2.87558451006e-05,1793254959312430080
+370,6.166666667,POSE2_TO_POSE3_RETREAT,782,760,738,720,686.644757725,649,914,800,839,658,635,657.644757725,0.402998973758,0.0044657619556,0.0698205265057,0.999999957512,8.72871376688e-06,-0.000289955892881,2.8722881972e-05,1793254959329096704
+371,6.183333333,POSE2_TO_POSE3_RETREAT,782,760,738,720,686.066992997,649,914,800,839,658,635,657.066992997,0.402732779653,0.00446516363789,0.0698147130725,0.99999995406,7.31731098415e-06,-0.000301601990114,2.93828183766e-05,1793254959345763328
+372,6.200000000,POSE2_TO_POSE3_RETREAT,782,760,738,720,686.508206211,649,914,800,839,658,635,657,0.402501792642,0.00446768946606,0.069805444333,0.999999949915,7.59383295969e-06,-0.000315082009601,2.88964299677e-05,1793254959362429952
+373,6.216666667,POSE2_TO_POSE3_RETREAT,781.917137707,759.917137707,738,720.082862293,687,649,914,800,839,658,635,657,0.402280918393,0.00447132191327,0.0697966630619,0.999999945848,9.45220409006e-06,-0.000327743708179,2.82562707091e-05,1793254959379096576
+374,6.233333333,POSE2_TO_POSE3_RETREAT,781.343704717,759.343704717,738,720.656295283,687,649,914,800,839,658,635,657,0.402092576088,0.00447907996124,0.0697934508335,0.999999943608,1.93649264052e-05,-0.000334136637406,2.7595872684e-05,1793254959395763200
+375,6.250000000,POSE2_TO_POSE3_RETREAT,781,759.238179325,738,720.761820675,686.761820675,649,914.238179325,800,839,658,635,657,0.401920890851,0.00448631870595,0.0697927732438,0.999999942544,3.7553045313e-05,-0.000335837086144,2.67559258482e-05,1793254959412430080
+376,6.266666667,POSE2_TO_POSE3_RETREAT,781,759.832707254,738,720.167292746,686.167292746,649,914.832707254,800,839,658,635,657,0.401774126859,0.004492780502,0.0697958878179,0.99999994273,6.81222803557e-05,-0.000330516946477,2.56473496423e-05,1793254959429096704
+377,6.283333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.41401747,649,914.58598253,800,839,658,635,657.41401747,0.401641561616,0.00449328808678,0.0697966628823,0.999999943462,6.96542482666e-05,-0.000328035644986,2.48316906549e-05,1793254959445763584
+378,6.300000000,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.990152006,649,914.009847994,800,839,658,635,657.990152006,0.401514556189,0.00449146417739,0.0697965218634,0.999999944565,5.98160756743e-05,-0.000326665949207,2.41307294653e-05,1793254959462430208
+379,6.316666667,POSE2_TO_POSE3_RETREAT,781.565919783,760,738,720,687,649,914,799.434080217,839,658,635,658,0.401416336559,0.00448850421935,0.0697954316916,0.9999999449,4.738698005e-05,-0.000327785743825,2.26213306582e-05,1793254959479096832
+380,6.333333333,POSE2_TO_POSE3_RETREAT,781.854908109,760,738,720,687,649,914,799.145091891,839,658,635,658,0.401323648735,0.00448646196322,0.0697942558103,0.999999944929,3.72559332898e-05,-0.000329087882883,2.13158177907e-05,1793254959495763456
+381,6.350000000,POSE2_TO_POSE3_RETREAT,781.265286443,760,738,720,687,649,914,799.734713557,839,658,635,658,0.40124637545,0.00448729187467,0.0697928679058,0.999999944478,3.43036532168e-05,-0.000330816043696,2.06780411334e-05,1793254959512430080
+382,6.366666667,POSE2_TO_POSE3_RETREAT,781.318180444,760,737.681819556,720,687,649.318180444,914,800,839,658,635,658,0.401183388535,0.00448720529849,0.0697943746921,0.999999945524,3.24071051308e-05,-0.000327831155127,2.06960968336e-05,1793254959529096704
+383,6.383333333,POSE2_TO_POSE3_RETREAT,781.89661316,760,737.10338684,720,687,649.89661316,914,800,839,658,635,658,0.401132086994,0.00448636909119,0.0697982491595,0.999999947764,3.13740813432e-05,-0.000320991278695,2.12505834853e-05,1793254959545763584
+384,6.400000000,POSE2_TO_POSE3_RETREAT,781.528722141,760,737.471277859,720,687,649.528722141,914,800,839,658,635,658,0.401094698807,0.00448540654113,0.0698011182451,0.999999949161,3.04385841117e-05,-0.000316687452892,2.14581532752e-05,1793254959562430464
+385,6.416666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,687,649.045447255,914,800,839,658,635,658,0.401061097281,0.00448448282627,0.0698037256584,0.999999950383,2.96103646084e-05,-0.000312875098786,2.1597260031e-05,1793254959579097088
+386,6.433333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,687,649.62342234,914,800,839,658,635,658,0.401036384881,0.00448433635377,0.0698058307962,0.999999951777,2.97904637271e-05,-0.000308354268136,2.18188391176e-05,1793254959595763456
+387,6.450000000,POSE2_TO_POSE3_RETREAT,781.205736394,760,738,720,687,649.794263606,914,800,839,658,635,657.794263606,0.401015225787,0.00448412194077,0.0698083447464,0.999999953103,2.95893984358e-05,-0.000304028855094,2.20434446069e-05,1793254959612429824
+388,6.466666667,POSE2_TO_POSE3_RETREAT,781.796163518,760,738,720,687,649.203836482,914,800,839,658,635,657.203836482,0.401000710749,0.00448378049102,0.0698116231033,0.99999995432,2.86756229915e-05,-0.000300068838753,2.22737089219e-05,1793254959629096192
+389,6.483333333,POSE2_TO_POSE3_RETREAT,781.620774307,760,738,720,687,649,914.379225693,800,839,658,635,657,0.40098969299,0.00448463652653,0.0698123485883,0.999999954775,3.08438963412e-05,-0.000298346932514,2.20837626251e-05,1793254959645763072
+390,6.500000000,POSE2_TO_POSE3_RETREAT,781.041595444,760,738,720,687,649,914.958404556,800,839,658,635,657,0.400980519232,0.00448612395643,0.0698117280282,0.999999954821,3.46372321486e-05,-0.000297805107859,2.16722531583e-05,1793254959662429440
+391,6.516666667,POSE2_TO_POSE3_RETREAT,781.533707619,760,738,720,687,649,915,800,839,657.466292381,635,657,0.400978768386,0.00448581962736,0.0698147535601,0.999999956155,3.33719852342e-05,-0.000293419595425,2.19224336375e-05,1793254959679096320
+392,6.533333333,POSE2_TO_POSE3_RETREAT,781.889003231,760,738,720,687,649,914.889003231,800,839,657.110996769,635,657,0.400977222587,0.00448561133275,0.069817321579,0.999999957264,3.29412889327e-05,-0.000289647782769,2.21406787713e-05,1793254959695763200
+393,6.550000000,POSE2_TO_POSE3_RETREAT,781.301909022,760,738,720,687,649,914.301909022,800,839,657.698090978,635,657,0.400974092758,0.00448640961292,0.0698167171128,0.999999957057,3.77690826718e-05,-0.000289783964171,2.20023399883e-05,1793254959712430592
+394,6.566666667,POSE2_TO_POSE3_RETREAT,781.281586288,760,738,720.281586288,687,649,914,800,839.281586288,657.718413712,635,657,0.400971970724,0.00448700565685,0.0698167965688,0.999999957095,3.8149123046e-05,-0.000289627238233,2.16880594849e-05,1793254959729097472
+395,6.583333333,POSE2_TO_POSE3_RETREAT,781.861271725,760,738,720.861271725,687,649,914,800,839.861271725,657.138728275,635,657,0.400970915584,0.00448738760506,0.0698176000535,0.999999957397,3.38205842678e-05,-0.000289160428218,2.11875196209e-05,1793254959745763328
+396,6.600000000,POSE2_TO_POSE3_RETREAT,781.560391668,760,738,720.560391668,687,649,914,800,839.560391668,657.439608332,635,657,0.400970922815,0.00448603637325,0.0698184737973,0.999999957829,3.24280907821e-05,-0.000287824933963,2.11546564787e-05,1793254959762429952
+397,6.616666667,POSE2_TO_POSE3_RETREAT,781,759.982663816,738,720,687,649,914,800,838.982663816,657.982663816,635,657,0.4009712905,0.00448424412028,0.069819367034,0.999999958301,3.19774293739e-05,-0.000286222012184,2.12630790401e-05,1793254959779096576
+398,6.633333333,POSE2_TO_POSE3_RETREAT,781,759.410832971,738,720,687,649,914,800,838.410832971,657.410832971,635,657,0.400972496953,0.0044857862704,0.0698201767561,0.999999958703,3.21066913555e-05,-0.000284806734147,2.11844310575e-05,1793254959795763456
+399,6.650000000,POSE2_TO_POSE3_RETREAT,781,759,738,720.166644045,687,649,914,799.833355955,838.166644045,657,635,657,0.400973169041,0.00448669124093,0.0698209858393,0.999999958985,3.18393420957e-05,-0.000283848546062,2.11071914553e-05,1793254959812430080
+400,6.666666667,POSE2_TO_POSE3_RETREAT,781,759,738,720.758528877,687,649,914,799.241471123,838.758528877,657,635,657,0.400972477541,0.00448597026222,0.0698217932921,0.999999958968,3.0559923799e-05,-0.000284056756127,2.1033545751e-05,1793254959829096448
+401,6.683333333,POSE2_TO_POSE3_RETREAT,781,759.342002883,738,720.657997117,687,649,914,799.342002883,839,657.342002883,635,657.342002883,0.400971954558,0.00448649334695,0.0698220094142,0.999999959005,3.11049505224e-05,-0.000283885255313,2.07775132639e-05,1793254959845763328
+402,6.700000000,POSE2_TO_POSE3_RETREAT,781,759.919680939,738,720.080319061,687,649,914,799.919680939,839,657.919680939,635,657.919680939,0.400971547699,0.00448787371942,0.0698218180485,0.999999959078,3.2907207625e-05,-0.000283452094625,2.03957975217e-05,1793254959862430208
+403,6.716666667,POSE2_TO_POSE3_RETREAT,781,760,737.500511919,720,687,649,914,800,839,658,635,657.500511919,0.400971151446,0.00448774275196,0.0698216173393,0.999999959213,3.40162728261e-05,-0.00028283226873,2.05801519059e-05,1793254959879097088
+404,6.733333333,POSE2_TO_POSE3_RETREAT,781,759.919820731,737,720,687,649,914,799.919820731,839,658,635,657,0.400970934763,0.00448740205049,0.0698216044828,0.999999959391,3.48801489016e-05,-0.00028207501353,2.08350102424e-05,1793254959895763712
+405,6.750000000,POSE2_TO_POSE3_RETREAT,781,759.335734663,737,720,687,649,914,799.335734663,839,658,635,657,0.400971835866,0.0044872771297,0.0698227817173,0.999999959791,3.49066141194e-05,-0.000280643501967,2.09584458372e-05,1793254959912430080
+406,6.766666667,POSE2_TO_POSE3_RETREAT,781,759.246241012,737.246241012,720,687,649,914,799.246241012,839,657.753758988,635,657.246241012,0.40097253682,0.00448777924514,0.0698236279674,0.999999960077,3.5381036737e-05,-0.000279567447002,2.08868657237e-05,1793254959929096448
+407,6.783333333,POSE2_TO_POSE3_RETREAT,781,759.825363828,737.825363828,720,687,649,914,799.825363828,839,657.174636172,635,657.825363828,0.400972967201,0.00448912902178,0.0698240267754,0.999999960211,3.64610321893e-05,-0.000278971917124,2.05516529373e-05,1793254959945763328
+408,6.800000000,POSE2_TO_POSE3_RETREAT,781,759.596136908,738,720,687,649,914,800,839,657.403863092,635,657.596136908,0.400972649534,0.00448929015088,0.0698239888348,0.999999960222,3.57143114488e-05,-0.000279050730653,2.02688831399e-05,1793254959962429952
+409,6.816666667,POSE2_TO_POSE3_RETREAT,781,759.017906894,738,720,687,649,914,800,839,657.982093106,635,657.017906894,0.400972008899,0.00448893808416,0.0698237623288,0.999999960178,3.41789103092e-05,-0.000279420690368,2.00087554974e-05,1793254959979096832
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a6f3ac723892d7b8239e45746aed2b078f645630
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_01/simulation_data.csv
@@ -0,0 +1,416 @@
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+351,5.850000000,pose2_to_pose3_retreat,0.584498166416,0.0101817042109,1.06002053895,0.555069315095,0.0188559451542,1.05969224265
+352,5.866666667,pose2_to_pose3_retreat,0.583976406046,0.0101817544059,1.06002058738,0.554547554792,0.0188559954649,1.05969228803
+353,5.883333333,pose2_to_pose3_retreat,0.583455476691,0.0101818235625,1.0600206738,0.554026624839,0.0188560626723,1.05969237659
+354,5.900000000,pose2_to_pose3_retreat,0.582934133531,0.0101816370065,1.06002074743,0.553505282634,0.0188558794727,1.05969245328
+355,5.916666667,pose2_to_pose3_retreat,0.582416047601,0.0101817166837,1.06002054531,0.552987196024,0.0188559570579,1.0596922569
+356,5.933333333,pose2_to_pose3_retreat,0.581917302481,0.0101817807918,1.06002061294,0.552488449697,0.0188560168214,1.05969231784
+357,5.950000000,pose2_to_pose3_retreat,0.581444409614,0.0101817901545,1.06002071916,0.552015556313,0.0188560243797,1.0596924228
+358,5.966666667,pose2_to_pose3_retreat,0.581000850534,0.0101817885181,1.0600206126,0.551571997352,0.0188560232556,1.05969231904
+359,5.983333333,pose2_to_pose3_retreat,0.580582014671,0.010181786071,1.06002039344,0.551153162167,0.0188560231899,1.05969210204
+360,6.000000000,pose2_to_pose3_retreat,0.580180745297,0.010181759699,1.06002036785,0.550751894119,0.0188560013863,1.05969207831
+361,6.016666667,pose2_to_pose3_retreat,0.579796880085,0.0101818154803,1.06002026413,0.550368029126,0.018856058007,1.05969197723
+362,6.033333333,pose2_to_pose3_retreat,0.579434269545,0.0101817360944,1.06002026471,0.550005417254,0.0188559739793,1.05969197449
+363,6.050000000,pose2_to_pose3_retreat,0.579095999434,0.0101817227242,1.0600203256,0.549667148105,0.0188559639553,1.05969203757
+364,6.066666667,pose2_to_pose3_retreat,0.578782828877,0.0101817756963,1.06002041585,0.549353977634,0.0188560173258,1.05969213074
+365,6.083333333,pose2_to_pose3_retreat,0.578493522409,0.0101818083886,1.06002049537,0.549064670283,0.0188560469875,1.05969220938
+366,6.100000000,pose2_to_pose3_retreat,0.578222157951,0.0101817129985,1.06002051954,0.54879330614,0.0188559524069,1.05969222664
+367,6.116666667,pose2_to_pose3_retreat,0.577962842505,0.0101817632965,1.06002029189,0.548533989939,0.0188560003845,1.0596920054
+368,6.133333333,pose2_to_pose3_retreat,0.577714059818,0.0101818274531,1.0600204043,0.548285206939,0.0188560635568,1.05969211981
+369,6.150000000,pose2_to_pose3_retreat,0.577476909493,0.0101818265624,1.0600205273,0.54804805623,0.0188560609723,1.05969223258
+370,6.166666667,pose2_to_pose3_retreat,0.577255768124,0.0101818029264,1.06002055534,0.547826915038,0.0188560377269,1.05969225529
+371,6.183333333,pose2_to_pose3_retreat,0.577050985495,0.0101817927233,1.0600205765,0.547622133448,0.018856031187,1.05969228004
+372,6.200000000,pose2_to_pose3_retreat,0.576865095382,0.0101817719786,1.06002062754,0.547436244326,0.01885601371,1.05969232869
+373,6.216666667,pose2_to_pose3_retreat,0.576696640398,0.0101817810791,1.06002038332,0.547267789121,0.0188560224297,1.05969209421
+374,6.233333333,pose2_to_pose3_retreat,0.576547083196,0.010181855675,1.06002048928,0.547118229541,0.0188560889817,1.05969220076
+375,6.250000000,pose2_to_pose3_retreat,0.57641303434,0.0101819420947,1.06002051905,0.546984180114,0.0188561733241,1.05969222689
+376,6.266666667,pose2_to_pose3_retreat,0.576293734452,0.0101818264611,1.06002052905,0.546864882008,0.0188560636722,1.05969223524
+377,6.283333333,pose2_to_pose3_retreat,0.576188664092,0.0101818206336,1.06002052715,0.546759811968,0.0188560589449,1.05969223372
+378,6.300000000,pose2_to_pose3_retreat,0.57609607831,0.0101818290243,1.0600205529,0.546667225783,0.0188560660464,1.05969226176
+379,6.316666667,pose2_to_pose3_retreat,0.576014421136,0.0101817246808,1.06002055772,0.546585569252,0.018855964065,1.05969227172
+380,6.333333333,pose2_to_pose3_retreat,0.575943640153,0.0101818957453,1.06002034341,0.546514787164,0.0188561316337,1.05969206399
+381,6.350000000,pose2_to_pose3_retreat,0.575884784962,0.0101816978534,1.06002041577,0.546455932698,0.018855935526,1.05969211844
+382,6.366666667,pose2_to_pose3_retreat,0.575835497205,0.0101816892847,1.06002029185,0.546406644408,0.0188559253733,1.05969200041
+383,6.383333333,pose2_to_pose3_retreat,0.575795485612,0.0101817055626,1.060020522,0.546366633058,0.0188559423298,1.05969222677
+384,6.400000000,pose2_to_pose3_retreat,0.57576370449,0.0101817270904,1.06002048217,0.546334852902,0.0188559671551,1.05969218746
+385,6.416666667,pose2_to_pose3_retreat,0.575738388323,0.0101816998309,1.06002028349,0.546309537645,0.0188559430703,1.05969199109
+386,6.433333333,pose2_to_pose3_retreat,0.575718641496,0.0101815784298,1.06002030858,0.546289790937,0.0188558218858,1.05969201124
+387,6.450000000,pose2_to_pose3_retreat,0.575703239472,0.0101818186577,1.06002069923,0.546274386641,0.0188560543334,1.05969240004
+388,6.466666667,pose2_to_pose3_retreat,0.575691599182,0.0101817731408,1.0600206705,0.546262746193,0.0188560080847,1.05969236624
+389,6.483333333,pose2_to_pose3_retreat,0.575683378201,0.0101817380359,1.06002052646,0.546254525093,0.0188559726397,1.05969222394
+390,6.500000000,pose2_to_pose3_retreat,0.575678012597,0.0101818071454,1.06002040967,0.546249158746,0.0188560395822,1.05969211668
+391,6.516666667,pose2_to_pose3_retreat,0.575674403017,0.0101817320845,1.060020398,0.54624555092,0.0188559705105,1.05969210582
+392,6.533333333,pose2_to_pose3_retreat,0.575672029626,0.0101816572863,1.06002040433,0.546243179155,0.0188559012093,1.05969211151
+393,6.550000000,pose2_to_pose3_retreat,0.575670859897,0.0101817202764,1.06002036809,0.546242008135,0.0188559598362,1.05969207571
+394,6.566666667,pose2_to_pose3_retreat,0.575669943741,0.010181806809,1.06002032504,0.546241090188,0.018856040317,1.05969203329
+395,6.583333333,pose2_to_pose3_retreat,0.575669251029,0.0101818722368,1.06002029249,0.546240396123,0.018856101169,1.05969200121
+396,6.600000000,pose2_to_pose3_retreat,0.575669064681,0.0101818898377,1.06002028374,0.54624020941,0.0188561175389,1.05969199259
+397,6.616666667,pose2_to_pose3_retreat,0.575668924749,0.0101819030545,1.06002027716,0.546240069205,0.0188561298314,1.05969198611
+398,6.633333333,pose2_to_pose3_retreat,0.575668749695,0.0101819107575,1.06002028059,0.546239893979,0.0188561369514,1.05969198948
+399,6.650000000,pose2_to_pose3_retreat,0.575668644875,0.0101819018183,1.06002030053,0.546239789319,0.0188561285429,1.05969200911
+400,6.666666667,pose2_to_pose3_retreat,0.575668618745,0.0101818995899,1.0600203055,0.546239763229,0.0188561264467,1.059692014
+401,6.683333333,pose2_to_pose3_retreat,0.575668482048,0.0101818879322,1.0600203315,0.546239626741,0.0188561154811,1.0596920396
+402,6.700000000,pose2_to_pose3_retreat,0.575668255057,0.010181868574,1.06002037468,0.546239400096,0.0188560972722,1.05969208212
+403,6.716666667,pose2_to_pose3_retreat,0.575668189866,0.0101818630144,1.06002038708,0.546239335004,0.0188560920427,1.05969209433
+404,6.733333333,pose2_to_pose3_retreat,0.575668130711,0.0101818579695,1.06002039833,0.54623927594,0.0188560872974,1.0596921054
+405,6.750000000,pose2_to_pose3_retreat,0.575667986497,0.0101818456707,1.06002042577,0.546239131946,0.0188560757287,1.05969213241
+406,6.766666667,pose2_to_pose3_retreat,0.575667834299,0.010181832691,1.06002045472,0.54623897998,0.0188560635196,1.05969216092
+407,6.783333333,pose2_to_pose3_retreat,0.575667725172,0.0101818233845,1.06002047547,0.546238871019,0.0188560547656,1.05969218136
+408,6.800000000,pose2_to_pose3_retreat,0.575667653701,0.0101818172893,1.06002048907,0.546238799657,0.0188560490323,1.05969219474
+409,6.816666667,pose2_to_pose3_retreat,0.575667432474,0.010181793312,1.06002052711,0.546238578833,0.0188560263983,1.05969223211
+410,6.833333333,pose2_to_pose3_retreat,0.575667164998,0.0101817106273,1.06002053065,0.54623831254,0.0188559476821,1.05969223456
+411,6.850000000,pose2_to_pose3_retreat,0.575666983656,0.0101816545691,1.06002053305,0.546238131999,0.0188558943145,1.05969223622
+412,6.866666667,pose2_to_pose3_retreat,0.575666953317,0.0101816451904,1.06002053345,0.546238101794,0.0188558853859,1.0596922365
+413,6.883333333,pose2_to_pose3_retreat,0.575666904139,0.0101816511674,1.0600204777,0.546238052772,0.0188558918942,1.05969218083
+414,6.900000000,pose2_to_pose3_retreat,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5c7c8e9e135c17ab4b7a990cd3d466b1559c7a1f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1770ca537c3b2a3e10f8ea3d4b97d03a367edf1e9f0a76c841341d395d2628ef
+size 26315378
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c3a1804340b0b2b22fb579ee85627d94417377a1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_02/franka_data.csv
@@ -0,0 +1,417 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657,0.400971046851,0.00448823669711,0.0698236610167,0.999999960052,3.29039773725e-05,-0.000280022112077,2.00166050495e-05,1793254960180625152
+1,0.016666667,BASELINE,781,760,738,720.572696448,687,649,914,800,839,658,635,657,0.400971793195,0.00448595497941,0.0698241356739,0.999999960359,2.97880450936e-05,-0.000279255756043,2.02582478261e-05,1793254960197291776
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+3,0.050000000,BASELINE,781,760,738,721,687,649,914,799.259267703,839,658,635,657.740732297,0.400970818063,0.00448605163169,0.0698237336142,0.999999960173,3.01252721638e-05,-0.000279881882446,2.02962199293e-05,1793254960230624768
+4,0.066666667,BASELINE,781.324827365,760,738,720.675172635,687,649,914,799.324827365,839,657.675172635,634.675172635,657.675172635,0.40097060475,0.00448730981302,0.0698238725279,0.999999960175,3.23521117888e-05,-0.000279628582013,2.02795933246e-05,1793254960247291136
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+15,0.250000000,BASELINE,781,760,737.309876794,720.309876794,687,649,914,799.690123206,839,658,635,657,0.400970978367,0.00448731512761,0.0698251666381,0.999999960953,3.52308836211e-05,-0.000276472290632,2.03945844784e-05,1793254960430626304
+16,0.266666667,BASELINE,781,760,737.272740545,720.272740545,687,649,914,800,839,658,635,657,0.400970292446,0.00448878147737,0.0698247441759,0.999999960697,3.73006693016e-05,-0.00027714174457,2.01569581523e-05,1793254960447293184
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+19,0.316666667,BASELINE,781,759.023356076,738,720,687,649,914,799.976643924,839,658,635,657.023356076,0.400973530687,0.00449068593169,0.0698261046122,0.99999996171,3.53894669909e-05,-0.00027374779419,1.9735928574e-05,1793254960497291776
+20,0.333333333,BASELINE,781,759.599047153,738,720,687,649,914,799.400952847,839,658,635,657.599047153,0.400971702243,0.00448753075937,0.0698252382972,0.999999961109,3.38270595661e-05,-0.0002761038197,2.01198377658e-05,1793254960513958400
+21,0.350000000,BASELINE,781,759.821198514,738,720,687,649,914,799.178801486,839,657.821198514,635,658,0.400970580895,0.00448549096461,0.0698247882687,0.99999996077,3.29439241927e-05,-0.000277416557798,2.03706319785e-05,1793254960530625024
+22,0.366666667,BASELINE,781,759.232120751,738,720,687,649,914,799.767879249,839,657.232120751,635,658,0.400971082047,0.00448601050557,0.0698252934475,0.999999961048,3.36194405615e-05,-0.000276335377682,2.03159817067e-05,1793254960547291392
+23,0.383333333,BASELINE,781,759.35114729,738,720,687,649,914,800,838.64885271,657,635,658,0.400971662846,0.00448648104722,0.069825723559,0.999999961252,3.34958515059e-05,-0.000275627696666,2.00990918489e-05,1793254960563958016
+24,0.400000000,BASELINE,781,759.930637462,738,720,687,649,914,800,838.069362538,657,635,658,0.400972295437,0.00448691972582,0.0698261048561,0.999999961407,3.28526229211e-05,-0.000275162893284,1.97767013716e-05,1793254960580625152
+25,0.416666667,BASELINE,781,759.494379088,738,720.505620912,687,649,914,800,838,657.505620912,635,657.494379088,0.400971930946,0.00448726662248,0.0698260250691,0.999999961349,3.34869331462e-05,-0.000275288640785,1.99120564506e-05,1793254960597292288
+26,0.433333333,BASELINE,781,759.080258902,737.919741098,720.919741098,687.080258902,649,914,800,838.080258902,658,635,657,0.400971271285,0.00448767563314,0.0698257424285,0.999999961179,3.43751937165e-05,-0.000275785831531,2.00716957269e-05,1793254960613959424
+27,0.450000000,BASELINE,781,759.656549301,737.343450699,720.343450699,687.656549301,649,914,800,838.656549301,658,635,657,0.400969625257,0.00448854566222,0.0698245935468,0.999999960496,3.57593827912e-05,-0.000278082415655,1.9996752735e-05,1793254960630625536
+28,0.466666667,BASELINE,781,760,737.23884471,720,687.76115529,649,914,800,839,658,635,657,0.40096918261,0.00448882729074,0.0698242073207,0.9999999603,3.57464768e-05,-0.000278793994594,1.98812457172e-05,1793254960647291904
+29,0.483333333,BASELINE,781,760,737.829997787,720,687.170002213,649,914,800,839,658,635,657,0.400970515013,0.00448824099779,0.0698249460513,0.999999960828,3.36727828621e-05,-0.000277167608335,1.97059046566e-05,1793254960663958272
+30,0.500000000,BASELINE,781,760,738,720.412108238,687.412108238,649,914,800,839,658,635,657,0.400971905762,0.00448726624259,0.069825539037,0.999999961283,3.28635725988e-05,-0.000275611297582,1.98158230513e-05,1793254960680624640
+31,0.516666667,BASELINE,781,760,738,720.990568518,687.990568518,649,914,800,839,658,635,657,0.400973320063,0.00448613468033,0.069826073191,0.999999961708,3.25647851875e-05,-0.000274083273619,2.004088958e-05,1793254960697291264
+32,0.533333333,BASELINE,781,760,738,720.435241038,687.435241038,649,914,800,839,658,635,657,0.400972054257,0.00448703303389,0.0698256095568,0.999999961219,3.21911790208e-05,-0.000275910991687,1.99654610748e-05,1793254960713958400
+33,0.550000000,BASELINE,781.142487563,760,738,720,687,649,914,800,839,658,635,657,0.400971205695,0.0044877631568,0.0698255118947,0.999999960944,3.21946079711e-05,-0.000276906664495,1.99739266056e-05,1793254960730625280
+34,0.566666667,BASELINE,781.731526311,760,738,720,687,649,914,800,839,658,635,657,0.400971803982,0.00448786060737,0.0698266130062,0.999999961392,3.33835386745e-05,-0.000275120422844,2.02609222922e-05,1793254960747291904
+35,0.583333333,BASELINE,781.684163776,760,738,720,687,649,914,800,839,658,635,657,0.400972148302,0.00448768732348,0.0698267946672,0.999999961534,3.3388597026e-05,-0.000274598293649,2.03123891982e-05,1793254960763958272
+36,0.600000000,BASELINE,781.103814206,760,738,720,687,649,914,800,839,658,635,657,0.400972279923,0.00448728729905,0.069826206287,0.999999961422,3.24021605034e-05,-0.000275134860478,2.0166600402e-05,1793254960780624896
+37,0.616666667,BASELINE,781,759.527259358,737.527259358,720,687,649,914,799.527259358,839,658,635,657,0.400972723321,0.00448747813512,0.0698262062533,0.999999961519,3.26815797056e-05,-0.000274763588859,1.99530346572e-05,1793254960797291264
+38,0.633333333,BASELINE,781,759.0483766,737.0483766,720,687,649,914,799.0483766,839,658,635,657,0.400973044477,0.00448779624845,0.0698262732831,0.999999961612,3.31502345021e-05,-0.00027438562272,1.97549806428e-05,1793254960813957888
+39,0.650000000,BASELINE,781,759.623009956,737.623009956,720,687,649,914,799.623009956,839,658,635,657,0.40097129696,0.00448809866541,0.0698256755501,0.999999961157,3.267754763e-05,-0.000276086287438,1.98862905958e-05,1793254960830624512
+40,0.666666667,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657,0.400970218127,0.0044883336917,0.0698255449251,0.999999960983,3.19738681519e-05,-0.000276798574705,1.98331661448e-05,1793254960847291392
+41,0.683333333,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657,0.400970414757,0.00448844017523,0.0698263052739,0.999999961351,3.08295873776e-05,-0.000275625604928,1.94282466909e-05,1793254960863958016
+42,0.700000000,BASELINE,781,760,738,720,687,649,914,799.623587226,839,657.623587226,635,657,0.400971530443,0.00448754323928,0.0698266842809,0.999999961515,3.11116617106e-05,-0.000274990691836,1.95320765809e-05,1793254960880625152
+43,0.716666667,BASELINE,781,760,738,720,687,649,914,799.047568001,839,657.047568001,635,657,0.400973133492,0.00448611420393,0.0698268610675,0.999999961571,3.21501123309e-05,-0.000274641102745,1.99056891762e-05,1793254960897292288
+44,0.733333333,BASELINE,781,760,738,720,687,649,914,799.530466891,838.469533109,657,635,657,0.400972543021,0.00448683753394,0.0698262842479,0.999999961293,3.41612331482e-05,-0.000275397785914,2.00784545304e-05,1793254960913958656
+45,0.750000000,BASELINE,781,759.892169751,738,720,687,649,914,800,838,657,635,657,0.400971884646,0.00448743150608,0.0698258528334,0.999999961067,3.5769523433e-05,-0.000275999663256,2.02494366259e-05,1793254960930624768
+46,0.766666667,BASELINE,781,759.318491556,738,720,687,649,914,800,838,657,635,657,0.40097178592,0.0044866296185,0.0698263426594,0.999999961218,3.52592555665e-05,-0.000275502543525,2.04908197576e-05,1793254960947291392
+47,0.783333333,BASELINE,781,759.263816961,738,720.263816961,687,649,914,800,838.263816961,657.263816961,635,657.263816961,0.400971690914,0.0044869618106,0.0698266077335,0.999999961282,3.54145920489e-05,-0.000275257797175,2.03814387611e-05,1793254960963958272
+48,0.800000000,BASELINE,781,759.856896829,738,720.856896829,687,649,914,800,838.856896829,657.856896829,635,657.856896829,0.40097160055,0.00448870941716,0.0698265923008,0.999999961238,3.64006514864e-05,-0.00027532803124,1.98342784504e-05,1793254960980624640
+49,0.816666667,BASELINE,781,759.563602383,737.563602383,720.127204766,687,649,914,800,839,658,635,657.563602383,0.400972424026,0.00448787585645,0.069827549368,0.999999961785,3.33653203645e-05,-0.000273731708015,1.96689043442e-05,1793254960997291776
+50,0.833333333,BASELINE,781,759.011611218,737.011611218,719.023222437,687,649,914,800,839,657.988388782,635,657,0.400973507693,0.00448626060248,0.0698287690994,0.999999962476,2.92003349603e-05,-0.000271678854277,1.96315366709e-05,1793254961013959424
+51,0.850000000,BASELINE,781,759.588348959,737.588348959,720.176697918,687,649,914,800,839,657.411651041,635,657,0.400973110265,0.00448655219607,0.0698277201149,0.99999996196,3.22990776985e-05,-0.000273202022841,1.9914881863e-05,1793254961030625280
+52,0.866666667,BASELINE,781,760,738,720.831894795,687,649,914,800,839,657,635,657,0.400972800438,0.0044871177651,0.069826990409,0.999999961589,3.40097896315e-05,-0.000274347996964,1.99809890228e-05,1793254961047291136
+53,0.883333333,BASELINE,781,760,738,720.244611808,687,649,914,800,839,657,635,657,0.400972709049,0.00448836650403,0.0698270568384,0.9999999616,3.22593850094e-05,-0.000274553419932,1.95054034979e-05,1793254961063957760
+54,0.900000000,BASELINE,781,760,738,720,687,649,914,800,839,657,635,657,0.400972793944,0.00448818924883,0.0698272005008,0.999999961662,3.17616689555e-05,-0.00027438999404,1.94467510237e-05,1793254961080624640
+55,0.916666667,BASELINE,781,760,738,720,687,649,914,800,839,657,635,657,0.400973004677,0.00448699406449,0.0698273992953,0.999999961761,3.21581699438e-05,-0.000273963269731,1.96857213133e-05,1793254961097291264
+56,0.933333333,BASELINE,781,760,738,720,687,649,914,800,838.505897818,657,635,657,0.400973065558,0.00448764962804,0.0698279498662,0.999999961908,3.39003738539e-05,-0.00027319634887,1.99813554871e-05,1793254961113958144
+57,0.950000000,BASELINE,781,760,738,720.066891947,687,649,914,799.933108053,838.066891947,657.066891947,634.933108053,657,0.400973047359,0.00448826914805,0.0698283454565,0.999999962006,3.54375660468e-05,-0.000272620920925,2.02464546878e-05,1793254961130624512
+58,0.966666667,BASELINE,781,760,738,720.640632271,687,649,914,799.359367729,838.640632271,657.640632271,634.359367729,657,0.400972610489,0.00448638585459,0.0698271429335,0.999999961712,3.38001097447e-05,-0.000273906313551,2.02119201686e-05,1793254961147291136
+59,0.983333333,BASELINE,781,759.778194311,738,720.778194311,687,649,914,799,839,658,634.221805689,657.221805689,0.400972448066,0.00448531377452,0.0698264433931,0.999999961553,3.29955670876e-05,-0.000274584932127,2.02008500869e-05,1793254961163957760
+60,1.000000000,BASELINE,781,759.184560182,738,720.184560182,687,649,914,799,839,658,634.815439818,657.815439818,0.400972745718,0.00448560158806,0.0698265870374,0.999999961626,3.35872957547e-05,-0.000274246372991,2.02291150833e-05,1793254961180624384
+61,1.016666667,BASELINE,781,759.395467819,737.604532181,720,687.395467819,649,914,799.395467819,839,658,635,657.604532181,0.400972630277,0.00448661941322,0.0698267504409,0.999999961645,3.48380932693e-05,-0.000274022936653,2.01987979193e-05,1793254961197291264
+62,1.033333333,BASELINE,781,759.969357166,737.030642834,720,687.969357166,649,914,799.969357166,839,658,635,657.030642834,0.400972328463,0.00448796659459,0.0698269227589,0.999999961638,3.63862400272e-05,-0.000273851439796,2.01420504907e-05,1793254961213957888
+63,1.050000000,BASELINE,781,759.464562191,737,720,687.464562191,649,914,800,839,657.464562191,635,657,0.400972331784,0.00448708887837,0.0698269044973,0.999999961622,3.46081486645e-05,-0.000274152434362,1.99806249376e-05,1793254961230624768
+64,1.066666667,BASELINE,781,759.107725306,737.107725306,720,687,649,914,800,839,657.107725306,635,657.107725306,0.400972536733,0.0044862239648,0.0698270273311,0.999999961693,3.28387078305e-05,-0.000274120602608,1.98508892018e-05,1793254961247291392
+65,1.083333333,BASELINE,781,759.710564359,737.710564359,720,687,649,914,800,839,657.710564359,635,657.710564359,0.400973589276,0.00448599469856,0.0698278480579,0.99999996218,3.19713537479e-05,-0.000272436582067,1.98939401319e-05,1793254961263957760
+66,1.100000000,BASELINE,781.301286666,760,738,720,687,649,914,800,839,658,635,658,0.40097366079,0.00448632749545,0.0698278878032,0.999999962269,3.23765205245e-05,-0.000272055716596,1.99907426968e-05,1793254961280624640
+67,1.116666667,BASELINE,781.88081883,760,738,720,687,649,914,800,839,658,635,658,0.400972826302,0.00448717937121,0.0698272062931,0.999999961989,3.3956891039e-05,-0.000272878346343,2.01371861897e-05,1793254961297291264
+68,1.133333333,BASELINE,781.542744654,759.542744654,738,720,687,649,914,800,838.542744654,658,635,658,0.40097233397,0.00448687620128,0.0698271869445,0.999999961872,3.40475738842e-05,-0.000273304127119,2.00534550031e-05,1793254961313957888
+69,1.150000000,BASELINE,781,759.032862708,738,720.032862708,687.032862708,649,914,800,838.032862708,658,635,657.967137292,0.40097199194,0.00448630807413,0.0698273493191,0.999999961815,3.36930835742e-05,-0.00027356403044,1.99139578484e-05,1793254961330624512
+70,1.166666667,BASELINE,781,759.608012021,738,720.608012021,687.608012021,649,914,800,838.608012021,658,635,657.391987979,0.400972668373,0.004486302236,0.0698276815775,0.999999962075,3.23566671273e-05,-0.000272782082207,1.98375695966e-05,1793254961347291136
+71,1.183333333,BASELINE,781,759.810996428,738,720.810996428,687.810996428,649,914,800,838.810996428,658,635,657,0.400973102877,0.00448631925505,0.0698277733276,0.999999962212,3.12208293709e-05,-0.000272413519171,1.97944044003e-05,1793254961363957760
+72,1.200000000,BASELINE,781,759.217501648,738,720.217501648,687.217501648,649,914,800,838.217501648,658,635,657,0.400973019623,0.0044863851913,0.0698273503597,0.999999962093,3.05142547668e-05,-0.000272929651847,1.98223406704e-05,1793254961380624640
+73,1.216666667,BASELINE,781,759.365392484,738,720,687.365392484,649,914,800,838.365392484,657.634607516,635,657,0.400972785797,0.00448725663367,0.0698269391551,0.999999961972,3.21121158544e-05,-0.000273194166046,1.97600152532e-05,1793254961397291264
+74,1.233333333,BASELINE,781,759.9421544,738,720,687.9421544,649,914,800,838.9421544,657.0578456,635,657,0.400972464871,0.00448859403901,0.0698265347553,0.999999961843,3.50430292021e-05,-0.000273313125893,1.96454759482e-05,1793254961413957888
+75,1.250000000,BASELINE,781,760,738,720,687.483437546,649,914,800,839,657.516562454,635,657,0.400972921092,0.00448805514779,0.0698267874295,0.999999961919,3.4512469338e-05,-0.000273090585812,1.97921050451e-05,1793254961430624256
+76,1.266666667,BASELINE,781,760,738,720,687.090392798,649,914,800,838.909607202,658,634.909607202,657,0.400973187137,0.0044873312385,0.0698270555026,0.999999961954,3.37765715733e-05,-0.000273043717833,1.99519508049e-05,1793254961447291136
+77,1.283333333,BASELINE,781,760,738,720,687.662542622,649,914,800,838.337457378,658,634.337457378,657,0.400971977911,0.00448673598532,0.0698270152709,0.999999961646,3.40028035403e-05,-0.000274135999745,2.00270731324e-05,1793254961463957760
+78,1.300000000,BASELINE,781,760,738,720,687.75427472,649,914,800,838.24572528,658,634.24572528,657,0.400971096968,0.00448759945074,0.0698268076288,0.999999961328,3.50747251313e-05,-0.00027517179856,1.9872208688e-05,1793254961480624384
+79,1.316666667,BASELINE,781,760,738,720,687.155228325,649,914,800,838.844771675,658,634.844771675,657,0.400970688054,0.00449056036456,0.0698263592721,0.999999960991,3.73626388098e-05,-0.000276126381901,1.93866530575e-05,1793254961497291008
+80,1.333333333,BASELINE,781,760,738,720,687.42475284,649,914.42475284,800,839,657.57524716,635,657,0.400971389528,0.00448983987207,0.0698269274237,0.999999961274,3.58225373927e-05,-0.000275299459188,1.94659747564e-05,1793254961513957888
+81,1.350000000,BASELINE,781,760,738,720,687.99806586,649,914.99806586,800,839,657.00193414,635,657,0.400972479369,0.00448783178305,0.0698278511058,0.999999961766,3.29435619714e-05,-0.00027384944275,1.9742866085e-05,1793254961530624768
+82,1.366666667,BASELINE,781,760,738,720,687.425568219,649,914.425568219,800,839,657.574431781,635,657.574431781,0.400972237824,0.00448746077633,0.0698276798476,0.999999961828,3.34298477085e-05,-0.000273560078831,1.97576286209e-05,1793254961547291136
+83,1.383333333,BASELINE,781,760,738,720,687,649,914,800,839,658,635,658,0.400972225252,0.00448717665837,0.0698276406626,0.999999961924,3.36709788769e-05,-0.000273182000257,1.97459638309e-05,1793254961563957504
+84,1.400000000,BASELINE,781,760,738,720,687,649,914,800,839,658,635,658,0.400972871539,0.00448712209562,0.0698279846365,0.999999962116,3.3188157328e-05,-0.000272542488956,1.96622271575e-05,1793254961580624384
+85,1.416666667,BASELINE,781.324786993,760,738,720,687.324786993,649,914,800,839,658,635,658,0.400973081367,0.0044869284323,0.0698277122004,0.999999962031,3.26661002635e-05,-0.000272917004104,1.9697218373e-05,1793254961597291264
+86,1.433333333,BASELINE,781.903418445,760,738,720,687.903418445,649,914,800,839,658,635,658,0.40097295007,0.00448662605186,0.0698269579953,0.999999961727,3.21133778427e-05,-0.000274084054095,1.98250040016e-05,1793254961613958144
+87,1.450000000,BASELINE,781.518679345,759.518679345,738,720,688,649,914,800,839,658,635,657.518679345,0.400973726746,0.00448761919346,0.0698278102195,0.99999996194,3.33639932349e-05,-0.000273160175974,1.97685312486e-05,1793254961630624768
+88,1.466666667,BASELINE,781,759.058708449,738,720.058708449,687.941291551,649,914,799.941291551,838.941291551,658,635,657,0.400974310051,0.00448864791346,0.0698286286325,0.999999962133,3.46575666771e-05,-0.000272299042614,1.96512273027e-05,1793254961647291136
+89,1.483333333,BASELINE,781,759.632862615,738,720.632862615,687.367137385,649,914,799.367137385,838.367137385,658,635,657,0.400971598408,0.0044877100819,0.0698263243613,0.999999961268,3.31560935488e-05,-0.000275666893597,1.93239649085e-05,1793254961663957760
+90,1.500000000,BASELINE,781,760,738,720.785902742,687.214097258,649,914,799.214097258,838.214097258,658,635,657.214097258,0.400970388924,0.0044870499993,0.0698255976818,0.999999960987,3.220443094e-05,-0.000276796006848,1.92968868455e-05,1793254961680624384
+91,1.516666667,BASELINE,781,760,738,720.192111175,687.807888825,649,914,799.807888825,838.807888825,658,635,657.807888825,0.400971843467,0.00448688249528,0.0698276688088,0.999999961759,3.22278390181e-05,-0.000273954793424,1.9802175667e-05,1793254961697291264
+92,1.533333333,BASELINE,781,759.611581688,738,720,688,649,914,799.611581688,839,657.611581688,635,657.611581688,0.400972430674,0.00448769910959,0.069827792098,0.999999961959,3.37046768659e-05,-0.000273037708888,1.9932485728e-05,1793254961713958144
+93,1.550000000,BASELINE,781,759.037394988,738,720,688,649,914,799.037394988,839,657.037394988,635,657.037394988,0.400972603061,0.00448898639705,0.0698269837973,0.999999961883,3.58766449311e-05,-0.000273040875051,1.98834551651e-05,1793254961730625280
+94,1.566666667,BASELINE,781,759.538429563,738,720,688,649,914,799.538429563,839,657.538429563,635,657,0.400973862183,0.00448868091324,0.0698278842639,0.999999962398,3.55015656755e-05,-0.000271200469061,1.98504085505e-05,1793254961747292160
+95,1.583333333,BASELINE,781.117615286,760,738,720,688,649,914,800,839,658,635,657,0.400974814173,0.0044881189317,0.0698286762082,0.999999962786,3.48583597906e-05,-0.000269844633654,1.99126469865e-05,1793254961763958784
+96,1.600000000,BASELINE,781.709905817,760,738,720,688,649,914,800,839,658,635,657,0.400974221094,0.00448696957893,0.0698285497529,0.99999996251,3.38491465449e-05,-0.000270962764994,2.03549457231e-05,1793254961780624896
+97,1.616666667,BASELINE,781.705274847,759.705274847,738,720,688,649,914,800,839,658,635,657,0.40097394094,0.00448679232506,0.0698283805881,0.999999962378,3.34473074145e-05,-0.000271501809101,2.0303628249e-05,1793254961797291264
+98,1.633333333,BASELINE,781.127627539,759.127627539,738,720,688,649,914,800,839,658,635,657,0.40097396118,0.00448754824003,0.0698281704242,0.999999962387,3.36285186596e-05,-0.000271484956892,1.97784626209e-05,1793254961813957888
+99,1.650000000,BASELINE,781,759.448248524,738,720,687.551751476,649,914,800,838.551751476,658,635,657,0.400974338785,0.00448725430378,0.0698285852664,0.999999962576,3.26313744444e-05,-0.000270918351779,1.96363277911e-05,1793254961830625024
+100,1.666666667,BASELINE,781,760,737.976392169,720.023607831,687.023607831,649,914,800,838.023607831,657.976392169,635,657,0.400974835767,0.00448673712298,0.0698292073199,0.999999962821,3.14897219094e-05,-0.000270150717817,1.96062177456e-05,1793254961847291904
+101,1.683333333,BASELINE,781,760,737.401369531,720.598630469,687.598630469,649,914,800,838.598630469,657.401369531,635,657,0.400975753807,0.00448796000725,0.0698305290831,0.999999963202,3.4778439838e-05,-0.000268329283198,1.96554198093e-05,1793254961863958528
+102,1.700000000,BASELINE,781,760,737,720.821280341,688,649,914,800,839,657.178719659,635.178719659,657,0.400975778389,0.00448813815596,0.069830938349,0.999999963297,3.55610899516e-05,-0.000267868691439,1.97053327335e-05,1793254961880625152
+103,1.716666667,BASELINE,781,760,737,720.229480758,688,649,914,800,839,657.770519242,635.770519242,657,0.400973737896,0.00448590157691,0.069829238533,0.999999962739,3.05513925009e-05,-0.000270553455436,1.97568886831e-05,1793254961897292032
+104,1.733333333,BASELINE,781.353463478,760,737,720,688,649,914,800,839,658,635.646536522,657,0.400972959248,0.00448647454655,0.0698281931406,0.999999962338,3.19956432738e-05,-0.000271858897941,1.9842932996e-05,1793254961913958912
+105,1.750000000,BASELINE,781.930799089,760,737,720,688,649,914,800,839,658,635.069200911,657,0.400972979813,0.00448882699162,0.0698275622383,0.999999962026,3.75276119091e-05,-0.000272290723877,1.99508211079e-05,1793254961930625536
+106,1.766666667,BASELINE,781.491633097,760,737.508366903,720,687.491633097,649,914,800,839,658,635,657,0.400972469477,0.00448804383768,0.0698283614743,0.999999962117,3.41580499667e-05,-0.000272409139683,1.98317466262e-05,1793254961947291904
+107,1.783333333,POSE1_TO_POSE2_PRESS,781,760,738,720,688,649,914,799,839,658,635,657,0.400971710292,0.00448892366376,0.0698270735581,0.999999961677,3.70295797087e-05,-0.000273635095509,1.99707613204e-05,1793254961989825536
+108,1.800000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687.421285775,649,914,799.578714225,839,658,635,657,0.40097172988,0.00448967539207,0.0698270386799,0.999999961645,3.72124914786e-05,-0.000273757738722,1.95463236601e-05,1793254962006492416
+109,1.816666667,POSE1_TO_POSE2_PRESS,781,759.843391154,738,720,687,649,914,800,839,657.843391154,635,657.156608846,0.400972025448,0.00448989778098,0.0698272011008,0.99999996177,3.6282423536e-05,-0.000273446320309,1.92781886862e-05,1793254962023159296
+110,1.833333333,POSE1_TO_POSE2_PRESS,781,759.267689702,738,720,687,649,914,800,839,657.267689702,635,657.732310298,0.400973059549,0.00448870363307,0.069827891503,0.999999962302,3.23739697962e-05,-0.000271973332676,1.94283269268e-05,1793254962039825664
+111,1.850000000,POSE1_TO_POSE2_PRESS,781,759.306077774,737.693922226,720.306077774,687,649,914,800,839,657.306077774,635,657.693922226,0.400973589901,0.00448860134618,0.0698284550765,0.999999962483,3.19056417658e-05,-0.000271363075508,1.94698897748e-05,1793254962056492288
+112,1.866666667,POSE1_TO_POSE2_PRESS,781,759.878164419,737.121835581,720.878164419,687,649,914,800,839,657.878164419,635,657.121835581,0.400973682449,0.00448944798392,0.0698289084244,0.999999962362,3.44270898672e-05,-0.000271502608108,1.94170909191e-05,1793254962073158656
+113,1.883333333,POSE1_TO_POSE2_PRESS,781,759.53213068,737,720.53213068,687,649,914,800,839,658,635,657,0.40097461927,0.00448842047872,0.0698290753236,0.999999962688,3.35749904089e-05,-0.000270417357407,1.92525284484e-05,1793254962089825024
+114,1.900000000,POSE1_TO_POSE2_PRESS,781,759.060427577,737.060427577,720,687.060427577,649,914,800,839,658,635,657.060427577,0.400975580435,0.00448718290982,0.0698291920298,0.999999963051,3.22487962884e-05,-0.000269244107038,1.91267111448e-05,1793254962106491136
+115,1.916666667,POSE1_TO_POSE2_PRESS,781,759.636648067,737.636648067,720,687.636648067,649,914,800,839,658,635,657.636648067,0.400974799348,0.00448848104363,0.0698295419188,0.999999962717,3.46678171943e-05,-0.000270148624086,1.95897545541e-05,1793254962123158016
+116,1.933333333,POSE1_TO_POSE2_PRESS,781,759.786667638,738,720,688,649,914,800,839,658,635,657.786667638,0.400977405915,0.00448875596836,0.0698310071463,0.999999962931,3.60302498459e-05,-0.000269149312111,1.99574920628e-05,1793254962139824640
+117,1.950000000,POSE1_TO_POSE2_PRESS,781,759.209191721,738,720,688,649,914,800,839,658,635,657.209191721,0.400985794976,0.004487284346,0.0698343761796,0.999999964077,3.55891593316e-05,-0.000264900295857,2.01625489573e-05,1793254962156491520
+118,1.966666667,POSE1_TO_POSE2_PRESS,781,759.362900029,738,720,688,649,914.362900029,800,839,658,635,657.362900029,0.401010253557,0.00448748689161,0.0698447837379,0.999999968503,3.49504118749e-05,-0.000247728247303,2.00982617021e-05,1793254962173158144
+119,1.983333333,POSE1_TO_POSE2_PRESS,781,759.931933534,738,720,688,649,914.931933534,800,839,658,635,657.931933534,0.401043839905,0.00448864039336,0.0698591893002,0.999999974305,3.41993918071e-05,-0.000223215692999,1.98809823341e-05,1793254962189824768
+120,2.000000000,POSE1_TO_POSE2_PRESS,781,760,738,720.525989543,687.474010457,649,914.474010457,800,839,658,635.525989543,657.474010457,0.401095695593,0.00448873185469,0.0698751648815,0.999999979748,3.45921867964e-05,-0.00019729817711,1.95269127347e-05,1793254962206491392
+121,2.016666667,POSE1_TO_POSE2_PRESS,781,760,738,721,687.119109135,649,914,800,839,658,635.880890865,657.119109135,0.401153016059,0.00448867080431,0.069890351378,0.999999984114,3.43526992555e-05,-0.000173860141639,1.91033554727e-05,1793254962223158272
+122,2.033333333,POSE1_TO_POSE2_PRESS,781,760,738,721,687.695578471,649,914,800,839,658,635.304421529,657.695578471,0.401221788941,0.00448857822068,0.0699016888085,0.999999986438,3.10885962209e-05,-0.000160675907146,1.84843427059e-05,1793254962239824640
+123,2.050000000,POSE1_TO_POSE2_PRESS,781,759.729050932,738,720.729050932,688,649,914.270949068,799.729050932,839,658,635,658,0.40129774263,0.00448815849565,0.069909371525,0.999999988209,2.86482093843e-05,-0.000149865721082,1.73884834215e-05,1793254962256491264
+124,2.066666667,POSE1_TO_POSE2_PRESS,781,759.154909859,738,720.154909859,688,649,914.845090141,799.154909859,839,658,635,658,0.401381731637,0.0044873726994,0.0699129646158,0.999999989467,2.71295611665e-05,-0.000141712096002,1.57590329263e-05,1793254962273157888
+125,2.083333333,POSE1_TO_POSE2_PRESS,781,759.430615715,738,720,687.569384285,649,914.569384285,799.430615715,839,658,635,657.569384285,0.40147491383,0.00448767720748,0.0699115790589,0.999999989133,2.60294311159e-05,-0.000144453224054,1.37460372489e-05,1793254962289824512
+126,2.100000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914,800,839,658,635,657,0.401572700662,0.00448841540642,0.0699084725381,0.999999988216,2.49933352919e-05,-0.000151029257086,1.15483635499e-05,1793254962306491392
+127,2.116666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914,800,839,658,635,657,0.40170428107,0.0044900158328,0.0699086873243,0.999999988145,2.14216951152e-05,-0.000152266023298,8.14871987114e-06,1793254962323158016
+128,2.133333333,POSE1_TO_POSE2_PRESS,781.176805089,760,738,720.176805089,687,649,914,800,839,658,635,657.176805089,0.401845497323,0.0044908906959,0.069910000518,0.999999988397,1.70164994992e-05,-0.000151308034416,4.80643163041e-06,1793254962339824896
+129,2.150000000,POSE1_TO_POSE2_PRESS,781.7524384,760,738,720.7524384,687,649,914,800,839,658,635,657.7524384,0.402008449623,0.00449012886879,0.0699137914451,0.999999989371,1.07310110079e-05,-0.000145399224785,1.59352342582e-06,1793254962356491520
+130,2.166666667,POSE1_TO_POSE2_PRESS,781.672058577,760,738,720.672058577,687.327941423,649,914,800,839,658,635,657.672058577,0.402190301231,0.00449138859637,0.0699172153686,0.999999990133,8.42622874555e-06,-0.000140205562083,-2.29163562367e-06,1793254962373157888
+131,2.183333333,POSE1_TO_POSE2_PRESS,781.09665381,760,738,720.09665381,687.90334619,649,914,800,839,658,635,657.09665381,0.402386414203,0.00449417378133,0.0699203623528,0.999999990749,9.12527154433e-06,-0.000135551545904,-6.68407293232e-06,1793254962389824512
+132,2.200000000,POSE1_TO_POSE2_PRESS,781,760,737.507878653,720,687.507878653,649,914,800,839,658,635,657,0.402605443979,0.00449554577557,0.0699223104696,0.999999991172,3.8593811099e-06,-0.000132303518695,-1.16818673373e-05,1793254962406490880
+133,2.216666667,POSE1_TO_POSE2_PRESS,781,760,737.081514584,720,687,649,914.081514584,800,839,658,635,657,0.402836544262,0.00449654724923,0.0699243872849,0.999999991606,-2.83012916865e-06,-0.000128436026917,-1.68430690947e-05,1793254962423157760
+134,2.233333333,POSE1_TO_POSE2_PRESS,781,760,737.65826372,720,687,649,914.65826372,800,839,658,635,657,0.403112869334,0.00449703100649,0.069928716467,0.999999992603,-1.08524334805e-05,-0.000119080517888,-2.22545395529e-05,1793254962439824384
+135,2.250000000,POSE1_TO_POSE2_PRESS,781,760,738,720.234422072,687.234422072,649,915,800,839,658,635,657,0.403407954379,0.00449727147679,0.0699370312586,0.999999994146,-1.75962128983e-05,-0.000103214358941,-2.72997051541e-05,1793254962456491264
+136,2.266666667,POSE1_TO_POSE2_PRESS,781,760,738,720.80972132,687.80972132,649,915,800,839,658,635,657,0.403730318608,0.00449715817928,0.0699511415935,0.999999996209,-2.24808667475e-05,-7.78809522789e-05,-3.18122202178e-05,1793254962473158144
+137,2.283333333,POSE1_TO_POSE2_PRESS,781.394577643,760,738,720.605422357,687.605422357,649,915,800,839,658,635,657,0.404061035865,0.00448619599557,0.0699584325569,0.999999996444,-3.6461903547e-05,-6.83850595706e-05,-3.32466820756e-05,1793254962489825024
+138,2.300000000,POSE1_TO_POSE2_PRESS,781.984157093,760,738,720.015842907,687.015842907,649,915,800,839,658,635,657,0.404395881212,0.00446987225006,0.06996235336,0.999999995716,-5.49384080683e-05,-6.67161286695e-05,-3.31599579188e-05,1793254962506491904
+139,2.316666667,POSE1_TO_POSE2_PRESS,781.434172087,760,738,720,687,649,914.434172087,800,839,658,635,657,0.404790640412,0.0044610446651,0.069966934013,0.999999997839,-2.03291172447e-05,-5.86248993726e-05,-2.17102102269e-05,1793254962523158016
+140,2.333333333,POSE1_TO_POSE2_PRESS,781,760,738,720,686.854612408,649,914,800,839,658,635,657.145387592,0.405194309248,0.00445898338042,0.0699695902401,0.99999999836,1.24441766077e-05,-5.39643565585e-05,-1.46195180084e-05,1793254962539824640
+141,2.350000000,POSE1_TO_POSE2_PRESS,781,760,738,720,686.280632547,649,914,800,839,658,635,657.719367453,0.405619365827,0.00447625846023,0.0699665196821,0.999999997347,3.5483742917e-05,-5.99400280121e-05,-2.13039951248e-05,1793254962556491008
+142,2.366666667,POSE1_TO_POSE2_PRESS,781,760,738,720,686.294221137,649,914.294221137,800,839,658,635,658,0.406060356788,0.00448265320883,0.0699613947104,0.99999999644,4.37355486043e-05,-6.76929582062e-05,-2.50001431711e-05,1793254962573157632
+143,2.383333333,POSE1_TO_POSE2_PRESS,781,760,738,720,686.869910837,649,914.869910837,800,839,658,635,658,0.40651659153,0.00447863921992,0.0699543043701,0.999999995974,3.78405497157e-05,-7.71461152457e-05,-2.58374875858e-05,1793254962589824512
+144,2.400000000,POSE1_TO_POSE2_PRESS,781,760,738,720,686.543072367,649,915,800,839,658,635,657.543072367,0.406993175844,0.00448573663067,0.0699380973799,0.999999994638,-2.2242535363e-06,-9.98080196012e-05,-2.75219408836e-05,1793254962606491392
+145,2.416666667,POSE1_TO_POSE2_PRESS,781.04628167,760,738,720,686.04628167,649,915,800,839,657.95371833,635,657,0.407484016474,0.00449589562551,0.0699215730845,0.999999991028,-4.59500810716e-05,-0.000122319216348,-2.95072360557e-05,1793254962623158272
+146,2.433333333,POSE1_TO_POSE2_PRESS,781.6244922,760,738,720,686.6244922,649,915,800,839,657.3755078,635,657,0.408070429227,0.0045039594987,0.0699319915923,0.99999999446,-1.71009636367e-05,-9.87781224096e-05,-3.21078370952e-05,1793254962639824896
+147,2.450000000,POSE1_TO_POSE2_PRESS,781.798535237,760,738,719.798535237,687,649,914.798535237,800,839,657,635,657,0.408675543822,0.00451058180153,0.0699438749878,0.999999996803,7.39475485159e-06,-7.20536174416e-05,-3.38889431792e-05,1793254962656491520
+148,2.466666667,POSE1_TO_POSE2_PRESS,781.223856047,760,738,719.223856047,687,649,914.223856047,800,839,657,635,657,0.409315303633,0.00451453358797,0.0699584720942,0.999999998356,2.38257794227e-05,-3.94318300151e-05,-3.41519308615e-05,1793254962673157888
+149,2.483333333,POSE1_TO_POSE2_PRESS,781,760,738,719.357203245,687,649,914,800,839,657.357203245,635,657,0.409928695514,0.00452239827896,0.0699575576021,0.999999998061,3.40390609891e-05,-3.83652053564e-05,-3.53255052515e-05,1793254962689824512
+150,2.500000000,POSE1_TO_POSE2_PRESS,781,760,738,719.942333581,687,649,914,800,839,657.942333581,635,657,0.41052526231,0.0045327597471,0.0699467453451,0.999999996852,4.02848749698e-05,-5.74335514579e-05,-3.70801140566e-05,1793254962706491392
+151,2.516666667,POSE1_TO_POSE2_PRESS,781.526610358,760,738,720,687.526610358,649,914,800,839,658,635,657.526610358,0.41119495516,0.00453923398157,0.0699460869353,0.999999995973,5.17305625466e-05,-6.31831822612e-05,-3.72323768095e-05,1793254962723158272
+152,2.533333333,POSE1_TO_POSE2_PRESS,782,760,738,720,687.890501692,649,914.109498308,800,839,658,635,657.890501692,0.41188998654,0.00454555453839,0.0699528601574,0.999999995839,6.15227556348e-05,-5.58725846848e-05,-3.76094812029e-05,1793254962739824896
+153,2.550000000,POSE1_TO_POSE2_PRESS,782,760,738,720,687.313149242,649,914.686850758,800,839,658,635,657.313149242,0.41265912281,0.00455303429879,0.0699866434442,0.999999997301,6.18210564027e-05,1.01903058685e-06,-3.9695764135e-05,1793254962756491776
+154,2.566666667,POSE1_TO_POSE2_PRESS,782,760,737.738034164,720,686.738034164,649,915,800,839.261965836,658,635.261965836,657,0.413435735789,0.00456088179996,0.0700136601448,0.999999996017,6.60539592309e-05,4.38216754761e-05,-4.10122306434e-05,1793254962773158400
+155,2.583333333,POSE1_TO_POSE2_PRESS,782,760,737.165570875,720,686.165570875,649,915,800,839.834429125,658,635.834429125,657,0.414221210709,0.00456916517027,0.0700326566902,0.999999993889,7.49503860616e-05,6.9925244195e-05,-4.14162654203e-05,1793254962789825280
+156,2.600000000,POSE1_TO_POSE2_PRESS,782,760,737,719.579787651,686,649,915,800,839.579787651,657.579787651,636,657,0.414946613428,0.00457673700236,0.0700026633706,0.99999999502,8.93580201751e-05,1.36723333681e-05,-4.22896080545e-05,1793254962806491648
+157,2.616666667,POSE1_TO_POSE2_PRESS,782,760,737.011191273,719,686,649,914.988808727,800,839.011191273,657.011191273,635.988808727,657,0.415649601013,0.0045840048113,0.0699531076033,0.999999990659,0.000105580990928,-7.51868611452e-05,-4.33835796311e-05,1793254962823158272
+158,2.633333333,POSE1_TO_POSE2_PRESS,782,760,737.590775514,719,686,649,914.409224486,800,839.590775514,657.590775514,635.409224486,657,0.41645565085,0.00459053685678,0.0699224600503,0.999999986966,0.000100103978019,-0.000118038992908,-4.59839820387e-05,1793254962839824896
+159,2.650000000,POSE1_TO_POSE2_PRESS,782,760,738,718.831380711,686,649,914.168619289,800,840,657.831380711,635,657,0.417283534454,0.00459558962734,0.0699106249765,0.999999985231,9.7202446103e-05,-0.000133340844536,-4.80656423073e-05,1793254962856491264
+160,2.666666667,POSE1_TO_POSE2_PRESS,782,760,738,718.257717775,686,649,914.742282225,800,840,657.257717775,635,657,0.418163865323,0.00459708900271,0.0699439797236,0.999999990355,0.000100487527311,-8.24636344603e-05,-4.89012220177e-05,1793254962873158144
+161,2.683333333,POSE1_TO_POSE2_PRESS,782,760,738,718,686.315579315,649,915,800,840,657.315579315,635,657,0.419065940702,0.00459924379634,0.069974123288,0.999999992421,0.000106686837133,-3.70166377677e-05,-4.90437419247e-05,1793254962889824768
+162,2.700000000,POSE1_TO_POSE2_PRESS,782,760,738,718,686.888577953,649,915,800,840,657.888577953,635,657,0.419985753124,0.00460193321723,0.070001647476,0.999999992167,0.000115263294878,4.00090936644e-06,-4.86209301138e-05,1793254962906491136
+163,2.716666667,POSE1_TO_POSE2_PRESS,782,760,738,718.4790759,687,649,915,800,840,658,635,657,0.420907579822,0.00458925501869,0.0700266078069,0.999999993168,9.79669737991e-05,4.10316129495e-05,-4.88224099889e-05,1793254962923158272
+164,2.733333333,POSE1_TO_POSE2_PRESS,782.071637742,760,738,718.928362258,687,649,915,800,840,657.928362258,635,657,0.421822119532,0.00457347490907,0.0700434446653,0.999999993806,7.54070254008e-05,6.52791384583e-05,-4.94056300406e-05,1793254962939825408
+165,2.750000000,POSE1_TO_POSE2_PRESS,782.648949915,760,738,718.351050085,687,649,915,800,840,657.351050085,635,657,0.422681789347,0.00456198475924,0.0700073084581,0.999999996862,5.97782314831e-05,6.08649240249e-06,-5.16197059376e-05,1793254962956491776
+166,2.766666667,POSE1_TO_POSE2_PRESS,782.773837619,760,738,718,686.773837619,649.226162381,915,800,840,657,635.226162381,657.226162381,0.423535563959,0.00455904590212,0.0699517098864,0.999999993805,5.62382764872e-05,-7.97549177633e-05,-5.35468289635e-05,1793254962973158144
+167,2.783333333,POSE1_TO_POSE2_PRESS,782.196779761,760,738,718,686.196779761,649.803220239,915,800,840,657,635.803220239,657.803220239,0.424380192179,0.00456937454565,0.0698659150597,0.99999997452,7.14543952204e-05,-0.000206942429431,-5.50287388217e-05,1793254962989824512
+168,2.800000000,POSE1_TO_POSE2_PRESS,782.387427017,760,737.612572983,718,686,649.612572983,915,800.387427017,840,657.387427017,636,658,0.425326595019,0.00457702791588,0.069862422729,0.999999974263,7.9738577825e-05,-0.000204709321508,-5.66626645315e-05,1793254963006491392
+169,2.816666667,POSE1_TO_POSE2_PRESS,782.975333061,760,737.024666939,718,686,649.024666939,915,800.975333061,840,657.975333061,636,658,0.426325662378,0.00458329693138,0.0699015188745,0.999999985551,8.44357413363e-05,-0.000135505864869,-5.83752527744e-05,1793254963023158016
+170,2.833333333,POSE1_TO_POSE2_PRESS,783.554452048,760,737,717.445547952,686,649,915,800.445547952,840,658,635.445547952,657.445547952,0.427329175711,0.00458532097557,0.0699631789053,0.999999992554,9.21588637639e-05,-5.82359687962e-05,-5.48329823571e-05,1793254963039824896
+171,2.850000000,POSE1_TO_POSE2_PRESS,783.867615903,760,737.132384097,717,686,649,915,800,840,658,635,657,0.428333907617,0.00458701909566,0.0700198770233,0.999999994004,9.45380399114e-05,1.7604827587e-05,-5.23837112183e-05,1793254963056491776
+172,2.866666667,POSE1_TO_POSE2_PRESS,783.29236719,760,737.70763281,717,686,649,915,800,840,658,635,657,0.4293420646,0.00458824881851,0.0700566702861,0.999999991607,7.85967861453e-05,8.74830630055e-05,-5.43607245991e-05,1793254963073158656
+173,2.883333333,POSE1_TO_POSE2_PRESS,783.289206851,760,738,717,686,649,915,800,840,658,635.289206851,657,0.430303144318,0.00458934487782,0.0700560118717,0.999999991654,7.59500412857e-05,8.87482427013e-05,-5.52077654683e-05,1793254963089825024
+174,2.900000000,POSE1_TO_POSE2_PRESS,783.877318287,760,738,717,686,649,915,800,840,658,635.877318287,657,0.431215568104,0.00459030279147,0.0700166459417,0.999999994523,8.70436001087e-05,1.90996175798e-05,-5.48869432853e-05,1793254963106491392
+175,2.916666667,POSE1_TO_POSE2_PRESS,784,760,737.541931704,717,686,649,915,800.458068296,840,658,636,657,0.432072384051,0.00459264892098,0.0699429729358,0.999999988236,9.41127878873e-05,-0.000107715707541,-5.53945974233e-05,1793254963123158016
+176,2.933333333,POSE1_TO_POSE2_PRESS,784,760,737.036878838,717,686.036878838,649.036878838,915.036878838,800.963121162,840,657.963121162,636,657.036878838,0.432926111995,0.00459500900054,0.0698689563843,0.999999966188,9.91163679458e-05,-0.000233772489255,-5.61331958107e-05,1793254963139824640
+177,2.950000000,POSE1_TO_POSE2_PRESS,784,760,737.615702197,717,686.615702197,649.615702197,915.615702197,800.384297803,840,657.384297803,636,657.615702197,0.433949856793,0.00459219682591,0.0699227798156,0.999999986284,8.93536910175e-05,-0.000127247048975,-5.70564936895e-05,1793254963156491264
+178,2.966666667,POSE1_TO_POSE2_PRESS,784.19237749,760.19237749,738,717.19237749,686.80762251,649.80762251,915.80762251,800,840.19237749,657.19237749,636,658,0.434953889719,0.00458830433059,0.0699752015454,0.999999994644,8.03115120517e-05,-3.11948990365e-05,-5.73516521773e-05,1793254963173157888
+179,2.983333333,POSE1_TO_POSE2_PRESS,784.764809241,760.764809241,738,717.764809241,686.235190759,649.235190759,915.235190759,800,840.764809241,657.764809241,636,658,0.435918980737,0.00458227759089,0.0700248541325,0.999999994792,7.26927233472e-05,4.41666006363e-05,-5.6405881402e-05,1793254963189824512
+180,3.000000000,POSE1_TO_POSE2_PRESS,784.651757023,760.651757023,738,717.651757023,686,649,915,800,841,658,636,657.651757023,0.436875141655,0.00457614023492,0.0700451081817,0.999999992933,6.57245790603e-05,8.1221134773e-05,-5.67262840013e-05,1793254963206491648
+181,3.016666667,POSE1_TO_POSE2_PRESS,784.060650574,760.060650574,738,717.060650574,686,649,915,800,841,658,636,657.060650574,0.437825074692,0.00456992573589,0.0700448597875,0.999999992377,5.92101926303e-05,9.15605167599e-05,-5.79297118251e-05,1793254963223158272
+182,3.033333333,POSE1_TO_POSE2_PRESS,784,760,738,717,686,649,915,800,841,658,636,657.520001225,0.438669648447,0.00457360012831,0.0699951016611,0.999999996226,5.99442809304e-05,2.1569349767e-05,-5.90737298153e-05,1793254963239824896
+183,3.050000000,POSE1_TO_POSE2_PRESS,784,760,738,717,686,649,915,800,841,658,635.901149374,658,0.439491512322,0.00457845258937,0.0699368904735,0.999999994052,6.41750865233e-05,-6.47643927235e-05,-5.98527789297e-05,1793254963256491520
+184,3.066666667,POSE1_TO_POSE2_PRESS,784,760,738,717,686,649,915,800,841,658,635.325229706,658,0.440261912657,0.00458353383655,0.0698652032851,0.99999997773,8.12818526122e-05,-0.00018564304862,-5.89032132192e-05,1793254963273158144
+185,3.083333333,POSE1_TO_POSE2_PRESS,784,760,738,717,686,649,915,800,841,658,635.249415145,657.750584855,0.441087934813,0.00458909148476,0.0698449735097,0.999999970037,9.12227483131e-05,-0.000219390024035,-5.8930358744e-05,1793254963289824768
+186,3.100000000,POSE1_TO_POSE2_PRESS,784,760,738,717,686,649,915,800,841,658,635.822406081,657.177593919,0.441986117224,0.00459526718583,0.0698915014062,0.999999984153,9.18670862982e-05,-0.00014009773629,-6.02246297433e-05,1793254963306491392
+187,3.116666667,POSE1_TO_POSE2_PRESS,784.409168903,760,738,717,685.590831097,649,915,800.409168903,841,658,636,657.409168903,0.4428533884,0.00460152719817,0.0699316467449,0.999999990204,9.48773922627e-05,-8.38937310648e-05,-5.96020175663e-05,1793254963323158016
+188,3.133333333,POSE1_TO_POSE2_PRESS,784.997934272,760,738,716.997934272,685,649,915,800.997934272,841.002065728,658,636,658,0.443706392886,0.00460781111529,0.0699686814661,0.999999992673,9.89813774023e-05,-3.84429538038e-05,-5.81235630901e-05,1793254963339824640
+189,3.150000000,POSE1_TO_POSE2_PRESS,784.419474012,760,738,716.419474012,685,649,915,800.419474012,841.580525988,658,636,658,0.444452564111,0.00461019856555,0.0699376689193,0.999999987084,0.000111734158742,-9.98738963167e-05,-5.80771994975e-05,1793254963356491520
+190,3.166666667,POSE1_TO_POSE2_PRESS,784,760,738,716.15828549,684.84171451,648.84171451,915,800,841.84171451,657.84171451,635.84171451,657.84171451,0.445187694608,0.00461227424661,0.0699018378748,0.999999978104,0.000120721366311,-0.000160611698211,-5.85034715491e-05,1793254963373157888
+191,3.183333333,POSE1_TO_POSE2_PRESS,784,760,738,716.734196218,684.265803782,648.265803782,915,800,841.265803782,657.265803782,635.265803782,657.265803782,0.445893695077,0.00461352734689,0.0698532935532,0.999999966922,0.000119773373324,-0.000219520710884,-6.0176760205e-05,1793254963389824256
+192,3.200000000,POSE1_TO_POSE2_PRESS,784,760,737.683656133,717,683.683656133,648,915,800,841,657,635.316343867,657.316343867,0.446561411537,0.00461563339127,0.0698122297492,0.99999995218,0.000114659630314,-0.000280887354162,-5.9959829022e-05,1793254963406490880
+193,3.216666667,POSE1_TO_POSE2_PRESS,784,760,737.096162632,717,683.096162632,648,915,800,841,657,635.903837368,657.903837368,0.447196313364,0.00461847052444,0.0697775777672,0.999999933403,0.000105975274019,-0.000344360516596,-5.81227226966e-05,1793254963423157760
+194,3.233333333,POSE1_TO_POSE2_PRESS,784,760,737,717,683,648,915,800,841,657.484522104,635.515477896,658,0.44784503094,0.00462460315378,0.069748228894,0.999999912499,0.000119061022961,-0.00039684957957,-5.77626788999e-05,1793254963439824384
+195,3.250000000,POSE1_TO_POSE2_PRESS,784,760,737.063632539,717,683,647.936367461,915,800,841,658,635.063632539,658,0.448497677421,0.00463066713525,0.0697252867132,0.999999893346,0.000134910661912,-0.000437920297369,-5.7731912066e-05,1793254963456491008
+196,3.266666667,POSE1_TO_POSE2_PRESS,784,760,737.640792437,717,683,647.359207563,915,800,841,658,635.640792437,658,0.449160209156,0.00463097191479,0.0697456716223,0.999999907015,0.000138679807102,-0.000404191951514,-5.80254731612e-05,1793254963473157632
+197,3.283333333,POSE1_TO_POSE2_PRESS,784,759.784521286,738,716.784521286,682.784521286,647,915,800,841,658,635.784521286,658,0.449800288965,0.00463015497422,0.0697654441186,0.999999919096,0.000140687979889,-0.000372405553466,-5.77043938711e-05,1793254963489824256
+198,3.300000000,POSE1_TO_POSE2_PRESS,784,759.213911844,738,716.213911844,682.213911844,647,915,800,841,658,635.213911844,658,0.450403365664,0.00462748932538,0.0697842072946,0.999999929534,0.000139793891712,-0.00034381968566,-5.63703250518e-05,1793254963506490880
+199,3.316666667,POSE1_TO_POSE2_PRESS,784,759.371813674,737.628186326,716.371813674,681.628186326,647,915,800,841,657.628186326,635.371813674,657.628186326,0.450937190181,0.00462980533831,0.0697651704324,0.999999917902,0.000148597447446,-0.000372850306093,-5.56531087032e-05,1793254963523157760
+200,3.333333333,POSE1_TO_POSE2_PRESS,784,759.966604371,737.033395629,716.966604371,681.033395629,647,915,800,841,657.033395629,635.966604371,657.033395629,0.451429484153,0.00463510885841,0.0697234648521,0.999999889914,0.000163216689163,-0.000436433586935,-5.53058190824e-05,1793254963539824640
+201,3.350000000,POSE1_TO_POSE2_PRESS,784,760,737,716.453913446,681,647,914.453913446,800,841,657.546086554,635.453913446,657,0.451905422937,0.00463653916554,0.0696755773221,0.999999858596,0.000164525188104,-0.000502470310667,-5.71242941354e-05,1793254963556491264
+202,3.366666667,POSE1_TO_POSE2_PRESS,784,760,737,716,680.876217105,647,914.123782895,800,841,658,635.123782895,657.123782895,0.452372991811,0.00463749007415,0.0696334232201,0.999999827532,0.000165586452907,-0.000560413832425,-5.8763237305e-05,1793254963573157888
+203,3.383333333,POSE1_TO_POSE2_PRESS,784,760,737,716,680.30170739,647,914.69829261,800,841,658,635.69829261,657.69829261,0.452813626384,0.00463753433165,0.0696134851161,0.999999810943,0.000168630682748,-0.000588356419139,-5.92793366607e-05,1793254963589824512
+204,3.400000000,POSE1_TO_POSE2_PRESS,784.279200308,760,737,716,680,646.720799692,915,800,841,658,635.720799692,658,0.453244510147,0.00463831303262,0.0696055500868,0.999999803797,0.000173423526925,-0.000599008941597,-5.93199404576e-05,1793254963606492160
+205,3.416666667,POSE1_TO_POSE2_PRESS,784.867183859,760,737,716,680,646.132816141,915,800,841,658,635.132816141,658,0.453664609918,0.0046399039957,0.0696108899308,0.999999807674,0.000180150261454,-0.000590539413193,-5.88346671132e-05,1793254963623160320
+206,3.433333333,POSE1_TO_POSE2_PRESS,785,760,737,716.448922997,679.551077003,646,915,800,841,658,635.448922997,658,0.454060891197,0.00464133619439,0.0696205128143,0.999999812447,0.000188669501355,-0.000579799802013,-5.78171481082e-05,1793254963639826688
+207,3.450000000,POSE1_TO_POSE2_PRESS,784.971379722,760,737,717,678.971379722,646,915,800,841,658,635.971379722,657.971379722,0.45444672166,0.00464263844979,0.0696301421825,0.99999981635,0.00019673253412,-0.000570418453427,-5.67281444214e-05,1793254963656492800
+208,3.466666667,POSE1_TO_POSE2_PRESS,784.395881467,760,737,717,678.395881467,646,915,800,841,658,635.395881467,657.395881467,0.45476566125,0.00464234295781,0.0696160146919,0.999999801259,0.000186083935873,-0.000599648076201,-5.72408278765e-05,1793254963673158912
+209,3.483333333,POSE1_TO_POSE2_PRESS,784,760,737,716.820623017,678,646,915,800,841,658,635,657.179376983,0.455066879931,0.00464251915263,0.0695984912735,0.999999785034,0.000161721591721,-0.000632788331234,-5.79328997299e-05,1793254963689825280
+210,3.500000000,POSE1_TO_POSE2_PRESS,784,760,737,716.245893179,678,646,915,800,841,658,635,657.754106821,0.455329041096,0.00464373496092,0.0695734831185,0.999999765012,0.000107133695373,-0.000674547745503,-5.90203494532e-05,1793254963706491648
+211,3.516666667,POSE1_TO_POSE2_PRESS,784,760,737.338326764,716,677.661673236,646,915,800,841,658,635.338326764,658,0.455588502227,0.00464430436108,0.0695610422928,0.99999975426,8.69722858462e-05,-0.000693047108386,-6.00202237694e-05,1793254963723158016
+212,3.533333333,POSE1_TO_POSE2_PRESS,784,760,737.929643155,716,677.070356845,646,915,800,841,658,635.929643155,658,0.455845944389,0.00464439039862,0.0695579989,0.999999752935,9.25538655125e-05,-0.000694153375869,-6.09546123384e-05,1793254963739824384
+213,3.550000000,POSE1_TO_POSE2_PRESS,784.509500366,760,737.490499634,716,677,646,915,800,841,658,635.490499634,658,0.456086163422,0.0046449891727,0.0695679661059,0.999999762419,0.000102466176291,-0.000679100087146,-5.90401397993e-05,1793254963756492032
+214,3.566666667,POSE1_TO_POSE2_PRESS,784.912570365,760,737,716.087429635,677,646,915,799.912570365,841,658,635,658,0.456317731623,0.00464609258888,0.0695780222001,0.999999771097,0.000115712827582,-0.000664274857038,-5.61700819291e-05,1793254963773159168
+215,3.583333333,POSE1_TO_POSE2_PRESS,784.336765487,760,737,716.663234513,677,646,915,799.336765487,841,658,635,658,0.456513970024,0.00464962809284,0.0695787597242,0.999999768603,0.000144317782962,-0.000662914186216,-5.01113560939e-05,1793254963789825536
+216,3.600000000,POSE1_TO_POSE2_PRESS,784,760,737,716.756030124,676.756030124,645.756030124,915,799,841,658,635,657.756030124,0.456689621935,0.00465144471394,0.0695746763592,0.999999762976,0.00015946212771,-0.000668098510868,-4.75808198958e-05,1793254963806492160
+217,3.616666667,POSE1_TO_POSE2_PRESS,784,760,737,716.168348588,676.168348588,645.168348588,915,799,841,658,635,657.168348588,0.456836271003,0.00465083972404,0.069563801189,0.999999753731,0.000155642781948,-0.000682503610842,-5.00208974349e-05,1793254963823158784
+218,3.633333333,POSE1_TO_POSE2_PRESS,784.412698842,760,737,716,676,645,915,799,841,658,635,657.412698842,0.456961075445,0.00464972277315,0.0695520090073,0.999999741043,0.000154730008845,-0.000700967748952,-5.11484792198e-05,1793254963839825152
+219,3.650000000,POSE1_TO_POSE2_PRESS,784.99108288,760,737,716,676,645,915,799,841,658,635,657.99108288,0.457077109975,0.00464840028654,0.0695398486753,0.999999726686,0.000154984130407,-0.000721061458629,-5.17491364697e-05,1793254963856491008
+220,3.666666667,POSE1_TO_POSE2_PRESS,785,760,737,716.56987584,676,645.56987584,915,799.56987584,841,658,635.56987584,658,0.45717376949,0.00464972178868,0.0695337965509,0.999999717601,0.000154912127205,-0.000733518740397,-5.24425857318e-05,1793254963873157632
+221,3.683333333,POSE1_TO_POSE2_PRESS,784.85377944,760,737,716.85377944,676,646,915,800,841.14622056,657.85377944,635.85377944,658,0.457267026064,0.00465018703274,0.069529348008,0.999999711596,0.000154159361582,-0.000741762533735,-5.32141940402e-05,1793254963889824256
+222,3.700000000,POSE1_TO_POSE2_PRESS,784.284536211,760,737,716.284536211,676,646,915,800,841.715463789,657.284536211,635.284536211,658,0.457351315472,0.00464805530707,0.0695292619894,0.99999971462,0.000151451893573,-0.000738162453933,-5.42077162817e-05,1793254963906490880
+223,3.716666667,POSE1_TO_POSE2_PRESS,784,760,737,716,675.702500024,646,915,799.702500024,842,657,635,658,0.457424627937,0.00464716341826,0.0695300030853,0.999999716375,0.000151107754272,-0.000735830546503,-5.44938608355e-05,1793254963923157760
+224,3.733333333,POSE1_TO_POSE2_PRESS,784,760,737,716,675.107678483,646,915,799.107678483,842,657,635,658,0.457486970053,0.00464751062253,0.0695315707996,0.999999716874,0.000153125526067,-0.0007347660505,-5.4073052036e-05,1793254963939825408
+225,3.750000000,POSE1_TO_POSE2_PRESS,784,760,737,716,675,645.526032756,915,799,841.526032756,657.473967244,635,658,0.457534789926,0.00464729056267,0.0695314661969,0.999999717281,0.000153813991435,-0.000734064211674,-5.41273167562e-05,1793254963956492288
+226,3.766666667,POSE1_TO_POSE2_PRESS,784,760,737,716,675,645,915,799.052508774,841.052508774,658,635,658,0.457577454529,0.00464677476568,0.0695305359985,0.999999717053,0.000153926899308,-0.000734344097231,-5.42187355456e-05,1793254963973159168
+227,3.783333333,POSE1_TO_POSE2_PRESS,784,760,737,716,675,645,915,799.62913617,841.62913617,658,635,658,0.457600702424,0.0046445586262,0.0695250547606,0.999999710639,0.000151227741451,-0.000743622966428,-5.36328412734e-05,1793254963989825280
+228,3.800000000,POSE1_TO_POSE2_PRESS,784,760,737,716.209206078,674.790793922,645,915,799.790793922,841.790793922,658,635,658,0.457622640512,0.00464267093251,0.0695208308427,0.999999706117,0.000149345881851,-0.0007500829703,-5.3259740709e-05,1793254964006491392
+229,3.816666667,POSE1_TO_POSE2_PRESS,784,760,737,716.79548066,674.20451934,645,915,799.20451934,841.20451934,658,635,658,0.457642217828,0.00464137522255,0.0695188730916,0.999999705142,0.000148937103112,-0.000751462311899,-5.32701749578e-05,1793254964023158016
+230,3.833333333,POSE1_TO_POSE2_PRESS,784,760,737,717,674.376740031,645.376740031,915,799.376740031,841,657.623259969,635,658,0.457656402053,0.00463772260923,0.0695170982939,0.999999703932,0.000146183545604,-0.000753617357468,-5.31781981897e-05,1793254964039824640
+231,3.850000000,POSE1_TO_POSE2_PRESS,784,760,737,717,674.955312563,645.955312563,915,799.955312563,841,657.044687437,635,658,0.457667697014,0.00463280732234,0.0695154215107,0.999999702577,0.000142173810037,-0.000756187974089,-5.30313563409e-05,1793254964056491264
+232,3.866666667,POSE1_TO_POSE2_PRESS,784,760,737,717,675,645.466092662,915,799.466092662,841,657.533907338,635,658,0.457670699406,0.00462061418217,0.0695128107617,0.999999700718,0.000128401178415,-0.000761119667099,-5.26628908991e-05,1793254964073158400
+233,3.883333333,POSE1_TO_POSE2_PRESS,784.111820705,760,737,716.888179295,675,645.111820705,915,799,841,657.888179295,635.111820705,658,0.457672893626,0.00460876844437,0.069510345643,0.999999699046,0.000115103207126,-0.000765464471268,-5.2186898238e-05,1793254964089825280
+234,3.900000000,POSE1_TO_POSE2_PRESS,784.686903198,760,737,716.313096802,675,645.686903198,915,799,841,657.313096802,635.686903198,658,0.457674615282,0.00460088570604,0.0695088077286,0.999999699134,0.000107157191723,-0.000766559102834,-5.13422838935e-05,1793254964106491904
+235,3.916666667,POSE1_TO_POSE2_PRESS,784.731723194,760,737,716,675,645.731723194,915,799,841,657.268276806,635.731723194,657.731723194,0.457675925577,0.00459777223766,0.0695073049459,0.999999698151,0.00010361907617,-0.000768337166816,-5.11798686873e-05,1793254964123158272
+236,3.933333333,POSE1_TO_POSE2_PRESS,784.142831052,760,737,716,675,645.142831052,915,799,841,657.857168948,635.142831052,657.142831052,0.457676744256,0.00460035848229,0.0695058441486,0.999999695939,0.000105348803311,-0.000770931995265,-5.18327437782e-05,1793254964139824640
+237,3.950000000,POSE1_TO_POSE2_PRESS,784,759.561064948,737,716.438935052,674.561064948,645,915,799.438935052,841,657.561064948,635,657.438935052,0.457678191054,0.0046015139738,0.0695059388567,0.999999696184,0.000107238016247,-0.000770351309369,-5.18715907068e-05,1793254964156491520
+238,3.966666667,POSE1_TO_POSE2_PRESS,784,759.018287541,737,716.981712459,674,645,915,800,841,657,635,658,0.457679802302,0.00460217159862,0.0695065057039,0.999999697158,0.000109090237523,-0.000768836551069,-5.1714056586e-05,1793254964173157888
+239,3.983333333,POSE1_TO_POSE2_PRESS,784,759.593625827,737,716.406374173,674,645,915,800,841,657,635,658,0.457680296297,0.00460161895594,0.0695062823507,0.999999696482,0.000108260101117,-0.000769842215104,-5.15636475594e-05,1793254964189824768
+240,4.000000000,POSE1_TO_POSE2_PRESS,784.168559061,760,737,716,674,645,915,799.831440939,841,657.168559061,635,658,0.457680922238,0.00460162802897,0.0695062675635,0.999999696256,0.000107811611958,-0.000770208404175,-5.14194129616e-05,1793254964206491648
+241,4.016666667,POSE1_TO_POSE2_PRESS,784.742518074,760,737,716,674,645,915,799.257481926,841,657.742518074,635,658,0.457681865521,0.00460298807963,0.0695067543964,0.999999697114,0.000108281019367,-0.000769036597436,-5.12900284383e-05,1793254964223158528
+242,4.033333333,POSE1_TO_POSE2_PRESS,784.673300223,760,737,716,674,645,915,799,841,657.673300223,635,658,0.457683132456,0.00460182586562,0.0695071313515,0.999999698272,0.00010674991508,-0.000767759438915,-5.10418483249e-05,1793254964239825152
+243,4.050000000,POSE1_TO_POSE2_PRESS,784.080801492,760,737,716,674,645,915,799,841,657.080801492,635,658,0.45768466271,0.00459861156775,0.0695074189113,0.999999699667,0.000103591218846,-0.000766396567516,-5.06970175736e-05,1793254964256492032
+244,4.066666667,POSE1_TO_POSE2_PRESS,784.500327248,760,737,716.500327248,674,645,915,799.500327248,841,657,635,658,0.457685008779,0.0046007576663,0.0695074268873,0.99999969845,0.000108906787485,-0.00076726188492,-5.04805292568e-05,1793254964273158400
+245,4.083333333,POSE1_TO_POSE2_PRESS,784.921178244,760,737,716.921178244,674,645,915,799.921178244,841,657,635,658,0.457685026887,0.00460316958573,0.0695073200621,0.999999696983,0.000114207854673,-0.000768415040692,-5.02792984445e-05,1793254964289824768
+246,4.100000000,POSE1_TO_POSE2_PRESS,784.347945439,760,737,716.347945439,674,645,915,799.347945439,841,657,635,658,0.457684160765,0.00460193947281,0.0695067700676,0.999999696776,0.00011102431721,-0.000769166678138,-5.00466493423e-05,1793254964306491648
+247,4.116666667,POSE1_TO_POSE2_PRESS,784.231207888,760,737,716.231207888,674,645,915,799.231207888,841,657.231207888,635,658,0.457684423167,0.00460124536968,0.069506900699,0.99999969705,0.000108411911286,-0.000769172841464,-5.01944446403e-05,1793254964323158016
+248,4.133333333,POSE1_TO_POSE2_PRESS,784.819505263,760,737,716.819505263,674,645,915,799.819505263,841,657.819505263,635,658,0.457686428521,0.00460137910777,0.0695080825243,0.999999698079,0.000106681590128,-0.000768027655913,-5.09298180209e-05,1793254964339824640
+249,4.150000000,POSE1_TO_POSE2_PRESS,784.598085306,760,737,717,674,645,915,800,841,658,635,658,0.457686581119,0.00460229786425,0.0695076138073,0.999999698037,0.000107365266872,-0.000767982045133,-5.100812453e-05,1793254964356491520
+250,4.166666667,POSE1_TO_POSE2_PRESS,784.018281932,760,737,717,674,645,915,800,841,658,635,658,0.457685913681,0.00460356407229,0.0695064145552,0.99999969752,0.000109117386618,-0.000768423109599,-5.07956111756e-05,1793254964373158400
+251,4.183333333,HOLD_POSE2,784,760,737,717,674,645,915,800,841,658,636,658,0.457685567863,0.004600468526,0.069506285997,0.999999696815,0.000109266812514,-0.000769391277807,-4.96839916583e-05,1793254964402610688
+252,4.200000000,HOLD_POSE2,784,760,737,716.430118505,674,645,915,800,841,657.430118505,635.430118505,658,0.45768462716,0.004601382384,0.0695055725369,0.999999695886,0.000108784452387,-0.0007706339853,-5.01727046387e-05,1793254964419277056
+253,4.216666667,HOLD_POSE2,784,760,737,716,674,645,915,799.853727578,841,657.146272422,635,658,0.457684208721,0.00460230300726,0.0695051127881,0.999999695407,0.000108561171988,-0.00077126078483,-5.05716954403e-05,1793254964435943168
+254,4.233333333,HOLD_POSE2,784,760,737,716,674,645,915,799.257303823,841,657.742696177,635,658,0.457685397538,0.0046032444507,0.0695054338321,0.999999696316,0.000109135205701,-0.000769992136523,-5.06945676113e-05,1793254964452609536
+255,4.250000000,HOLD_POSE2,784,760,737,716,674,645,915,799,841,657.67159353,635,657.67159353,0.45768610789,0.00460287878936,0.0695061544082,0.999999696755,0.000109895587008,-0.000769340463887,-5.02707219175e-05,1793254964469275904
+256,4.266666667,HOLD_POSE2,784,760,737,716,674,645,915,799,841,657.094012002,635,657.094012002,0.457686455211,0.00460152137554,0.0695071781251,0.999999696839,0.000110797357614,-0.000769156915321,-4.94320596161e-05,1793254964485942528
+257,4.283333333,HOLD_POSE2,784,760,737,716.482399152,674,645,915,799,841,657.482399152,635,657,0.457686628062,0.00460152336288,0.0695063905016,0.999999696281,0.000111108110375,-0.000769847612838,-4.92707524601e-05,1793254964502609408
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+261,4.350000000,HOLD_POSE2,784,760,737,716,674,645,915,799.190286795,841,658,635,657,0.457686662158,0.00460219595441,0.069505338826,0.999999696028,0.000108748598934,-0.000770486211227,-4.96910732317e-05,1793254964569276416
+262,4.366666667,HOLD_POSE2,784,760,737,716.387915505,674.387915505,645,915,799.387915505,841,658,635,657.387915505,0.457688002783,0.00460108422539,0.0695063079199,0.999999697109,0.00010772671371,-0.000769238010879,-4.94913894989e-05,1793254964585943040
+263,4.383333333,HOLD_POSE2,784,760,737,716.965923122,674.965923122,645,915,799.965923122,841,658,635,657.965923122,0.457689665487,0.00459975047937,0.0695075460179,0.999999698698,0.000106975430016,-0.000767289537285,-4.92570857545e-05,1793254964602609408
+264,4.400000000,HOLD_POSE2,784.539201089,760,737,717,674.460798911,645,915,800,841.539201089,658,635,658,0.457686424138,0.00460091079616,0.0695058137613,0.999999695777,0.000109114704639,-0.000770795476969,-4.91380998526e-05,1793254964619275776
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,784.576584008,760,737,716,674,645,915,800,841.576584008,658,635.576584008,658,0.457687018951,0.00460193682874,0.0695057877746,0.999999696096,0.00010705850859,-0.000770688689379,-4.88379175222e-05,1793254964706317824
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,784.324227666,760,737,716.324227666,674,645,915,799,841.675772334,657.675772334,635,657,0.457687402284,0.00460197634747,0.0695056995031,0.99999969602,0.000108759733005,-0.000770553141642,-4.87765454453e-05,1793254964756316928
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,784,760,737,716.529596684,676.470403316,646,915,800,841,658,635.529596684,658,0.452196921535,0.00465499693337,0.0695273060499,0.999999708186,0.000265987436817,-0.000715995115072,1.51342797964e-05,1793254965306316800
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,784.622636098,760,737,716.622636098,677.622636098,646,915.622636098,800,841,658,635,658,0.451137064093,0.00465029604362,0.0695119713638,0.999999693865,0.000209254203331,-0.000753961911504,4.88525950573e-06,1793254965339649792
+307,5.116666667,POSE2_TO_POSE3_RETREAT,784.79847895,760.20152105,737,717,678.20152105,646.20152105,915.79847895,800,841,657.79847895,635,658,0.450578571817,0.00464743244061,0.069512238139,0.999999694125,0.000177890380867,-0.000761645559413,-7.92486669572e-07,1793254965356316416
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+324,5.400000000,POSE2_TO_POSE3_RETREAT,784.944785799,760,737,716.055214201,684,649,915,800,840,658,635,658,0.438094166546,0.00457865832026,0.0697377542567,0.999999908701,0.000147033558623,-0.000399910905521,3.24239305867e-05,1793254965639650048
+325,5.416666667,POSE2_TO_POSE3_RETREAT,784.361865342,760,737,716.638134658,684,649,915,800,840,658,635,658,0.437169152896,0.00457512725361,0.0697052347631,0.999999891479,0.000145818096443,-0.000441318801802,3.18934471557e-05,1793254965656316672
+326,5.433333333,POSE2_TO_POSE3_RETREAT,784.224299012,760,737,717,684,649,915,800,840,658,635.224299012,657.775700988,0.436253502063,0.00457059420012,0.0697036644317,0.999999893046,0.000140850821073,-0.000439365408274,3.20380158207e-05,1793254965672983552
+327,5.450000000,POSE2_TO_POSE3_RETREAT,784.815773693,760,737,717,684,649,915,800,840,658,635.815773693,657.184226307,0.435353177938,0.00456442090174,0.0697527576234,0.999999923894,0.000129741857456,-0.000366429939879,3.32876391772e-05,1793254965689650432
+328,5.466666667,POSE2_TO_POSE3_RETREAT,785,760,737,717,684.397960694,649,915,800,840,658,635.602039306,657.397960694,0.434449981059,0.00455920792513,0.0697940103533,0.999999942326,0.000124081968113,-0.000314149170254,3.55281007847e-05,1793254965706317056
+329,5.483333333,POSE2_TO_POSE3_RETREAT,785,760,737,717,684.975946207,649,915,800,840,658,635.024053793,657.975946207,0.433545484691,0.00455442936807,0.0698317163034,0.999999955185,0.000120887068149,-0.000271211936928,3.82167861748e-05,1793254965722983936
+330,5.500000000,POSE2_TO_POSE3_RETREAT,784.44726682,760,737,717,685,649,915,800.55273318,840,658,635.55273318,657.44726682,0.432628648356,0.00454703233746,0.0698470075591,0.999999964323,0.000120286370788,-0.000235418928229,3.82434969818e-05,1793254965739650560
+331,5.516666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,684.86827376,649,915,800.86827376,840,658,635.86827376,657,0.43168691904,0.00454068383493,0.0698439785416,0.999999965117,0.000117231998209,-0.000233581072001,3.82501364061e-05,1793254965756316928
+332,5.533333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,684.281479676,649,915,800.281479676,840,658,635.281479676,657,0.430661044444,0.00453835043572,0.0697810219342,0.999999933167,0.000105311873818,-0.000347974597294,3.85867689902e-05,1793254965772983808
+333,5.550000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,684.301084315,649,915,800,840,657.698915685,635,657,0.429645986175,0.00453163288256,0.0697321097599,0.999999904042,9.7004773403e-05,-0.000425516798829,3.79609826669e-05,1793254965789650432
+334,5.566666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,684.879748408,649,915,800,840,657.120251592,635,657,0.4286408999,0.00452087343022,0.0696961456254,0.999999885081,9.20286430184e-05,-0.000469084519291,3.64479101869e-05,1793254965806316800
+335,5.583333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,685,649,915,800,840,657.458557299,635,657,0.427736211713,0.00451583678363,0.0697488694671,0.999999921986,7.92436030506e-05,-0.000385276336372,3.6211003756e-05,1793254965822983424
+336,5.600000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,685.03721428,649,915,800,840,658,635,657.03721428,0.426855316606,0.0045121514761,0.0698215273214,0.99999995974,6.53227138846e-05,-0.000273723944918,3.64552508562e-05,1793254965839650048
+337,5.616666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,685.613121804,649,915,800,840,658,635,657.613121804,0.425937603767,0.00450629662699,0.0698459706155,0.999999967333,6.46121165687e-05,-0.000244236918961,3.88185260563e-05,1793254965856316928
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783.807111175,760,737,717,686,649,915,800,839.807111175,658,635,657.807111175,0.425018269784,0.00449856039861,0.0698549099685,0.999999970289,5.82520250528e-05,-0.000233366363473,3.96078884057e-05,1793254965872983808
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783.219444978,760,737,717,686,649,915,800,839.219444978,658,635,657.219444978,0.424095617707,0.00448697363007,0.069832118068,0.99999996454,4.03293535078e-05,-0.000260597342612,3.71759905997e-05,1793254965889650176
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783,759.63880217,737,717.36119783,685.63880217,649,915,800,839.36119783,658,635,657.36119783,0.423087147219,0.00448027485779,0.0697758625073,0.99999993372,3.25805443433e-05,-0.000360660331709,3.77132105209e-05,1793254965906316800
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783,759.06234505,737,717.93765495,685.06234505,649,915,800,839.93765495,658,635,657.93765495,0.422027532486,0.00447648913415,0.069699663961,0.999999871649,3.08949459452e-05,-0.000504128243806,4.00199039765e-05,1793254965922983424
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783,759.518397905,737,717.481602095,685,649,915,800,840,658,635.518397905,658,0.42110643167,0.00446852647464,0.069684201957,0.999999864141,2.03530689638e-05,-0.000519581800852,3.65976461445e-05,1793254965939649792
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,759.901903409,737,717.098096591,685,649,915,800,840,657.901903409,635.901903409,657.901903409,0.420225439726,0.00445975918246,0.0696927186765,0.999999876954,9.58054148085e-06,-0.000494841095884,3.36541186998e-05,1793254965956316672
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,759.32976266,737,717.67023734,685,649,915,800,840,657.32976266,635.32976266,657.32976266,0.41945709952,0.00444955131452,0.0697815181632,0.999999937775,2.88332939321e-06,-0.000350883119636,3.63812721237e-05,1793254965972983552
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,759.251535581,737,718,685.503071162,649,915,800,840,657.251535581,635,657.251535581,0.418667177819,0.00444322340819,0.0698451941126,0.999999967526,-3.88118343728e-06,-0.000251971215537,3.80031406728e-05,1793254965989650176
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783,759.845292815,737,718,686.69058563,649,915,800,840,657.845292815,635,657.845292815,0.417847893913,0.0044421743061,0.0698746887335,0.999999976244,-1.07372603464e-05,-0.000214345853675,3.81212367715e-05,1793254966006317056
+347,5.783333333,POSE2_TO_POSE3_RETREAT,782.154145249,759.577072625,737.422927375,718.422927375,687,649.422927375,915,800,839.577072625,658,635,657.577072625,0.416990208706,0.00443383389526,0.0698525296538,0.999999970058,-1.98086876498e-05,-0.000241049028525,3.72409844609e-05,1793254966022983680
+348,5.800000000,POSE2_TO_POSE3_RETREAT,781.010238265,759.005119132,737.994880868,718.994880868,687,649.994880868,915,800,839.005119132,658,635,657.005119132,0.416118992039,0.0044229242597,0.0698121694601,0.99999995674,-2.9660734287e-05,-0.000290419524329,3.60089459545e-05,1793254966039650048
+349,5.816666667,POSE2_TO_POSE3_RETREAT,781,759.574888729,737.425111271,719,686.425111271,649.425111271,915,800,839,658,635,657,0.415273806631,0.00442470244464,0.0697846887649,0.999999942899,-3.33397166902e-05,-0.000334417485584,3.54345365794e-05,1793254966056316672
+350,5.833333333,POSE2_TO_POSE3_RETREAT,781,760,737,719,685.84324553,649,915,800,839,657.84324553,635,657,0.414442322191,0.00443258325501,0.0697580828751,0.999999926281,-2.6360847582e-05,-0.000381454569255,3.51621791661e-05,1793254966072983552
+351,5.850000000,POSE2_TO_POSE3_RETREAT,781,760,737,719,685.256482667,649,915,800,839,657.256482667,635,657,0.413647777115,0.00445689044075,0.0697335576654,0.999999903848,9.7016751222e-06,-0.000436961674329,3.57021175825e-05,1793254966089650176
+352,5.866666667,POSE2_TO_POSE3_RETREAT,781,760,737,719.325454673,685,649,914.674545327,800,839,657.325454673,635,657,0.412931396263,0.0044708371056,0.0697511526784,0.99999991692,2.9147840509e-05,-0.000405018220898,3.56485606411e-05,1793254966106316800
+353,5.883333333,POSE2_TO_POSE3_RETREAT,781,760,737,719.903644668,685,649,914.096355332,800,839,657.903644668,635,657,0.412275714726,0.00447673819523,0.069801456604,0.999999952183,3.56903928439e-05,-0.000305164091614,3.5134118282e-05,1793254966122983424
+354,5.900000000,POSE2_TO_POSE3_RETREAT,781,759.521020064,737,719.521020064,686.436939807,649,914,800,839,658,635,657,0.411625054295,0.00446432734136,0.0698481428116,0.99999997365,1.72811563766e-05,-0.000226110776935,3.5708807973e-05,1793254966139650048
+355,5.916666667,POSE2_TO_POSE3_RETREAT,781.05398634,759.05398634,737.05398634,719.05398634,688,649,914,800,839.05398634,658,635,657.05398634,0.41097135504,0.00444961613433,0.0698871540452,0.999999985989,-3.19412933962e-06,-0.000163352302722,3.64344496879e-05,1793254966156316928
+356,5.933333333,POSE2_TO_POSE3_RETREAT,781.631338955,759.631338955,737.631338955,719.631338955,688,649,914,800,839.631338955,658,635,657.631338955,0.410278461938,0.00444810479738,0.0698587743478,0.999999975509,4.67423628464e-06,-0.000218237353572,3.65120386418e-05,1793254966172983296
+357,5.950000000,POSE2_TO_POSE3_RETREAT,781.78648045,760,737.78648045,719.78648045,687.5729609,649,914,800,839.78648045,658,635,658,0.409602205336,0.00444826119123,0.0698233828399,0.999999959667,8.30815339069e-06,-0.00028160422889,3.60049579557e-05,1793254966189650176
+358,5.966666667,POSE2_TO_POSE3_RETREAT,781.195771121,760,737.195771121,719.195771121,686.391542243,649,914,800,839.195771121,658,635,658,0.408955337768,0.00445136369023,0.0697756047256,0.999999934612,4.46176772793e-06,-0.000359954538916,3.44650378323e-05,1793254966206316800
+359,5.983333333,POSE2_TO_POSE3_RETREAT,781,760,737,719.387052012,686,649,914,800,839,658,635,658,0.408360450316,0.00445534228342,0.0697610196455,0.999999927826,5.28283357948e-06,-0.00037843504411,3.32810536911e-05,1793254966222983424
+360,6.000000000,POSE2_TO_POSE3_RETREAT,781,760,737,719.965966006,686,649,914,800,839,658,635,658,0.407791329391,0.00445975515745,0.0697628883737,0.999999932012,8.4175584139e-06,-0.000367238048563,3.22735072183e-05,1793254966239650048
+361,6.016666667,POSE2_TO_POSE3_RETREAT,781,760,737,720,686,649,914,800,839,658,635,658,0.407271079419,0.00446797464006,0.0697851914582,0.999999943048,2.60186126967e-05,-0.000334949737771,3.21942184612e-05,1793254966256316416
+362,6.033333333,POSE2_TO_POSE3_RETREAT,781,759.883100129,737.116899871,720,686.233799743,649,914,800,839,658,635,657.883100129,0.406760249966,0.00447441932993,0.0698038421638,0.999999950612,4.00908202764e-05,-0.000310026812512,3.24446965265e-05,1793254966272983296
+363,6.050000000,POSE2_TO_POSE3_RETREAT,781,759.293644143,737.706355857,720,687.412711715,649,914,800,839,658,635,657.293644143,0.406275162235,0.00447272845253,0.0698025689418,0.999999947507,3.62453571443e-05,-0.00032020315273,3.37938446741e-05,1793254966289650176
+364,6.066666667,POSE2_TO_POSE3_RETREAT,781,759.290284674,738,719.709715326,687.419430651,649,914,800,839,658,635,657,0.405809480029,0.00447061467311,0.0697994489434,0.999999944071,2.97443257178e-05,-0.00033141819056,3.36917955725e-05,1793254966306316800
+365,6.083333333,POSE2_TO_POSE3_RETREAT,781,759.868726791,738,719.131273209,686.262546419,649,914,800,839,658,635,657,0.405363061173,0.00446808109084,0.0697944957019,0.999999940218,2.06071864717e-05,-0.000343664313688,3.21491836433e-05,1793254966322983424
+366,6.100000000,POSE2_TO_POSE3_RETREAT,781,759.554340573,737.554340573,719.445659427,686,649,914.445659427,800,839,657.554340573,635,657,0.404979751238,0.00446978198797,0.0698084123334,0.999999949482,2.4145678941e-05,-0.000315452277851,3.07011547656e-05,1793254966339650048
+367,6.116666667,POSE2_TO_POSE3_RETREAT,781,759,737,720,686,649,914.977898458,800,839,657.022101542,635,657,0.404615467026,0.00447243180188,0.0698275269036,0.999999960926,3.0930758279e-05,-0.000276275607992,2.93874106435e-05,1793254966356316672
+368,6.133333333,POSE2_TO_POSE3_RETREAT,781,759,737,720,686,649,914.4026422,800,839,657.5973578,635,657,0.404263675155,0.00446771894487,0.0698380919947,0.99999996541,2.58391887002e-05,-0.000259936164408,3.07395983602e-05,1793254966372983296
+369,6.150000000,POSE2_TO_POSE3_RETREAT,781,759.177353845,737.177353845,720,686.177353845,649,914,800,839,658,635,657.177353845,0.403923447891,0.00446356126989,0.069844151335,0.999999968196,1.84687526268e-05,-0.000249572841898,3.12957186022e-05,1793254966389650176
+370,6.166666667,POSE2_TO_POSE3_RETREAT,781,759.768405911,737.768405911,720,686.768405911,649,914,800,839,658,635,657.768405911,0.403610196449,0.0044606986214,0.0698397004927,0.999999967491,5.78259936473e-06,-0.000253149510784,2.99949198254e-05,1793254966406316800
+371,6.183333333,POSE2_TO_POSE3_RETREAT,781,759.647351646,738,720,686.647351646,649,914,800,839,658,635,657.647351646,0.403308626198,0.00446114974588,0.0698309611614,0.999999963759,-1.07103168298e-06,-0.000267636822632,2.91622680093e-05,1793254966422983424
+372,6.200000000,POSE2_TO_POSE3_RETREAT,781,759.067496495,738,720,686.067496495,649,914,800,839,658,635,657.067496495,0.403014581957,0.00446373589135,0.0698194588113,0.999999957777,-4.1668449836e-06,-0.000289153721592,2.86312371178e-05,1793254966439650048
+373,6.216666667,POSE2_TO_POSE3_RETREAT,781,759.509279763,738,720,686,649,914,800,839,658,635,657,0.402756351836,0.00446449097836,0.0698104143063,0.999999953272,-6.29834620115e-06,-0.000304285272276,2.87420684892e-05,1793254966456316928
+374,6.233333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914,800,839,658,635,657.086953261,0.402509360388,0.00446486024625,0.0698022461631,0.999999949086,-8.79831418486e-06,-0.000317667830318,2.89486236538e-05,1793254966472983552
+375,6.250000000,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914,800,839,658,635,657.672091424,0.40229972778,0.00446440104408,0.0697972438958,0.999999946384,-1.41371839429e-05,-0.000325849257025,2.92191579329e-05,1793254966489649920
+376,6.266666667,POSE2_TO_POSE3_RETREAT,781.2544718,759.7455282,737.7455282,720,686.2544718,649,914,799.7455282,839,658,635,657.7455282,0.402106017488,0.00446713893992,0.0697946561915,0.999999944873,-1.32934800667e-05,-0.000330456261774,2.9581319067e-05,1793254966506316544
+377,6.283333333,POSE2_TO_POSE3_RETREAT,781.833336598,759.166663402,737.166663402,720,686.833336598,649,914,799.166663402,839,658,635,657.166663402,0.401932604497,0.0044739524002,0.0697951464998,0.99999994492,-4.5684169413e-06,-0.000330506700431,3.0060283345e-05,1793254966522983168
+378,6.300000000,POSE2_TO_POSE3_RETREAT,781.587404445,759.412595555,737.412595555,720,686.587404445,649,914,799.412595555,839,658,635,657,0.401781488144,0.00448767858235,0.0697953269439,0.999999943719,5.2600999044e-05,-0.00033004392685,2.94364088855e-05,1793254966539650048
+379,6.316666667,POSE2_TO_POSE3_RETREAT,781.007986134,759.992013866,737.992013866,720,686.007986134,649,914,799.992013866,839,658,635,657,0.401639386888,0.00450419975158,0.069795382102,0.999999936987,0.000129357684388,-0.000329373646999,2.83666288378e-05,1793254966556316928
+380,6.333333333,POSE2_TO_POSE3_RETREAT,781,759.434455311,738,720,686,649,914,800,838.434455311,657.434455311,635,657,0.401529649685,0.00450196043428,0.0697966374796,0.99999994177,0.000104404792487,-0.000324061945546,2.33284365445e-05,1793254966572983552
+381,6.350000000,POSE2_TO_POSE3_RETREAT,781.142782651,759.142782651,738,720.142782651,686,649,914,800,838.142782651,657,635,657,0.401425230364,0.00449858982511,0.0697974102829,0.999999945209,7.97534118066e-05,-0.000320708600287,1.91488572048e-05,1793254966589650432
+382,6.366666667,POSE2_TO_POSE3_RETREAT,781.731865203,759.731865203,738,720.731865203,686,649,914,800,838.731865203,657,635,657,0.401336019532,0.00449250263903,0.0697966222593,0.999999945628,6.04875686382e-05,-0.000323679303989,1.78264269164e-05,1793254966606317312
+383,6.383333333,POSE2_TO_POSE3_RETREAT,781.682884931,759.682884931,738,720.682884931,686,649,914,800,839,657.317115069,635,657.317115069,0.401258271292,0.00449261281491,0.0697961159835,0.999999945797,5.48994237868e-05,-0.000324169153813,1.74841707451e-05,1793254966622983680
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,687,649,914,800,839,657.07875913,635,657,0.400974045502,0.00449174940336,0.069821649779,0.99999995941,4.73971680739e-05,-0.000280217804511,2.02980730599e-05,1793254966956316672
+404,6.733333333,POSE2_TO_POSE3_RETREAT,781,759.503595946,738,720,687,649,914,799.503595946,839,657.496404054,635,657,0.400972977234,0.00449170390954,0.0698211662603,0.999999959083,4.83273000123e-05,-0.000281218694949,2.0373789949e-05,1793254966972983296
+405,6.750000000,POSE2_TO_POSE3_RETREAT,781,759.070920447,737.929079553,720,687,649,914,799.070920447,839,658,635,657,0.400971858855,0.0044917198428,0.0698206615275,0.999999958765,4.92401991448e-05,-0.000282184781941,2.04314375834e-05,1793254966989650176
+406,6.766666667,POSE2_TO_POSE3_RETREAT,781,759.645239357,737.354760643,720,687,649,914,799.645239357,839,658,635,657,0.400972723944,0.00449212563841,0.0698215172242,0.999999959417,4.85363948562e-05,-0.000280014658046,2.00412461791e-05,1793254967006317312
+407,6.783333333,POSE2_TO_POSE3_RETREAT,781,760,737,720,687,649,914,799.77377795,838.77377795,658,635,657,0.400973364055,0.00449235622931,0.0698222893319,0.999999959769,4.85989562508e-05,-0.000278755924874,1.98950409386e-05,1793254967022984448
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,781,759.598284785,737,720,687,649,914,799.401715215,838.401715215,658,635,657,0.400973468001,0.0044937989504,0.0698228162492,0.999999959585,5.09177274602e-05,-0.000279010457736,1.97488199146e-05,1793254967056317440
+410,6.833333333,POSE2_TO_POSE3_RETREAT,781,759.018099012,737,720,687,649,914,799.981900988,838.981900988,658,635,657,0.400973095765,0.00449598178644,0.0698223741734,0.999999959563,5.18099520634e-05,-0.000278974140654,1.90692296426e-05,1793254967072983552
+411,6.850000000,POSE2_TO_POSE3_RETREAT,781,759.554774508,737.554774508,720,686.445225492,649,914,800,839,658,635,657,0.400972548797,0.00449370030723,0.069822417793,0.999999959627,5.01283370523e-05,-0.000279011315736,1.9659638291e-05,1793254967089650176
+412,6.866666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.131246288,649,914,800,839,657.868753712,635,657.131246288,0.400972185241,0.00449189843008,0.0698225888534,0.999999959698,4.89717831573e-05,-0.000278925626616,2.01389717876e-05,1793254967106316800
+413,6.883333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.721114411,649,914,800,839,657.278885589,635,657.721114411,0.400972482252,0.00449227476817,0.0698231505891,0.999999959797,4.99395835666e-05,-0.000278402336551,2.00872718163e-05,1793254967122983680
+414,6.900000000,POSE2_TO_POSE3_RETREAT,781.305068484,759.694931516,738,720,687,649,914,800,839,657,635,657.694931516,0.40097246557,0.00449271205531,0.0698235182266,0.999999959923,4.90700255037e-05,-0.000278128308492,1.9759930929e-05,1793254967139650560
+415,6.916666667,POSE2_TO_POSE3_RETREAT,781.883718875,759.116281125,738,720,687,649,914,800,839,657,635,657.116281125,0.400972167572,0.00449320400085,0.0698237117991,0.999999960069,4.65527454503e-05,-0.000278077815758,1.91853984426e-05,1793254967156317440
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6cd3a88367f38ec269e8a13a185b5cffe18184d0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_02/simulation_data.csv
@@ -0,0 +1,417 @@
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+414,6.900000000,pose2_to_pose3_retreat,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
+415,6.916666667,pose2_to_pose3_retreat,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3885e7c48df6812b1f83062e2dbcd95f4992bc9d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a501ec0940b6218f05f31d98fffd863c8b02610571c872b6ce1dc8823e81e567
+size 26314553
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..29eb09093c31f39f51a21c406035ba3c3f5f011e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_03/franka_data.csv
@@ -0,0 +1,417 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,782,760,738,721,687,649,914,800,838,657,635,657,0.400972158763,0.00449264162117,0.0698240185757,0.99999996011,4.79500437558e-05,-0.000277670464955,1.94795119162e-05,1793254967303554304
+1,0.016666667,BASELINE,781.410886798,760,738,720.410886798,687,649,914,800,838.589113202,657.589113202,635,657,0.400974596683,0.00449210870081,0.0698255238221,0.999999960847,4.80659303225e-05,-0.000274972060466,1.96237772818e-05,1793254967320220928
+2,0.033333333,BASELINE,781.17498135,760,738,720,687,649,914,800,839,657.82501865,635,657,0.400975648611,0.00449163831555,0.069826254422,0.999999961199,4.79922104105e-05,-0.000273694916492,1.97438961124e-05,1793254967336887296
+3,0.050000000,BASELINE,781.753368399,760,738,720,687,649,914,800,839,657.246631601,635,657,0.400973505244,0.00449131209994,0.0698251991358,0.999999960673,4.74813677452e-05,-0.00027569437597,1.98083470401e-05,1793254967353553408
+4,0.066666667,BASELINE,781.669479461,760,738,720,687,649,914,800,839,657.330520539,635,657,0.400972420554,0.00449175377212,0.0698242071319,0.999999960393,4.73734113052e-05,-0.000276729273773,1.97436703382e-05,1793254967370219520
+5,0.083333333,BASELINE,781.093245404,760,738,720,687,649,914,800,839,657.906754596,635,657,0.400972122901,0.00449276630266,0.0698232621729,0.999999960299,4.75649660619e-05,-0.00027704710303,1.95829983751e-05,1793254967386885632
+6,0.100000000,BASELINE,781,760,738,720,687,649,914,800,838.52240812,658,635,657,0.400973687018,0.00449209933616,0.0698246879836,0.999999960934,4.56076349866e-05,-0.000275088609683,1.94266312144e-05,1793254967403552256
+7,0.116666667,BASELINE,781,760,738,720,687,649,914.049572458,800,838.049572458,657.950427542,635,657,0.400975213243,0.00449123349001,0.0698262653634,0.999999961563,4.35843390625e-05,-0.000273131014187,1.93113310348e-05,1793254967420218880
+8,0.133333333,BASELINE,781,760,738,720,687,649,914.645643134,800,838.645643134,657.354356866,635,657,0.400972359278,0.00449174967111,0.069824467899,0.99999996068,4.54073676961e-05,-0.0002760280805,1.96396006873e-05,1793254967436886016
+9,0.150000000,BASELINE,781,759.765219557,737.765219557,720,687,649,914.765219557,800,839,657,635,657,0.400971627017,0.00449209514432,0.0698242616506,0.999999960559,4.58566672849e-05,-0.000276390455947,1.96799702969e-05,1793254967453552896
+10,0.166666667,BASELINE,781,759.18624674,737.18624674,720,687,649,914.18624674,800,839,657,635,657,0.400974005213,0.00449219035662,0.069826388154,0.999999961558,4.42920551048e-05,-0.000273036928513,1.92982732112e-05,1793254967470219776
+11,0.183333333,BASELINE,781,759.389870054,737.389870054,720,687,649,914.389870054,800,838.610129946,657.389870054,635,657,0.400974754478,0.00449182859091,0.0698268436838,0.999999961732,4.38107550317e-05,-0.000272473151468,1.9351912611e-05,1793254967486886400
+12,0.200000000,BASELINE,781,759.964632456,737.964632456,720,687,649,914.964632456,800,838.035367544,657.964632456,635,657,0.400974731239,0.00449125010753,0.0698265067698,0.999999961519,4.38432057903e-05,-0.00027323238802,1.96120063686e-05,1793254967503552512
+13,0.216666667,BASELINE,781,760,738,720,687,649,914.447308463,800,838.552691537,658,635,657,0.400974268744,0.00449272014442,0.0698260337108,0.999999961429,4.67685913273e-05,-0.000273071391665,1.96827886471e-05,1793254967520219136
+14,0.233333333,BASELINE,781,760,738,720.13916437,687,649,914,800,839,658,635,657,0.400973867819,0.00449380794173,0.0698256767536,0.999999961405,4.86474471053e-05,-0.000272832821544,1.96490379525e-05,1793254967536885760
+15,0.250000000,BASELINE,781,760,738,720.717873551,687,649,914,800,839,658,635,657,0.400973752325,0.00449326421,0.0698257146939,0.999999961588,4.66217661462e-05,-0.0002725398151,1.93243300573e-05,1793254967553552384
+16,0.266666667,BASELINE,781,760,738,720.704173369,687,649,914,800,839,658,635,657,0.400973511974,0.00449331713504,0.0698256821857,0.999999961491,4.70358456784e-05,-0.000272831639657,1.9197815514e-05,1793254967570219264
+17,0.283333333,BASELINE,781,760,738,720.126939571,687,649,914,800,839,658,635,657,0.400973152851,0.00449393763409,0.0698255826628,0.999999961126,4.9770764701e-05,-0.000273679788842,1.92598338136e-05,1793254967586886144
+18,0.300000000,BASELINE,781.448101103,760,738,720,687,649,914.448101103,800,839,658,635,657,0.40097381619,0.00449418723325,0.069826051031,0.999999961332,4.95998800469e-05,-0.000272954178401,1.92612787976e-05,1793254967603552768
+19,0.316666667,BASELINE,781.976838874,760,738,720.023161126,687,649,915,800,839,658,635,657.023161126,0.400974722746,0.00449429903049,0.0698266517848,0.999999961679,4.86827650135e-05,-0.000271849431695,1.92489104605e-05,1793254967620219392
+20,0.333333333,BASELINE,781.386155373,760,738,720.613844627,687,649,915,800,839,658,635,657.613844627,0.40097452621,0.00449359624478,0.0698265736796,0.999999961505,4.95525765133e-05,-0.00027232544328,1.93164842781e-05,1793254967636885760
+21,0.350000000,BASELINE,781,760,738,720.800553058,687,649,914.800553058,800,839,658,635,658,0.400974100853,0.00449280563373,0.0698263531122,0.999999961398,4.89553830952e-05,-0.000272827505463,1.93189015153e-05,1793254967653552128
+22,0.366666667,BASELINE,781,760,738,720.224544244,687,649,914.224544244,800,839,658,635,658,0.400973243477,0.00449184920586,0.069825863572,0.999999961409,4.55884398193e-05,-0.00027337875191,1.91983011455e-05,1793254967670218752
+23,0.383333333,BASELINE,781,760,738,720.350571736,687,649.350571736,914,800,839,658,635,657.649428264,0.400973057102,0.00449173922211,0.0698259487414,0.999999961514,4.53454707024e-05,-0.000273039796255,1.91090098162e-05,1793254967686885632
+24,0.400000000,BASELINE,781,760,738,720.925117356,687,649.925117356,914,800,839,658,635,657.074882644,0.400973299416,0.00449217001597,0.069826401082,0.999999961682,4.70983513456e-05,-0.000272132106771,1.90397212498e-05,1793254967703552512
+25,0.416666667,BASELINE,781,759.48579576,737.48579576,720.48579576,687.51420424,649.48579576,914,800,839,657.48579576,635,657.51420424,0.400973926492,0.00449246745838,0.0698262967459,0.999999961462,4.7328441505e-05,-0.000272893074232,1.91183125854e-05,1793254967720219136
+26,0.433333333,BASELINE,781,759.103052209,737.103052209,720,687.896947791,649,914,800,839,657.103052209,635,658,0.400974557388,0.00449256297669,0.0698262079436,0.999999961269,4.73855650748e-05,-0.000273576476445,1.9311898263e-05,1793254967736885760
+27,0.450000000,BASELINE,781,759.680762343,737.680762343,720,687.319237657,649,914,800,839,657.680762343,635,658,0.400974940287,0.00449182048407,0.0698265749543,0.999999961467,4.76971624438e-05,-0.000272750767701,1.99330682598e-05,1793254967753552384
+28,0.466666667,BASELINE,781,760,737.742227737,720,687,649,914,800,839,657.742227737,635,657.742227737,0.400975046164,0.00449159405896,0.0698267495776,0.999999961607,4.80394915068e-05,-0.00027217380805,1.99994445071e-05,1793254967770219008
+29,0.483333333,BASELINE,781,760,737.16608268,720,687,649,914,800,839,657.16608268,635,657.16608268,0.400974809894,0.00449200502543,0.0698266865845,0.999999961674,4.84197770603e-05,-0.000271904076784,1.93805986796e-05,1793254967786885888
+30,0.500000000,BASELINE,781,759.591801624,737.408198376,720,687,649,914,800,839,657.408198376,635,657.408198376,0.400975188065,0.00449309040348,0.0698270849487,0.999999961737,4.97266591735e-05,-0.000271437323772,1.93789381932e-05,1793254967803552512
+31,0.516666667,BASELINE,781,759.018275535,737.981724465,720,687,649,914,800,839,657.981724465,635,657.981724465,0.400975815096,0.00449444893039,0.069827670171,0.999999961795,5.14088296144e-05,-0.0002708907734,1.96272489287e-05,1793254967820218880
+32,0.533333333,BASELINE,781,759.575285441,738,720,687,649,914.575285441,800,839,658,635,657.424714559,0.400975774746,0.00449370523422,0.0698280208402,0.99999996212,4.78596826468e-05,-0.000270377016419,1.91101024276e-05,1793254967836885504
+33,0.550000000,BASELINE,781.164700099,759.835299901,738,720,687,649,914.835299901,800,839,658,635,657.164700099,0.400975243988,0.00449314995154,0.0698277741323,0.99999996211,4.60169251868e-05,-0.000270756878302,1.88143767761e-05,1793254967853552384
+34,0.566666667,BASELINE,781.74207337,759.25792663,738,720,687,649,914.25792663,800,839,658,635,657.74207337,0.400973539504,0.00449324012783,0.0698260499777,0.999999961256,4.88811283582e-05,-0.000273373090524,1.91365709938e-05,1793254967870219008
+35,0.583333333,BASELINE,781.682360974,759.317639026,738,720,687,649,914,800,839,658,635,657.682360974,0.400972644676,0.00449273006152,0.0698253531965,0.999999960943,4.92219222109e-05,-0.000274442235668,1.93298829021e-05,1793254967886886144
+36,0.600000000,BASELINE,781.108254753,759.891745247,738,720,687,649,914,800,839,658,635,657.108254753,0.400972403578,0.00449173534905,0.0698254859341,0.999999961072,4.75252724372e-05,-0.000274262252622,1.94191330597e-05,1793254967903552768
+37,0.616666667,BASELINE,781,759.521176356,737.521176356,720,687,649,914,799.521176356,839,657.521176356,635,657,0.400974361477,0.00449188720443,0.0698268025605,0.999999961621,4.72117282196e-05,-0.000272306769102,1.94451264662e-05,1793254967920219392
+38,0.633333333,BASELINE,781,759,737.067448015,720,687,649.067448015,914,799.067448015,839,657,635,657,0.400976520172,0.00449236346267,0.0698282193821,0.999999962204,4.74385921684e-05,-0.000270117150403,1.94297585985e-05,1793254967936885760
+39,0.650000000,BASELINE,781,759,737.644967215,720,687,649.644967215,914,799.644967215,839,657,635,657,0.400976332951,0.00449327806206,0.0698283134022,0.999999962344,4.93216408503e-05,-0.000269277094835,1.92127638e-05,1793254967953552384
+40,0.666666667,BASELINE,781,759.22269423,738,720,687,649.77730577,914,800,839,657.22269423,634.77730577,657,0.400975575731,0.00449378780274,0.0698278671449,0.999999962242,4.97486383951e-05,-0.000269589155579,1.90581306821e-05,1793254967970219008
+41,0.683333333,BASELINE,781,759.800752833,738,720,687,649.199247167,914,800,839,657.800752833,634.199247167,657,0.400973908932,0.00449365148995,0.0698265587396,0.999999961753,4.78521418636e-05,-0.000271739706263,1.90030112441e-05,1793254967986885888
+42,0.700000000,BASELINE,781,759.623736024,737.623736024,720,687,648.623736024,914.376263976,800,838.623736024,657.623736024,634.376263976,657,0.400973849301,0.00449423150329,0.0698267175678,0.999999961799,4.84917170543e-05,-0.00027147121325,1.88028325206e-05,1793254968003552512
+43,0.716666667,BASELINE,781,759.049564812,737.049564812,720,687,648.049564812,914.950435188,800,838.049564812,657.049564812,634.950435188,657,0.400974635006,0.00449518828968,0.0698276481312,0.999999962124,5.0465214698e-05,-0.000269930352147,1.85263555506e-05,1793254968020219136
+44,0.733333333,BASELINE,781,759.540094847,737,720,687,648.540094847,914.459905153,800,838.540094847,657.540094847,635,657,0.400973925388,0.00449378670737,0.069826846205,0.999999961766,4.8068030374e-05,-0.000271664988608,1.88534504227e-05,1793254968036886016
+45,0.750000000,BASELINE,781,759.871633134,737.128366866,720,687,648.871633134,914,800,839,658,635,657,0.400973573693,0.00449266960173,0.0698263853531,0.999999961539,4.63363166264e-05,-0.000272777534084,1.91518298676e-05,1793254968053552640
+46,0.766666667,BASELINE,781,759.293353671,737.706646329,720,687,648.293353671,914,800,839,658,635,657,0.400974971649,0.00449333051421,0.0698276936327,0.999999962027,4.83843282435e-05,-0.00027062505761,1.91496962522e-05,1793254968070219008
+47,0.783333333,BASELINE,781,759.283537491,738,720.283537491,687,648.283537491,914,800,839,657.716462509,635,657.283537491,0.400975675328,0.00449372545254,0.0698281392032,0.999999962243,4.86403536267e-05,-0.000269790979411,1.90006351531e-05,1793254968086885888
+48,0.800000000,BASELINE,781,759.858999358,738,720.858999358,687,648.858999358,914,800,839,657.141000642,635,657.858999358,0.400975664195,0.00449384654945,0.0698276965462,0.999999962183,4.70513870483e-05,-0.000270314296732,1.87003005352e-05,1793254968103552256
+49,0.816666667,BASELINE,781,760,738,720.556106963,687,649,914,800,839,657.443893037,635,657.556106963,0.400974651652,0.00449241824917,0.069827241545,0.999999961921,4.57746508247e-05,-0.000271483164684,1.89731872938e-05,1793254968120218880
+50,0.833333333,BASELINE,781,760,737.968720148,720,687,649,914,800,839,658,635,657,0.400973433016,0.00449064626482,0.0698267911634,0.999999961616,4.47596679785e-05,-0.000272742421466,1.93905100746e-05,1793254968136885760
+51,0.850000000,BASELINE,781,760,737.391248653,720,687,649,914,800,839,658,635,657,0.400974290649,0.00449165343303,0.069826491399,0.999999961764,4.65458798945e-05,-0.000271921688038,1.90814713426e-05,1793254968153552640
+52,0.866666667,BASELINE,781,760,737.186143938,720,687,649,914,800,839,658,635,657,0.400974917822,0.00449257529974,0.0698266096745,0.999999961886,4.80351573315e-05,-0.000271227709814,1.88617296703e-05,1793254968170219264
+53,0.883333333,BASELINE,781,760,737.76337072,720,687,649,914,800,839,658,635,657,0.400975060809,0.0044933179505,0.0698276062392,0.999999961961,4.89005842076e-05,-0.00027080004053,1.88295984665e-05,1793254968186885888
+54,0.900000000,BASELINE,781,760,737.655661363,720,687,649,914,800,839,658,635,657,0.400975301793,0.00449336347514,0.069827819087,0.99999996209,4.87138393308e-05,-0.000270355503286,1.88259175757e-05,1793254968203552512
+55,0.916666667,BASELINE,781,760,737.072094326,720,687,649,914,800,839,658,635,657,0.400975610862,0.00449292467312,0.0698274874496,0.999999962257,4.77961007444e-05,-0.000269899247088,1.88420024694e-05,1793254968220218880
+56,0.933333333,BASELINE,781,760,737.511150094,720,687,649,914.511150094,800,839,657.488849906,635,657,0.400973598454,0.00449354378289,0.0698263488417,0.999999961514,4.86844740997e-05,-0.000272488491783,1.87457120543e-05,1793254968236885760
+57,0.950000000,BASELINE,781,760,738,720,687.093528237,649,914.906471763,800,839,657.093528237,635,657,0.400971913611,0.00449412882902,0.0698254286988,0.999999960867,4.9476579773e-05,-0.000274716128506,1.86965598961e-05,1793254968253552384
+58,0.966666667,BASELINE,781,760,738,720,687.671653366,649,914.328346634,800,839,657.671653366,635,657,0.400973621406,0.00449376476126,0.0698262298375,0.999999961424,4.84508446143e-05,-0.000272845961435,1.89737153014e-05,1793254968270219008
+59,0.983333333,BASELINE,781.247693752,760,738,720,687.752306248,649,914,800,839,658,635,657,0.400974410162,0.00449346391454,0.0698267107886,0.999999961686,4.85135727437e-05,-0.000271863061877,1.91239871976e-05,1793254968286885376
+60,1.000000000,BASELINE,781.820993717,760,738,720,687.179006283,649,914,800,839,658,635,657,0.400973990793,0.00449324617508,0.0698267708365,0.999999961562,5.00071418668e-05,-0.000272046520975,1.91074642149e-05,1793254968303552000
+61,1.016666667,BASELINE,781.604462867,760,738,720,687,649,914,800,839,658,635,657.395537133,0.40097303568,0.00449325254507,0.0698262327822,0.999999961258,4.94665031883e-05,-0.000273263603123,1.91052797423e-05,1793254968320218880
+62,1.033333333,BASELINE,781.029354969,760,738,720,687,649,914,800,839,658,635,657.970645031,0.400971837344,0.004493360659,0.0698254231941,0.999999960867,4.80023499828e-05,-0.000274949942042,1.91096048422e-05,1793254968336886016
+63,1.050000000,BASELINE,781,760,737.438747617,720,687.561252383,649,914,800,839,658,635,657.438747617,0.400973695168,0.00449403238525,0.0698267154562,0.999999961471,4.84841843449e-05,-0.000272668349067,1.8961893002e-05,1793254968353552640
+64,1.066666667,BASELINE,781,760,737.149499397,720.149499397,688,649,914.149499397,800,839,658,635,657.149499397,0.400975060838,0.00449416454133,0.0698276508079,0.999999961927,4.85736577887e-05,-0.000270980511242,1.88637390042e-05,1793254968370219520
+65,1.083333333,BASELINE,781,760,737.728568716,720.728568716,688,649,914.728568716,800,839,658,635,657.728568716,0.400974540015,0.00449265919388,0.0698272357683,0.999999961819,4.72349656933e-05,-0.000271612022409,1.89314818749e-05,1793254968386885632
+66,1.100000000,BASELINE,781,760,738,721,687.695156254,649,914.695156254,800,839,658,635,658,0.400974500407,0.00449307318988,0.069827382167,0.999999961815,4.78277185408e-05,-0.000271527379717,1.88646192624e-05,1793254968403552256
+67,1.116666667,BASELINE,781,760,738,721,687.121346676,649,914.121346676,800,839,658,635,658,0.400974885378,0.00449518063648,0.0698280239268,0.9999999619,5.0124599241e-05,-0.000270810869285,1.8678993259e-05,1793254968420218880
+68,1.133333333,BASELINE,781,759.544957666,738,720.544957666,687,649,914,800,839,658,635,657.544957666,0.400974930739,0.0044953641127,0.0698279047348,0.999999962055,4.92980160128e-05,-0.000270409635736,1.84100830235e-05,1793254968436885760
+69,1.150000000,BASELINE,781,759.032984142,738,720,687.032984142,649,914,800,838.967015858,658,635,657.032984142,0.400974923179,0.00449490827125,0.0698276649107,0.999999962229,4.77069952604e-05,-0.00027006565911,1.81840650436e-05,1793254968453552384
+70,1.166666667,BASELINE,781,759.62553204,738,720,687.62553204,649,914,800,838.37446796,658,635,657.62553204,0.400975562981,0.00449236026243,0.0698288407592,0.999999962447,4.73586147317e-05,-0.000269258588545,1.906462263e-05,1793254968470219008
+71,1.183333333,BASELINE,781,760,738,720,688,649,914,800,838.211973454,657.788026546,635,658,0.400975363273,0.00449133976264,0.0698289690546,0.999999962376,4.74382472921e-05,-0.000269466166424,1.96175538274e-05,1793254968486885888
+72,1.200000000,BASELINE,781,760,738,720,688,649,914,800,838.78792944,657.21207056,635,658,0.400973722032,0.00449294216918,0.0698272985823,0.99999996181,4.82528269523e-05,-0.000271416010954,1.96079133937e-05,1793254968503552256
+73,1.216666667,BASELINE,781,760,738,720,688,649,914,800,839,657.364367065,635,657.635632935,0.400972502348,0.00449234732349,0.0698265819719,0.999999961593,4.63396133371e-05,-0.00027256204315,1.94261875697e-05,1793254968520219136
+74,1.233333333,BASELINE,781,760,738,720,688,649,914,800,839,657.941085352,635,657.058914648,0.400971528344,0.00449047193058,0.0698264212673,0.999999961569,4.28366559923e-05,-0.000273239617594,1.9144171279e-05,1793254968536885760
+75,1.250000000,BASELINE,781,760,738,720,688,649,914,800,839,657.469741694,635,657.530258306,0.400973538448,0.0044916822492,0.0698271694729,0.999999961868,4.58469804896e-05,-0.000271655312772,1.91002652801e-05,1793254968553552128
+76,1.266666667,BASELINE,781,760,738,720.118524223,687.881475777,649,914,800,839,657.118524223,635,657.881475777,0.400974929133,0.00449296203118,0.069827531405,0.999999961963,4.87186463134e-05,-0.000270804435004,1.90961935078e-05,1793254968570218752
+77,1.283333333,BASELINE,781,760,738,720.697756252,687.302243748,649,914,800,839,657.697756252,635,657.302243748,0.40097259236,0.00449314713603,0.0698259899044,0.999999961172,4.81707836677e-05,-0.000273804750313,1.91416523614e-05,1793254968586885376
+78,1.300000000,BASELINE,781,760,737.725546015,720.725546015,687,649,914,800,839,657.725546015,635,657.274453985,0.400972119185,0.00449303765283,0.0698258752671,0.999999961085,4.75818238851e-05,-0.00027422465412,1.91675916472e-05,1793254968603552256
+79,1.316666667,BASELINE,781,760,737.15161369,720.15161369,687,649,914,800,839,657.15161369,635,657.84838631,0.400973679528,0.00449260672139,0.0698273175927,0.999999961769,4.69480198184e-05,-0.000271828867679,1.91722315933e-05,1793254968620219392
+80,1.333333333,BASELINE,781,760,737.433071267,720,687.433071267,649,914,800,839,657,635,658,0.400974132687,0.00449415274591,0.0698277299058,0.999999961908,4.841610329e-05,-0.000271073771404,1.89197982097e-05,1793254968636886272
+81,1.350000000,BASELINE,781,759.978735421,738,720,687.978735421,649,914,800,838.978735421,657.021264579,635,657.978735421,0.40097413569,0.00449628555094,0.0698277268994,0.999999961836,5.04817966592e-05,-0.000270986702539,1.85806617086e-05,1793254968653552640
+82,1.366666667,BASELINE,781,759.399771856,738,720,687.399771856,649,914,800,838.399771856,657.600228144,635,657.399771856,0.400972757202,0.00449519370992,0.0698265294844,0.999999961401,4.84305754216e-05,-0.000272971923157,1.83880543156e-05,1793254968670219264
+83,1.383333333,BASELINE,781,759.179265854,738,720,687.179265854,649,914,800,838.179265854,658,635,657.179265854,0.400972163538,0.00449427906632,0.069825952684,0.999999961221,4.7093007584e-05,-0.000273864978978,1.83926984475e-05,1793254968686885632
+84,1.400000000,BASELINE,781,759.758469092,738,720,687.758469092,649,914,800,838.758469092,658,635,657.758469092,0.400973320794,0.00449375974527,0.069826760458,0.999999961622,4.73475812248e-05,-0.000272321444388,1.88374054817e-05,1793254968703552256
+85,1.416666667,BASELINE,781,760,738,720,688,649,914,800,838.667168966,658,635,658,0.400973181893,0.00449318732742,0.0698267058322,0.999999961566,4.71394160643e-05,-0.000272555867235,1.89313299319e-05,1793254968720219136
+86,1.433333333,BASELINE,781,760,738,720,688,649,914,800,838.096269951,658,635,658,0.400972115875,0.00449257693042,0.0698260343475,0.999999961183,4.66002622445e-05,-0.000274062030777,1.87743459564e-05,1793254968736886016
+87,1.450000000,BASELINE,781,760,738,720,687.508089328,649,914,800,838,658,635,658,0.400971670861,0.00449190073454,0.0698259355445,0.999999961135,4.62526021128e-05,-0.000274274896989,1.90589282746e-05,1793254968753552640
+88,1.466666667,BASELINE,781,760,738,720,687,649,914.081748373,800,838.081748373,658,635,657.918251627,0.40097166727,0.00449141997725,0.0698260772357,0.999999961226,4.59818700871e-05,-0.000273973352839,1.93039523577e-05,1793254968770219264
+89,1.483333333,BASELINE,781,760,738,720,687,649,914.660353048,800,838.660353048,658,635,657.339646952,0.400973581022,0.0044922081871,0.069826974625,0.999999961739,4.59426264219e-05,-0.000272139647734,1.87641892182e-05,1793254968786886144
+90,1.500000000,BASELINE,781,760,737.770590014,720.229409986,687,649,914.770590014,800,839,658,635,657,0.400974840691,0.00449305450573,0.0698275682121,0.999999962049,4.67374355807e-05,-0.000270876513299,1.85147026445e-05,1793254968803552768
+91,1.516666667,BASELINE,781,760,737.215103976,720.784896024,687,649,914.215103976,800,839,658,635,657,0.400975170665,0.00449398341826,0.0698277299844,0.999999962074,4.87177408848e-05,-0.000270424370013,1.86778059901e-05,1793254968820219136
+92,1.533333333,BASELINE,781,760,737.374060818,720.625939182,687.374060818,649,914,800,839,658,635,657,0.400974452525,0.00449362485216,0.0698277887505,0.999999962007,4.85881798472e-05,-0.000270689665861,1.87879659279e-05,1793254968836885504
+93,1.550000000,BASELINE,781,760,737.984508915,720.015491085,687.984508915,649,914,800,839,658,635,657,0.400973072029,0.00449245266561,0.0698277824219,0.99999996188,4.71252915331e-05,-0.000271408346455,1.88646683595e-05,1793254968853552128
+94,1.566666667,BASELINE,781,760,738,720,688,649,914,800,839,657.436382757,635,657,0.400971797514,0.00449368142087,0.0698263499832,0.999999961221,4.85073969147e-05,-0.00027360518697,1.85641020663e-05,1793254968870218752
+95,1.583333333,BASELINE,781,760,738,720,688,649,914,800,839,657.141400881,635,657,0.400971591086,0.00449448846286,0.0698255963575,0.999999960892,4.96402559215e-05,-0.000274612850028,1.84305647972e-05,1793254968886885376
+96,1.600000000,BASELINE,781,760,738,720,688,649,914,800,839,657.71762041,635,657,0.40097466062,0.00449380646857,0.0698270443176,0.999999961634,4.97788739608e-05,-0.000271845349493,1.88408613077e-05,1793254968903552512
+97,1.616666667,BASELINE,781,760,738,720,688,649,914,800,839,657.706818439,635,657,0.400975216799,0.00449335567961,0.0698275771651,0.9999999619,4.88971982692e-05,-0.000271002084714,1.91367867482e-05,1793254968920219136
+98,1.633333333,BASELINE,781,760,738,720,688,649,914,800,839,657.131890021,635,657,0.400973357649,0.00449312707852,0.0698272305912,0.999999961713,4.70350224686e-05,-0.000272008006564,1.93228018097e-05,1793254968936886016
+99,1.650000000,BASELINE,781,760,738,720,687.544373574,649,914,800,839,657,635,657,0.400973426161,0.00449231374544,0.0698273871708,0.999999961787,4.62405645479e-05,-0.000271874581612,1.92923916905e-05,1793254968953552384
+100,1.666666667,BASELINE,781,760,738,720.045708286,687,649,914,800,839,657.045708286,635,657,0.400974141675,0.00449149627731,0.06982775084,0.999999961977,4.60154009808e-05,-0.000271221684428,1.91925185094e-05,1793254968970219008
+101,1.683333333,BASELINE,781,760,738,720.622068104,687,649,914,800,839,657.622068104,635,657,0.400975706386,0.00449265168964,0.0698287797765,0.999999962593,4.87093456623e-05,-0.000268475646043,1.90341970269e-05,1793254968986885632
+102,1.700000000,BASELINE,781,760,737.800918777,720.800918777,687.199081223,649,914,800,839,657.800918777,635,657,0.400975961651,0.00449392300764,0.069828898932,0.999999962695,5.05643120386e-05,-0.000267761421566,1.88718965366e-05,1793254969003552256
+103,1.716666667,BASELINE,781,760,737.222661424,720.222661424,687.777338576,649,914,800,839,657.222661424,635,657,0.400973722902,0.00449541508294,0.0698272852909,0.999999961836,5.08213346067e-05,-0.000270917051738,1.87020175258e-05,1793254969020219136
+104,1.733333333,BASELINE,781,760,737,720,687.647441804,649,914,799.647441804,839,657,635,657,0.400972800473,0.00449474553265,0.0698267672684,0.99999996155,4.85068474041e-05,-0.000272399721415,1.85708190467e-05,1793254969036886016
+105,1.750000000,BASELINE,781,760,737,720,687.074124248,649,914,799.074124248,839,657,635,657,0.400972702277,0.00449272244968,0.0698269352829,0.999999961616,4.45821725766e-05,-0.000272834843237,1.84638409193e-05,1793254969053552640
+106,1.766666667,POSE1_TO_POSE2_PRESS,781,759,737,720,688,649,914,800,839,657,635,658,0.400972164356,0.00449285100017,0.0698263634269,0.999999961343,4.47471328654e-05,-0.000273802043505,1.85576900703e-05,1793254969083811584
+107,1.783333333,POSE1_TO_POSE2_PRESS,781,759.578768164,737.578768164,720,688,649,914,800,839,657.578768164,635,657.421231836,0.400972194259,0.00449414839203,0.0698266373641,0.99999996142,4.78004326455e-05,-0.000273002942677,1.85524226381e-05,1793254969100478464
+108,1.800000000,POSE1_TO_POSE2_PRESS,781,759.843432279,738,720,687.843432279,649,914,800,839,657.843432279,635,657,0.400972499584,0.00449467541236,0.0698269725947,0.99999996156,4.90680979819e-05,-0.00027226407606,1.85544591113e-05,1793254969117145344
+109,1.816666667,POSE1_TO_POSE2_PRESS,781,759.268222524,738,720,687.268222524,649,914,800,839,657.268222524,635,657,0.400973541351,0.00449314255815,0.0698274717159,0.999999961883,4.55612061616e-05,-0.000271686267835,1.85760252911e-05,1793254969133811968
+110,1.833333333,POSE1_TO_POSE2_PRESS,781,759.313463548,738,720,687.313463548,649.313463548,914,800,839,657,635,657.313463548,0.400974080663,0.00449312181524,0.0698280417389,0.999999962081,4.58457855659e-05,-0.000270898328368,1.87189542935e-05,1793254969150478592
+111,1.850000000,POSE1_TO_POSE2_PRESS,781,759.900808107,738,720,687.900808107,649.900808107,914,800,839,657,635,657.900808107,0.400974180968,0.00449442224223,0.0698286737104,0.999999962168,4.94430692469e-05,-0.000269926791966,1.89679210546e-05,1793254969167144960
+112,1.866666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687.519897208,649.519897208,914,800,839,657.480102792,635,657.519897208,0.40097367922,0.00449447361585,0.0698280168802,0.999999961936,4.93962465292e-05,-0.000270802904921,1.88295707094e-05,1793254969183811840
+113,1.883333333,POSE1_TO_POSE2_PRESS,781,760,738,720,687.057884865,649,914,800,839,658,635,657,0.400973151421,0.0044941013987,0.0698272409026,0.999999961688,4.85225269352e-05,-0.000271881920835,1.86963322542e-05,1793254969200478464
+114,1.900000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687.636775057,649,914,800,839,658,635,657,0.400973490252,0.00449220099486,0.069827749644,0.999999961884,4.6870966182e-05,-0.000271407983336,1.93174812633e-05,1793254969217145344
+115,1.916666667,POSE1_TO_POSE2_PRESS,781,760,738,720,688,649,914,800,839,658,635,657,0.400975172124,0.00449179388462,0.0698288417877,0.999999962241,4.70926736998e-05,-0.000270031660505,1.95790588083e-05,1793254969233811968
+116,1.933333333,POSE1_TO_POSE2_PRESS,781,760,738,720,688,649,914,800,839,658,635,657,0.400979115956,0.00449390178986,0.0698309165016,0.999999962861,5.0469352602e-05,-0.000267135534182,1.92350435746e-05,1793254969250478336
+117,1.950000000,POSE1_TO_POSE2_PRESS,781,760,738,720.373329883,688,649,914,800,839,658,635,657.373329883,0.400993776322,0.00449412687886,0.0698373030581,0.999999965448,5.04079258011e-05,-0.000257283041433,1.91825494791e-05,1793254969267144960
+118,1.966666667,POSE1_TO_POSE2_PRESS,781,760,738,720.963234013,688,649,914,800,839,658,635,657.963234013,0.401014653509,0.00449325971821,0.0698461909791,0.999999969024,4.83520027764e-05,-0.00024339505617,1.929917112e-05,1793254969283811328
+119,1.983333333,POSE1_TO_POSE2_PRESS,781,760,738,720.457875267,687.457875267,649,914,800,838.457875267,657.457875267,635,657.457875267,0.401059940858,0.00449357599471,0.0698629549508,0.99999997545,4.79944757658e-05,-0.000215482094137,1.90588977502e-05,1793254969300477952
+120,2.000000000,POSE1_TO_POSE2_PRESS,781,759.879896781,738,720,687,649,914,800,838.120103219,657.120103219,635,657,0.401109646994,0.00449378548804,0.0698792711075,0.999999980607,4.77049481315e-05,-0.000190144029541,1.88708943662e-05,1793254969317144576
+121,2.016666667,POSE1_TO_POSE2_PRESS,781,759.302604066,738,720,687,649,914,800,838.697395934,657.697395934,635,657,0.401169997617,0.00449328906377,0.0698918898046,0.999999982834,4.72445420449e-05,-0.000178156254499,1.89721653226e-05,1793254969333811456
+122,2.033333333,POSE1_TO_POSE2_PRESS,781,759,738,720,687,649,914,800,839,658,635,657,0.401238319383,0.00449359589236,0.0699014181269,0.999999985174,4.53095753196e-05,-0.000165156909083,1.7936160988e-05,1793254969350478080
+123,2.050000000,POSE1_TO_POSE2_PRESS,781,759,738,720,687,649,914,800,839,658,635,657,0.401315422362,0.00449478760485,0.0699075420128,0.999999987599,4.17501949665e-05,-0.000151043192625,1.56473051442e-05,1793254969367144960
+124,2.066666667,POSE1_TO_POSE2_PRESS,781,759,738,720,687,649,914,800,838.554988117,658,635,657,0.40140804303,0.0044951369932,0.0699103623912,0.999999988199,4.0173055397e-05,-0.000147627774716,1.39046803729e-05,1793254969383811328
+125,2.083333333,POSE1_TO_POSE2_PRESS,781,759.023683048,738,720,687,649,914,800,838.023683048,657.976316952,634.976316952,657,0.4015059931,0.00449519807716,0.0699120407623,0.999999988268,3.90324652484e-05,-0.000147611631118,1.22838650172e-05,1793254969400478208
+126,2.100000000,POSE1_TO_POSE2_PRESS,781,759.601206215,738,720,687,649,914,800,838.601206215,657.398793785,634.398793785,657,0.401619540215,0.00449443553561,0.0699102245294,0.99999998783,3.41727572519e-05,-0.000151918553435,9.67357764799e-06,1793254969417144576
+127,2.116666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914,800,839,657.177668015,634.177668015,657,0.401743927265,0.00449475990761,0.069909754092,0.999999987714,3.05917572051e-05,-0.000153595945275,6.71049995261e-06,1793254969433810944
+128,2.133333333,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914,800,839,657.75176154,634.75176154,657,0.40189250113,0.00449750947856,0.0699122864898,0.999999988389,2.98639019261e-05,-0.000149406141149,2.9602517423e-06,1793254969450477568
+129,2.150000000,POSE1_TO_POSE2_PRESS,781,760,738,720.335488668,687,649,914,800,839,658,635,657.335488668,0.402058054026,0.00449974427264,0.0699145237609,0.999999989056,2.84456981321e-05,-0.000145182217613,-8.05265189786e-07,1793254969467144448
+130,2.166666667,POSE1_TO_POSE2_PRESS,781,760,738,720.926554798,687,649,914,800,839,658,635,657.926554798,0.402236541676,0.00450158690664,0.0699165362027,0.999999989707,2.65015822446e-05,-0.000140932301244,-4.58241433043e-06,1793254969483811328
+131,2.183333333,POSE1_TO_POSE2_PRESS,781,760,738,720.49461551,687.50538449,649,914,800,839,658,635,658,0.402448467601,0.00450326791933,0.0699199590519,0.99999999046,2.17791613239e-05,-0.000136078509946,-9.42900906508e-06,1793254969500478208
+132,2.200000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687.917387757,649.082612243,914,800,839,658,635,657.917387757,0.402670845698,0.00450468860701,0.0699235463506,0.999999991246,1.629666918e-05,-0.000130504963138,-1.44915701028e-05,1793254969517144832
+133,2.216666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687.33935444,649.66064556,914,800,839,658,635,657.33935444,0.402927452155,0.00450468566516,0.0699269197205,0.999999992428,8.62014644663e-06,-0.000121128920976,-1.99392734366e-05,1793254969533811200
+134,2.233333333,POSE1_TO_POSE2_PRESS,781,759.763012854,738,720,687,649.763012854,914,800,839,658,635,657,0.4032005903,0.00450539502644,0.0699327827934,0.999999993711,2.54165419431e-06,-0.000109257007155,-2.51857278805e-05,1793254969550477824
+135,2.250000000,POSE1_TO_POSE2_PRESS,781,759.189076611,738,720,687,649.189076611,914,800,839,658,635,657,0.403497233239,0.00450711714262,0.0699421857338,0.999999995142,-1.26475264415e-06,-9.3836455423e-05,-3.01460456685e-05,1793254969567144448
+136,2.266666667,POSE1_TO_POSE2_PRESS,781,759.396778674,738,720,687,649,914,800,839,658,635,657,0.403811017034,0.00450844214644,0.0699479916335,0.999999995704,-5.49931461137e-06,-8.56205356828e-05,-3.50744538782e-05,1793254969583811072
+137,2.283333333,POSE1_TO_POSE2_PRESS,781,759.988489613,738,720,687,649,914,800,839,658,635,657,0.404133221903,0.00450957205401,0.069952030353,0.999999995875,-9.94422358146e-06,-8.09441595538e-05,-3.99871851766e-05,1793254969600477696
+138,2.300000000,POSE1_TO_POSE2_PRESS,781,759.43433474,738,720,687,649,914,800,839,657.43433474,635,657,0.40451363181,0.00451346622441,0.0699568847824,0.999999996067,-1.08023382115e-05,-7.51756238012e-05,-4.5805742222e-05,1793254969617144576
+139,2.316666667,POSE1_TO_POSE2_PRESS,781,759.14194765,737.85805235,720,687,649,914,800,839,657.14194765,635,657.14194765,0.404901907741,0.00451384552566,0.0699613927956,0.999999996591,3.35529059374e-06,-6.89472427796e-05,-4.5316752084e-05,1793254969633811200
+140,2.333333333,POSE1_TO_POSE2_PRESS,781,759.716386911,737.283613089,720,687,649,914,800,839,657.716386911,635,657.716386911,0.405310631896,0.00450334850015,0.0699647960278,0.999999995802,6.30466656947e-05,-6.13838039667e-05,-2.55549282335e-05,1793254969650478080
+141,2.350000000,POSE1_TO_POSE2_PRESS,781,760,737.292001853,720,687,649,914,800,839,658,635,657.707998147,0.405737959156,0.00449035641214,0.0699654060633,0.999999995042,7.78957580989e-05,-5.9296809418e-05,-1.82364982393e-05,1793254969667144704
+142,2.366666667,POSE1_TO_POSE2_PRESS,781,760,737.868763384,720,687,649,914,800,839,658,635,657.131236616,0.406183428178,0.00447493114247,0.069963292179,0.999999996577,4.90147449429e-05,-6.25504326288e-05,-2.30528410865e-05,1793254969683811328
+143,2.383333333,POSE1_TO_POSE2_PRESS,781.458675826,760,738,720,686.541324174,649,914,800,839,657.541324174,635,657,0.406641962762,0.00448336062284,0.0699490377785,0.999999995301,3.35988237945e-05,-8.71617018322e-05,-2.59377247536e-05,1793254969700477952
+144,2.400000000,POSE1_TO_POSE2_PRESS,781.949298309,760,737.949298309,720,686.050701691,649,914,800,839,657,635.050701691,657.050701691,0.407112465556,0.00449780951322,0.0699323630785,0.999999992759,1.95266076699e-05,-0.000115350741718,-2.81982736458e-05,1793254969717144320
+145,2.416666667,POSE1_TO_POSE2_PRESS,781.375436474,760,737.375436474,720,686.624563526,649,914,800,839,657,635.624563526,657.624563526,0.407666749247,0.00450186371392,0.0699276152681,0.999999992645,-2.16072308322e-05,-0.000115541127388,-2.98872673338e-05,1793254969733811200
+146,2.433333333,POSE1_TO_POSE2_PRESS,781,760,737.199697387,720,687,649,914,800,839,657.199697387,635.800302613,658,0.408244009217,0.00450622883484,0.0699312347535,0.999999993503,-4.047160687e-05,-0.000101652331954,-3.19779333675e-05,1793254969750477824
+147,2.450000000,POSE1_TO_POSE2_PRESS,781,760,737.777237985,720,687,649,914,800,839,657.777237985,635.222762015,658,0.408864742082,0.0045111822411,0.069950685823,0.999999997377,-1.72004006002e-05,-6.11246152808e-05,-3.48285951003e-05,1793254969767144704
+148,2.466666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649.362666508,914.362666508,800,839,657.637333492,635,658,0.409475640161,0.00452096717799,0.0699586851935,0.999999998442,1.47485703624e-05,-3.98948005914e-05,-3.61414330795e-05,1793254969783811328
+149,2.483333333,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649.953047759,914.953047759,800,839,657.046952241,635,658,0.41008036305,0.0045337857854,0.0699594941538,0.999999997501,5.21462237715e-05,-3.07819508232e-05,-3.6488686489e-05,1793254969800478464
+150,2.500000000,POSE1_TO_POSE2_PRESS,781,760,738,720,686.469735071,649.469735071,915,800.530264929,839,657.530264929,635,657.469735071,0.410723091245,0.00453694192285,0.0699523555549,0.999999996645,5.48827771244e-05,-4.77084917195e-05,-3.77100543503e-05,1793254969817144832
+151,2.516666667,POSE1_TO_POSE2_PRESS,781.106192295,760,738,719.893807705,686.106192295,649,915,800.893807705,839,658,635,657,0.411387238758,0.00454090360459,0.0699493568201,0.999999996003,5.65704895269e-05,-5.72332278004e-05,-3.8952341991e-05,1793254969833811456
+152,2.533333333,POSE1_TO_POSE2_PRESS,781.681446205,760,738,719.318553795,686.681446205,649,915,800.318553795,839,658,635,657,0.412131493047,0.00455211100787,0.0699676773489,0.999999996676,6.68533260341e-05,-2.41258793076e-05,-3.99534396042e-05,1793254969850478080
+153,2.550000000,POSE1_TO_POSE2_PRESS,782,760,738,719,686.743251446,649,915,800,839.256748554,658,635.256748554,657,0.412889086825,0.00456089849125,0.0699923738359,0.999999996494,7.14779411804e-05,1.55598049041e-05,-4.07498536438e-05,1793254969867144448
+154,2.566666667,POSE1_TO_POSE2_PRESS,782,760,738,719,686.167888909,649,915,800,839.832111091,658,635.832111091,657,0.413663234438,0.00456668295895,0.070024982617,0.999999994751,6.90809467529e-05,6.34089270591e-05,-4.12922642291e-05,1793254969883811072
+155,2.583333333,POSE1_TO_POSE2_PRESS,781.579037476,760,738,719,686.420962524,649,914.579037476,800,839.579037476,658,635.579037476,657,0.414405002981,0.00457194898871,0.0700223676743,0.9999999945,8.0431244132e-05,5.2927351063e-05,-4.15965943424e-05,1793254969900477696
+156,2.600000000,POSE1_TO_POSE2_PRESS,781.014814704,760,738,719,686.985185296,649.014814704,914.014814704,800,839.014814704,657.985185296,635,657,0.415133778908,0.0045771426,0.0700041361636,0.999999994256,9.72289793091e-05,1.6788976025e-05,-4.18663960076e-05,1793254969917144320
+157,2.616666667,POSE1_TO_POSE2_PRESS,781.587686445,760,738,719,686.412313555,649.587686445,914.587686445,800,839.587686445,657.412313555,635,657,0.415875678114,0.00458765474256,0.0699443348845,0.999999990166,0.000105860984172,-8.04922130019e-05,-4.45306907777e-05,1793254969933811200
+158,2.633333333,POSE1_TO_POSE2_PRESS,781.838207408,760,738,718.838207408,686,649.838207408,915,800,840,657.161792592,635.161792592,657,0.41666074236,0.00459652907443,0.0699067493394,0.999999982674,0.000109914265047,-0.000142702585454,-4.69828658792e-05,1793254969950478080
+159,2.650000000,POSE1_TO_POSE2_PRESS,781.260931343,760,738,718.260931343,686,649.260931343,915,800,840,657.739068657,635.739068657,657,0.41755665441,0.00460119750688,0.0699262138157,0.999999986986,0.000102209381637,-0.00011485107575,-4.88903182999e-05,1793254969967144448
+160,2.666666667,POSE1_TO_POSE2_PRESS,781.324125631,760,738,718.324125631,686,649.324125631,915,800,840,658,635.675874369,657.324125631,0.418438709727,0.00460675151249,0.0699518485849,0.999999989744,0.000110759757,-7.60994244674e-05,-4.95232318728e-05,1793254969983811072
+161,2.683333333,POSE1_TO_POSE2_PRESS,781.915600521,760,738,718.915600521,686,649.915600521,915,800,840,658,635.084399479,657.915600521,0.41930933552,0.00461303596712,0.0699825728094,0.999999989585,0.000132717993526,-2.83569866074e-05,-4.91048645798e-05,1793254970000477696
+162,2.700000000,POSE1_TO_POSE2_PRESS,782,760,738,718.503630647,686,650,915,800,840,657.503630647,635,657.503630647,0.420225288568,0.00461275554926,0.0700082601895,0.999999991285,0.000121480043726,1.47702540029e-05,-4.95491940384e-05,1793254970017144320
+163,2.716666667,POSE1_TO_POSE2_PRESS,782,760.074773369,738,718,686.074773369,649.925226631,915,800.074773369,840,657,635.074773369,657.074773369,0.421146804022,0.00460850049726,0.0700297573525,0.999999992066,0.000103829140112,5.06652507016e-05,-5.02075429706e-05,1793254970033810944
+164,2.733333333,POSE1_TO_POSE2_PRESS,782,760.649281678,738,718,686.649281678,649.350718322,915,800.649281678,840,657,635.649281678,657.649281678,0.422055072503,0.00458498441033,0.070028852882,0.999999994523,8.02457251497e-05,4.33587044309e-05,-5.13365927729e-05,1793254970050477568
+165,2.750000000,POSE1_TO_POSE2_PRESS,782,760.776087094,738,718,686.776087094,649,915,800.776087094,840,657.223912906,636,657.776087094,0.422935237187,0.00456797729379,0.0699936734038,0.999999996347,6.5759444727e-05,-1.6307292371e-05,-5.211086848e-05,1793254970067144192
+166,2.766666667,POSE1_TO_POSE2_PRESS,782,760.201263141,738,718,686.201263141,649,915,800.201263141,840,657.798736859,636,657.201263141,0.423771358402,0.00456117087914,0.0699047789385,0.999999983997,6.55299753996e-05,-0.000158029791838,-5.23291500455e-05,1793254970083810816
+167,2.783333333,POSE1_TO_POSE2_PRESS,782,760.384559773,738,717.615440227,686,649.384559773,915,800.384559773,840,658,635.615440227,657,0.424672869172,0.00456538774152,0.0698659010151,0.999999974234,6.70250390459e-05,-0.000209971112675,-5.43297908809e-05,1793254970100477696
+168,2.800000000,POSE1_TO_POSE2_PRESS,782,760.976308555,738,717.023691445,686,649.976308555,915,800.976308555,840,658,635.023691445,657,0.425609609779,0.00457554360784,0.0698539704756,0.999999973147,6.94492286493e-05,-0.000213541081509,-5.72907125862e-05,1793254970117144576
+169,2.816666667,POSE1_TO_POSE2_PRESS,782.554101408,760.445898592,738,717.554101408,686,649.445898592,915,800.445898592,840,658,635.554101408,657.554101408,0.426613376505,0.00457968513438,0.0699210848994,0.999999988386,8.19222948042e-05,-0.000115819718929,-5.5703883052e-05,1793254970133810944
+170,2.833333333,POSE1_TO_POSE2_PRESS,783,760,738,718,686,649.130837843,915,800,840,658,636,658,0.427621900214,0.00458358702636,0.0699858882722,0.999999994248,8.984986574e-05,-2.24663979752e-05,-5.40917997614e-05,1793254970150477568
+171,2.850000000,POSE1_TO_POSE2_PRESS,783,760,738,718,686,649.705963423,915,800,840,658,636,658,0.428637084853,0.00458752695007,0.0700316494803,0.99999999445,8.09191013015e-05,4.17092317366e-05,-5.30380246772e-05,1793254970167144192
+172,2.866666667,POSE1_TO_POSE2_PRESS,783,760,738,718,686,649.711187858,915,800,840,658,635.711187858,657.711187858,0.429633549647,0.00458939787562,0.070055066784,0.99999999269,7.5640287867e-05,7.77435385871e-05,-5.34350340046e-05,1793254970183811072
+173,2.883333333,POSE1_TO_POSE2_PRESS,783,760,738,718,686,649.120260293,915,800,840,658,635.120260293,657.120260293,0.430610432259,0.00458910450048,0.0700551109742,0.99999999216,7.41816426166e-05,8.43402716307e-05,-5.53496540913e-05,1793254970200477696
+174,2.900000000,POSE1_TO_POSE2_PRESS,783,760,737.539229521,717.539229521,686,649,915,800,840,658,635,657,0.431472099993,0.00458875149264,0.0699813501093,0.999999993907,8.56219174505e-05,-4.31424533677e-05,-5.47126192055e-05,1793254970217144576
+175,2.916666667,POSE1_TO_POSE2_PRESS,782.961030553,760,737.038969447,717,686,649.038969447,915,800.038969447,840,658,635.038969447,657.038969447,0.432313122152,0.00458839963444,0.069895234143,0.999999975159,9.85091376128e-05,-0.000192606589985,-5.36768251236e-05,1793254970233811456
+176,2.933333333,POSE1_TO_POSE2_PRESS,782.38699348,760,737.61300652,717,686,649.61300652,915,800.61300652,840,658,635.61300652,657.61300652,0.433274875232,0.00458827276912,0.0698984051705,0.999999979676,8.60107036868e-05,-0.000173498420279,-5.61177984765e-05,1793254970250477824
+177,2.950000000,POSE1_TO_POSE2_PRESS,782.18734028,760,738,717,686,649.81265972,915,800.81265972,840,658,635.81265972,657.81265972,0.434253328464,0.00458663022023,0.0699226223864,0.999999987657,7.6427862182e-05,-0.000124772323574,-5.72442303211e-05,1793254970267144192
+178,2.966666667,POSE1_TO_POSE2_PRESS,782.762287989,760,738,717,686,649.237712011,915,800.237712011,840,658,635.237712011,657.237712011,0.435266334523,0.00458185171888,0.0699903842106,0.999999995687,7.28773846441e-05,-1.47666692426e-05,-5.56508730714e-05,1793254970283810816
+179,2.983333333,POSE1_TO_POSE2_PRESS,783,760,738,716.65255081,686,649,915,800.34744919,840,658,635.34744919,657.34744919,0.436253723407,0.00457832109837,0.070028316253,0.999999994677,7.26454002986e-05,4.82749485642e-05,-5.51228988966e-05,1793254970300477440
+180,3.000000000,POSE1_TO_POSE2_PRESS,783,760,738,716.06019032,686,649,915,800.93980968,840,658,635.93980968,657.93980968,0.4372230551,0.00457567008913,0.0700452217619,0.999999992616,7.47525685939e-05,7.82123719744e-05,-5.53458963665e-05,1793254970317144320
+181,3.016666667,POSE1_TO_POSE2_PRESS,783,760,738,716.518420625,686,649,915,800.481579375,840.518420625,658,635.481579375,658,0.438118244789,0.00457532784436,0.0700183412001,0.999999994817,6.60208811473e-05,5.219199303e-05,-5.7296287716e-05,1793254970333810944
+182,3.033333333,POSE1_TO_POSE2_PRESS,783,760,738,717,686,649,915.095556796,800.095556796,841,657.904443204,635.095556796,658,0.438985270111,0.00457635532339,0.0699782351096,0.99999999642,6.05443558758e-05,1.70101870178e-06,-5.90923888654e-05,1793254970350477824
+183,3.050000000,POSE1_TO_POSE2_PRESS,783,760,738,717,686,649,915.673098214,800.673098214,841,657.326901786,635.673098214,658,0.439752532723,0.00458297450795,0.0698963994841,0.999999985394,7.76701917393e-05,-0.000140295307,-5.91247957375e-05,1793254970367144448
+184,3.066666667,POSE1_TO_POSE2_PRESS,783,760,738,717.254981328,686,649,916,801,841,657.254981328,636,657.745018672,0.440570750257,0.00458826677715,0.0698509742663,0.999999970881,8.93550495221e-05,-0.000216136725353,-5.94784717895e-05,1793254970383810816
+185,3.083333333,POSE1_TO_POSE2_PRESS,783,760,738,717.842527138,686,649,916,801,841,657.842527138,636,657.157472862,0.441455426704,0.00459182839002,0.0698530380555,0.999999972617,9.39434034518e-05,-0.000205694278576,-6.02511708049e-05,1793254970400477440
+186,3.100000000,POSE1_TO_POSE2_PRESS,783,760,738,717.576091123,685.576091123,649,915.576091123,801,841,657.576091123,635.576091123,657.423908877,0.442346993258,0.00459558653551,0.0698973542422,0.999999984476,9.30344806517e-05,-0.000137494134307,-5.90601976243e-05,1793254970417144320
+187,3.116666667,POSE1_TO_POSE2_PRESS,783,760,738,717,685,649,915,800.996982782,841,657.003017218,635.003017218,657.996982782,0.443240513002,0.0045994219205,0.069956787335,0.99999999311,9.02027544823e-05,-4.875698841e-05,-5.71582987188e-05,1793254970433810944
+188,3.133333333,POSE1_TO_POSE2_PRESS,783,760,738,717,685,649,915,800.420997497,841,657.579002503,635.579002503,657.420997497,0.444025842676,0.00460425959461,0.0699490004956,0.999999990036,0.000104470807395,-7.60881610376e-05,-5.67909681373e-05,1793254970450477568
+189,3.150000000,POSE1_TO_POSE2_PRESS,782.844479851,760,738,717,684.844479851,648.844479851,915,800.155520149,841,658,635.844479851,657.155520149,0.444795635552,0.00460905015409,0.0699302657259,0.99999998517,0.000114909246649,-0.000114909119002,-5.70217207167e-05,1793254970467143936
+190,3.166666667,POSE1_TO_POSE2_PRESS,782.26651601,760,738,717,684.26651601,648.26651601,915,800.73348399,841,658,635.26651601,657.73348399,0.445523225566,0.00461371273586,0.0698817927877,0.999999974559,0.000114945203184,-0.000184940105499,-5.88770630404e-05,1793254970483810816
+191,3.183333333,POSE1_TO_POSE2_PRESS,782.316605225,760,737.683394775,717,683.683394775,648,915,801,841,658,635,658,0.446229051052,0.00461628265158,0.0698364731703,0.999999960494,0.000112287499358,-0.000250551971002,-6.02245435262e-05,1793254970500477440
+192,3.200000000,POSE1_TO_POSE2_PRESS,782.904139774,760,737.095860226,717,683.095860226,648,915,801,841,658,635,658,0.446916251882,0.00461706180506,0.0697938519542,0.99999994358,0.000107324743317,-0.000312382247553,-6.11374301159e-05,1793254970517144320
+193,3.216666667,POSE1_TO_POSE2_PRESS,783,760,737.483976224,717,683,648,915,801,841,658,635,658,0.447558695677,0.00461979084432,0.0697544623098,0.999999917574,0.000117583640528,-0.000384099898985,-5.90984793472e-05,1793254970533810944
+194,3.233333333,POSE1_TO_POSE2_PRESS,783,760,737.938014771,717,682.938014771,647.938014771,915,800.938014771,841,658,635,658,0.448197603687,0.00462284052231,0.0697211012628,0.9999998899,0.000129985944344,-0.000447293445825,-5.68604250278e-05,1793254970550477568
+195,3.250000000,POSE1_TO_POSE2_PRESS,783,760,737.362710182,717,682.362710182,647.362710182,915,800.362710182,841,658,635,658,0.44887949471,0.00462539725925,0.0697324473028,0.999999899285,0.000135561862277,-0.000423932206447,-5.77395191883e-05,1793254970567144192
+196,3.266666667,POSE1_TO_POSE2_PRESS,783.21171714,760,737,717,682,647.21171714,915,800,841,657.78828286,635.21171714,657.78828286,0.449547081123,0.00462668348392,0.0697506385462,0.99999991144,0.000137554846059,-0.000393433704874,-5.83874982643e-05,1793254970583810816
+197,3.283333333,POSE1_TO_POSE2_PRESS,783.784647685,760,737,717,682,647.784647685,915,800,841,657.215352315,635.784647685,657.215352315,0.450190262183,0.00462580207061,0.0697805084801,0.999999927862,0.000133434937984,-0.000350758228339,-5.86411687291e-05,1793254970600477696
+198,3.300000000,POSE1_TO_POSE2_PRESS,783.627344479,760,737,717,681.627344479,647.627344479,915,800,841,657.372655521,635.627344479,657,0.450773295127,0.00462707368822,0.0697703022064,0.999999920739,0.000141850444116,-0.000367653012556,-5.68512327293e-05,1793254970617144576
+199,3.316666667,POSE1_TO_POSE2_PRESS,783.030256251,760,737,717,681.030256251,647.030256251,915,800,841,657.969743749,635.030256251,657,0.451320103783,0.00462964197393,0.0697359599408,0.99999989772,0.000157815433717,-0.000420424128445,-5.3830529625e-05,1793254970633811200
+200,3.333333333,POSE1_TO_POSE2_PRESS,783,759.454074899,737,717,681,647,915,800,841,658,635,657.545925101,0.451808907806,0.00463354722452,0.0696880676399,0.999999866667,0.000162097978084,-0.000486982956172,-5.69057390103e-05,1793254970650478080
+201,3.350000000,POSE1_TO_POSE2_PRESS,783,759.121349371,737,716.878650629,680.878650629,647,915,800,841,658,635,658,0.452289867508,0.00463699561982,0.0696434228348,0.999999833739,0.000166372405397,-0.000548893741831,-5.96423392463e-05,1793254970667145216
+202,3.366666667,POSE1_TO_POSE2_PRESS,783,759.698120682,737,716.301879318,680.301879318,647,915,800,841,658,635,658,0.452753007588,0.00463846161811,0.0696136802305,0.999999808846,0.000172956669634,-0.000590598501059,-5.98869779363e-05,1793254970683811840
+203,3.383333333,POSE1_TO_POSE2_PRESS,783,760,737,716.274434031,679.725565969,647,915,800,841,658,635,658,0.453214089431,0.00463989925347,0.0696017834766,0.999999798273,0.000179440908259,-0.000606390297202,-5.95542993303e-05,1793254970700478208
+204,3.400000000,POSE1_TO_POSE2_PRESS,783,760,737,716.850244425,679.149755575,647,915,800,841,658,635,658,0.453672910943,0.00464130574131,0.0696094845762,0.999999804765,0.000185815301178,-0.000593725145173,-5.85876258533e-05,1793254970717144576
+205,3.416666667,POSE1_TO_POSE2_PRESS,783,760,737.408838492,716.591161508,679,647,915,800,841,658,635,658,0.454091330467,0.00464206871316,0.0696167195542,0.999999807858,0.000189484476033,-0.00058737871238,-5.80117241324e-05,1793254970733811200
+206,3.433333333,POSE1_TO_POSE2_PRESS,783,760,737.961381117,716.038618883,679,647,915,800,841,658,635,658,0.454495548939,0.00464260549319,0.0696237906932,0.99999980978,0.000192202783783,-0.000583253269558,-5.75731762242e-05,1793254970750477568
+207,3.450000000,POSE1_TO_POSE2_PRESS,783.573530772,760,737.426469228,716.573530772,678.426469228,646.426469228,915,800,841,658,635,658,0.454842078945,0.00464357601757,0.0696118751333,0.999999794539,0.000185490908664,-0.000610859512375,-5.80169407301e-05,1793254970767144192
+208,3.466666667,POSE1_TO_POSE2_PRESS,784,760,737,717,678,646,915,800,841.176188116,658,635,657.823811884,0.455166918072,0.00464526468374,0.0695936714012,0.999999776673,0.000162256372637,-0.000645630395339,-5.90629304285e-05,1793254970783811072
+209,3.483333333,POSE1_TO_POSE2_PRESS,784,760,737,717,678,646,915,800,841.74751164,658,635,657.25248836,0.455452833307,0.00464849082177,0.0695645650249,0.999999753934,0.000103555866746,-0.0006911216864,-6.13108308825e-05,1793254970800477952
+210,3.500000000,POSE1_TO_POSE2_PRESS,783.66682681,760,737,717,677.66682681,646,915,800,842,657.66682681,635.33317319,657.33317319,0.45574301695,0.00464923960509,0.069553335643,0.999999746056,7.88548174202e-05,-0.000705467629236,-6.31214152149e-05,1793254970817144576
+211,3.516666667,POSE1_TO_POSE2_PRESS,783.069810789,760,737,717,677.069810789,646,915,800,842,657.069810789,635.930189211,657.930189211,0.456036580817,0.00464802654939,0.0695562632101,0.999999753011,8.10782360159e-05,-0.000695149299093,-6.45856854278e-05,1793254970833811200
+212,3.533333333,POSE1_TO_POSE2_PRESS,783,760,737,716.493848927,677,646,915,800,841.493848927,657.506151073,635.493848927,657.493848927,0.456305312201,0.00464741454359,0.0695663037971,0.999999762349,8.98381533327e-05,-0.000680575349269,-6.36311144631e-05,1793254970850477824
+213,3.550000000,POSE1_TO_POSE2_PRESS,783.080061564,760,737.080061564,716.080061564,676.919938436,646,915,800,841,657.919938436,635,657.080061564,0.456563097025,0.00464747638504,0.0695755292598,0.99999976977,0.000103634608785,-0.00066782071464,-6.11108581039e-05,1793254970867144192
+214,3.566666667,POSE1_TO_POSE2_PRESS,783.658557804,760,737.658557804,716.658557804,676.341442196,646,915,800,841,657.341442196,635,657.658557804,0.456773203972,0.00465123786528,0.0695738162295,0.999999764043,0.000143398200905,-0.000669900724247,-5.0837246008e-05,1793254970883811072
+215,3.583333333,POSE1_TO_POSE2_PRESS,783.765086361,760,737.765086361,717,676,646,915,800,841,657,635.234913639,658,0.456965895147,0.00465518620064,0.0695677922984,0.999999753987,0.000167419216541,-0.000679617675071,-4.60139806868e-05,1793254970900477696
+216,3.600000000,POSE1_TO_POSE2_PRESS,783.191813505,760,737.191813505,717,676,646,915,800,841,657,635.808186495,658,0.457133501404,0.00465940367362,0.0695555591368,0.999999739322,0.000168765319082,-0.000700334539245,-4.90411545142e-05,1793254970917144064
+217,3.616666667,POSE1_TO_POSE2_PRESS,783.397176976,760.397176976,737.397176976,717,675.602823024,646,915,800,841,657.397176976,636,658,0.457281274925,0.00466077501723,0.0695447139438,0.999999726335,0.000170098503527,-0.000718219358252,-5.05689446063e-05,1793254970933810944
+218,3.633333333,POSE1_TO_POSE2_PRESS,783.994070909,760.994070909,737.994070909,717,675.005929091,646,915,800,841,657.994070909,636,658,0.457419075723,0.00466071520954,0.0695345666791,0.999999714111,0.000171425192167,-0.00073468010751,-5.13427826466e-05,1793254970950477824
+219,3.650000000,POSE1_TO_POSE2_PRESS,783.431667378,760.431667378,737.431667378,716.431667378,675,646,915,800,841,658,635.431667378,658,0.457535852761,0.0046623588902,0.0695292934852,0.999999708649,0.00017176099653,-0.000741869745553,-5.32001509399e-05,1793254970967144704
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,760,737,716,675,645.857706882,915,800,841,658,635,658,0.457646276497,0.00466477685394,0.0695243085576,0.999999703398,0.00017255092454,-0.000748597576977,-5.50616452947e-05,1793254970983811328
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,760,737,716,675,645.283971318,915,800,841,658,635,658,0.457738076117,0.00466949067567,0.0695200494025,0.999999698698,0.000174747929523,-0.000754207209231,-5.69026883509e-05,1793254971000477952
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,759.701574952,737,716.298425048,675,645,915,800,841,658,635.298425048,657.701574952,0.45781724365,0.00467290132552,0.0695145971423,0.99999969289,0.000177596874108,-0.000761120314334,-5.81028141431e-05,1793254971017144832
+223,3.716666667,POSE1_TO_POSE2_PRESS,783,759.110690859,737,716.889309141,675,645,915,800,841,658,635.889309141,657.110690859,0.457884031643,0.00467503485657,0.0695079756288,0.999999685963,0.000181084725215,-0.000769310834382,-5.86748358686e-05,1793254971033811456
+224,3.733333333,POSE1_TO_POSE2_PRESS,783,759.472202118,737,716.527797882,675,645,915,800,841,658,635.527797882,657.472202118,0.457932147156,0.00468141626551,0.0694984563224,0.999999673078,0.000187402142861,-0.000784250012762,-6.06356926176e-05,1793254971050477824
+225,3.750000000,POSE1_TO_POSE2_PRESS,783,759.947478257,737,716,674.947478257,645,915,799.947478257,841,658,635,657.947478257,0.457975228312,0.00468970509377,0.0694889743462,0.999999659264,0.000195302927966,-0.000799588403292,-6.31381985384e-05,1793254971067144448
+226,3.766666667,POSE1_TO_POSE2_PRESS,783,759.374406209,737,716,674.374406209,645,915,799.374406209,841,658,635,657.374406209,0.458011073328,0.00470719371949,0.069486482784,0.999999652357,0.00021243212993,-0.000803465145031,-6.7836067311e-05,1793254971083811072
+227,3.783333333,POSE1_TO_POSE2_PRESS,783,759.199811573,737,716,674,645,915,799.199811573,841,657.800188427,635,657.199811573,0.458042366346,0.00471929417919,0.0694837639783,0.999999645994,0.000225272270744,-0.000807608794348,-7.09444969747e-05,1793254971100477952
+228,3.800000000,POSE1_TO_POSE2_PRESS,783,759.776188572,737,716,674,645,915,799.776188572,841,657.223811428,635,657.776188572,0.458065080655,0.00472124008576,0.069480616909,0.999999641139,0.000230029234511,-0.000812255458557,-7.10574651903e-05,1793254971117144576
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+232,3.866666667,POSE1_TO_POSE2_PRESS,783.933083646,760,737,717,674,645,915,800,841,657.066916354,635.933083646,657.066916354,0.458116211578,0.00471626260456,0.0694756604909,0.999999635409,0.000225926130017,-0.00082053565014,-6.97146967873e-05,1793254971183811072
+233,3.883333333,POSE1_TO_POSE2_PRESS,783.331753181,760,737,717,674,645,915,800,841,657.668246819,635.331753181,657.668246819,0.458118010786,0.00471575551626,0.0694734468352,0.999999632162,0.00022562416801,-0.00082463784453,-6.88605383481e-05,1793254971200477696
+234,3.900000000,POSE1_TO_POSE2_PRESS,783,760,737,717,674,645,915,800,841,658,635,657.734614749,0.458119703493,0.0047155392965,0.0694716924314,0.999999629659,0.000226140944875,-0.00082756235659,-6.84372830393e-05,1793254971217144576
+235,3.916666667,POSE1_TO_POSE2_PRESS,783,760,737,717,674,645,915,800,841,658,635,657.14263513,0.458121265134,0.00471568103184,0.0694705032021,0.999999628083,0.000227665296552,-0.000829037563287,-6.85443153213e-05,1793254971233811456
+236,3.933333333,POSE1_TO_POSE2_PRESS,783,760,737,717,674,645,915,800,841,658,635,657,0.458123960504,0.00471533316117,0.0694705525867,0.999999628742,0.000226863805631,-0.000828476200827,-6.83736584271e-05,1793254971250478080
+237,3.950000000,POSE1_TO_POSE2_PRESS,783.016892712,760,737.016892712,717,674,645,915.016892712,800,841,658,635,657,0.458126907362,0.00471482546304,0.0694709403859,0.999999630035,0.00022536659477,-0.000827344816097,-6.81246377875e-05,1793254971267144448
+238,3.966666667,POSE1_TO_POSE2_PRESS,783.592009992,760,737.592009992,717,674,645,915.592009992,800,841,658,635,657,0.458126272455,0.00471417196329,0.0694695187036,0.999999628895,0.000225276144223,-0.000828739561513,-6.8198897043e-05,1793254971283811328
+239,3.983333333,POSE1_TO_POSE2_PRESS,783.834061694,759.834061694,737.834061694,717,674,645,915.834061694,800,841,658,635,657.165938306,0.458126046483,0.00471407153045,0.0694687311426,0.999999627987,0.000226212472751,-0.000829583512532,-6.8153346426e-05,1793254971300477952
+240,4.000000000,POSE1_TO_POSE2_PRESS,783.263035911,759.263035911,737.263035911,717,674,645,915.263035911,800,841,658,635,657.736964089,0.458126818803,0.00471532124085,0.0694694915944,0.99999962764,0.000229655367457,-0.00082908286789,-6.78153167495e-05,1793254971317144576
+241,4.016666667,POSE1_TO_POSE2_PRESS,783.322449991,759.322449991,737,717,674,645,915,800,841,658,635,658,0.458127122292,0.00471522464947,0.0694689924067,0.999999627032,0.000229354548501,-0.000829910898772,-6.76790776623e-05,1793254971333811200
+242,4.033333333,POSE1_TO_POSE2_PRESS,783.920285394,759.920285394,737,717,674,645,915,800,841,658,635,658,0.458127025378,0.00471397826151,0.0694674174356,0.999999626195,0.000225856445578,-0.000831873672634,-6.77151759657e-05,1793254971350477824
+243,4.050000000,POSE1_TO_POSE2_PRESS,783.500277256,760,737,717,674,645,915,800,841.499722744,657.500277256,635,658,0.45812706267,0.00471400147737,0.0694671733922,0.999999625898,0.000226298025211,-0.000832127811117,-6.75039002357e-05,1793254971367144448
+244,4.066666667,POSE1_TO_POSE2_PRESS,783,760,737.075601588,717,674,645,915,800,842,657,635,658,0.458127089058,0.0047141836325,0.0694671872264,0.999999625727,0.000227317107776,-0.000832074181821,-6.72704156846e-05,1793254971383811072
+245,4.083333333,POSE1_TO_POSE2_PRESS,783,760,737.646709352,717,674,645,915,800,842,657,635,658,0.458126908645,0.00471412725815,0.0694675491526,0.999999625836,0.0002281485417,-0.00083172634505,-6.71408181967e-05,1793254971400477952
+246,4.100000000,POSE1_TO_POSE2_PRESS,783,760,737.773362864,717,674,645,915,800,841.773362864,657.226637136,635,658,0.458127671405,0.00471379562801,0.0694679585734,0.999999626368,0.000228520299911,-0.000830994213142,-6.70163957803e-05,1793254971417144576
+247,4.116666667,POSE1_TO_POSE2_PRESS,783,760,737.179129266,717,674,645,915,800,841.179129266,657.820870734,635,658,0.458129963955,0.00471301754384,0.0694684450283,0.999999627586,0.000228146482445,-0.000829638769685,-6.69003671046e-05,1793254971433811456
+248,4.133333333,POSE1_TO_POSE2_PRESS,783,760,737.403127377,717,674,645,915,799.596872623,841,658,635.403127377,658,0.458130546347,0.00471133571478,0.0694685030758,0.999999628233,0.000226786037654,-0.000829263417852,-6.6513205958e-05,1793254971450478080
+249,4.150000000,POSE1_TO_POSE2_PRESS,783,760,737.980215592,717,674,645,915,799.019784408,841,658,635.980215592,658,0.458130390758,0.00470926389434,0.0694683762533,0.999999628631,0.000224999835357,-0.000829311003286,-6.60090435075e-05,1793254971467144704
+250,4.166666667,POSE1_TO_POSE2_PRESS,783,760,737.444092193,717,674,645,915,799.555907807,841,658,635.444092193,658,0.458130823141,0.00471157356219,0.069469287122,0.999999628952,0.000226556873842,-0.000828474439598,-6.63109415089e-05,1793254971483811328
+251,4.183333333,HOLD_POSE2,783,760,737,717,673,645,915,800,841,657,635,657,0.458129367104,0.00471418001119,0.0694674200185,0.999999625096,0.000230986973925,-0.00083190850322,-6.61872772788e-05,1793254971525739520
+252,4.200000000,HOLD_POSE2,783,760,737,717,673.596055747,645,915,799.403944253,841,657.596055747,635,657.596055747,0.458130955175,0.0047135773841,0.0694683950631,0.999999626969,0.000230051789986,-0.000829896283729,-6.64086420313e-05,1793254971542405888
+253,4.216666667,HOLD_POSE2,783,759.81393679,737,717,674,645,915,799,841,658,635,658,0.458132233799,0.00471327531784,0.0694691635346,0.999999628289,0.000229414812826,-0.000828473000866,-6.6499732251e-05,1793254971559072256
+254,4.233333333,HOLD_POSE2,783,759.236646674,737,717,674,645,915,799,841,658,635,658,0.458132861763,0.00471360522749,0.0694694976544,0.999999628457,0.000229404861738,-0.000828288048707,-6.63168999972e-05,1793254971575738880
+255,4.250000000,HOLD_POSE2,783.34030344,759.34030344,737.34030344,717,673.65969656,645,915,799,841,658,635,658,0.45813213514,0.00471281091871,0.0694685534673,0.999999627566,0.000228094847577,-0.00082974190441,-6.60953943599e-05,1793254971592405248
+256,4.266666667,HOLD_POSE2,783.917017317,759.917017317,737.917017317,717,673.082982683,645,915,799,841,658,635,658,0.45813046748,0.00471123560996,0.0694667212341,0.999999625931,0.000225881673338,-0.000832334247828,-6.58470221475e-05,1793254971609071872
+257,4.283333333,HOLD_POSE2,783.509036844,760,737.509036844,716.509036844,673,645,915,799.490963156,841,658,635.490963156,658,0.458130977611,0.00471115279282,0.0694674730918,0.999999626693,0.000224980949394,-0.000831644094122,-6.60718309225e-05,1793254971625738496
+258,4.300000000,HOLD_POSE2,783.066740479,760,737,716.066740479,673,645,915,800,841,658,635.933259521,658,0.458131901456,0.00471154682625,0.0694686256627,0.999999627852,0.000224670493234,-0.000830311365043,-6.63452552918e-05,1793254971642405120
+259,4.316666667,HOLD_POSE2,783.660659414,760,737,716.660659414,673,645,915,800,841,658,635.339340586,658,0.458133201972,0.00471372604674,0.069469512816,0.999999628961,0.000227280120759,-0.000828260800289,-6.63744987277e-05,1793254971659071744
+260,4.333333333,HOLD_POSE2,784,760,737,717,673.246489453,645,915,800,841,658,635,658,0.458133942382,0.00471423663594,0.0694699329823,0.999999629422,0.000228130939055,-0.000827477050645,-6.6283835415e-05,1793254971675738368
+261,4.350000000,HOLD_POSE2,784,760,737,717,673.821537342,645,915,800,841,658,635,658,0.458133936199,0.00471252302073,0.0694697306777,0.999999629029,0.000226637350114,-0.000828381904008,-6.60333422456e-05,1793254971692405248
+262,4.366666667,HOLD_POSE2,784,760,737,717,674,645,915,799.603801296,841,658,635.396198704,658,0.458133681236,0.00471171692835,0.0694701590108,0.999999629113,0.000226472183454,-0.000828344166818,-6.58011594855e-05,1793254971709071872
+263,4.383333333,HOLD_POSE2,784,760,737,717,674,645,915,799.02931382,841,658,635.97068618,658,0.458133314324,0.00471131921963,0.0694708711299,0.999999629412,0.000226904804528,-0.00082788226549,-6.55772163581e-05,1793254971725738496
+264,4.400000000,HOLD_POSE2,783.4410726,760,737,717,673.4410726,645,915,799.5589274,841.5589274,657.4410726,636,657.4410726,0.458132669371,0.00471162354215,0.0694689997417,0.999999628022,0.0002271968117,-0.00082945848639,-6.58536644256e-05,1793254971742404864
+265,4.416666667,HOLD_POSE2,783,760,737,717,673.146210637,645,915,800,841.853789363,657.146210637,636,657.146210637,0.458132494635,0.00471162043307,0.0694678366617,0.999999627284,0.000227255135088,-0.000830319573973,-6.60082907445e-05,1793254971759071488
+266,4.433333333,HOLD_POSE2,783,760,737,717,673.728431899,645,915,800,841.271568101,657.728431899,636,657.728431899,0.458133766704,0.00471058797365,0.0694692000597,0.999999628768,0.000226639143461,-0.000828721280155,-6.57194006601e-05,1793254971775738368
+267,4.450000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,673,645,915,799,842,658,635,657,0.458135130193,0.00470930380521,0.0694684432778,0.999999630367,0.000223290054234,-0.000827709632187,-6.56090455547e-05,1793254971812569600
+268,4.466666667,POSE2_TO_POSE3_RETREAT,783.575060805,760,737,717,673,645,915,799.575060805,841.424939195,658,635,657.575060805,0.458134172012,0.00471096606422,0.0694685453951,0.999999628471,0.000226095752861,-0.000829255534212,-6.53703504068e-05,1793254971829236480
+269,4.483333333,POSE2_TO_POSE3_RETREAT,783.846015433,760,737,716.846015433,673,645,915,799.846015433,841,657.846015433,635,658,0.45813377698,0.0047115415482,0.069468819238,0.999999627522,0.000227427983162,-0.000830051746642,-6.51625673137e-05,1793254971845903360
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783.256156919,760,737,716.256156919,673,645,915,799.256156919,841,657.256156919,635,658,0.458134976016,0.00470904077024,0.0694695791732,0.999999629271,0.000224589364627,-0.000828725862611,-6.50422848795e-05,1793254971862569984
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783.328096117,760,737,716,673,645,915,799,841,657,635,658,0.458134612831,0.00470833824618,0.069469043888,0.999999629284,0.000223379708631,-0.000829026368777,-6.51862818058e-05,1793254971879236608
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783.908046227,760,737,716,673,645,915,799,841,657,635,658,0.458133050451,0.00470901610259,0.0694675143622,0.999999627967,0.000223420481262,-0.000830575328893,-6.55331455488e-05,1793254971895903232
+273,4.550000000,POSE2_TO_POSE3_RETREAT,784,760,737,716.481975391,673,645,915,799.481975391,841,657.481975391,635,658,0.458134015391,0.00470885957691,0.069468673999,0.999999629018,0.000223899447111,-0.000829205536763,-6.52005184215e-05,1793254971912570112
+274,4.566666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,673,645,915,800,841,658,635,658,0.458135339501,0.00470865561913,0.069470156251,0.999999630407,0.000224511076543,-0.000827394643464,-6.47994537121e-05,1793254971929236480
+275,4.583333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,673,645,915,800,841,658,635,658,0.458135556468,0.00470949008958,0.0694698971844,0.999999630798,0.000225596506602,-0.000826613585382,-6.49620940704e-05,1793254971945903360
+276,4.600000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,673,645,915,800,841,658,635,658,0.458133406837,0.00470971010306,0.0694681199977,0.999999629165,0.000226043156457,-0.000828461659487,-6.50062806193e-05,1793254971962569984
+277,4.616666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,673,645,915,800,841,658,635,658,0.458127150014,0.00470886373643,0.0694637081385,0.999999623993,0.000225381213618,-0.000834872549469,-6.48448925051e-05,1793254971979236608
+278,4.633333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,673,645,915,800,841.391676377,658,635,658,0.458111290222,0.00470739017275,0.0694558984187,0.9999996149,0.00022350191388,-0.000846197239253,-6.47780266381e-05,1793254971995903232
+279,4.650000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,673,645,915,800,841.967080509,658,635,658,0.458090925864,0.00470562240309,0.0694464948284,0.99999960382,0.000221051575651,-0.000859826897208,-6.47554992917e-05,1793254972012569856
+280,4.666666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,673,645,915,800,841.458877974,658,635,658,0.458044064834,0.00470818693409,0.0694266355727,0.999999576548,0.000224768584789,-0.000890003052816,-6.5405759003e-05,1793254972029236480
+281,4.683333333,POSE2_TO_POSE3_RETREAT,784,759.881222721,737,717,673,645,915,800,841,658,635,658,0.457994008068,0.0047106117292,0.0694071906636,0.999999551312,0.000228578361539,-0.000916943358164,-6.59029995021e-05,1793254972045903360
+282,4.700000000,POSE2_TO_POSE3_RETREAT,784,759.288828024,737,717,673,645,915,800,841,658,635,658,0.457937619858,0.00471143105352,0.0693919278799,0.999999541461,0.000231265737995,-0.000926977171465,-6.56272916136e-05,1793254972062569728
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783.703869647,759.296130353,736.703869647,717,673,645,915,799.703869647,841,658,635,657.703869647,0.45787058406,0.00471103274856,0.0693816088049,0.999999531469,0.000231433314732,-0.00093769723175,-6.49950643443e-05,1793254972079236352
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783.125986581,759.874013419,736.125986581,717,673,645,915,799.125986581,841,658,635,657.125986581,0.457793417636,0.00470947593227,0.0693759934141,0.999999521316,0.0002292034322,-0.000949070219916,-6.40236273394e-05,1793254972095902976
+285,4.750000000,POSE2_TO_POSE3_RETREAT,783.449071522,760,736.449071522,717,673,645,915,799,841,658,635,657,0.457708213723,0.00470821795628,0.0693791364613,0.999999523976,0.000230489745086,-0.000946069690163,-6.2244884492e-05,1793254972112569856
+286,4.766666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,673,645,915,799.023960731,841,658,635,657.023960731,0.457620179914,0.00470716537174,0.0693848935459,0.999999530522,0.000232796586925,-0.000938685451827,-6.02589113442e-05,1793254972129236224
+287,4.783333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,673,645,915,799.613452792,841,658,635,657.613452792,0.457518242321,0.00470899408122,0.0693947156008,0.999999544991,0.000236052966299,-0.000922416304009,-5.86940687736e-05,1793254972145902848
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783.800554909,760,737,717,673.199445091,645,915,800,841,657.800554909,635,658,0.457402549542,0.00470943109368,0.0694034165639,0.999999556771,0.000238568584379,-0.000909024695315,-5.67177292109e-05,1793254972162569728
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783.221228639,760,737,717,673.778771361,645,915,800,841,657.221228639,635,658,0.457260657403,0.00470721735378,0.0694099821926,0.999999563819,0.000239673281147,-0.000901113910387,-5.39576154211e-05,1793254972179236608
+290,4.833333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,674,645,915,800,841,657.353653474,635,658,0.457099643852,0.00470440679945,0.0694166918865,0.999999570968,0.000240007068117,-0.000893232297998,-5.09527902835e-05,1793254972195903232
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,674,645,915,800,841,657.925790094,635,658,0.456926817293,0.00470122753965,0.069423490583,0.999999578151,0.000239864595772,-0.000885368707283,-4.77967849533e-05,1793254972212569856
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783.503989697,760,737,717,674,645,915,799.496010303,841,658,635.503989697,657.496010303,0.456724541419,0.00469187359722,0.0694282868425,0.999999584941,0.00023337562587,-0.000879552009152,-4.51949025913e-05,1793254972229236480
+293,4.883333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,674,645.084494783,915,799,841,658,636,657.084494783,0.45651372186,0.00468015891943,0.0694330508648,0.999999591729,0.000225092153215,-0.000874132066035,-4.20630610549e-05,1793254972245903104
+294,4.900000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,674,645.673368366,915,799,841,658,636,657.673368366,0.456278101821,0.00465984554498,0.0694394039394,0.999999599154,0.000211742881501,-0.000869259454186,-3.52747272737e-05,1793254972262569728
+295,4.916666667,POSE2_TO_POSE3_RETREAT,783.741425324,760,737,716.741425324,674,645.741425324,915,799.258574676,841,658,635.741425324,658,0.456022459709,0.00464878106467,0.0694454343709,0.999999605541,0.000207037009758,-0.00086323657929,-2.96001003511e-05,1793254972279236608
+296,4.933333333,POSE2_TO_POSE3_RETREAT,783.160786766,760,737,716.160786766,674,645.160786766,915,799.839213234,841,658,635.160786766,658,0.455741879411,0.00464923640952,0.0694510629386,0.999999610794,0.000213096798461,-0.000855781011618,-2.53126350263e-05,1793254972295902976
+297,4.950000000,POSE2_TO_POSE3_RETREAT,783.41645896,760,737,716.41645896,674.41645896,645,915,800,841,658,635,658,0.455429666085,0.00465204312647,0.0694567011093,0.999999615634,0.000222848597495,-0.000847725522457,-2.07706306644e-05,1793254972312569600
+298,4.966666667,POSE2_TO_POSE3_RETREAT,783.992405352,760,737,716.992405352,674.992405352,645,915,800,841,658,635,658,0.455105338559,0.00465575032662,0.0694623429574,0.999999620158,0.000234014291365,-0.000839440286956,-1.61311479399e-05,1793254972329236224
+299,4.983333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,675,645.566823563,915,800,841,658,635.566823563,658,0.454735870517,0.0046538590881,0.069455370852,0.999999611911,0.000242314265512,-0.000846975627116,-9.66673462496e-06,1793254972345903104
+300,5.000000000,POSE2_TO_POSE3_RETREAT,783.854874688,760,737,717,675,645.854874688,915,800,841,657.854874688,635.854874688,658,0.454366733643,0.00465318684915,0.069453252284,0.999999611255,0.000250774522199,-0.000845333924916,-3.67068486605e-06,1793254972362569728
+301,5.016666667,POSE2_TO_POSE3_RETREAT,783.264598213,760,737,717,675,645.264598213,915,800,841,657.264598213,635.264598213,658,0.454000462856,0.00465648318541,0.0694665382685,0.999999634214,0.000259843880682,-0.00081489450383,8.13925462927e-07,1793254972379236352
+302,5.033333333,POSE2_TO_POSE3_RETREAT,783.318745446,760,737,717,675.318745446,645,915,799.681254554,841,657.318745446,635,657.681254554,0.45360406559,0.00465662654618,0.0694854262261,0.999999659125,0.000266822599956,-0.000781354299589,6.33978841702e-06,1793254972395902720
+303,5.050000000,POSE2_TO_POSE3_RETREAT,783.896456581,760,737,717,675.896456581,645,915,799.103543419,841,657.896456581,635,657.103543419,0.453183191939,0.00465420826296,0.0695088655247,0.999999685167,0.000272102774023,-0.000745294851155,1.27116206602e-05,1793254972412569600
+304,5.066666667,POSE2_TO_POSE3_RETREAT,784,760,737,716.527954726,676.472045274,645.472045274,915,799.472045274,841,657.527954726,635,657.472045274,0.452710817306,0.00465431336975,0.0695257659976,0.999999704547,0.000275185379308,-0.00071755636868,1.71053129797e-05,1793254972429236224
+305,5.083333333,POSE2_TO_POSE3_RETREAT,783.951665952,760,736.951665952,716.048334048,677,646,915,800,841,657.048334048,635,658,0.452222889679,0.00465480498766,0.0695390591969,0.999999720579,0.000273490863763,-0.000695457193552,1.96120788784e-05,1793254972445902848
+306,5.100000000,POSE2_TO_POSE3_RETREAT,783.362353674,760,736.362353674,716.637646326,677,646,915,800,841,657.637646326,635,658,0.451686758011,0.00465345523547,0.0695279595197,0.999999718535,0.000223699541268,-0.000716138691437,5.83419881096e-06,1793254972462569472
+307,5.116666667,POSE2_TO_POSE3_RETREAT,783.223266074,760,736.223266074,717,677.223266074,646,915,800,841,658,635,658,0.451133520874,0.00465002943754,0.0695218337074,0.999999714738,0.000190308422713,-0.000730963050306,-3.899555054e-07,1793254972479236096
+308,5.133333333,POSE2_TO_POSE3_RETREAT,783.802990432,760,736.802990432,717,677.802990432,646,915,800,841,658,635,658,0.450552973815,0.00464328910253,0.0695236489832,0.999999712053,0.000183101261743,-0.000736436121111,5.44588773566e-06,1793254972495902976
+309,5.150000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,678.38017728,646.38017728,915,800,841,658,635,658,0.449961324598,0.0046425248302,0.0695374965084,0.999999721441,0.000187412489491,-0.000722392690171,1.20022135526e-05,1793254972512570112
+310,5.166666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,678.956057881,646.956057881,915,800,841,658,635,658,0.449363960358,0.0046448368474,0.0695575378577,0.999999736474,0.000197653022009,-0.000698302776674,1.89294209782e-05,1793254972529236736
+311,5.183333333,POSE2_TO_POSE3_RETREAT,783.47061459,760,737,717,679,647,915,800,841,658,635,658,0.448757761073,0.00464210285733,0.069605720386,0.999999792741,0.000183143740455,-0.000616886118444,2.06994562502e-05,1793254972545904384
+312,5.200000000,POSE2_TO_POSE3_RETREAT,783,760,737,716.893958357,679.212083285,647,915,800,841,658,635,658,0.448137302903,0.00463891428076,0.0696494028801,0.999999838201,0.000166124586089,-0.000543619804837,2.18598751223e-05,1793254972562571776
+313,5.216666667,POSE2_TO_POSE3_RETREAT,783,760,737,716.301051011,680.397897977,647,915,800,841,658,635,658,0.447454729432,0.00463555239235,0.0696617512921,0.99999984876,0.000146968885876,-0.000529516466299,2.21773593048e-05,1793254972579237632
+314,5.233333333,POSE2_TO_POSE3_RETREAT,783,760,736.716141031,716.283858969,681.283858969,647.283858969,915,800,841,658,635,658,0.44673349078,0.00463265794845,0.0696512617088,0.999999841375,0.000131990297836,-0.000547066451672,2.34044044532e-05,1793254972595904000
+315,5.250000000,POSE2_TO_POSE3_RETREAT,783,760,736.139480297,716.860519703,681.860519703,647.860519703,915,800,841,658,635,658,0.445972368742,0.00463024567518,0.0696172146353,0.99999981395,0.000121320416703,-0.000597266976313,2.55696657127e-05,1793254972612570368
+316,5.266666667,POSE2_TO_POSE3_RETREAT,783.43391716,760,736.43391716,717,682,648,915,800,841,657.56608284,635,657.56608284,0.445237645497,0.00462528291861,0.0696241131843,0.999999828752,0.000103014972646,-0.00057549093897,2.63529526165e-05,1793254972629236736
+317,5.283333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,682.006500404,648,915,800,840.993499596,657.006500404,635,657,0.444510863036,0.00461953134789,0.0696443755638,0.999999855454,8.40101086477e-05,-0.000530398122097,2.66725725827e-05,1793254972645903360
+318,5.300000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,682.599562882,648,915,800,840.400437118,657.599562882,635,657,0.443740617596,0.0046160270561,0.0696917381085,0.999999872301,0.000221713014009,-0.000453451667221,2.49389315144e-05,1793254972662569984
+319,5.316666667,POSE2_TO_POSE3_RETREAT,783.811912112,760,737,717,683,648,915,800,840,657.811912112,635.188087888,657.188087888,0.442956436349,0.00461151486584,0.0697341791781,0.999999876065,0.000308109046002,-0.000390264625972,2.51629231086e-05,1793254972679236608
+320,5.333333333,POSE2_TO_POSE3_RETREAT,783.232819816,760,737,717,683,648,915,800,840,657.232819816,635.767180184,657.767180184,0.442143284854,0.00460490741729,0.0697663892914,0.999999894884,0.000287846357733,-0.000355681212043,2.94565186828e-05,1793254972695903232
+321,5.350000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,683.344140091,648.344140091,915,800,840.344140091,657.344140091,635.655859909,658,0.441331318841,0.00459751278897,0.069793007048,0.999999918297,0.000256420250884,-0.00031100578041,3.05066621288e-05,1793254972712570112
+322,5.366666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,683.919666243,648.919666243,915,800,840.919666243,657.919666243,635.080333757,658,0.440520149932,0.00458958889267,0.0698158647258,0.999999942236,0.000217488307158,-0.00025954487952,2.9376037582e-05,1793254972729237248
+323,5.383333333,POSE2_TO_POSE3_RETREAT,783.505103969,760,737,717,684,649,915,800,841,658,635,657.494896031,0.439610207046,0.00458680042863,0.0698065321972,0.999999941593,0.000193157886951,-0.000280223341483,3.12769309133e-05,1793254972745904128
+324,5.400000000,POSE2_TO_POSE3_RETREAT,783.909016094,760,736.909016094,717,684,649,915,800,840.909016094,658,635,657.090983906,0.438677706549,0.00458463091354,0.069784065997,0.999999932695,0.000171564211879,-0.000322609053586,3.31639393075e-05,1793254972762570752
+325,5.416666667,POSE2_TO_POSE3_RETREAT,783.329396943,760,736.329396943,717,684,649,915,800,840.329396943,658,635,657.670603057,0.43771011636,0.00458131124535,0.0697191103438,0.999999900269,0.000151946798212,-0.000418723372373,3.23351574962e-05,1793254972779237120
+326,5.433333333,POSE2_TO_POSE3_RETREAT,783,760,736.249239907,717,684,649,915,800,840,658,635,657.750760093,0.436772386607,0.00457595988542,0.0696942002162,0.999999886662,0.000142159860091,-0.000453236756404,3.22820052563e-05,1793254972795903488
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783,760,736.826583717,717,684,649,915,800,840,658,635,657.173416283,0.435873965536,0.00456793396942,0.0697220067308,0.999999906204,0.000145313935615,-0.000406657577094,3.32499059125e-05,1793254972812569856
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783.403026729,760,736.596973271,717.403026729,684.403026729,649,915,800,840.403026729,658,635,657.403026729,0.434980118043,0.00456336059673,0.0697678928345,0.999999929158,0.000141141885361,-0.000347082134207,3.6008408093e-05,1793254972829236480
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783.979082971,760,736.020917029,717.979082971,684.979082971,649,915,800,840.979082971,658,635,657.979082971,0.434088234155,0.00456026948821,0.0698215409591,0.999999950523,0.000133824544393,-0.000281927070174,3.95356603845e-05,1793254972845903104
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783.433262964,759.433262964,736.566737036,717.433262964,684.433262964,649,915,800,840.433262964,658,635,658,0.433163093298,0.00455148552027,0.0698420011141,0.999999960583,0.000126893711373,-0.00024734975187,3.93689498185e-05,1793254972862570240
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783,759.152539635,737,717,684.152539635,649,915,800,840.152539635,658,635,658,0.432217699269,0.00454389723229,0.0698493234912,0.999999965026,0.000118707717462,-0.000233096424413,3.90191841104e-05,1793254972879236864
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783,759.731938292,737,717,684.731938292,649,915,800,840.731938292,658,635,658,0.431219136431,0.00454025512119,0.0698233810839,0.99999995641,0.00010696859393,-0.000272492627265,3.85466529166e-05,1793254972895903488
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,685,649,915,800,840.690111567,658,635,658,0.43019682913,0.00453606358424,0.0697711320609,0.999999931481,9.98160368487e-05,-0.000354503858579,3.74354336479e-05,1793254972912570368
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,685,649,915,800,840.11340863,658,635,658,0.429154077856,0.0045313989908,0.0696962329955,0.999999882731,9.66125214337e-05,-0.000473206701401,3.57743024438e-05,1793254972929236480
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783,760,737.459417193,717.459417193,685,649,915,800,840,658,635,657.540582807,0.428237494097,0.00452311408711,0.0697233034887,0.999999902436,8.54048619219e-05,-0.00043191841895,3.57908770762e-05,1793254972945902848
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783,759.967521292,737.967521292,718,685.032478708,649,915,800,840,658,635,657.032478708,0.427350465834,0.00451428158748,0.0697755894619,0.999999935057,7.29331720261e-05,-0.000351063282251,3.6336579048e-05,1793254972962569728
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783,759.373994555,737.373994555,718,685.626005445,649,915,800,840,658,635,657.626005445,0.426440485838,0.0045112983715,0.0698322736215,0.999999961967,7.24720647504e-05,-0.000263246106896,3.8928358548e-05,1793254972979236352
+338,5.633333333,POSE2_TO_POSE3_RETREAT,782.785810998,759.214189002,737,717.785810998,685.785810998,649,915,800,840,657.785810998,635,658,0.425516152692,0.00450503452341,0.0698619033577,0.999999973333,6.76003015389e-05,-0.000217141376718,4.01820463745e-05,1793254972995903488
+339,5.650000000,POSE2_TO_POSE3_RETREAT,782.206729975,759.793270025,737,717.206729975,685.206729975,649,915,800,840,657.206729975,635,658,0.424567367396,0.00449318179555,0.0698454432334,0.999999968403,5.52145530128e-05,-0.000242097885879,3.91561643111e-05,1793254973012570624
+340,5.666666667,POSE2_TO_POSE3_RETREAT,782,760,737,717.369054156,685.369054156,649.369054156,915,800,839.630945844,657.369054156,635,657.630945844,0.423585491577,0.00448606353874,0.0698033487317,0.999999948813,4.57000604002e-05,-0.000314269007374,3.89912958162e-05,1793254973029237248
+341,5.683333333,POSE2_TO_POSE3_RETREAT,782,760,737,717.943007812,685.943007812,649.943007812,915,800,839.056992188,657.943007812,635,657.056992188,0.422585243899,0.0044815738691,0.0697470219808,0.999999913372,3.77796943837e-05,-0.0004126537588,3.93044632931e-05,1793254973045903872
+342,5.700000000,POSE2_TO_POSE3_RETREAT,782,760,737,717.469392934,685.469392934,649.469392934,915,800,839.530607066,657.469392934,635,657.530607066,0.421620293641,0.00447464516414,0.0696940132205,0.99999987297,2.64390045992e-05,-0.000501921295607,3.78834921682e-05,1793254973062570496
+343,5.716666667,POSE2_TO_POSE3_RETREAT,782,759.882267928,737,717.117732072,685.117732072,649.117732072,915,800.117732072,839.882267928,657.117732072,635,657.882267928,0.420687544065,0.00446648903706,0.069666977138,0.999999849865,1.6161226122e-05,-0.000546509095853,3.65485123723e-05,1793254973079237120
+344,5.733333333,POSE2_TO_POSE3_RETREAT,782,759.302901154,737,717.697098846,685.697098846,649.697098846,915,800.697098846,839.302901154,657.697098846,635,657.302901154,0.419865797158,0.00445457444829,0.0697403472388,0.999999911139,1.15297119758e-05,-0.000419846052788,3.63003364492e-05,1793254973095903488
+345,5.750000000,POSE2_TO_POSE3_RETREAT,782,759.27455003,737,718.27455003,686.27455003,649.72544997,915,800.72544997,839.27455003,658,635,657,0.419055652281,0.00444719191738,0.0698060485417,0.999999950662,2.4872143543e-06,-0.000311984254678,3.65379808926e-05,1793254973112570112
+346,5.766666667,POSE2_TO_POSE3_RETREAT,782,759.849902417,737,718.849902417,686.849902417,649.150097583,915,800.150097583,839.849902417,658,635,657,0.418258218868,0.00444477479805,0.0698633477556,0.999999973989,-1.13880422249e-05,-0.000224721478241,3.73078998802e-05,1793254973129236736
+347,5.783333333,POSE2_TO_POSE3_RETREAT,781.57463225,759.57463225,737,718.57463225,687.42536775,649,915,800,839.57463225,658,635,657.42536775,0.41741077516,0.00443532957551,0.0698575738447,0.999999970929,-1.7731948529e-05,-0.000237549799883,3.73959209563e-05,1793254973145903360
+348,5.800000000,POSE2_TO_POSE3_RETREAT,781.000896647,759.000896647,737.000896647,718,687.998206707,649,915,800,839,658,635,658,0.416545751071,0.00442341684671,0.0698295374188,0.999999958273,-2.14353397083e-05,-0.000285671048974,3.72396814764e-05,1793254973162570240
+349,5.816666667,POSE2_TO_POSE3_RETREAT,781.591993424,759.591993424,737.591993424,718,686.816013152,649,915,800,839,658,635,658,0.415727646177,0.00442014549616,0.0698013199448,0.999999950465,-3.68181875777e-05,-0.000310657387309,3.47280211926e-05,1793254973179236864
+350,5.833333333,POSE2_TO_POSE3_RETREAT,781.821019629,760,737.821019629,718.178980371,686,649,915,800,839.178980371,658,635,658,0.414893154745,0.00441951029142,0.0697714651034,0.999999936712,-4.35464596376e-05,-0.000351440634123,3.41928805867e-05,1793254973195903488
+351,5.850000000,POSE2_TO_POSE3_RETREAT,781.243191103,760,737.243191103,718.756808897,686,649,915,800,839.756808897,658,635,658,0.414022146634,0.00442474959555,0.0697379614711,0.999999907449,-3.09884767278e-05,-0.000427426447983,3.80623074743e-05,1793254973212570112
+352,5.866666667,POSE2_TO_POSE3_RETREAT,781,760,737,719,685.666457889,649,915,800,840,658,635,657.666457889,0.413260231178,0.0044428655015,0.0697420514155,0.999999909911,-2.70071807245e-06,-0.000422735639858,3.8278049347e-05,1793254973229236736
+353,5.883333333,POSE2_TO_POSE3_RETREAT,781,760,737,719,685.090520707,649,915,800,840,658,635,657.090520707,0.412577596685,0.00447033922053,0.0697734617436,0.999999934083,3.70183403599e-05,-0.000359414701834,3.58385482762e-05,1793254973245903360
+354,5.900000000,POSE2_TO_POSE3_RETREAT,781,760,737.495303761,719,685.990607522,649,914.504696239,800,839.504696239,657.504696239,635,657,0.411955338324,0.00447383510251,0.0698257854156,0.999999963046,3.39559129301e-05,-0.000267325068988,3.59535607025e-05,1793254973262569984
+355,5.916666667,POSE2_TO_POSE3_RETREAT,781.081658512,760,738,719,687.081658512,649,914.081658512,800,839,657.081658512,635,657,0.411334063954,0.00447109990681,0.0698733275101,0.99999998178,2.4250259173e-05,-0.000185780409895,3.65674378962e-05,1793254973279236608
+356,5.933333333,POSE2_TO_POSE3_RETREAT,781.660023588,760,738,719,687.660023588,649,914.660023588,800,839,657.660023588,635,657,0.410650289652,0.00445766106368,0.0698680623467,0.999999978844,2.2663142815e-05,-0.000201010600636,3.73181648409e-05,1793254973295903232
+357,5.950000000,POSE2_TO_POSE3_RETREAT,781.76242655,760,738,719,687.524853101,649,915,800,839,658,635,657.23757345,0.40996358964,0.0044506264478,0.0698462144596,0.999999969799,2.03201638882e-05,-0.000242032669374,3.75532713676e-05,1793254973312570368
+358,5.966666667,POSE2_TO_POSE3_RETREAT,781.186039351,760,738,719,686.372078703,649,915,800,839,658,635,657.813960649,0.409272717205,0.00445272517792,0.0698007172352,0.999999948023,1.68992167811e-05,-0.000319837646254,3.70530291475e-05,1793254973329238016
+359,5.983333333,POSE2_TO_POSE3_RETREAT,781,760,737.610761974,719,686,649,914.610761974,800,839,657.610761974,635,657.610761974,0.408647685491,0.00445425688007,0.0697733518373,0.999999933661,9.36585170966e-06,-0.000362398707604,3.54591552134e-05,1793254973345904640
+360,6.000000000,POSE2_TO_POSE3_RETREAT,781,760,737.036013487,719,686,649,914.036013487,800,839,657.036013487,635,657.036013487,0.40805403334,0.00445551833743,0.069754628046,0.999999924109,-1.27488019628e-07,-0.000388162560631,3.33440574776e-05,1793254973362570240
+361,6.016666667,POSE2_TO_POSE3_RETREAT,781,760,737.553633599,719.553633599,686,649,914.553633599,800,839,657.553633599,635,657,0.407541344627,0.00446083794952,0.0697736477876,0.999999935943,1.71622645086e-05,-0.000356003995173,3.28704487867e-05,1793254973379236608
+362,6.033333333,POSE2_TO_POSE3_RETREAT,781.135568183,760,738,720,686.271136366,649,914.864431817,800,839,658,635,657,0.407035694555,0.00446635059739,0.069791772461,0.999999944976,3.41600532855e-05,-0.000328324373914,3.29368224499e-05,1793254973395903232
+363,6.050000000,POSE2_TO_POSE3_RETREAT,781.690560506,760,738,720,687.381121013,649,914.309439494,800,839,658,635,657,0.406535076089,0.00447162117124,0.0697993219623,0.999999945116,4.47153712482e-05,-0.000326481135772,3.43343193323e-05,1793254973412570112
+364,6.066666667,POSE2_TO_POSE3_RETREAT,781.734971586,760,737.734971586,720,687.469943173,649,914,800,839,658,635,657.265028414,0.406044459297,0.00447326092678,0.0698009212729,0.999999943223,4.61949703225e-05,-0.000331984207547,3.47377172129e-05,1793254973429236736
+365,6.083333333,POSE2_TO_POSE3_RETREAT,781.135961075,760,737.135961075,720,686.27192215,649,914,800,839,658,635,657.864038925,0.405566446392,0.00447032521669,0.0697950223031,0.999999938653,3.62375775638e-05,-0.000346744913181,3.38883766087e-05,1793254973445903360
+366,6.100000000,POSE2_TO_POSE3_RETREAT,781.456009978,760,737,720,686,649,914,800,839,658,635,658,0.405164646559,0.00446938985098,0.0698013165333,0.999999943742,2.64919804339e-05,-0.00033287537006,3.17636624663e-05,1793254973462570240
+367,6.116666667,POSE2_TO_POSE3_RETREAT,781.954909297,759.954909297,737,720,686,649,914.045090703,800,839,658,635,657.954909297,0.404788176283,0.00446919954913,0.0698118648527,0.999999951442,1.79632926731e-05,-0.000309708589128,2.95577791526e-05,1793254973479236608
+368,6.133333333,POSE2_TO_POSE3_RETREAT,781.375584068,759.375584068,737,720,686,649,914.624415932,800,839,658,635,657.375584068,0.404446678777,0.00447087792023,0.0698303976421,0.999999961173,2.31157430924e-05,-0.000275987690279,3.08270006548e-05,1793254973495903232
+369,6.150000000,POSE2_TO_POSE3_RETREAT,781.202764266,759.202764266,737.202764266,720,686.202764266,649,914.797235734,800,839,657.797235734,635,657,0.404109660533,0.00447017658011,0.0698429776194,0.999999967292,2.27136837273e-05,-0.000252801457175,3.14932629661e-05,1793254973512569856
+370,6.166666667,POSE2_TO_POSE3_RETREAT,781.779311694,759.779311694,737.779311694,720,686.779311694,649,914.220688306,800,839,657.220688306,635,657,0.403780899565,0.00446508839195,0.0698445839602,0.999999968436,1.20722346437e-05,-0.000249035221511,3.1048007871e-05,1793254973529236736
+371,6.183333333,POSE2_TO_POSE3_RETREAT,781.648706726,760,738,720,687,649,914,800,839,657.351293274,635,657,0.403465353924,0.00446137528701,0.0698374470095,0.999999965692,1.68270768079e-06,-0.000260154342881,3.05464000411e-05,1793254973545903360
+372,6.200000000,POSE2_TO_POSE3_RETREAT,781.07955663,760,738,720,687,649,914,800,839,657.92044337,635,657,0.403158003822,0.00445851494843,0.0698248878494,0.999999960172,-8.55058916603e-06,-0.000280504715334,3.00098446397e-05,1793254973562569984
+373,6.216666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.487107789,649,914,800,839,658,635,657.512892211,0.402884884569,0.00445959915418,0.0698144262167,0.999999954012,-1.1500136501e-05,-0.000301579606714,2.98917868317e-05,1793254973579236608
+374,6.233333333,POSE2_TO_POSE3_RETREAT,781,760,737.894204259,720,686,649,914,800,839,658,635,657.894204259,0.402626937644,0.00446047954607,0.0698053132117,0.9999999484,-1.44073828307e-05,-0.000319531161905,2.98764350945e-05,1793254973595903488
+375,6.250000000,POSE2_TO_POSE3_RETREAT,781,760,737.31617016,720,686,649,914,800,839,658,635,657.31617016,0.402411886495,0.00445758909414,0.0698006986528,0.999999947129,-2.2408911721e-05,-0.000323015637302,3.00159828412e-05,1793254973612569856
+376,6.266666667,POSE2_TO_POSE3_RETREAT,781,760,737,720,686.260626338,649,914,800,839,658,635,657.260626338,0.402210441512,0.00445647964526,0.0697980257915,0.99999994601,-2.65770653924e-05,-0.000326103952841,3.04865349472e-05,1793254973629236480
+377,6.283333333,POSE2_TO_POSE3_RETREAT,781,760,737,720,686.835928545,649,914,800,839,658,635,657.835928545,0.402025424398,0.00445752054976,0.0697976973037,0.999999945141,-2.61168656684e-05,-0.000328713951428,3.13567361562e-05,1793254973645903104
+378,6.300000000,POSE2_TO_POSE3_RETREAT,781,760,737.420772616,720,686.579227384,649,914,800,839,658,635,657.579227384,0.401863314765,0.00446147456377,0.0697974154794,0.999999944995,-1.51978606379e-05,-0.000329703020845,3.2791315205e-05,1793254973662569984
+379,6.316666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914,800,839,658,635,657,0.401710869419,0.00446688145229,0.0697971346625,0.999999944954,1.07054455158e-06,-0.000330011093872,3.44105694031e-05,1793254973679236352
+380,6.333333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914,800,839,658,635,657,0.401590676955,0.00449015088268,0.0697957714264,0.999999941557,8.9657840108e-05,-0.000328211923149,3.35405810215e-05,1793254973695902976
+381,6.350000000,POSE2_TO_POSE3_RETREAT,781,760,738,719.833784101,686,649,914,800,839,658,635,657,0.401477562939,0.00450626613195,0.0697944981209,0.999999936436,0.000137883175223,-0.000327499594239,2.93367647019e-05,1793254973712569856
+382,6.366666667,POSE2_TO_POSE3_RETREAT,781,760,738,719.258311306,686,649,914,800,839,658,635,657,0.401381877502,0.00450476634833,0.0697934462426,0.999999941823,8.67292526988e-05,-0.000329463293072,1.69243956425e-05,1793254973729236736
+383,6.383333333,POSE2_TO_POSE3_RETREAT,781,760,738,719.635596002,686.317798001,649,914,800,839,658,635,657.317798001,0.401298245586,0.00449786105211,0.0697933140755,0.999999943872,5.9565473032e-05,-0.000329437967683,1.33427684244e-05,1793254973745903616
+384,6.400000000,POSE2_TO_POSE3_RETREAT,781,760,738,720.788851553,686.894425776,649,914,800,839,658,635,657.894425776,0.401224430621,0.00448655324973,0.0697939309649,0.999999944783,5.19403987726e-05,-0.000327792687309,1.6953315119e-05,1793254973762570240
+385,6.416666667,POSE2_TO_POSE3_RETREAT,781,760,738,720.518280062,686.518280062,649,914.481719938,800,839,657.518280062,635,658,0.401167874012,0.00449035272435,0.0697960053778,0.99999994536,5.72774700254e-05,-0.000325073199188,1.80971116386e-05,1793254973779237120
+386,6.433333333,POSE2_TO_POSE3_RETREAT,781,760,738,720.070005606,686,649,914.929994394,800,839,657.070005606,635,657.929994394,0.401117684482,0.00449597633005,0.0697986159671,0.999999946149,6.35419770903e-05,-0.00032142244043,1.87582031308e-05,1793254973795903488
+387,6.450000000,POSE2_TO_POSE3_RETREAT,781,760,738,720.64813653,686,649,914.35186347,800,839,657.64813653,635,657.35186347,0.401085634078,0.00449026408911,0.0698027472623,0.999999949355,5.54517397858e-05,-0.000312759677221,1.99284823305e-05,1793254973812570112
+388,6.466666667,POSE2_TO_POSE3_RETREAT,781,760,738,721,686,649,914,800,839,657.773537509,634.773537509,657.226462491,0.401056763373,0.00448638561784,0.0698063203717,0.999999951728,4.98026024138e-05,-0.000305982044107,2.09411161457e-05,1793254973829236992
+389,6.483333333,POSE2_TO_POSE3_RETREAT,781,760,738,721,686,649,914,800,839,657.194908287,634.194908287,657.805091713,0.401032837348,0.00448535880092,0.0698090254585,0.999999952972,4.79495652007e-05,-0.000302135935024,2.17085990978e-05,1793254973845903616
+390,6.500000000,POSE2_TO_POSE3_RETREAT,781.379587804,760,737.620412196,720.620412196,686.379587804,649,914.379587804,800,839,657.379587804,634.379587804,657.620412196,0.40101445512,0.00448472958598,0.0698117573415,0.999999953906,4.69310813355e-05,-0.000299172270158,2.19275536587e-05,1793254973862570496
+391,6.516666667,POSE2_TO_POSE3_RETREAT,781.951984483,760,737.048015517,720.048015517,686.951984483,649,914.951984483,800,839,657.951984483,634.951984483,657.048015517,0.400998888825,0.00448430233013,0.0698145028353,0.999999954685,4.6336502855e-05,-0.000296656836556,2.1867887173e-05,1793254973879237120
+392,6.533333333,POSE2_TO_POSE3_RETREAT,781.458483209,760,737.541516791,720.541516791,686.458483209,649,914.458483209,800,839.541516791,658,635,657.541516791,0.400989519245,0.00448378595068,0.0698140735799,0.999999954957,4.66986252646e-05,-0.000295657889981,2.21644435576e-05,1793254973895903744
+393,6.550000000,POSE2_TO_POSE3_RETREAT,781,760,738,720.869796258,686.130203742,649,914,800,839.869796258,658,635,658,0.400982253632,0.00448342565172,0.0698139283944,0.999999955392,4.68630520126e-05,-0.000294142108264,2.23469764282e-05,1793254973912570368
+394,6.566666667,POSE2_TO_POSE3_RETREAT,781,760,738,720.289456428,686.710543572,649,914,800,839.289456428,658,635,658,0.400980300155,0.00448363316211,0.0698157702819,0.999999956543,4.60411592867e-05,-0.000290359483431,2.20225452689e-05,1793254973929236992
+395,6.583333333,POSE2_TO_POSE3_RETREAT,781,760,737.711483979,720,687,649,914,800,839,658,635,657.711483979,0.400978021208,0.00448274500466,0.0698167718619,0.999999957184,4.41425727362e-05,-0.000288448248118,2.19251892243e-05,1793254973945903872
+396,6.600000000,POSE2_TO_POSE3_RETREAT,781,760,737.135867228,720,687,649,914,800,839,658,635,657.135867228,0.400975418389,0.0044807665541,0.0698169372564,0.999999957322,4.11725738969e-05,-0.000288399221925,2.20537943568e-05,1793254973962570240
+397,6.616666667,POSE2_TO_POSE3_RETREAT,781,760,737.448587033,720.448587033,687,649,914.448587033,800,839,658,635,657,0.400972217875,0.00448113220125,0.0698165157528,0.999999956907,4.03854625141e-05,-0.000289948052858,2.20438292055e-05,1793254973979236608
+398,6.633333333,POSE2_TO_POSE3_RETREAT,781,760,738,720.964778894,686.964778894,649,914.964778894,800,839,658,635,657.035221106,0.400969167458,0.00448214247173,0.069816059916,0.999999956416,4.04181048059e-05,-0.000291633080563,2.19972400864e-05,1793254973995902976
+399,6.650000000,POSE2_TO_POSE3_RETREAT,781,760,738,720.386632689,686.386632689,649,914.386632689,800,839,658,635,657.613367311,0.400971277344,0.00448192540577,0.069817870014,0.999999957429,4.26907863641e-05,-0.000287807559343,2.20460591504e-05,1793254974012569856
+400,6.666666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.190920188,649,914,800,839,658,635,657.809079812,0.40097305974,0.0044814609913,0.06981932128,0.999999958233,4.33041751361e-05,-0.000284905463738,2.20965786114e-05,1793254974029236736
+401,6.683333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.767275202,649,914,800,839,658,635,657.232724798,0.400974180993,0.00448049722303,0.0698200481259,0.999999958641,4.05677387352e-05,-0.000283867604908,2.21505308777e-05,1793254974045903872
+402,6.700000000,POSE2_TO_POSE3_RETREAT,781,759.655843542,738,720,687,649,914,800,839,658,635,657.344156458,0.400974799784,0.00447984096426,0.0698210451612,0.999999959174,3.92590601911e-05,-0.000282159851709,2.22737044606e-05,1793254974062570496
+403,6.716666667,POSE2_TO_POSE3_RETREAT,781,759.07860591,738,720,687,649,914,800,839,658,635,657.92139409,0.400975078279,0.00447939296743,0.0698222251831,0.999999959791,3.89173357984e-05,-0.000279998410227,2.2443758422e-05,1793254974079236864
+404,6.733333333,POSE2_TO_POSE3_RETREAT,781,759.508126026,738,720.508126026,687,649,914.508126026,800,839,658,635,657.491873974,0.40097321324,0.00448030192814,0.0698213930443,0.99999995915,4.08567584301e-05,-0.000282015876178,2.23151632698e-05,1793254974095903488
+405,6.750000000,POSE2_TO_POSE3_RETREAT,781.09501326,760,738,721,686.90498674,649,914.90498674,800,839,657.90498674,635,657,0.400971749158,0.00448107135888,0.0698206176255,0.999999958586,4.22337368226e-05,-0.000283819040642,2.21475937396e-05,1793254974112569856
+406,6.766666667,POSE2_TO_POSE3_RETREAT,781.675052597,760,738,721,686.324947403,649,914.324947403,800,839,657.324947403,635,657,0.400974056889,0.00448003651368,0.0698217510211,0.999999959474,3.89038022487e-05,-0.000281165294146,2.20214020968e-05,1793254974129236480
+407,6.783333333,POSE2_TO_POSE3_RETREAT,781.747019841,760,738,720.747019841,686,649,914,800,839,657.252980159,635,657,0.400974795927,0.00447938051948,0.0698225288469,0.999999959945,3.6970293563e-05,-0.000279758475323,2.18835453337e-05,1793254974145903360
+408,6.800000000,POSE2_TO_POSE3_RETREAT,781.171782272,760,738,720.171782272,686,649,914,800,839,657.828217728,635,657,0.400973536694,0.00447920712241,0.0698228537322,0.999999959903,3.68156140046e-05,-0.000279940048232,2.17308290034e-05,1793254974162569984
+409,6.816666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.412163926,649,914,800,839,658,635,657,0.400973268639,0.00447976756267,0.0698233158845,0.999999959972,3.83741558526e-05,-0.00027948043942,2.17539170888e-05,1793254974179236864
+410,6.833333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.999818027,649,914,800,839,658,635,657,0.400973422605,0.00448064045444,0.0698238364819,0.999999960084,4.06621490449e-05,-0.00027874782977,2.18518587692e-05,1793254974195903744
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eb1a48013d9ae9b0dd0081ea39bce3aebd9c5748
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,417 @@
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+351,5.850000000,pose2_to_pose3_retreat,0.58624557709,0.0101818459694,1.06002056296,0.556816722278,0.0188560753322,1.05969227354
+352,5.866666667,pose2_to_pose3_retreat,0.585635545618,0.0101817258619,1.06002024592,0.556206693874,0.018855965805,1.05969196102
+353,5.883333333,pose2_to_pose3_retreat,0.585060019219,0.0101817654164,1.06002046839,0.555631166215,0.0188560008702,1.05969217779
+354,5.900000000,pose2_to_pose3_retreat,0.584514839706,0.010181722006,1.06002053496,0.555085988974,0.0188559649073,1.05969223745
+355,5.916666667,pose2_to_pose3_retreat,0.583981818189,0.0101817286237,1.06002051573,0.55455296728,0.0188559710799,1.0596922224
+356,5.933333333,pose2_to_pose3_retreat,0.583447518312,0.0101818272258,1.06002054064,0.554018664859,0.0188560611472,1.05969224986
+357,5.950000000,pose2_to_pose3_retreat,0.582912905381,0.0101819364275,1.06002070953,0.553484050287,0.0188561642324,1.0596924042
+358,5.966666667,pose2_to_pose3_retreat,0.582382765842,0.010181802784,1.06002080548,0.552953911377,0.0188560326924,1.05969249929
+359,5.983333333,pose2_to_pose3_retreat,0.581880163438,0.0101818586475,1.0600206217,0.552451310947,0.0188560958739,1.05969233195
+360,6.000000000,pose2_to_pose3_retreat,0.581407160821,0.0101818797995,1.06002054457,0.551978307796,0.0188561150074,1.05969224938
+361,6.016666667,pose2_to_pose3_retreat,0.580964865282,0.0101818825392,1.06002064094,0.551536011604,0.0188561152908,1.05969233935
+362,6.033333333,pose2_to_pose3_retreat,0.580544343499,0.0101818102457,1.06002046075,0.551115490169,0.0188560444549,1.05969216654
+363,6.050000000,pose2_to_pose3_retreat,0.580142592043,0.0101817351417,1.06002030303,0.550713739206,0.0188559712432,1.05969201462
+364,6.066666667,pose2_to_pose3_retreat,0.579758842495,0.0101817627498,1.06002045595,0.550329989111,0.018855996761,1.05969216135
+365,6.083333333,pose2_to_pose3_retreat,0.579396044083,0.0101819041715,1.06002063988,0.549967189204,0.0188561330051,1.05969234252
+366,6.100000000,pose2_to_pose3_retreat,0.57905891894,0.0101817934669,1.06002042311,0.549630065236,0.0188560263834,1.05969212833
+367,6.116666667,pose2_to_pose3_retreat,0.578746825965,0.0101818169283,1.06002047834,0.549317972738,0.0188560516424,1.0596921883
+368,6.133333333,pose2_to_pose3_retreat,0.578458839082,0.0101817887383,1.06002060361,0.549029987289,0.0188560280973,1.05969230773
+369,6.150000000,pose2_to_pose3_retreat,0.578184803903,0.0101817420348,1.06002062012,0.548755953115,0.0188559847334,1.05969232247
+370,6.166666667,pose2_to_pose3_retreat,0.57792198737,0.0101817626485,1.06002045236,0.548493135821,0.0188560031307,1.0596921643
+371,6.183333333,pose2_to_pose3_retreat,0.577670288552,0.0101819315494,1.0600202539,0.548241434614,0.0188561641677,1.05969197253
+372,6.200000000,pose2_to_pose3_retreat,0.577431629713,0.0101817844506,1.06002064084,0.548002777872,0.0188560235858,1.0596923437
+373,6.216666667,pose2_to_pose3_retreat,0.577211267182,0.0101818190004,1.06002056367,0.54778241405,0.0188560537551,1.05969226651
+374,6.233333333,pose2_to_pose3_retreat,0.577009415579,0.010181648991,1.06002050568,0.547580566139,0.0188558965652,1.05969221634
+375,6.250000000,pose2_to_pose3_retreat,0.576827359911,0.0101816411803,1.06002052347,0.547398510384,0.0188558882704,1.05969222911
+376,6.266666667,pose2_to_pose3_retreat,0.576663342419,0.0101816723962,1.06002052549,0.547234491878,0.0188559160374,1.05969223091
+377,6.283333333,pose2_to_pose3_retreat,0.576516410116,0.0101817082317,1.06002051276,0.54708755882,0.0188559494826,1.05969222281
+378,6.300000000,pose2_to_pose3_retreat,0.5763847819,0.0101817870446,1.06002055129,0.546955929397,0.0188560241503,1.05969225992
+379,6.316666667,pose2_to_pose3_retreat,0.576267504833,0.0101817877952,1.06002063325,0.546838652797,0.0188560263969,1.05969233955
+380,6.333333333,pose2_to_pose3_retreat,0.576164709553,0.0101817920062,1.06002056806,0.546735856133,0.0188560255923,1.05969226594
+381,6.350000000,pose2_to_pose3_retreat,0.576074683524,0.0101818078939,1.06002074584,0.546645830252,0.0188560420552,1.05969244633
+382,6.366666667,pose2_to_pose3_retreat,0.575997333894,0.0101817490598,1.06002079015,0.546568482342,0.0188559890482,1.05969249035
+383,6.383333333,pose2_to_pose3_retreat,0.575930176698,0.0101817188543,1.06002070747,0.546501325767,0.0188559610799,1.05969241102
+384,6.400000000,pose2_to_pose3_retreat,0.575873280865,0.0101817275338,1.0600206083,0.546444429405,0.0188559678944,1.05969231002
+385,6.416666667,pose2_to_pose3_retreat,0.575826681894,0.0101817265112,1.06002063327,0.5463978304,0.0188559665944,1.05969233072
+386,6.433333333,pose2_to_pose3_retreat,0.575788759702,0.0101816948979,1.06002074589,0.546359909054,0.0188559379231,1.0596924452
+387,6.450000000,pose2_to_pose3_retreat,0.575758877966,0.0101817171374,1.06002046764,0.546330024983,0.0188559521327,1.05969216405
+388,6.466666667,pose2_to_pose3_retreat,0.575735180819,0.0101817227082,1.06002048451,0.546306329183,0.0188559626531,1.05969219101
+389,6.483333333,pose2_to_pose3_retreat,0.575716987407,0.0101817270424,1.06002069499,0.546288137342,0.0188559722859,1.05969240065
+390,6.500000000,pose2_to_pose3_retreat,0.575702410498,0.0101817483259,1.06002085101,0.546273560793,0.0188559946196,1.05969255229
+391,6.516666667,pose2_to_pose3_retreat,0.575691263386,0.0101818073618,1.06002066702,0.546262411375,0.0188560459418,1.05969237125
+392,6.533333333,pose2_to_pose3_retreat,0.575683610069,0.0101818205408,1.06002067124,0.546254757988,0.0188560587557,1.05969237218
+393,6.550000000,pose2_to_pose3_retreat,0.575678344293,0.01018181245,1.06002063246,0.546249491925,0.0188560497295,1.05969233441
+394,6.566666667,pose2_to_pose3_retreat,0.575674983878,0.0101817892306,1.06002054646,0.546246130907,0.0188560246618,1.05969225341
+395,6.583333333,pose2_to_pose3_retreat,0.575672584432,0.0101817829071,1.06002047794,0.546243731372,0.0188560181353,1.05969218741
+396,6.600000000,pose2_to_pose3_retreat,0.575670866061,0.0101817915263,1.06002041974,0.546242013376,0.0188560280408,1.05969212967
+397,6.616666667,pose2_to_pose3_retreat,0.575669681259,0.0101817974692,1.06002037962,0.546240828831,0.0188560348706,1.05969208986
+398,6.633333333,pose2_to_pose3_retreat,0.575669116481,0.0101817468385,1.06002038337,0.546240264435,0.0188559855054,1.05969209289
+399,6.650000000,pose2_to_pose3_retreat,0.575668977539,0.0101817330215,1.06002038488,0.546240125593,0.0188559720213,1.0596920942
+400,6.666666667,pose2_to_pose3_retreat,0.575668687628,0.0101817041914,1.06002038802,0.546239835891,0.0188559438856,1.05969209692
+401,6.683333333,pose2_to_pose3_retreat,0.575668023926,0.01018163819,1.0600203952,0.546239172668,0.0188558794741,1.05969210315
+402,6.700000000,pose2_to_pose3_retreat,0.575667806552,0.0101816165735,1.06002039756,0.546238955452,0.0188558583782,1.05969210519
+403,6.716666667,pose2_to_pose3_retreat,0.575667691804,0.0101816409096,1.06002041526,0.546238840539,0.0188558821311,1.05969212224
+404,6.733333333,pose2_to_pose3_retreat,0.575667681637,0.0101816440542,1.06002041729,0.54623883035,0.0188558852003,1.05969212419
+405,6.750000000,pose2_to_pose3_retreat,0.575667681321,0.0101816441519,1.06002041735,0.546238830034,0.0188558852957,1.05969212425
+406,6.766666667,pose2_to_pose3_retreat,0.575667555027,0.0101816832132,1.06002044249,0.546238703474,0.0188559234204,1.0596921485
+407,6.783333333,pose2_to_pose3_retreat,0.575667550488,0.0101816846169,1.06002044339,0.546238698926,0.0188559247905,1.05969214937
+408,6.800000000,pose2_to_pose3_retreat,0.575667413392,0.0101817270193,1.06002047068,0.54623856154,0.0188559661762,1.05969217569
+409,6.816666667,pose2_to_pose3_retreat,0.575667251205,0.0101817771816,1.06002050297,0.546238399012,0.0188560151357,1.05969220682
+410,6.833333333,pose2_to_pose3_retreat,0.575667001263,0.0101817632043,1.06002048606,0.546238149254,0.0188560017492,1.05969218902
+411,6.850000000,pose2_to_pose3_retreat,0.575666955954,0.0101817336199,1.06002046325,0.546238104189,0.0188559729962,1.0596921663
+412,6.866666667,pose2_to_pose3_retreat,0.575666950658,0.0101817301621,1.06002046058,0.546238098922,0.0188559696355,1.05969216364
+413,6.883333333,pose2_to_pose3_retreat,0.575666928331,0.0101817155839,1.06002044934,0.546238076715,0.0188559554671,1.05969215245
+414,6.900000000,pose2_to_pose3_retreat,0.575666861476,0.0101816719316,1.06002041567,0.54623801022,0.0188559130416,1.05969211892
+415,6.916666667,pose2_to_pose3_retreat,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec2dd35fcfb105e7dba60c53c76f1e6ce8a74a13
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dbd60c4e1412a78803f393ed31b60590362fa2dc30787a321dfa25d536ee738
+size 26435467
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..67cbf47545a8e892b3188d5d843a8173e3c405bf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_04/franka_data.csv
@@ -0,0 +1,419 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,781,760,738,721,687,649,914,800,839,657,635,658,0.400975994223,0.0044815743736,0.0698254247113,0.999999961187,4.11035602557e-05,-0.000274713685384,2.16362768608e-05,1793254974425725440
+1,0.016666667,BASELINE,781,760,738,721,686.420920164,649,914,800,839,657.579079836,635,658,0.40097444407,0.00448133673558,0.0698248422613,0.999999960668,4.10673467122e-05,-0.000276603394825,2.16331259017e-05,1793254974442391808
+2,0.033333333,BASELINE,781,760,738,720.843169656,686.156830344,649,914.156830344,800,839,658,635,657.843169656,0.400973358667,0.00448072115736,0.0698243936495,0.999999960347,4.04989663649e-05,-0.000277840741382,2.16957525858e-05,1793254974459058688
+3,0.050000000,BASELINE,781,760,738,720.268956843,686.731043157,649,914.731043157,800,839,658,635,657.268956843,0.400973510136,0.00447909974304,0.0698243012296,0.999999960559,3.85142969881e-05,-0.00027734191394,2.19334374527e-05,1793254974475725824
+4,0.066666667,BASELINE,781,760,737.687107424,720,687,649,914.687107424,800,839,658,635,657.312892576,0.400973642436,0.0044788682903,0.0698241688884,0.999999960538,3.76609975161e-05,-0.000277535210696,2.18942832875e-05,1793254974492392704
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+6,0.100000000,BASELINE,781.482284519,760,737.482284519,720,687,649,914.482284519,800,839,658,635,658,0.400972049447,0.00447944089879,0.0698232585698,0.999999959862,3.86145885753e-05,-0.000279841257533,2.17471803124e-05,1793254974525725696
+7,0.116666667,BASELINE,781.938549401,760,738,720,687,649,914.938549401,800,839,658,635,657.938549401,0.400970456329,0.00447881079757,0.0698226804021,0.999999959522,3.91617596374e-05,-0.000280967028323,2.1929059295e-05,1793254974542392064
+8,0.133333333,BASELINE,781.360114953,760,738,720,687,649,914.360114953,800,839,658,635,657.360114953,0.400972918116,0.00447880982899,0.0698244604298,0.999999960533,3.63698427121e-05,-0.000277736019554,2.17883461341e-05,1793254974559058688
+9,0.150000000,BASELINE,781.216210736,760,738,720,687,649,914.216210736,800,839,658,635,657.216210736,0.400975075585,0.0044789394974,0.0698259584938,0.999999961377,3.54126872383e-05,-0.000274812700638,2.16568119145e-05,1793254974575725312
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+12,0.200000000,BASELINE,782,760,738,720,687,649,915,800,839,658,635,657.039727245,0.400974346495,0.00448041201917,0.0698255368385,0.999999961059,4.11258226208e-05,-0.000275174736316,2.16723398576e-05,1793254974625725952
+13,0.216666667,BASELINE,782,760,738,720,687,649.541604891,914.458395109,800,839,658,635,657,0.4009743976,0.00447916170735,0.0698251378668,0.999999961059,3.83181306168e-05,-0.000275563138005,2.18761029595e-05,1793254974642392576
+14,0.233333333,BASELINE,781.879548779,759.879548779,738,720,687,649.879548779,914,800,839,657.879548779,635,657.120451221,0.400974276054,0.00447838725791,0.06982482864,0.99999996105,3.5985354948e-05,-0.000275902163741,2.19810555511e-05,1793254974659059200
+15,0.250000000,BASELINE,781.308070807,759.308070807,738,720,687,649.308070807,914,800,839,657.308070807,635,657.691929193,0.400972996751,0.00447989977002,0.0698246587718,0.99999996085,3.66707619792e-05,-0.000276560267852,2.1689814422e-05,1793254974675725568
+16,0.266666667,BASELINE,781,759.266718475,738,720.266718475,687,649,914.266718475,800,839,657.266718475,635,657.733281525,0.400972663313,0.00448042358894,0.0698246556682,0.999999960817,3.75682405783e-05,-0.000276557388532,2.16937221551e-05,1793254974692392192
+17,0.283333333,BASELINE,781,759.845380504,738,720.845380504,687,649,914.845380504,800,839,657.845380504,635,657.154619496,0.400973436121,0.00447979107069,0.0698248476061,0.99999996098,3.87137497922e-05,-0.000275781448662,2.20428245335e-05,1793254974709058816
+18,0.300000000,BASELINE,781,760,738,721,687,649,915,800,839,657.567099866,635,657,0.400973908127,0.00448028751517,0.0698249432355,0.999999961102,3.90047885231e-05,-0.000275312450996,2.18745634398e-05,1793254974725725184
+19,0.316666667,BASELINE,781,760,738,720.976883002,687,649.023116998,914.976883002,800,839,657.023116998,635,657.023116998,0.400974226639,0.00448111190414,0.0698250230811,0.999999961205,3.88890759577e-05,-0.000274979761666,2.15336042536e-05,1793254974742391808
+20,0.333333333,BASELINE,781,760,738,720.399435631,687,649.600564369,914.399435631,800,839,657.600564369,635,657.600564369,0.400973494579,0.00447992894705,0.0698255665282,0.999999961225,3.64909143145e-05,-0.000275231865281,2.15750963981e-05,1793254974759058944
+21,0.350000000,BASELINE,781,760,738,720,687,649.822454205,914,800,839,658,635,658,0.400973254212,0.00447914579582,0.0698258805848,0.999999961254,3.52554940819e-05,-0.000275290378025,2.15661700756e-05,1793254974775725824
+22,0.366666667,BASELINE,781,760,738,720,687,649.246518382,914,800,839,658,635,658,0.400974117141,0.00447925975792,0.0698256799186,0.99999996131,3.66291170124e-05,-0.000274914497613,2.14441111636e-05,1793254974792392448
+23,0.383333333,BASELINE,781.336782467,760,738,720,687,649,914.336782467,800,839,658,635,658,0.400974210424,0.00447912314749,0.0698257171681,0.99999996124,3.75880626352e-05,-0.000275029686287,2.15868022328e-05,1793254974809059072
+24,0.400000000,BASELINE,781.925594969,760,738,720,687,649,914.925594969,800,839,658,635,658,0.400973727747,0.00447879902196,0.0698259324611,0.999999961075,3.82366860245e-05,-0.000275512364832,2.19276180532e-05,1793254974825725440
+25,0.416666667,BASELINE,781.494213126,759.494213126,738,720,687,649,914.494213126,800,839,658,635,658,0.40097398388,0.00447784746654,0.0698258436111,0.999999961154,3.66500772334e-05,-0.000275432169246,2.20577456216e-05,1793254974842391808
+26,0.433333333,BASELINE,781,759.084397877,738,720,687,649,914,800,839,657.915602123,635,657.915602123,0.400974458562,0.00447721473813,0.0698258612318,0.999999961302,3.54173311761e-05,-0.00027505261802,2.20721907689e-05,1793254974859058432
+27,0.450000000,BASELINE,781,759.661061005,738,720,687,649,914,800,839,657.338938995,635,657.338938995,0.400975584669,0.00447897095482,0.0698267564512,0.999999961666,3.81343054116e-05,-0.000273401892223,2.15896454743e-05,1793254974875725056
+28,0.466666667,BASELINE,781,760,737.765225567,720,687.234774433,649,914,800,839,657.234774433,635,657,0.400976225742,0.00447970249622,0.0698273808808,0.999999961903,3.90970483205e-05,-0.000272412702968,2.13646334656e-05,1793254974892391936
+29,0.483333333,BASELINE,781,760,737.195717757,720,687.804282243,649,914,800,839,657.804282243,635,657,0.400976175269,0.00447897309047,0.0698276192276,0.999999961972,3.75586678874e-05,-0.000272366710051,2.15068036595e-05,1793254974909058816
+30,0.500000000,BASELINE,781,759.608742593,737.391257407,720,687.608742593,649,914,800,839,658,635,657,0.400974884476,0.00447990196555,0.0698265241116,0.999999961514,3.7691950089e-05,-0.000274033261646,2.13736114298e-05,1793254974925725440
+31,0.516666667,BASELINE,781,759.012621481,737.987378519,720,687.012621481,649,914,800,839,658,635,657,0.400972944248,0.00448169912212,0.0698247307901,0.999999960776,3.87005205594e-05,-0.000276596507353,2.10962384974e-05,1793254974942392064
+32,0.533333333,BASELINE,781,759,738,720,687,649,914.567041779,800,839,658,635,657.567041779,0.400974389738,0.00448045403724,0.0698262408916,0.999999961391,3.7479748462e-05,-0.000274522831543,2.1217725227e-05,1793254974959058944
+33,0.550000000,BASELINE,781.145176275,759.145176275,738,720.145176275,687,649,914.854823725,800,839,658,635,658,0.400975610924,0.00447942355715,0.0698272719528,0.999999961897,3.62736592735e-05,-0.000272823830277,2.13667629919e-05,1793254974975725568
+34,0.566666667,BASELINE,781.719841154,759.719841154,738,720.719841154,687,649,914.280158846,800,839,658,635,658,0.400975951866,0.0044792226419,0.0698266744315,0.99999996201,3.52536682508e-05,-0.00027252999021,2.15717837164e-05,1793254974992392192
+35,0.583333333,BASELINE,781.699683928,759.699683928,738,720.699683928,687,649,914.300316072,800,839,658,635,658,0.400975143158,0.00447974026008,0.0698260886439,0.99999996178,3.54509476908e-05,-0.000273351310474,2.1517079924e-05,1793254975009058560
+36,0.600000000,BASELINE,781.113681945,759.113681945,738,720.113681945,687,649,914.886318055,800,839,658,635,658,0.400973240805,0.00448094140768,0.0698255140184,0.999999961221,3.68061970773e-05,-0.000275233465021,2.12153043457e-05,1793254975025725184
+37,0.616666667,BASELINE,781,759.466503822,738,720,687,649,914.533496178,800,839,658,635,658,0.400972997328,0.00448000388688,0.0698255847974,0.999999961216,3.57474745072e-05,-0.000275389462775,2.12474357304e-05,1793254975042392320
+38,0.633333333,BASELINE,781,760,738,720,687,649,914.04519225,800,839,658,635,658,0.400973168215,0.0044787026329,0.0698257852658,0.999999961331,3.43585784876e-05,-0.000275138295988,2.13473651172e-05,1793254975059058944
+39,0.650000000,BASELINE,781,760,738,720,687,649,914.622733283,800,839,658,635,658,0.40097351689,0.0044791803338,0.0698256835631,0.99999996132,3.59245062867e-05,-0.000274984915888,2.12992300271e-05,1793254975075725568
+40,0.666666667,BASELINE,781,760,738,720,687,649,914.801642756,800,839,657.801642756,635,658,0.400973490796,0.00447991662817,0.0698255967577,0.999999961209,3.79584209623e-05,-0.000275110263741,2.13452189092e-05,1793254975092392192
+41,0.683333333,BASELINE,781,760,738,720,687,649,914.229630114,800,839,657.229630114,635,658,0.400972758735,0.00448114004789,0.069825538015,0.99999996091,4.08739056821e-05,-0.000275760665305,2.15685137989e-05,1793254975109058816
+42,0.700000000,BASELINE,781,760,738,720,687,649,914,800,839,657,635,658,0.400973573246,0.00448159603977,0.0698258542365,0.999999961187,4.10697654978e-05,-0.000274733920336,2.14745728922e-05,1793254975125725184
+43,0.716666667,BASELINE,781,760,738,720,687,649,914,800,839,657,635,658,0.400975425016,0.00448153733092,0.06982642194,0.999999961848,3.94416194023e-05,-0.000272582341918,2.11678673669e-05,1793254975142391808
+44,0.733333333,BASELINE,781,760,738,720.529840731,687,649,914.529840731,800,839,657.529840731,635,658,0.400976954846,0.00448143197713,0.0698282815644,0.999999962444,3.94439955252e-05,-0.000270376327603,2.12585331628e-05,1793254975159058688
+45,0.750000000,BASELINE,781,760,738,720.893704753,687,649,914.893704753,800,839,657.893704753,635,658,0.400977692097,0.00448110856954,0.0698294299362,0.999999962737,3.94002934947e-05,-0.000269289287845,2.13636210167e-05,1793254975175725056
+46,0.766666667,BASELINE,781,760,738,720.319398964,687,649,914.319398964,800,839,657.319398964,635,658,0.400975065689,0.00447984334374,0.0698269410396,0.999999961724,3.85155072544e-05,-0.000273150322313,2.13766724106e-05,1793254975192392192
+47,0.783333333,BASELINE,781,760,737.745191469,720,687,649,914,800,839,657.254808531,635,657.745191469,0.400973434882,0.00447926958345,0.0698257359939,0.999999961171,3.78655090845e-05,-0.000275257556162,2.14046055112e-05,1793254975209058816
+48,0.800000000,BASELINE,781,760,737.17110706,720,687,649,914,800,839,657.82889294,635,657.17110706,0.400973051563,0.00447956223142,0.0698261396169,0.999999961208,3.75097009745e-05,-0.000275167272932,2.14511854386e-05,1793254975225725440
+49,0.816666667,BASELINE,781,760,737.417515049,720,687,649,914,800,839,658,635,657,0.40097278553,0.00447940008968,0.069825967916,0.999999961322,3.70847773523e-05,-0.000274792191879,2.16705966324e-05,1793254975242391808
+50,0.833333333,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657.011904771,0.40097259799,0.00447907160306,0.0698255774545,0.999999961468,3.66499853799e-05,-0.000274296044381,2.1949356359e-05,1793254975259058176
+51,0.850000000,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657.587122844,0.400973768184,0.0044800094511,0.069826394844,0.999999961597,3.71368855228e-05,-0.000273793306205,2.15639169445e-05,1793254975275725056
+52,0.866666667,BASELINE,781,760,738,720,687,649,914,800,839,658,635,658,0.400974279419,0.00448057718986,0.069826796227,0.999999961604,3.70381019758e-05,-0.000273799394465,2.13024564805e-05,1793254975292391680
+53,0.883333333,BASELINE,781,760,738,720,687,649,914,800,839,658,635,658,0.400973114742,0.00448020363997,0.0698261395921,0.999999961304,3.54497654291e-05,-0.000275099566816,2.13563082417e-05,1793254975309058560
+54,0.900000000,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657.679806501,0.400973435843,0.00447994872756,0.0698262328869,0.999999961387,3.50346640958e-05,-0.000274859868294,2.1244461558e-05,1793254975325725440
+55,0.916666667,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657.087301261,0.400975020541,0.0044797947116,0.0698269639668,0.999999961796,3.56173523834e-05,-0.000273310571226,2.09916949835e-05,1793254975342392320
+56,0.933333333,BASELINE,781.493429445,760,738,720.493429445,687,649,914.493429445,800,839,658,635,657.493429445,0.400975131198,0.00448057749289,0.0698270513069,0.999999962007,3.61981557594e-05,-0.000272477568329,2.078142897e-05,1793254975359058688
+57,0.950000000,BASELINE,781.928453907,759.928453907,738,720.928453907,687,649,914.928453907,800,839,658,635,657.928453907,0.400974950864,0.00448136078621,0.0698269924752,0.99999996213,3.67129336349e-05,-0.000271967019398,2.06306226905e-05,1793254975375725312
+58,0.966666667,BASELINE,781.354406731,759.354406731,738,720.354406731,687,649,914.354406731,800,839,658,635,657.354406731,0.400974515782,0.00448101070153,0.0698266883079,0.999999961883,3.67662714791e-05,-0.000272851859982,2.08458473862e-05,1793254975392392192
+59,0.983333333,BASELINE,781,759,738,720,687,649,914,800,839,657.779649402,635,657,0.400973757033,0.00448074424715,0.0698262317127,0.999999961575,3.76110094232e-05,-0.000273849450177,2.10303022664e-05,1793254975409059072
+60,1.000000000,BASELINE,781,759,738,720,687,649,914,800,839,657.203746097,635,657,0.400972476018,0.00448061273665,0.0698255291634,0.999999961166,3.97327325565e-05,-0.000275028970714,2.11651077068e-05,1793254975425725696
+61,1.016666667,BASELINE,781.383064497,759.383064497,738,720,687,649.383064497,914,800,839,657,635.383064497,657.383064497,0.400972627506,0.00448112570816,0.0698260562813,0.999999961231,4.14876935121e-05,-0.000274518312954,2.13491041431e-05,1793254975442392320
+62,1.033333333,BASELINE,781.975846503,759.975846503,738,720,687,649.975846503,914,800,839,657,635.975846503,657.975846503,0.40097356325,0.00448199151624,0.0698272566091,0.999999961554,4.30418619126e-05,-0.000273082327967,2.15600313183e-05,1793254975459058944
+63,1.050000000,BASELINE,781.445620766,760,737.445620766,720,687,649.445620766,914.554379234,800,839,657.554379234,635.445620766,657.445620766,0.400973480653,0.00448074175526,0.0698270340907,0.999999961458,3.98490530803e-05,-0.000273934926173,2.13545024764e-05,1793254975475726080
+64,1.066666667,BASELINE,781,760,737.13110539,720,687,649,914.86889461,800,839,658,635,657,0.400973702835,0.0044796177192,0.0698269294625,0.99999996151,3.73021396547e-05,-0.000274114579476,2.12279152734e-05,1793254975492392960
+65,1.083333333,BASELINE,781,760,737.703785392,720,687,649,914.296214608,800,839,658,635,657,0.400975097223,0.00447921980083,0.069827425459,0.999999962153,3.7609788248e-05,-0.000271700277174,2.14267910313e-05,1793254975509059584
+66,1.100000000,BASELINE,781,760,738,720.285761492,687,649,914,800,839,658,635,657.285761492,0.400974771958,0.00447959601343,0.0698272685033,0.999999962071,3.84816885139e-05,-0.000271889721085,2.12906952752e-05,1793254975525726208
+67,1.116666667,BASELINE,781,760,738,720.877697715,687,649,914,800,839,658,635,657.877697715,0.400972604199,0.00448080165673,0.069826411952,0.999999961209,3.99581474896e-05,-0.000274868908769,2.0795699457e-05,1793254975542392576
+68,1.133333333,BASELINE,781,760,737.540277655,721,687.459722345,649,914,800,839,658,635,657.540277655,0.400973907708,0.00448087181622,0.0698272184808,0.999999961695,3.96569332438e-05,-0.000273129092409,2.09030281362e-05,1793254975559058944
+69,1.150000000,BASELINE,781.038880568,760,737,720.961119432,687.961119432,649,914,800,839,658,635,657,0.400975860388,0.00448064872269,0.0698283028842,0.999999962427,3.89814442405e-05,-0.000270515758481,2.11591992481e-05,1793254975575725568
+70,1.166666667,BASELINE,781.614103625,760,737,720.385896375,687.385896375,649,914,800,839,658,635,657,0.40097429793,0.00448045942891,0.0698272460107,0.99999996178,3.95290930678e-05,-0.000272805139138,2.13048036524e-05,1793254975592391936
+71,1.183333333,BASELINE,781.810342297,760,737.189657703,720,687,649.189657703,914.189657703,800,839,658,635,657,0.400974079104,0.00448027664702,0.0698269553236,0.999999961634,4.00150512872e-05,-0.000273263139983,2.13866068724e-05,1793254975609058560
+72,1.200000000,BASELINE,781.234113404,760,737.765886596,720,687,649.765886596,914.765886596,800,839,658,635,657,0.400976598947,0.004480107138,0.0698282263212,0.99999996251,4.03752682779e-05,-0.000269988318067,2.13383668925e-05,1793254975625725440
+73,1.216666667,BASELINE,781,760,738,720,687,649.649414766,915,800,839,657.649414766,635,657,0.400976651895,0.00447987524924,0.0698281424074,0.999999962443,3.9452662003e-05,-0.000270378259495,2.13022042979e-05,1793254975642392320
+74,1.233333333,BASELINE,781,760,738,720,687,649.058920221,915,800,839,657.058920221,635,657,0.400975016722,0.00447960067337,0.0698271313127,0.999999961725,3.76522057166e-05,-0.000273276038753,2.12743063933e-05,1793254975659058944
+75,1.250000000,BASELINE,781,760,738,720.521375181,687,649,914.478624819,800,839,657.521375181,635,657.521375181,0.40097416422,0.00447930457133,0.0698274682363,0.999999961731,3.79580211018e-05,-0.000273194960371,2.14834919329e-05,1793254975675725824
+76,1.266666667,BASELINE,781,760,738,720.900489934,687,649,914.099510066,800,839,658,635,657.900489934,0.400973462901,0.00447923910871,0.0698276912091,0.999999961743,3.83922396516e-05,-0.000273075698966,2.16650704031e-05,1793254975692392192
+77,1.283333333,BASELINE,781,760,738,720.327258583,687,649,914.672741417,800,839,658,635,657.327258583,0.40097306831,0.00448028297199,0.0698266604162,0.999999961399,3.83263254712e-05,-0.000274346497469,2.15901243585e-05,1793254975709058560
+78,1.300000000,BASELINE,781,760,737.747025545,720,687,649.252974455,914.747025545,800,839,657.747025545,635.252974455,657.252974455,0.400973567903,0.00448104817529,0.0698266494511,0.999999961501,3.89970797475e-05,-0.000273896267432,2.14243880615e-05,1793254975725725184
+79,1.316666667,BASELINE,781,760,737.157477044,720,687,649.842522956,914.157477044,800,839,657.157477044,635.842522956,657.842522956,0.400975257178,0.00448144263071,0.0698279953331,0.999999962188,4.06479467563e-05,-0.000271156266415,2.11378583783e-05,1793254975742392064
+80,1.333333333,BASELINE,781,760,737.424588849,720.424588849,687,649.575411151,914,800,839,657.424588849,635.575411151,658,0.400974925844,0.00448188804506,0.0698281634187,0.999999962088,4.00451094913e-05,-0.000271622536944,2.10238767064e-05,1793254975759058944
+81,1.350000000,BASELINE,781,759.996095801,738,720.996095801,687,649,914.003904199,800,839,658,635,657.996095801,0.40097387313,0.00448233569885,0.0698279059106,0.999999961706,3.86180962996e-05,-0.000273234117725,2.09749946618e-05,1793254975775725568
+82,1.366666667,BASELINE,781,759.42020943,738,720.42020943,687,649,914.57979057,800,839,658,635,657.42020943,0.400975028658,0.0044803904074,0.069828187188,0.999999962259,3.67854974829e-05,-0.000271435167325,2.12500445984e-05,1793254975792392448
+83,1.383333333,BASELINE,781,759.155266092,738,720,687,649,914.844733908,800,839,658,635,657,0.400975923865,0.00447920273361,0.0698285034462,0.999999962662,3.63927499718e-05,-0.000269977024605,2.15380597972e-05,1793254975809059072
+84,1.400000000,BASELINE,781,759.72963276,738,720,687,649,914.27036724,800,839,658,635,657,0.400976116402,0.0044800600519,0.069828914126,0.999999962667,3.9886507515e-05,-0.000269438803498,2.18610714226e-05,1793254975825725440
+85,1.416666667,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657,0.400975406296,0.00448032001682,0.0698284181229,0.999999962351,4.0596587457e-05,-0.000270508807317,2.18080187076e-05,1793254975842392320
+86,1.433333333,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657,0.400973893407,0.00448004871502,0.0698271157457,0.99999996175,3.88309548608e-05,-0.000273009114116,2.14205065792e-05,1793254975859059712
+87,1.450000000,BASELINE,781,760,738,720,687,649,914,800,839.485345022,658,635,657,0.400974835832,0.0044797039866,0.0698278337174,0.999999962123,3.8400890521e-05,-0.000271700969803,2.14060955497e-05,1793254975875726080
+88,1.466666667,BASELINE,781,760,738,720.063423717,687,649,914,800,839.936576283,658,635,657.063423717,0.400976108269,0.00447946473845,0.0698288070055,0.9999999626,3.84967314409e-05,-0.000269923274971,2.14479713237e-05,1793254975892392448
+89,1.483333333,BASELINE,781,760,738,720.637804622,687,649,914,800,839.362195378,658,635,657.637804622,0.400976241219,0.0044801888496,0.0698287118946,0.999999962422,4.07633965861e-05,-0.000270254081725,2.13661551025e-05,1793254975909059328
+90,1.500000000,BASELINE,781.217660341,760,738,721,687,649.217660341,914,800,839,658,635,658,0.400975616921,0.00448009395178,0.0698282236855,0.999999962188,4.09026064899e-05,-0.000271099331562,2.13417462885e-05,1793254975925725952
+91,1.516666667,BASELINE,781.806861368,760,738,721,687,649.806861368,914,800,839,658,635,658,0.400973700017,0.00447860102637,0.0698270644676,0.999999961855,3.74103039839e-05,-0.00027282272267,2.14153304723e-05,1793254975942392576
+92,1.533333333,BASELINE,781.610443209,760,738,720.610443209,687,650,914.389556791,800,839,658,635,658,0.400973753964,0.00447878719944,0.0698267931342,0.999999961838,3.72938518953e-05,-0.000272898362768,2.14599812551e-05,1793254975959059200
+93,1.550000000,BASELINE,781.030920173,760,738,720.030920173,687,650,914.969079827,800,839,658,635,658,0.400974768989,0.00447979217992,0.0698269547749,0.999999961977,3.88236232089e-05,-0.000272170481996,2.14905227553e-05,1793254975975725568
+94,1.566666667,BASELINE,781,760,738.543656655,720.543656655,687,649.456343345,915,800,839,658,635,657.456343345,0.400974611779,0.0044784034824,0.0698274169924,0.999999962017,3.89191290064e-05,-0.000271964496656,2.20588770389e-05,1793254975992392704
+95,1.583333333,BASELINE,781.118772119,760,738.881227881,720.881227881,687.118772119,649,915,800,839,658,635,657.118772119,0.400974583583,0.0044775743324,0.06982789548,0.999999962086,3.89202919596e-05,-0.00027168063827,2.24131075167e-05,1793254976009059840
+96,1.600000000,BASELINE,781.697050158,760,738.302949842,720.302949842,687.697050158,649,915,800,839,658,635,657.697050158,0.40097531013,0.0044794319078,0.0698283713724,0.999999962291,3.88692057794e-05,-0.000270981703927,2.18216641139e-05,1793254976025726208
+97,1.616666667,BASELINE,781.719559475,760,738,720.280440525,687.719559475,649,915,800,839,658,635,657.719559475,0.400974957981,0.00448032376072,0.069827770933,0.999999962135,3.87156754077e-05,-0.00027161953053,2.1325889407e-05,1793254976042392576
+98,1.633333333,BASELINE,781.130543932,760,738,720.869456068,687.130543932,649,915,800,839,658,635,657.130543932,0.400973418921,0.00448015300735,0.0698259861816,0.999999961578,3.84494233905e-05,-0.000273728225317,2.09353811539e-05,1793254976059059456
+99,1.650000000,BASELINE,781,760,738,720.549184528,687.450815472,649,914.549184528,800,839,658,635,657.450815472,0.400973622715,0.00447898676362,0.0698268695523,0.999999961875,3.85483573286e-05,-0.000272597133715,2.1334783975e-05,1793254976075726080
+100,1.666666667,BASELINE,781,760,738,720,688,649,914,800,839,658,635,658,0.40097429255,0.0044776537244,0.0698283852025,0.999999962367,3.86837093184e-05,-0.0002707180932,2.19171718783e-05,1793254976092392960
+101,1.683333333,BASELINE,781,760,738,720,688,649,914,800,839,658,635,658,0.40097440914,0.00447845660198,0.0698275676272,0.999999962056,3.75820137951e-05,-0.000272034732275,2.17318153617e-05,1793254976109059328
+102,1.700000000,BASELINE,781,759.820102137,738,720,687.820102137,649,914,800,839,658,635,658,0.400974687557,0.00447927486014,0.0698272361648,0.999999961946,3.69588598461e-05,-0.000272547789222,2.14225404081e-05,1793254976125725696
+103,1.716666667,BASELINE,781,759.244832741,738,720,687.244832741,649,914,800,839,658,635,658,0.40097532163,0.00448012692093,0.0698279730601,0.999999962283,3.7387423466e-05,-0.000271294768875,2.08409230402e-05,1793254976142392576
+104,1.733333333,BASELINE,781,759,738,720,687,649,914,800,839,658,635,657.659895149,0.400975193651,0.00448064449389,0.0698280964765,0.999999962314,3.79741954544e-05,-0.000271110870889,2.06881265093e-05,1793254976159058944
+105,1.750000000,BASELINE,781,759,738,720,687,649,914,800,839,658,635,657.067793973,0.400974501037,0.00448091423248,0.0698277653437,0.999999962119,3.8678189948e-05,-0.00027171912527,2.08530592147e-05,1793254976175725568
+106,1.766666667,BASELINE,781,759.509908003,738,720,687,649,914.509908003,800,839,658,635,657,0.400974175868,0.0044809263583,0.0698271343362,0.999999962043,3.79097670221e-05,-0.000272109840521,2.08020185292e-05,1793254976192392448
+107,1.783333333,POSE1_TO_POSE2_PRESS,781,760,738,721,688,649,914,800,839,658,635,658,0.400973660457,0.00447966760558,0.0698277494474,0.999999961918,3.89926458279e-05,-0.000272339046492,2.17853538205e-05,1793254976235539968
+108,1.800000000,POSE1_TO_POSE2_PRESS,781,760,738,720.413565036,687.413565036,649,914,800,839,658,635,658,0.400974797913,0.00448072101985,0.0698278525973,0.999999962027,3.78767561506e-05,-0.000272147096215,2.1136512754e-05,1793254976252206592
+109,1.816666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914,800,839,657.82810095,635,657.82810095,0.400975275995,0.00448136884646,0.0698278066249,0.99999996203,3.73022892249e-05,-0.000272244341783,2.0756487031e-05,1793254976268873216
+110,1.833333333,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914,800,839,657.244959427,635,657.244959427,0.400974176626,0.00448104636613,0.0698274039002,0.999999961783,3.80230941065e-05,-0.000273033444629,2.10195612227e-05,1793254976285539328
+111,1.850000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687.334233785,649,914.334233785,800,839,657.334233785,635,657.334233785,0.400973378721,0.00448050524102,0.0698269049236,0.999999961584,3.76079223784e-05,-0.000273795108916,2.13047622471e-05,1793254976302205696
+112,1.866666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687.910567035,649,914.910567035,800,839,657.910567035,635,657.910567035,0.400972799179,0.00447980574241,0.0698263362276,0.99999996142,3.63699153884e-05,-0.000274536898262,2.1605990643e-05,1793254976318872064
+113,1.883333333,POSE1_TO_POSE2_PRESS,781.483909092,760,738,720,687.516090908,649,915,800,839,657.516090908,635,657.516090908,0.400972683514,0.00447944197924,0.0698266176296,0.999999961439,3.68227904323e-05,-0.000274397046545,2.17166210623e-05,1793254976335538944
+114,1.900000000,POSE1_TO_POSE2_PRESS,781.941442058,760,738,720,687,649,914.941442058,800,839,657.058557942,635,657.058557942,0.400972920797,0.00447924854433,0.0698271426425,0.999999961524,3.77913290904e-05,-0.000273949370598,2.17945192032e-05,1793254976352205824
+115,1.916666667,POSE1_TO_POSE2_PRESS,781.349898241,760,738,720,687,649,914.349898241,800,839,657.650101759,635,657.650101759,0.400975595052,0.00448004412584,0.0698284637626,0.999999961896,4.06265257679e-05,-0.000272173861541,2.1893136932e-05,1793254976368872704
+116,1.933333333,POSE1_TO_POSE2_PRESS,781,759.763396203,737.763396203,720,687,649,914,800,839,658,635,657.763396203,0.40098265289,0.00448085791696,0.0698319272735,0.999999963181,4.2224921192e-05,-0.000267165815833,2.18550433728e-05,1793254976385539328
+117,1.950000000,POSE1_TO_POSE2_PRESS,781,759.184194615,737.184194615,720,687,649,914,800,839,658,635,657.184194615,0.400996058074,0.00448169807516,0.0698384929255,0.999999965736,4.20324517207e-05,-0.00025747711879,2.16189944635e-05,1793254976402206208
+118,1.966666667,POSE1_TO_POSE2_PRESS,781,759.392658742,737.392658742,720,687,649.392658742,914,800,839,657.607341258,635.392658742,657.392658742,0.401025316081,0.00448020806122,0.0698501255095,0.999999970796,3.96802625732e-05,-0.000237415913636,2.16003143162e-05,1793254976418872576
+119,1.983333333,POSE1_TO_POSE2_PRESS,781,759.968417153,737.968417153,720,687,649.968417153,914,800,839,657.031582847,635.968417153,657.968417153,0.401061966378,0.00447763147089,0.0698641208418,0.999999976523,3.63209801643e-05,-0.000212517930423,2.16829947953e-05,1793254976435538944
+120,2.000000000,POSE1_TO_POSE2_PRESS,781.554775554,760,738,720,687,649.445224446,914,800,839,657,635.445224446,658,0.401119669175,0.00447945781977,0.069880802545,0.999999980856,3.92191282425e-05,-0.000190511910612,2.13542158917e-05,1793254976452205824
+121,2.016666667,POSE1_TO_POSE2_PRESS,781.860033161,759.860033161,738,720.139966839,687,649,914.139966839,800,839,657.139966839,635,658,0.401182170435,0.0044804557738,0.0698960421454,0.999999984485,4.0006187366e-05,-0.000170273719296,2.08754118274e-05,1793254976468872448
+122,2.033333333,POSE1_TO_POSE2_PRESS,781.280439871,759.280439871,738,720.719560129,687,649,914.719560129,800,839,657.719560129,635,658,0.401255905631,0.004478049169,0.0699062624944,0.999999987233,3.30217703762e-05,-0.000155060967691,2.00003950541e-05,1793254976485538816
+123,2.050000000,POSE1_TO_POSE2_PRESS,781,759.297387233,738,720.702612767,687,649,914.702612767,800,839,658,635,657.702612767,0.401336697695,0.00447806548013,0.0699122695301,0.999999988722,3.01074141642e-05,-0.000145943672128,1.87183276999e-05,1793254976502205696
+124,2.066666667,POSE1_TO_POSE2_PRESS,781,759.873558601,738,720.126441399,687,649,914.126441399,800,839,658,635,657.126441399,0.401424105177,0.00448035314149,0.0699143268164,0.999999989215,3.10085159442e-05,-0.000142540531461,1.70546729261e-05,1793254976518872832
+125,2.083333333,POSE1_TO_POSE2_PRESS,781.448736847,760,737.551263153,720.448736847,687.448736847,649,914.448736847,800.448736847,839,657.551263153,635,657,0.401522022854,0.00448052483432,0.0699105213796,0.999999988301,2.89982820613e-05,-0.000149484549313,1.45201875125e-05,1793254976535539712
+126,2.100000000,POSE1_TO_POSE2_PRESS,782,760,737.024269677,720.975730323,687.975730323,649,915,800.975730323,839,657.024269677,635,657.024269677,0.401624488521,0.0044802539142,0.0699053691769,0.999999986973,2.62427805551e-05,-0.000158835991734,1.17128262291e-05,1793254976552206592
+127,2.116666667,POSE1_TO_POSE2_PRESS,782,760,737.614584878,720.385415122,687.385415122,649,915,800.385415122,839,657.614584878,635,657.614584878,0.401764109255,0.00448353489518,0.0699072497537,0.999999987404,2.51957747566e-05,-0.000156486795065,8.25143169681e-06,1793254976568872960
+128,2.133333333,POSE1_TO_POSE2_PRESS,781.798982593,760,738,720,687.201017407,649,914.798982593,800,839,658,635,658,0.401913974347,0.00448547061346,0.0699095986256,0.999999987943,2.30595651669e-05,-0.00015348776192,4.81344333227e-06,1793254976585539328
+129,2.150000000,POSE1_TO_POSE2_PRESS,781.219853399,760,738,720,687.780146601,649,914.219853399,800,839,658,635,658,0.402083108959,0.00448487590534,0.0699128283558,0.999999988681,1.88745739621e-05,-0.000149266392948,1.41948213222e-06,1793254976602205952
+130,2.166666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687.643325711,649.356674289,914.356674289,800,839,658,635,657.643325711,0.402274640676,0.00448445034966,0.0699168938027,0.999999990021,1.2608788658e-05,-0.000140685010894,-2.63949830483e-06,1793254976618872576
+131,2.183333333,POSE1_TO_POSE2_PRESS,781,760,738,720,687.068389922,649.931610078,914.931610078,800,839,658,635,657.068389922,0.402479877983,0.00448412830423,0.0699214706543,0.999999991585,5.06969209152e-06,-0.000129435583555,-7.10542765453e-06,1793254976635538944
+132,2.200000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649.482631725,915,800.517368275,839,658,635,657,0.402708391576,0.00448559563202,0.0699242291633,0.999999992173,-1.27858720754e-06,-0.00012455006424,-1.18498378108e-05,1793254976652205824
+133,2.216666667,POSE1_TO_POSE2_PRESS,781,760,738,720.102971746,687,649.102971746,915,800.897028254,839,658,635,657,0.402949361555,0.0044866467397,0.0699271287582,0.999999992635,-8.07401908785e-06,-0.000119949757844,-1.66498226507e-05,1793254976668872704
+134,2.233333333,POSE1_TO_POSE2_PRESS,781,760,738,720.681118734,687,649.681118734,915,800.318881266,839,658,635,657,0.403233311246,0.00448466231787,0.0699318122936,0.999999993261,-1.76748063187e-05,-0.000112700692183,-2.15327630861e-05,1793254976685539584
+135,2.250000000,POSE1_TO_POSE2_PRESS,781,760,738,720.740316401,687,649.740316401,914.740316401,800,839,657.740316401,635,657.259683599,0.403536194636,0.0044815530428,0.0699393825595,0.999999994213,-2.83272321902e-05,-0.000100410088138,-2.62589356605e-05,1793254976702205952
+136,2.266666667,POSE1_TO_POSE2_PRESS,781,760,738,720.161237606,687,649.161237606,914.161237606,800,839,657.161237606,635,657.838762394,0.403862365319,0.00447706026608,0.0699505033299,0.99999999536,-4.02731097054e-05,-8.19186957633e-05,-3.0792292904e-05,1793254976718872064
+137,2.283333333,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914.413100649,800,839,657.413100649,635,657.586899351,0.404207936215,0.00446766121727,0.0699560460422,0.999999994987,-5.7984317272e-05,-7.40139737915e-05,-3.44404395982e-05,1793254976735538688
+138,2.300000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914.985609599,800,839,657.985609599,635,657.014390401,0.404560993305,0.00445636892415,0.0699594362794,0.999999993788,-7.79202643797e-05,-7.01944628142e-05,-3.77469989411e-05,1793254976752205312
+139,2.316666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914.424508077,800,839,658,635,657,0.404951089714,0.00445861405442,0.0699627411275,0.999999994756,-6.9968758293e-05,-6.30753962949e-05,-4.01610080605e-05,1793254976768872448
+140,2.333333333,POSE1_TO_POSE2_PRESS,781.162801925,760,737.837198075,720,687,649,914,800,839,658,635,657.162801925,0.405356656493,0.00446448719461,0.0699653668645,0.99999999685,-3.90846876437e-05,-5.7879801874e-05,-3.7708142628e-05,1793254976785539328
+141,2.350000000,POSE1_TO_POSE2_PRESS,781.742379877,760,737.257620123,720,687,649,914,800,839,658,635,657.742379877,0.405799382801,0.00447875454486,0.0699662596999,0.999999996883,4.8666418186e-05,-5.78261270885e-05,-2.28548996212e-05,1793254976802206208
+142,2.366666667,POSE1_TO_POSE2_PRESS,781.680218768,760,737.319781232,720,687,649,914.319781232,800,839,657.680218768,635,657.680218768,0.406247302177,0.00448482453314,0.069958387003,0.999999993517,8.58230273639e-05,-7.2302959364e-05,-1.92924964474e-05,1793254976818873088
+143,2.383333333,POSE1_TO_POSE2_PRESS,781.104558994,760,737.895441006,720,687,649,914.895441006,800,839,657.104558994,635,657.104558994,0.406699376924,0.00448433526051,0.0699435004124,0.999999991449,8.24955754002e-05,-9.84066310841e-05,-2.47646546052e-05,1793254976835539712
+144,2.400000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,915,800,839,657,635,657,0.407192684012,0.00449125478894,0.0699312529803,0.9999999934,-8.04545564526e-06,-0.000111073733818,-2.82635653156e-05,1793254976852205824
+145,2.416666667,POSE1_TO_POSE2_PRESS,781,760,738,720,686.933527056,649.066472944,915,800,839,657.066472944,635,657.066472944,0.407706154091,0.00449978828888,0.0699224635271,0.999999987569,-0.000101679964693,-0.000116393697454,-3.12495810312e-05,1793254976868872192
+146,2.433333333,POSE1_TO_POSE2_PRESS,781,760,738,720,686.354365381,649.645634619,915,800,839,657.645634619,635,657.645634619,0.408304554333,0.00450808745544,0.0699358268231,0.999999993116,-6.98803562232e-05,-8.80479787353e-05,-3.36576047834e-05,1793254976885538816
+147,2.450000000,POSE1_TO_POSE2_PRESS,781,760,738,720,686.22501917,649.77498083,914.77498083,800,839,658,635,658,0.408921711675,0.00451401270841,0.0699486663458,0.999999996913,-3.73707804945e-05,-5.97051237836e-05,-3.48194155565e-05,1793254976902205440
+148,2.466666667,POSE1_TO_POSE2_PRESS,781,760,738,720,686.804755021,649.195244979,914.195244979,800,839,658,635,658,0.409568437379,0.00451619576082,0.0699606801997,0.999999998922,-3.74202553244e-06,-3.13667850326e-05,-3.40167156624e-05,1793254976918872064
+149,2.483333333,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914.378744409,800,839,658,635.378744409,657.621255591,0.41019457745,0.00452500567567,0.0699576405257,0.99999999836,2.67799886983e-05,-3.63151518804e-05,-3.52756163985e-05,1793254976935538944
+150,2.500000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914.949815716,800,839,658,635.949815716,657.050184284,0.410810264091,0.00453718071975,0.0699469566504,0.99999999605,5.57243949382e-05,-5.81665515543e-05,-3.75814005986e-05,1793254976952206080
+151,2.516666667,POSE1_TO_POSE2_PRESS,781,760,738,720,686.461159421,649,915,800,839,658,636,657,0.411482451368,0.00454059446958,0.069950566261,0.999999995995,6.03704780939e-05,-5.39984717484e-05,-3.8072414366e-05,1793254976968872960
+152,2.533333333,POSE1_TO_POSE2_PRESS,781.127058614,760,738,719.872941386,686.127058614,649,915,800,839,658,635.872941386,657,0.412181747094,0.00454455767922,0.0699622534544,0.999999996741,6.07411970106e-05,-3.66985094312e-05,-3.84925715352e-05,1793254976985539840
+153,2.550000000,POSE1_TO_POSE2_PRESS,781.706250318,760,738,719.293749682,686.706250318,649,915,800,839,658,635.293749682,657,0.412958136563,0.00455347980617,0.0699977840875,0.999999997589,5.42285383546e-05,1.84103267383e-05,-3.9282756697e-05,1793254977002206208
+154,2.566666667,POSE1_TO_POSE2_PRESS,782,760.28530343,738,719,686.71469657,649,914.71469657,800,839,658,635.28530343,657.28530343,0.413740037462,0.00456259212824,0.0700195747555,0.999999995847,6.25098524838e-05,5.27337021209e-05,-4.023027821e-05,1793254977018872832
+155,2.583333333,POSE1_TO_POSE2_PRESS,782,760.864213985,738,719,686.135786015,649,914.135786015,800,839,658,635.864213985,657.864213985,0.414527610295,0.00457190018211,0.0700272255642,0.99999999329,8.60157141514e-05,6.56666670298e-05,-4.13397154845e-05,1793254977035539456
+156,2.600000000,POSE1_TO_POSE2_PRESS,782,761,738,719,686.438352238,649,914.438352238,800,839.438352238,658,635.561647762,657.561647762,0.415257799119,0.00457855906037,0.0699843251289,0.999999994148,9.85665373677e-05,-1.21283714998e-05,-4.29072416638e-05,1793254977052206080
+157,2.616666667,POSE1_TO_POSE2_PRESS,782,760.988632931,738,718.988632931,686.988632931,649,915,800,840,658,635.011367069,657,0.415972490523,0.00458441988315,0.0699268772597,0.99999998654,0.00010720328457,-0.000115914142443,-4.46234798539e-05,1793254977068872704
+158,2.633333333,POSE1_TO_POSE2_PRESS,782,760.398354156,738,718.398354156,686.398354156,649,915,800,840,658,635.601645844,657,0.416793456399,0.0045909798541,0.0699174505748,0.999999986957,8.74656450545e-05,-0.000127472226878,-4.6764515872e-05,1793254977085539328
+159,2.650000000,POSE1_TO_POSE2_PRESS,782,760.188774107,738,718.188774107,686.188774107,649,915,800.188774107,840,658,636,657,0.417637586409,0.00459763213328,0.0699219120091,0.99999998844,8.23260564804e-05,-0.000118314969346,-4.84161211722e-05,1793254977102205952
+160,2.666666667,POSE1_TO_POSE2_PRESS,782,760.769363211,738,718.769363211,686.769363211,649,915,800.769363211,840,658,636,657,0.418529795288,0.00460447600483,0.06995519929,0.999999990832,0.000107485832404,-6.61614454296e-05,-4.90518756545e-05,1793254977118872576
+161,2.683333333,POSE1_TO_POSE2_PRESS,782,760.653274168,738,718.653274168,686.653274168,649,915,800.653274168,840,658,636,657.346725832,0.419450081922,0.00461041383919,0.0699862641663,0.999999990682,0.000126028410479,-1.85223157576e-05,-4.90807614082e-05,1793254977135539200
+162,2.700000000,POSE1_TO_POSE2_PRESS,782,760.078037988,738,718.078037988,686.078037988,649,915,800.078037988,840,658,636,657.921962012,0.420388873221,0.00461575454766,0.0700158643612,0.999999988643,0.000140209910153,2.61415913393e-05,-4.87096890874e-05,1793254977152205568
+163,2.716666667,POSE1_TO_POSE2_PRESS,782,760,738,718,686,649,914.493912831,800,840,658,636,658,0.421293366602,0.0046044388432,0.0700308473335,0.999999990877,0.000116116538138,4.77748206599e-05,-4.98099009306e-05,1793254977168872448
+164,2.733333333,POSE1_TO_POSE2_PRESS,782,760.091257144,738,718,686,649,914.091257144,800,839.908742856,658,636,657.908742856,0.422185254593,0.00458923729874,0.0700329108195,0.999999993606,8.81171107065e-05,4.91787433314e-05,-5.10297071072e-05,1793254977185539072
+165,2.750000000,POSE1_TO_POSE2_PRESS,782,760.674537912,738,718,686,649,914.674537912,800,839.325462088,658,636,657.325462088,0.423038203212,0.00456718018582,0.0699776871078,0.999999995353,7.14476182867e-05,-3.89964536456e-05,-5.1649254285e-05,1793254977202205696
+166,2.766666667,POSE1_TO_POSE2_PRESS,782,761,738,718,686,649.253340267,915,800,839.253340267,658,635.746659733,657,0.423902942316,0.00455610056397,0.0699180298252,0.999999988644,5.84951628951e-05,-0.000128579585606,-5.25210717174e-05,1793254977218872320
+167,2.783333333,POSE1_TO_POSE2_PRESS,782,761,738,718,686,649.826489292,915,800,839.826489292,658,635.173510708,657,0.424782565473,0.00455887857747,0.0698527757352,0.999999973109,5.02349756772e-05,-0.000219940062041,-5.37113473365e-05,1793254977235539200
+168,2.800000000,POSE1_TO_POSE2_PRESS,782,761,738,718,686,650,915,800.399337967,840,658,635.399337967,657,0.425768275595,0.00456440282312,0.069875780979,0.999999980296,5.74925691401e-05,-0.000182144668895,-5.40881629113e-05,1793254977252206080
+169,2.816666667,POSE1_TO_POSE2_PRESS,782,761,738,718,686,650,915,800.972056206,840,658,635.972056206,657,0.426800045365,0.00457111939819,0.0699371057166,0.999999992085,7.14875061593e-05,-8.82737608991e-05,-5.41117987832e-05,1793254977268872448
+170,2.833333333,POSE1_TO_POSE2_PRESS,782.562808814,760.437191186,738,717.437191186,686,649.437191186,915,801,840,658,636,657,0.427793931818,0.00457463756908,0.0699900732518,0.999999995008,8.3071044426e-05,-2.18926156115e-05,-5.10288850478e-05,1793254977285539072
+171,2.850000000,POSE1_TO_POSE2_PRESS,782.848298065,760,737.848298065,717.151701935,686,649,915,801,840,658,636,657,0.428790537387,0.0045772355167,0.0700350928816,0.999999994351,8.56190107461e-05,3.91673647403e-05,-4.93331907558e-05,1793254977302205952
+172,2.866666667,POSE1_TO_POSE2_PRESS,782.267285141,760,737.267285141,717.732714859,686,649,915,801,840,658,636,657,0.429800337078,0.0045776935487,0.070058833362,0.999999992691,6.29466758929e-05,8.91590747954e-05,-5.20142273255e-05,1793254977318872320
+173,2.883333333,POSE1_TO_POSE2_PRESS,782,760,737.310364069,718,686,649.310364069,915,801,840.310364069,658,636,657.310364069,0.430734302195,0.00457900421452,0.0700330814469,0.999999995371,6.4369676993e-05,4.8313523895e-05,-5.27254521174e-05,1793254977335538944
+174,2.900000000,POSE1_TO_POSE2_PRESS,782,760,737.885147482,718,686,649.885147482,915,801,840.885147482,658,636,657.885147482,0.431603658855,0.00458104129454,0.0699651637387,0.99999999249,8.63210631414e-05,-6.99222030615e-05,-5.17584654635e-05,1793254977352205568
+175,2.916666667,POSE1_TO_POSE2_PRESS,782,760,738,718,686,650,915,800.540006208,841,658,636,658,0.432520580539,0.00457773250622,0.0699131648923,0.999999983818,8.07867743493e-05,-0.000151783510196,-5.29097504426e-05,1793254977368872448
+176,2.933333333,POSE1_TO_POSE2_PRESS,782,760,738,717.964184941,686,650,915,800.035815059,841,657.964184941,636,658,0.433454662235,0.00457330270986,0.0698722110881,0.999999973492,6.88872482848e-05,-0.000212844830738,-5.44701941229e-05,1793254977385539072
+177,2.950000000,POSE1_TO_POSE2_PRESS,782,760,738,717.3735031,686,650,915,800.6264969,841,657.3735031,636,658,0.434470577963,0.0045721874834,0.0699407871219,0.999999992171,6.47092330233e-05,-9.23847734936e-05,-5.41744818875e-05,1793254977402205696
+178,2.966666667,POSE1_TO_POSE2_PRESS,782,760,738,717,686,649.787107887,915,801,841,657.212892113,636,658,0.435473849715,0.00457131236114,0.0699979658665,0.999999996494,6.39968713406e-05,5.19585242873e-06,-5.37472787322e-05,1793254977418872320
+179,2.983333333,POSE1_TO_POSE2_PRESS,782,760,738,717,686,649.208084704,915,801,841,657.791915296,636,658,0.436455376568,0.00457085016903,0.0700355436064,0.999999994182,6.92447283783e-05,6.34285347705e-05,-5.30939389083e-05,1793254977435538944
+180,3.000000000,POSE1_TO_POSE2_PRESS,782.374089008,760.374089008,738,717.374089008,685.625910992,649,915,801,841,658,636,658,0.437400572672,0.00456846538895,0.0700377100605,0.999999993594,6.25213830242e-05,7.72322659066e-05,-5.42067370599e-05,1793254977452205568
+181,3.016666667,POSE1_TO_POSE2_PRESS,782.958030031,760.958030031,738,717.958030031,685.041969969,649,915,801,841,658,636,658,0.438325388323,0.0045650020983,0.0700200119093,0.999999995025,4.90825742929e-05,6.61127675216e-05,-5.6310282441e-05,1793254977468872192
+182,3.033333333,POSE1_TO_POSE2_PRESS,782.462629239,761,738,718,685.537370761,649.537370761,915,801,841,657.462629239,636,658,0.439136629569,0.00456776569125,0.0699477064062,0.999999995393,5.69983475535e-05,-5.27901161535e-05,-5.63759588982e-05,1793254977485538816
+183,3.050000000,POSE1_TO_POSE2_PRESS,782.116050214,761,738,718,685.883949786,649.883949786,915,801,840.883949786,657.116050214,636,657.883949786,0.439946924755,0.00457168842854,0.0698798703368,0.99999998259,6.75445130106e-05,-0.000164570579343,-5.63419363436e-05,1793254977502205696
+184,3.066666667,POSE1_TO_POSE2_PRESS,782.693516833,761,738,718,685.306483167,649.306483167,915,801,840.306483167,657.693516833,636,657.306483167,0.440788427921,0.00457830267393,0.0698466183699,0.999999971962,8.1974062609e-05,-0.000214845749587,-5.65389726972e-05,1793254977518872320
+185,3.083333333,POSE1_TO_POSE2_PRESS,783,760.73008214,738,718,685,649,915,801,840.26991786,657.73008214,636,657.26991786,0.441665328994,0.00458372955015,0.0698584092425,0.999999975591,8.58942468819e-05,-0.00019548822961,-5.67912458901e-05,1793254977535539200
+186,3.100000000,POSE1_TO_POSE2_PRESS,783,760.154886341,738,718,685,649,915,801,840.845113659,657.154886341,636,657.845113659,0.442582265153,0.00458781350769,0.0699211437091,0.999999990592,7.79283048238e-05,-9.73759155898e-05,-5.71059918375e-05,1793254977552206080
+187,3.116666667,POSE1_TO_POSE2_PRESS,783,760,738,717.581175227,684.581175227,649,915,801,841,657.418824773,636,657.581175227,0.443428611359,0.00459319170775,0.0699455836801,0.99999999205,8.9361683745e-05,-6.93150232737e-05,-5.57689905552e-05,1793254977568872448
+188,3.133333333,POSE1_TO_POSE2_PRESS,783,760,738,717.008011182,684.008011182,649,915,801,841,657.991988818,636,657.008011182,0.444248944848,0.00459904684375,0.0699559119201,0.999999990477,0.000107943820492,-6.70684639038e-05,-5.38233113142e-05,1793254977585538816
+189,3.150000000,POSE1_TO_POSE2_PRESS,783,760.587255352,738,717,684,649,915,801,841,658,636,657,0.445014532434,0.00460160244375,0.0699114534763,0.999999983403,0.00010329145753,-0.000139492093941,-5.53746338246e-05,1793254977602205696
+190,3.166666667,POSE1_TO_POSE2_PRESS,783,760.831215954,737.831215954,717.168784046,683.831215954,648.831215954,915,800.831215954,841,658,636,657.168784046,0.445760799478,0.00460434320876,0.0698670932206,0.999999971695,0.000100780897483,-0.000207824776464,-5.71128839725e-05,1793254977618872320
+191,3.183333333,POSE1_TO_POSE2_PRESS,783,760.281407172,737.281407172,717.718592828,683.281407172,648.281407172,915,800.281407172,841,658,636,657.718592828,0.446465203026,0.00460760756428,0.0698247077966,0.999999957869,0.000103848899052,-0.000264532827847,-5.91612135151e-05,1793254977635538944
+192,3.200000000,POSE1_TO_POSE2_PRESS,783,760,737,717.705481728,683,648,915,800.294518272,841,658,636,658,0.447139984275,0.00461032425478,0.069783112146,0.999999936657,0.000109547429803,-0.000333502233661,-5.88336992122e-05,1793254977652205824
+193,3.216666667,POSE1_TO_POSE2_PRESS,783,760,737,717.102174159,683,648,915,800.897825841,841,658,636,658,0.447783707818,0.00461246674267,0.0697423445403,0.99999990522,0.000118003952828,-0.000415327119415,-5.60152181435e-05,1793254977668872704
+194,3.233333333,POSE1_TO_POSE2_PRESS,783,760,737,717,682.508824763,648,915,801,841,658,635.508824763,657.508824763,0.448476722155,0.00461523408742,0.0697318814684,0.999999898906,0.000123163590384,-0.000428744073719,-5.65488185629e-05,1793254977685539072
+195,3.250000000,POSE1_TO_POSE2_PRESS,783,760,737,717,682,648,915,801,841,657.919227781,635,657,0.449177209448,0.00461790138252,0.0697330118406,0.999999901562,0.000127063658223,-0.000421192638729,-5.76823185599e-05,1793254977702205952
+196,3.266666667,POSE1_TO_POSE2_PRESS,783,760,737,717,682,648,915,801,841,657.340252585,635,657,0.449861803332,0.00461916577051,0.0697675405075,0.999999921618,0.000127340763251,-0.000370335926382,-5.8300522648e-05,1793254977718872576
+197,3.283333333,POSE1_TO_POSE2_PRESS,783,760,737,717,681.763388663,648,915,800.763388663,841,657.236611337,635,657.236611337,0.450497301968,0.00462042659382,0.0697787909393,0.999999926339,0.000134621888101,-0.000354955539682,-5.66224535141e-05,1793254977735538944
+198,3.300000000,POSE1_TO_POSE2_PRESS,783,760,737,717,681.189534,648,915,800.189534,841,657.810466,635,657.810466,0.451062824845,0.00462168233626,0.0697568627828,0.999999911026,0.000151885877773,-0.000390139743081,-5.16714946811e-05,1793254977752205568
+199,3.316666667,POSE1_TO_POSE2_PRESS,783,759.614769462,737,717,680.614769462,647.614769462,915,800,841,658,635,658,0.451593236743,0.00462375871546,0.0697171155635,0.999999887432,0.000155619884441,-0.000445093345646,-5.30170724538e-05,1793254977768871936
+200,3.333333333,POSE1_TO_POSE2_PRESS,783,759.039556153,737,717,680.039556153,647.039556153,915,800,841,658,635,658,0.452106333136,0.00462623980528,0.0696685805786,0.999999856747,0.000152681358712,-0.000509796554113,-5.74678901295e-05,1793254977785538560
+201,3.350000000,POSE1_TO_POSE2_PRESS,783,759.549533937,737,716.450466063,679.450466063,647,915,800,841,658,635,658,0.452598269934,0.00462979845955,0.0696312330874,0.999999827226,0.0001594066865,-0.000562757124359,-5.86668391511e-05,1793254977802205440
+202,3.366666667,POSE1_TO_POSE2_PRESS,783.137359707,760,737,716.137359707,679,647,915,800,841,657.862640293,635.137359707,658,0.453086098039,0.00463242740498,0.0696036740929,0.999999803137,0.00016584142902,-0.000602264226824,-5.91691027066e-05,1793254977818872320
+203,3.383333333,POSE1_TO_POSE2_PRESS,783.717801765,760,737,716.717801765,679,647,915,800,841,657.282198235,635.717801765,658,0.453565713165,0.00463180069973,0.0696050249996,0.999999803316,0.000169036845782,-0.000601171547046,-5.81986765943e-05,1793254977835538944
+204,3.400000000,POSE1_TO_POSE2_PRESS,783.704735531,760,737,717,678.704735531,647,915,800,841,657.295264469,636,658,0.454026126938,0.00463274736085,0.0696126968519,0.999999807554,0.000173630973528,-0.000592853438823,-5.71791736363e-05,1793254977852205824
+205,3.416666667,POSE1_TO_POSE2_PRESS,783.130091927,760,737,717,678.130091927,647,915,800,841,657.869908073,636,658,0.454468372371,0.00463518274068,0.0696263495804,0.999999815439,0.000179548560883,-0.000577698632728,-5.61132342311e-05,1793254977868872448
+206,3.433333333,POSE1_TO_POSE2_PRESS,783,760,737,717,678,647,915,800,841,658,635.543683551,657.543683551,0.454838973855,0.00463697451379,0.0696164138014,0.999999801007,0.000178287235425,-0.000602477527454,-5.67550145296e-05,1793254977885539072
+207,3.450000000,POSE1_TO_POSE2_PRESS,783,760,737,717,677.954774748,647,915,800,841,658,635,657.045225252,0.455187101355,0.00463869110732,0.0695988344304,0.999999779601,0.000170031705923,-0.000639155646072,-5.8022648382e-05,1793254977902205696
+208,3.466666667,POSE1_TO_POSE2_PRESS,783,760,737,717,677.376963525,647,915,800,841,658,635,657.623036475,0.455517465894,0.00464174034304,0.069572531881,0.999999762654,0.000104150118299,-0.000678344201858,-6.0775425809e-05,1793254977918872320
+209,3.483333333,POSE1_TO_POSE2_PRESS,783,760.200761114,737,716.799238886,677,646.799238886,915,800,841,657.799238886,635,658,0.455841716821,0.00464446911246,0.0695555665787,0.999999749097,6.35929719642e-05,-0.000702689404526,-6.31637852615e-05,1793254977935538944
+210,3.500000000,POSE1_TO_POSE2_PRESS,783,760.778323181,737,716.221676819,677,646.221676819,915,800,841,657.221676819,635,658,0.456154493301,0.00464659641046,0.0695561260058,0.999999750983,7.05663216364e-05,-0.000699175679941,-6.48681826204e-05,1793254977952205824
+211,3.516666667,POSE1_TO_POSE2_PRESS,783,760.646042319,737,716.353957681,676.646042319,646,915,800,841,657,635,658,0.456447671404,0.00464876314725,0.0695608544872,0.999999756806,8.18939407029e-05,-0.00068954560572,-6.48759482948e-05,1793254977968872448
+212,3.533333333,POSE1_TO_POSE2_PRESS,783,760.071608423,737,716.928391577,676.071608423,646,915,800,841,657,635,658,0.456728641932,0.00465095445023,0.0695681798251,0.999999764802,9.59337853238e-05,-0.000676105726318,-6.38269015315e-05,1793254977985539328
+213,3.550000000,POSE1_TO_POSE2_PRESS,783,760,737,717,676,646,915,800,841.516659937,657,635,658,0.456966548029,0.00465345132629,0.0695691389732,0.999999760985,0.00013106170314,-0.000676657480377,-5.46511612708e-05,1793254978002205696
+214,3.566666667,POSE1_TO_POSE2_PRESS,783,760,737,717,675.895625212,646,915,800,842,657.104374788,635,658,0.457190674899,0.0046593405534,0.0695665173253,0.999999751785,0.000166223310172,-0.000683046598766,-4.74049151848e-05,1793254978018872320
+215,3.583333333,POSE1_TO_POSE2_PRESS,783,760,737,717,675.319321063,646,915,800,842,657.680678937,635,658,0.457380229052,0.0046803714933,0.0695518044325,0.999999731074,0.000187958339117,-0.000706819878691,-5.41157469274e-05,1793254978035539200
+216,3.600000000,POSE1_TO_POSE2_PRESS,783,760,737,717,675,646,915,800,841.742214246,658,635,658,0.457555241054,0.00469744762971,0.069538039244,0.999999712782,0.000206419585137,-0.000726826812852,-5.95725428266e-05,1793254978052205824
+217,3.616666667,POSE1_TO_POSE2_PRESS,783,760,737,717,675,646,915,800,841.164110088,658,635,658,0.457712183316,0.00470960962074,0.069525451651,0.99999969821,0.000220812905724,-0.000742153775036,-6.34711034533e-05,1793254978068872192
+218,3.633333333,POSE1_TO_POSE2_PRESS,783,760,737,717,675,646,915,800,841,657.578728992,635,658,0.457844977363,0.00470727867982,0.0695153393065,0.999999687224,0.000217857585514,-0.00075758459819,-6.44609531678e-05,1793254978085539072
+219,3.650000000,POSE1_TO_POSE2_PRESS,783,760,737,716.990623407,674.990623407,646,915,800,841.009376593,657,635,657.990623407,0.45796773581,0.00469939296923,0.0695061382818,0.999999677381,0.000208218557399,-0.000773139384827,-6.43271835618e-05,1793254978102205696
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,760,737,716.412234828,674.412234828,646,915,800,841.587765172,657,635,657.412234828,0.458062392622,0.00470305716287,0.0694926962843,0.999999660712,0.00021031660392,-0.000793718392277,-6.59783595817e-05,1793254978118872576
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,760,737,716.165289854,674,646,915,799.834710146,841.834710146,657,635,657.165289854,0.458152784839,0.00470594517824,0.0694808284536,0.999999645671,0.000212308687524,-0.000811820542468,-6.73132686957e-05,1793254978135539200
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,760,737,716.740671083,674,646,915,799.259328917,841.259328917,657,635,657.740671083,0.458232596393,0.00470690746079,0.069472866202,0.999999635486,0.000214037872349,-0.000823777498812,-6.78635055606e-05,1793254978152205824
+223,3.716666667,POSE1_TO_POSE2_PRESS,783,760,737,717,674,646,915,799.314836344,841,657,635.314836344,657.685163656,0.458303623965,0.0047062101519,0.069467717351,0.999999629886,0.000213927627856,-0.000830581633082,-6.7798012318e-05,1793254978168872448
+224,3.733333333,POSE1_TO_POSE2_PRESS,783,760,737,717,674,646,915,799.888003937,841,657,635.888003937,657.111996063,0.458367444064,0.004704151106,0.0694648769661,0.999999628127,0.000212308084911,-0.000833157746818,-6.72272968869e-05,1793254978185539072
+225,3.750000000,POSE1_TO_POSE2_PRESS,783,760,737,717,674,646,915,800,841.477654759,657.477654759,636,657.477654759,0.458413326879,0.00470617446845,0.0694623259583,0.999999622114,0.000215752417043,-0.000839433544296,-6.76254572585e-05,1793254978202205696
+226,3.766666667,POSE1_TO_POSE2_PRESS,783,760,737,717,673.930336154,646,915.069663846,800,842,658,635.930336154,658,0.458453873747,0.00470843578769,0.0694596686809,0.999999615562,0.000219486579737,-0.0008462084638,-6.80692321967e-05,1793254978218872320
+227,3.783333333,POSE1_TO_POSE2_PRESS,783,760,737,717,673.350374486,646,915.649625514,800,842,658,635.350374486,658,0.458487243041,0.00470517789688,0.0694557181824,0.999999613047,0.000216335564875,-0.000850058085645,-6.71235878213e-05,1793254978235539200
+228,3.800000000,POSE1_TO_POSE2_PRESS,783,760,737,717,673.227099362,646,915.772900638,800,842,658,635,658,0.458516293291,0.00470277778509,0.0694529120452,0.999999610998,0.000214954505489,-0.00085286962829,-6.64165010277e-05,1793254978252205824
+229,3.816666667,POSE1_TO_POSE2_PRESS,783,760,737,717,673.800776495,646,915.199223505,800,842,658,635,658,0.458538752221,0.00470168673546,0.0694518523252,0.999999609689,0.000216274586543,-0.000854096951493,-6.60734785275e-05,1793254978268872448
+230,3.833333333,POSE1_TO_POSE2_PRESS,783,760,737,717,674,645.625287903,915,800,841.625287903,658,635,658,0.458554332355,0.00470390511537,0.0694497799742,0.999999606816,0.000218964012728,-0.000856755626371,-6.62810167765e-05,1793254978285539072
+231,3.850000000,POSE1_TO_POSE2_PRESS,783,760,737,717,674,645.051214805,915,800,841.051214805,658,635,658,0.458566252708,0.00470788423696,0.0694471688652,0.999999603092,0.000222381982243,-0.000860175834396,-6.6781474168e-05,1793254978302205952
+232,3.866666667,POSE1_TO_POSE2_PRESS,783,760,737,717,674,645.539021472,915,800,841,658,635,657.460978528,0.458574510904,0.00470757462458,0.0694470268933,0.99999960264,0.000221871709565,-0.000860877688025,-6.62046472416e-05,1793254978318872320
+233,3.883333333,POSE1_TO_POSE2_PRESS,783,760,737,716.877657226,673.877657226,645.877657226,915,800,841.122342774,658,635,657,0.458581145215,0.0047068595342,0.0694465229414,0.999999602009,0.00022082562779,-0.000861915728076,-6.5726061009e-05,1793254978335538688
+234,3.900000000,POSE1_TO_POSE2_PRESS,783,760,737,716.324276832,673.324276832,645.324276832,915,800,841.675723168,658,635,657,0.458583322084,0.00470619591909,0.0694438915568,0.999999599611,0.000219247432592,-0.000865076330299,-6.59653699378e-05,1793254978352205568
+235,3.916666667,POSE1_TO_POSE2_PRESS,783,760,737,716.249852581,673,645,915,800,842,658,635.249852581,657,0.458584759242,0.00470592015447,0.0694419147028,0.999999597403,0.000218884771996,-0.000867726609648,-6.58243466879e-05,1793254978368872192
+236,3.933333333,POSE1_TO_POSE2_PRESS,783,760,737,716.853350571,673,645,915,800,842,658,635.853350571,657,0.458585149404,0.00470619335966,0.0694408642815,0.999999595475,0.000220242598636,-0.000869654570161,-6.51449951164e-05,1793254978385539072
+237,3.950000000,POSE1_TO_POSE2_PRESS,783,760,737,717,673,645,915,800,841.567153141,657.567153141,635.567153141,657.432846859,0.458585469973,0.00470567016577,0.0694396774809,0.999999594283,0.000220982703634,-0.000870826641022,-6.52849534386e-05,1793254978402205952
+238,3.966666667,POSE1_TO_POSE2_PRESS,783,760.004852567,737,716.995147433,673,645,915,800,841.004852567,657,635,657.995147433,0.458585776216,0.00470490017515,0.0694384635642,0.99999959334,0.000221527496238,-0.000871741044035,-6.5677858118e-05,1793254978418872576
+239,3.983333333,POSE1_TO_POSE2_PRESS,783,760.603031042,737,716.396968958,673,645,915,800,841.603031042,657,635,657.396968958,0.458587062249,0.00470521217328,0.0694392869027,0.999999593997,0.000222436372923,-0.000870818272479,-6.48414596997e-05,1793254978435539200
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,760.806831091,737,716.193168909,673,645,915,800,841.806831091,657,635,657,0.458588925134,0.00470492505031,0.0694401827626,0.999999595232,0.000222038787014,-0.000869547246781,-6.42116388239e-05,1793254978452205824
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,760.232556681,737,716.767443319,673,645,915,800,841.232556681,657,635,657,0.458591926098,0.00470345591338,0.0694412217005,0.999999597603,0.000219063663683,-0.000867589145923,-6.39893775695e-05,1793254978468872448
+242,4.033333333,POSE1_TO_POSE2_PRESS,783,760,737,716.657472009,673,645,915,800,841,657.342527991,635,657.342527991,0.458591860234,0.00470372848895,0.0694407990899,0.999999596776,0.000219773401596,-0.000868351743798,-6.41282962286e-05,1793254978485538816
+243,4.050000000,POSE1_TO_POSE2_PRESS,783,760,737,716.081835934,673,645,915,800,841,657.918164066,635,657.918164066,0.458589707234,0.00470518639037,0.0694393818197,0.999999593766,0.000222990879037,-0.000870965918505,-6.45130165815e-05,1793254978502205440
+244,4.066666667,POSE1_TO_POSE2_PRESS,783,760,737,716.50545663,673,645,915.50545663,800,841,658,635,658,0.458588305876,0.00470529842493,0.0694380965279,0.999999591988,0.000223149311537,-0.000872967045867,-6.44800194724e-05,1793254978518872576
+245,4.083333333,POSE1_TO_POSE2_PRESS,783,760,737,716.907345057,673,645,915.907345057,800,841,658,635,658,0.458587454447,0.00470487594021,0.0694370665074,0.999999590785,0.000222547701715,-0.000874509645058,-6.4309943415e-05,1793254978535539200
+246,4.100000000,POSE1_TO_POSE2_PRESS,783,760,737,716.330729511,673,645,915.330729511,800,841,658,635,658,0.458588824794,0.00470282655181,0.0694372555903,0.999999591526,0.000220624208431,-0.000874187907521,-6.37854591753e-05,1793254978552205568
+247,4.116666667,POSE1_TO_POSE2_PRESS,783,760,737,716.246470022,673,645.246470022,915,800,841,657.753529978,635,658,0.458589873496,0.00470239496576,0.0694375855189,0.999999592218,0.000220071289224,-0.000873558318926,-6.34619413894e-05,1793254978568871936
+248,4.133333333,POSE1_TO_POSE2_PRESS,783,760,737,716.82445513,673,645.82445513,915,800,841,657.17554487,635,658,0.458590489569,0.00470413940828,0.0694381048922,0.999999592848,0.000221361863639,-0.000872514654494,-6.34087339319e-05,1793254978585538816
+249,4.150000000,POSE1_TO_POSE2_PRESS,783,760,737,716.599385824,673,646,915,800,841.400614176,657,635.400614176,658,0.45859086162,0.00470346427681,0.069437640043,0.999999592763,0.000220816247287,-0.000872745945695,-6.34782161457e-05,1793254978602205440
+250,4.166666667,POSE1_TO_POSE2_PRESS,783,760,737,716.024023341,673,646,915,800,841.975976659,657,635.975976659,658,0.458591127228,0.00470173372462,0.0694367458749,0.999999592364,0.0002194696826,-0.000873533373886,-6.36012157204e-05,1793254978618872320
+251,4.183333333,POSE1_TO_POSE2_PRESS,783,760,737,716.570262775,673,646,915,800,841.429737225,657,635.429737225,658,0.458591165741,0.00470333466022,0.0694378245769,0.999999592768,0.000220144609357,-0.000872907817605,-6.35039863301e-05,1793254978635538944
+252,4.200000000,HOLD_POSE2,784,760,737,717,672,645,915,800,841,658,636,658,0.458592004112,0.00470541722693,0.0694379653378,0.999999592868,0.000223545154211,-0.000871905637628,-6.38073340462e-05,1793254978676561664
+253,4.216666667,HOLD_POSE2,784,760,737,717,672.575886968,645,915.575886968,800,841.575886968,658,635.424113032,658,0.458590562446,0.00470555711528,0.0694372393572,0.999999591264,0.000223596171657,-0.000873727056245,-6.38625725573e-05,1793254978693228288
+254,4.233333333,HOLD_POSE2,783.845278692,760,737,717,673,645.154721308,915.845278692,800,842,658,635.154721308,658,0.458589745086,0.00470528840166,0.0694365883343,0.999999590421,0.000222816355727,-0.000874894629893,-6.37938428962e-05,1793254978709894912
+255,4.250000000,HOLD_POSE2,783.258208162,760,737,717,673,645.741791838,915.258208162,800,842,658,635.741791838,658,0.458590672266,0.00470387790128,0.0694361467709,0.999999591711,0.000219714880508,-0.000874235116482,-6.3378699793e-05,1793254978726561536
+256,4.266666667,HOLD_POSE2,783,760,737,717,673,645.674117774,915,800,842,658,635.674117774,658,0.458592358501,0.00470336942757,0.0694370892774,0.999999592945,0.000219629169893,-0.000872846287441,-6.33418545584e-05,1793254978743228416
+257,4.283333333,HOLD_POSE2,783,760,737,717,673,645.092367296,915,800,842,658,635.092367296,658,0.458594640713,0.00470356918524,0.069439118494,0.999999594135,0.000221911303895,-0.000870884832194,-6.3602032034e-05,1793254978759895040
+258,4.300000000,HOLD_POSE2,783,760,737,717,673,645,915,800,841.516699612,658,635,658,0.458594811494,0.00470386650075,0.0694392971578,0.999999593853,0.000222836552573,-0.000870987292429,-6.33923254784e-05,1793254978776561664
+259,4.316666667,HOLD_POSE2,783,760,737,717,673,645,915,800,841,657.94221155,635.05778845,658,0.458594460171,0.00470421747269,0.0694390280202,0.999999593192,0.000223504460804,-0.000871594130215,-6.31275506422e-05,1793254978793228288
+260,4.333333333,HOLD_POSE2,783,760,737,717,673,645,915,800,841,657.368005319,635.631994681,658,0.458593004421,0.00470488338968,0.0694378784397,0.999999591618,0.000224161298547,-0.000873227124021,-6.31632042564e-05,1793254978809894912
+261,4.350000000,HOLD_POSE2,783,760,737,717,673,645,915,800,841,657.213276538,636,658,0.458592104512,0.00470478886859,0.0694372065746,0.999999590862,0.000223305102342,-0.000874313779539,-6.31290186496e-05,1793254978826561280
+262,4.366666667,HOLD_POSE2,783,760,737,717,673,645,915,800,841,657.807186154,636,658,0.458592196607,0.00470333719911,0.0694373872847,0.999999591563,0.000219748605437,-0.000874425388932,-6.29701914915e-05,1793254978843228160
+263,4.383333333,HOLD_POSE2,783,760,737,717,673,645.389183523,915.389183523,800,841.389183523,658,635.610816477,658,0.458593113993,0.00470210609866,0.0694380629287,0.999999592978,0.000218297122344,-0.000873181168658,-6.28007793359e-05,1793254978859894784
+264,4.400000000,HOLD_POSE2,783,760,737,717,673,645.965454514,915.965454514,800,841.965454514,658,635.034545486,658,0.458594428112,0.00470098102953,0.0694389764964,0.999999594739,0.000217857556661,-0.000871285176865,-6.26262787688e-05,1793254978876561664
+265,4.416666667,HOLD_POSE2,783,760,737,717,673,646,915.460351989,800,842,658,635,658,0.458594848169,0.00470171174674,0.0694384448772,0.999999594026,0.000219402051343,-0.000871703683226,-6.27972987077e-05,1793254978893228288
+266,4.433333333,HOLD_POSE2,783,760,737,717,673,645.882931901,915,800,841.882931901,658,635,658,0.458595209639,0.00470238692421,0.0694381133623,0.999999593487,0.00022072236693,-0.000871973917944,-6.2994109477e-05,1793254978909894912
+267,4.450000000,HOLD_POSE2,783,760,737,717,673,645.291912407,915,800,841.291912407,658,635,658,0.458595564735,0.00470235813871,0.069438965077,0.999999594304,0.000220622865052,-0.00087104633755,-6.3206131412e-05,1793254978926561536
+268,4.466666667,POSE2_TO_POSE3_RETREAT,783,759,737,717,673,645,915,800,842,658,636,658,0.458595742126,0.00470145484559,0.069438289512,0.99999959389,0.000221398353414,-0.000871371491788,-6.25634158469e-05,1793254978963741696
+269,4.483333333,POSE2_TO_POSE3_RETREAT,783,759.576179369,737,717,673,645,915,800.576179369,841.423820631,658,636,658,0.458596862458,0.00470081328499,0.0694393001685,0.999999595708,0.00021864498194,-0.000869956142412,-6.28905778056e-05,1793254978980408832
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783,760,737,716.847084861,673,645,915,800.847084861,841,657.847084861,635.847084861,658,0.458597285971,0.00470063807162,0.0694398935935,0.99999959664,0.000216880851261,-0.000869314343076,-6.30494760005e-05,1793254978997075712
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783,760,737,716.268801204,673,645,915,800.268801204,841,657.268801204,635.268801204,658,0.458595771118,0.00470176010989,0.0694393263933,0.999999595131,0.000217868520024,-0.000870824350212,-6.27403100366e-05,1793254979013742336
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783,760,737,716.314344825,673,645.314344825,915,800,841,657.314344825,635,658,0.458594321684,0.00470231039084,0.0694383325287,0.999999593299,0.000219399055775,-0.000872557567266,-6.25178525013e-05,1793254979030408960
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783,760,737,716.901714037,673,645.901714037,915,800,841,657.901714037,635,658,0.458592929069,0.00470236407158,0.0694369680846,0.999999591184,0.000221401098913,-0.000874484653334,-6.23707056416e-05,1793254979047075840
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783,760,737,716.516301642,672.516301642,645.516301642,915,800,841,657.516301642,635,658,0.458593931589,0.00470253401491,0.0694370881911,0.999999591541,0.000222617568916,-0.000873769358886,-6.23394574913e-05,1793254979063742208
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783.063871127,760,737,716.063871127,672.063871127,645.063871127,915,799.936128873,841,657,635,658,0.458595225813,0.00470291945849,0.0694374431344,0.99999959231,0.000223636108315,-0.000872623682447,-6.24012599427e-05,1793254979080408832
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783.638214346,760,737,716.638214346,672.638214346,645.638214346,915,799.361785654,841,657,635,658,0.458595004535,0.00470484049669,0.0694372905896,0.999999592413,0.000224334462162,-0.000872282260488,-6.30205968293e-05,1793254979097075456
+277,4.616666667,POSE2_TO_POSE3_RETREAT,783.787003602,760,737,716.787003602,672.787003602,646,915,799.212996398,841,657,635,658,0.458592027756,0.00470507097248,0.069435752358,0.999999591118,0.000223590128114,-0.000873940029259,-6.32390764462e-05,1793254979113742336
+278,4.633333333,POSE2_TO_POSE3_RETREAT,783.211474688,760,737,716.211474688,672.211474688,646,915,799.788525312,841,657,635,658,0.45858436095,0.00470242401049,0.0694318556053,0.999999587423,0.000220390253532,-0.000879000539367,-6.2775273125e-05,1793254979130409216
+279,4.650000000,POSE2_TO_POSE3_RETREAT,783.372830126,760,737,716.372830126,672,645.627169874,915,800,841,657,635.372830126,658,0.458563595165,0.00470113163789,0.0694213673068,0.99999957465,0.000218432181866,-0.000893903129556,-6.26481561997e-05,1793254979147076096
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783.96223281,760,737,716.96223281,672,645.03776719,915,800,841,657,635.96223281,658,0.45853522034,0.0047006261298,0.0694070500577,0.99999955627,0.000217195458275,-0.000914522866454,-6.27166163075e-05,1793254979163742464
+281,4.683333333,POSE2_TO_POSE3_RETREAT,783.457421132,760,737,717,672,645.542578868,915,800,841,657.542578868,635.457421132,658,0.458483981521,0.00470261600517,0.0693883896797,0.999999529688,0.000221664264926,-0.000942100474225,-6.27369879089e-05,1793254979180409088
+282,4.700000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645.876958677,915,800,841,658,635,658,0.45842904498,0.00470402797906,0.0693703978852,0.999999504932,0.000224874192635,-0.000967280869881,-6.27366078952e-05,1793254979197075456
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645.293741734,915,800,841,658,635,658,0.458366133377,0.00470263963884,0.0693560186782,0.999999491532,0.000221914968334,-0.000981714076439,-6.2670930171e-05,1793254979213742080
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,672.289055865,645.289055865,915,800,841,658,635,658,0.458293498918,0.0047022990237,0.0693461000793,0.99999948026,0.000222238242487,-0.000993096329118,-6.20386886937e-05,1793254979230408704
+285,4.750000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,672.871427903,645.871427903,915,800,841,658,635,658,0.458210998304,0.00470302157584,0.0693407078331,0.999999471252,0.000225892395056,-0.00100138266006,-6.08315330602e-05,1793254979247075328
+286,4.766666667,POSE2_TO_POSE3_RETREAT,783,760,737,716.550470015,673,645.550470015,915,800,841,657.550470015,635,657.550470015,0.458119903001,0.00470436116796,0.069344153082,0.999999475971,0.0002283575728,-0.000996166087855,-5.97031804754e-05,1793254979263741952
+287,4.783333333,POSE2_TO_POSE3_RETREAT,783,760,737,716.026365408,673,645,915,800,841.026365408,657.026365408,635,657.026365408,0.458025480829,0.00470571450382,0.069350287916,0.999999484701,0.000230483121633,-0.000986940126489,-5.85152774863e-05,1793254979280408832
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783,760,737,716.602015981,673,645,915,800,841.602015981,657.602015981,635,657.602015981,0.457912479423,0.00470371201121,0.0693602918947,0.999999497185,0.000232551074099,-0.00097388699629,-5.56215822658e-05,1793254979297075456
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,673,645,915,800,841.818021772,658,635,657.818021772,0.457792890599,0.00470269226085,0.0693704292083,0.999999510391,0.000235848743397,-0.000959583574062,-5.28523440887e-05,1793254979313741824
+290,4.833333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,673,645,915,800,841.22840119,658,635,657.22840119,0.457658545572,0.00470387391341,0.0693808651993,0.99999952534,0.0002419010533,-0.000942479423161,-5.03618976911e-05,1793254979330408448
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783,759.645175127,736.645175127,717,672.645175127,645,915,800,841,658,635,657.354824873,0.457498071291,0.00470428298084,0.0693911172813,0.999999537249,0.000245971708477,-0.000928842033115,-4.74615150066e-05,1793254979347075328
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783,759.065992299,736.065992299,717,672.065992299,645,915,800,841,658,635,657.934007701,0.45732107531,0.00470420353802,0.0694012530775,0.999999547262,0.000248789351754,-0.000917396695683,-4.4301926838e-05,1793254979363742208
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,759.511281745,736.511281745,717,672.511281745,645.511281745,915,800,841,658,635,658,0.457114331855,0.00470386600545,0.0694144961677,0.999999561793,0.000253756604474,-0.000900226569769,-4.01645110654e-05,1793254979380409088
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,673.087877905,646,915,800,841,658,635,657.912122095,0.456898106347,0.00470303865357,0.0694270359344,0.999999575676,0.000258527280025,-0.000883473859571,-3.58502838917e-05,1793254979397075712
+295,4.916666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,673.662081183,646,915,800,841,658,635,657.337918817,0.456650575663,0.00469968425875,0.0694334721599,0.999999584378,0.000260680326401,-0.000873105167923,-3.12534262651e-05,1793254979413742336
+296,4.933333333,POSE2_TO_POSE3_RETREAT,783,760,737,716.75702185,674,646,915,800,841,658,635,657.24297815,0.456389135546,0.00469706393879,0.0694405463622,0.999999591934,0.000264219051631,-0.000863495109409,-2.63785786328e-05,1793254979430409216
+297,4.950000000,POSE2_TO_POSE3_RETREAT,783,760,737,716.166552033,674,646,915,800,841,658,635,657.833447967,0.456107803069,0.00469549344551,0.0694485329572,0.999999597911,0.000269739485196,-0.000854969999705,-2.11061679159e-05,1793254979447075840
+298,4.966666667,POSE2_TO_POSE3_RETREAT,783.415921232,760,737,716.415921232,674,646,915,800,841,657.584078768,635,658,0.455788917625,0.00469318882427,0.0694532346851,0.999999599416,0.000276449003312,-0.000851180125031,-1.53885167302e-05,1793254979463742464
+299,4.983333333,POSE2_TO_POSE3_RETREAT,783.995252738,760,737,716.995252738,674,646,915,800,841,657.004747262,635,658,0.455455278095,0.00469059577332,0.0694566458294,0.99999959912,0.0002836256978,-0.000849250665405,-9.49593623198e-06,1793254979480408832
+300,5.000000000,POSE2_TO_POSE3_RETREAT,783.430163284,760,737,717,674,646,915,800,841,657,635,658,0.455072950044,0.00467246301162,0.0694575333545,0.999999605768,0.000268994694207,-0.000846214336134,-5.26432939866e-06,1793254979497075456
+301,5.016666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,674.144734219,646,915,800,841.144734219,657.144734219,635.144734219,658,0.454683945387,0.00465501488948,0.0694575184546,0.999999612213,0.000255572253369,-0.000842767494562,-4.21112626996e-07,1793254979513742080
+302,5.033333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,674.720682582,646,915,800,841.720682582,657.720682582,635.720682582,658,0.454276247337,0.00463998907277,0.0694548770337,0.999999618425,0.000246287359494,-0.000838124839789,6.28519043747e-06,1793254979530408704
+303,5.050000000,POSE2_TO_POSE3_RETREAT,783,760,737,716.696284321,675.303715679,646,915,800,841.696284321,658,635.696284321,658,0.453866567306,0.00463717727837,0.0694661064012,0.999999636364,0.000250450489894,-0.00081511442703,1.1651640465e-05,1793254979547075584
+304,5.066666667,POSE2_TO_POSE3_RETREAT,783,760,737,716.106579937,675.893420063,646,915,800,841.106579937,658,635.106579937,658,0.45345502093,0.00464586660867,0.0694903969603,0.999999663993,0.000267276722301,-0.000774808325588,1.57564414255e-05,1793254979563741952
+305,5.083333333,POSE2_TO_POSE3_RETREAT,783,760,737,716.471175996,676,646.471175996,915,800,841,657.528824004,635,657.528824004,0.452995263227,0.00464747353754,0.0695151668202,0.999999693584,0.000273119320458,-0.000733371534828,2.00790154034e-05,1793254979580408832
+306,5.100000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,676,646.953263195,915.046736805,800,841,657.046736805,635,657.046736805,0.452516815336,0.00464744997835,0.0695375685374,0.999999720528,0.000271441503654,-0.000696236504649,2.27675690653e-05,1793254979597075712
+307,5.116666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,676,646.37266718,915.62733282,800,841,657.62733282,635,657.62733282,0.451946363167,0.00464664886694,0.0695317119642,0.999999724783,0.000211538171859,-0.00071108828329,6.24248043864e-06,1793254979613742336
+308,5.133333333,POSE2_TO_POSE3_RETREAT,783.209860735,760,737,717,676.209860735,646.209860735,915.790139265,800,841,658,635,658,0.451370467074,0.00464430039724,0.0695252520051,0.999999720928,0.000174116500996,-0.000726515931344,-1.59454158804e-06,1793254979630408960
+309,5.150000000,POSE2_TO_POSE3_RETREAT,783.795851125,760,737,717,676.795851125,646.795851125,915.204148875,800,841,658,635,658,0.450784813968,0.00463917862491,0.0695177106083,0.999999708312,0.000176988315115,-0.000742975703109,6.13990432223e-06,1793254979647075328
+310,5.166666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,677.37738787,647,915,799.62261213,841,657.62261213,635,657.62261213,0.450185474574,0.00463857720397,0.0695271436637,0.999999712783,0.000180374237943,-0.000736027438677,1.27727350133e-05,1793254979663742208
+311,5.183333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,677.956543488,647,915,799.043456512,841,657.043456512,635,657.043456512,0.449578817923,0.00464039255701,0.0695456519898,0.999999726156,0.000184035025211,-0.000716564233063,1.88165946913e-05,1793254979680409088
+312,5.200000000,POSE2_TO_POSE3_RETREAT,783.468025973,760,737,717,678.531974027,647,915,799.531974027,841,657.531974027,635,657,0.448968090855,0.00463844931366,0.069588397243,0.999999776432,0.000179009051023,-0.000643882323446,2.25401461848e-05,1793254979697075968
+313,5.216666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,679.107684277,647,915,800,840.892315723,658,635,657.107684277,0.448339752012,0.0046365516073,0.0696302363956,0.999999820565,0.00017014651095,-0.000573837900329,2.511987459e-05,1793254979713742592
+314,5.233333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,679.685937175,647,915,800,840.314062825,658,635,657.685937175,0.447635894718,0.00463618528006,0.069659524213,0.999999846154,0.000147597973583,-0.000534184568831,2.35237467339e-05,1793254979730408960
+315,5.250000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,680.268941169,647.268941169,915,800,840,658,635,658,0.446904606047,0.00463413392936,0.0696603237854,0.999999847897,0.000129772006795,-0.000535536328112,2.37865478627e-05,1793254979747075328
+316,5.266666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,680.857593226,647.857593226,915,800,840,658,635,658,0.446140707514,0.00463007946264,0.0696272572109,0.999999821261,0.000117560117072,-0.000585633962503,2.62591995119e-05,1793254979763741952
+317,5.283333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,681.438869289,648,915,800,840,658,635,658,0.445391258713,0.00462653355169,0.0696245249096,0.999999826178,0.00010222522734,-0.0005800335217,2.74881576656e-05,1793254979780408576
+318,5.300000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,682.017674348,648,915,800,840.017674348,657.982325652,635,657.982325652,0.444645678866,0.00462311566325,0.0696326954873,0.999999841567,9.04217561844e-05,-0.000554882394612,2.81907179504e-05,1793254979797075456
+319,5.316666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,682.592785436,648,915,800,840.592785436,657.407214564,635,657.407214564,0.443876686698,0.00461861694939,0.0696794241207,0.999999862976,0.000221429421059,-0.000473711271894,2.48086970086e-05,1793254979813742080
+320,5.333333333,POSE2_TO_POSE3_RETREAT,783,760,736.832626102,717,683,648.167373898,915,800,840.832626102,657.167373898,635.167373898,657.167373898,0.443089576356,0.00461329160349,0.0697230086693,0.999999869849,0.000310058231457,-0.000404462365838,2.40155316882e-05,1793254979830408704
+321,5.350000000,POSE2_TO_POSE3_RETREAT,783,760,736.259305247,717,683,648.740694753,915,800,840.259305247,657.740694753,635.740694753,657.740694753,0.442258522424,0.00460596135289,0.0697589675836,0.999999889491,0.000295901800459,-0.00036412951083,2.95013519543e-05,1793254979847075328
+322,5.366666667,POSE2_TO_POSE3_RETREAT,783,760,736.324293888,717,683,649,915,800,840,658,635.675706112,658,0.441438300133,0.00459871299354,0.0697899029518,0.999999913047,0.000270641003157,-0.000315670151493,3.17953489007e-05,1793254979863742208
+323,5.383333333,POSE2_TO_POSE3_RETREAT,783,760,736.916380508,717,683,649,915,800,840,658,635.083619492,658,0.440627022345,0.00459153225805,0.0698166900157,0.999999937677,0.000236210533939,-0.000260500155757,3.14536279652e-05,1793254979880409088
+324,5.400000000,POSE2_TO_POSE3_RETREAT,783,760,737.496915969,717,683.496915969,649,915,800,840,657.503084031,635,657.503084031,0.439729831106,0.00458722772594,0.0698120969878,0.999999941531,0.000205940246503,-0.000271033203759,3.26822101161e-05,1793254979897075968
+325,5.416666667,POSE2_TO_POSE3_RETREAT,783,760.074631084,737.925368916,717,684,649,915,800.074631084,840,657.074631084,635,657,0.438809879405,0.00458363099068,0.0697947445282,0.999999937726,0.000177554335611,-0.000303105248574,3.38989998004e-05,1793254979913742848
+326,5.433333333,POSE2_TO_POSE3_RETREAT,783,760.646215105,737.353784895,717,684,649,915,800.646215105,840,657.646215105,635,657,0.437832451793,0.00458159769833,0.0697267929192,0.999999904412,0.000157160439436,-0.000406651858033,3.33176801908e-05,1793254979930409472
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783,760.774449109,737,717,684,649,915,800.774449109,840,657.774449109,635,657,0.43687793901,0.0045766104616,0.0696928029606,0.999999884902,0.000141943275063,-0.000457093015508,3.33855615411e-05,1793254979947075840
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783,760.182521547,737,717,684,649,915,800.182521547,840,657.182521547,635,657,0.43596064809,0.00456682494467,0.0697139790617,0.999999901539,0.000135135004614,-0.000421271628795,3.45079817021e-05,1793254979963742464
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,684,649,915,800,840,657,635,657.401134969,0.43505013142,0.00456312886448,0.069759376795,0.99999992487,0.000135470877771,-0.000361348538445,3.6541294788e-05,1793254979980409088
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,684,649,915,800,840,657,635,657.98110405,0.434142634902,0.00456214757938,0.0698155730223,0.999999947333,0.000138991755037,-0.000290680420192,3.89807022195e-05,1793254979997075712
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783,760,736.444820605,717,684,649,915,800,840,657,635,657.444820605,0.433232277603,0.00455409801499,0.0698371824218,0.999999958129,0.000131625440132,-0.000254672014241,3.94739427908e-05,1793254980013743104
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783,760,736.128322062,717,684.128322062,649,914.871677938,800,840,657.128322062,635,657,0.432304323639,0.00454693575735,0.0698482812747,0.999999964065,0.000123391902597,-0.000234675450999,3.96434536956e-05,1793254980030410496
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783,760,736.698934166,717,684.698934166,649,914.301065834,800,840,657.698934166,635,657,0.431316051046,0.00454365227836,0.0698271680476,0.999999957472,0.000113433072023,-0.000265843928647,3.89230694729e-05,1793254980047076608
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,685,649,914.283549781,800,840,657.716450219,635,657.283549781,0.430285337614,0.00453960367774,0.0697778774156,0.999999934581,0.000104724541597,-0.000344144372621,3.78752937774e-05,1793254980063742720
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,685,649,914.883806376,800,840,657.116193624,635,657.883806376,0.429207220569,0.00453470048582,0.0696971144415,0.999999881736,9.74125152056e-05,-0.000475088176719,3.64618425269e-05,1793254980080409088
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783,760,737.462678822,717,685,649,915,800,840,657.462678822,635,658,0.428274406346,0.00452575272123,0.0697224388397,0.999999900968,8.90753821998e-05,-0.000434478750136,3.68469355285e-05,1793254980097075456
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783,759.963619283,737.963619283,717,685,649,915,800,840,658,635,657.963619283,0.427377146714,0.00451628043524,0.0697733556852,0.999999933795,8.05936910979e-05,-0.000352832644979,3.77258620852e-05,1793254980113742336
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783,759.390471834,737.390471834,717,685,649,915,800,840,658,635,657.390471834,0.426489867139,0.00451339339244,0.0698261524681,0.999999959166,7.3609658903e-05,-0.000273291429257,3.95212314397e-05,1793254980130408960
+339,5.650000000,POSE2_TO_POSE3_RETREAT,782.811353187,759,737,717.188646813,685.188646813,649,915,800,840,658,635,657.188646813,0.425578589264,0.00450804048804,0.0698576864011,0.999999971563,6.79788240672e-05,-0.000225021642761,4.02214984705e-05,1793254980147075328
+340,5.666666667,POSE2_TO_POSE3_RETREAT,782.219470905,759,737,717.780529095,685.780529095,649,915,800,840,658,635,657.780529095,0.424616014489,0.00449741676592,0.0698437706744,0.999999967458,6.52404689544e-05,-0.000243595006348,3.85809681854e-05,1793254980163742208
+341,5.683333333,POSE2_TO_POSE3_RETREAT,782,759.365109627,737.365109627,718,686,649,915,800,840,658,635,657.634890373,0.423626081608,0.00449077675131,0.0698049154711,0.999999949815,5.36096351803e-05,-0.000309949348386,3.77687398261e-05,1793254980180408832
+342,5.700000000,POSE2_TO_POSE3_RETREAT,782,759.945387028,737.945387028,718,686,649,915,800,840,658,635,657.054612972,0.422620026004,0.00448648443079,0.0697513628427,0.999999916829,3.6738252302e-05,-0.000404462152438,3.74446492832e-05,1793254980197075456
+343,5.716666667,POSE2_TO_POSE3_RETREAT,781.479562436,760,737.479562436,718,685.479562436,649,915,800,840,658,635,657.520437564,0.421641541587,0.00447782800375,0.0696985001329,0.999999877128,2.86861949948e-05,-0.000493463213234,3.76155653565e-05,1793254980213741824
+344,5.733333333,POSE2_TO_POSE3_RETREAT,781.095114622,759.904885378,737,718,685,649,915,800,839.904885378,657.904885378,635,657.904885378,0.420696515897,0.00446814143608,0.0696662796148,0.999999849591,2.15024540465e-05,-0.000546751830837,3.76668587488e-05,1793254980230408448
+345,5.750000000,POSE2_TO_POSE3_RETREAT,781.670648092,759.329351908,737,718,685,649,915,800,839.329351908,657.329351908,635,657.329351908,0.419906020234,0.00445554178832,0.0697379596594,0.999999909947,1.40765119836e-05,-0.000422551160521,3.68541860304e-05,1793254980247075328
+346,5.766666667,POSE2_TO_POSE3_RETREAT,782,759.254134793,737,718,685.254134793,649,915,800,839.254134793,657.254134793,635,657.254134793,0.419103158325,0.00444775090508,0.0698054537135,0.999999950736,3.62362800478e-06,-0.00031170704033,3.67989017761e-05,1793254980263741952
+347,5.783333333,POSE2_TO_POSE3_RETREAT,782,759.848261607,737,718,685.848261607,649,915,800,839.848261607,657.848261607,635,657.848261607,0.418283752406,0.00444639338663,0.0698673475707,0.999999975306,-1.087882312e-05,-0.000218731878902,3.77568835205e-05,1793254980280408832
+348,5.800000000,POSE2_TO_POSE3_RETREAT,781.572454259,760,737,718,686.427545741,649,915,800,839.572454259,658,635,658,0.417431320599,0.00443750702668,0.0698609515622,0.999999972066,-1.40459675346e-05,-0.00023291586473,3.76946639813e-05,1793254980297075456
+349,5.816666667,POSE2_TO_POSE3_RETREAT,781,760,737,718,686.998255443,649,915,800,839,658,635,657.998255443,0.416567653196,0.00442606303083,0.0698311317002,0.999999958949,-1.33809270152e-05,-0.000283783528373,3.72777888286e-05,1793254980313742080
+350,5.833333333,POSE2_TO_POSE3_RETREAT,781,760,737,718,686.422197574,649,915,800,839,658,635,657.422197574,0.41573436789,0.00442276465007,0.0698011287511,0.99999995052,-3.10867049571e-05,-0.000311043630446,3.53042923367e-05,1793254980330408704
+351,5.850000000,POSE2_TO_POSE3_RETREAT,781,760,737,718.15714899,686,649,915,800,839,658,635,657,0.414900851638,0.00442190627475,0.0697703732372,0.999999936867,-4.1219195043e-05,-0.000351240414943,3.46046307084e-05,1793254980347075328
+352,5.866666667,POSE2_TO_POSE3_RETREAT,781,760,737,718.745519967,686,649,915,800,839,658,635,657,0.414066701474,0.00442774335373,0.0697375526535,0.999999907696,-3.05703384654e-05,-0.00042693588652,3.74004132944e-05,1793254980363741952
+353,5.883333333,POSE2_TO_POSE3_RETREAT,781,759.669794244,737,719,685.669794244,649,915,800,839,658,635,657,0.413299001025,0.00444509884088,0.0697392710069,0.99999990788,-2.43557704843e-06,-0.000427568612614,3.76720833159e-05,1793254980380408576
+354,5.900000000,POSE2_TO_POSE3_RETREAT,781,759.087917212,737,719,685.087917212,649,915,800,839,658,635,657,0.412581946273,0.00447123325545,0.0697673137319,0.999999929773,3.90263286615e-05,-0.000370991135105,3.60199628456e-05,1793254980397075200
+355,5.916666667,POSE2_TO_POSE3_RETREAT,781.48963147,759,737.48963147,719,685.97926294,649,915,800,839,657.51036853,635,657.48963147,0.411942928288,0.00447141133724,0.0698219144971,0.999999960867,2.78572048712e-05,-0.000275992554622,3.63012937849e-05,1793254980413741824
+356,5.933333333,POSE2_TO_POSE3_RETREAT,781.934295084,759.065704916,738,719,687.065704916,649,915,800,839,657.065704916,635,658,0.411312185054,0.00446623666327,0.0698735191409,0.999999981556,1.0825046088e-05,-0.000188159365664,3.69638002122e-05,1793254980430408704
+357,5.950000000,POSE2_TO_POSE3_RETREAT,781.363638552,759.636361448,738,719,687.636361448,649,915,800,839,657.636361448,635,658,0.410638292893,0.00445542932002,0.0698657711118,0.999999977446,2.07252745327e-05,-0.000207947031301,3.79110514984e-05,1793254980447075584
+358,5.966666667,POSE2_TO_POSE3_RETREAT,781,760,737.783942389,719,687.567884778,649,915,800,839,658,635,657.783942389,0.409965988236,0.00444905875412,0.0698444283953,0.999999968109,2.38735014336e-05,-0.000248536766474,3.79749608995e-05,1793254980463742208
+359,5.983333333,POSE2_TO_POSE3_RETREAT,781,760,737.188367676,719,686.376735351,649,915,800,839,658,635,657.188367676,0.409296472184,0.00445048163333,0.0697992058618,0.99999994619,1.51614643457e-05,-0.000325666480446,3.64872313625e-05,1793254980480408832
+360,6.000000000,POSE2_TO_POSE3_RETREAT,781,760,737.391437663,719.391437663,686,649,914.608562337,800,839,658,635,657,0.408669243761,0.00445303209227,0.0697716888917,0.999999931892,9.01083203971e-06,-0.000367289454682,3.51177137535e-05,1793254980497075456
+361,6.016666667,POSE2_TO_POSE3_RETREAT,781,760,737.963948382,719.963948382,686,649,914.036051618,800,839,658,635,657,0.408061576889,0.00445610415242,0.0697523622397,0.999999922397,4.04506553947e-06,-0.000392487563098,3.38028790846e-05,1793254980513742080
+362,6.033333333,POSE2_TO_POSE3_RETREAT,781,759.456458918,737.456458918,719.456458918,686,649,914.543541082,800,839,658,635,657,0.407533055142,0.00446410098699,0.0697699837456,0.999999933084,2.0551342239e-05,-0.000363743033876,3.31702614012e-05,1793254980530408704
+363,6.050000000,POSE2_TO_POSE3_RETREAT,781,759.121400867,737,719.121400867,686.121400867,649,915,800,839,658,634.878599133,657,0.407017342074,0.00447050802927,0.0697881690646,0.999999942253,3.67392585153e-05,-0.000336231010048,3.30646736344e-05,1793254980547075328
+364,6.066666667,POSE2_TO_POSE3_RETREAT,781,759.691104121,737,719.691104121,686.691104121,649,915,800,839,658,634.308895879,657,0.406529287125,0.00446982222922,0.0697992672332,0.999999944967,4.64229850194e-05,-0.000326656884364,3.4735971524e-05,1793254980563742208
+365,6.083333333,POSE2_TO_POSE3_RETREAT,781,760,737.27356638,720,686.452867239,649,914.72643362,800,839,657.72643362,634.27356638,657.27356638,0.406051965508,0.00446962322599,0.0698020863954,0.999999944108,4.57803654194e-05,-0.000329354341353,3.48507965891e-05,1793254980580408832
+366,6.100000000,POSE2_TO_POSE3_RETREAT,781,760,737.871140154,720,685.257719691,649,914.128859846,800,839,657.128859846,634.871140154,657.871140154,0.405587356297,0.00447000077673,0.0697951000418,0.999999938849,3.29073955793e-05,-0.000346586053797,3.31221614633e-05,1793254980597075456
+367,6.116666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,685.453003534,649,914.453003534,800,839,657.453003534,635,658,0.405174506947,0.00447033979025,0.069801756999,0.999999943307,2.56671458652e-05,-0.000334253466395,3.166522938e-05,1793254980613742336
+368,6.133333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,915,799.969710533,839,658,635,657.969710533,0.404779281814,0.00447069891412,0.0698125727143,0.999999950352,2.0454259974e-05,-0.000312974908961,3.04038702895e-05,1793254980630408704
+369,6.150000000,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,915,799.397049874,839,658,635,657.397049874,0.404444835513,0.00447160785163,0.0698306925691,0.999999960849,2.38149680768e-05,-0.0002770474332,3.13069451451e-05,1793254980647075072
+370,6.166666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.181668538,649,914.818331462,799.181668538,839,657.818331462,635,657,0.404112693613,0.00447004880113,0.0698432142172,0.999999967414,2.16013544164e-05,-0.000252374369318,3.18059980957e-05,1793254980663741952
+371,6.183333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.774083239,649,914.225916761,799.774083239,839,657.225916761,635,657,0.403785761925,0.00446290971658,0.0698430785149,0.999999967443,6.78439525799e-06,-0.000253147139675,3.13915717055e-05,1793254980680408576
+372,6.200000000,POSE2_TO_POSE3_RETREAT,781.358054205,759.641945795,738,720,687,649,914,800,838.641945795,657,635,657,0.403472407938,0.00445815833976,0.0698353679853,0.999999964167,-4.75797097548e-06,-0.000265858724542,3.10242393602e-05,1793254980697075200
+373,6.216666667,POSE2_TO_POSE3_RETREAT,781.936820339,759.063179661,738,720,687,649,914,800,838.063179661,657,635,657,0.403167423493,0.00445487879408,0.0698229881774,0.999999958549,-1.42818126572e-05,-0.000285929638604,3.06859366966e-05,1793254980713742080
+374,6.233333333,POSE2_TO_POSE3_RETREAT,781.488651959,759.511348041,738,720,686.488651959,649,914,800,838.511348041,657.511348041,635,657.511348041,0.402891154176,0.0044527683617,0.0698139917148,0.999999953064,-2.24580743466e-05,-0.000303958919735,3.1264162323e-05,1793254980730408704
+375,6.250000000,POSE2_TO_POSE3_RETREAT,781.087643802,760,738,720,686,649,914.087643802,800,839,658,635,658,0.402626905115,0.00445042705358,0.0698058618205,0.999999947808,-3.04203675568e-05,-0.000320059009134,3.19401603393e-05,1793254980747075584
+376,6.266666667,POSE2_TO_POSE3_RETREAT,781.677035001,760,738,720,686,649,914.677035001,800,839,658,635,658,0.402411325857,0.00444594386057,0.0698003194108,0.999999945428,-3.81030806613e-05,-0.000326547022902,3.25329283125e-05,1793254980763742208
+377,6.283333333,POSE2_TO_POSE3_RETREAT,781.737984195,760,738,720,686,649,914.737984195,800,839,658,635.262015805,658,0.402209922822,0.0044445569163,0.0697964284553,0.999999943515,-4.03723013756e-05,-0.000332013454856,3.32700184394e-05,1793254980780408832
+378,6.300000000,POSE2_TO_POSE3_RETREAT,781.158349758,760,738,720,686,649,914.158349758,800,839,658,635.841650242,658,0.402025704383,0.00444692328133,0.0697945394124,0.999999942236,-3.60792226675e-05,-0.000336241512988,3.41820575404e-05,1793254980797075456
+379,6.316666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914.418482888,800,839,658,635.581517112,658,0.401865747748,0.00444719843772,0.0697950699523,0.999999942718,-2.98372766979e-05,-0.00033524993724,3.58062003675e-05,1793254980813742080
+380,6.333333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914.994262403,800,839,658,635.005737597,658,0.401714910486,0.00444668756416,0.0697965099493,0.999999943818,-2.28628032704e-05,-0.00033229643934,3.76980040905e-05,1793254980830408704
+381,6.350000000,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914.43171459,800,839,657.43171459,635,657.43171459,0.401593350241,0.00446444222338,0.0697956804109,0.999999942493,6.91268925166e-05,-0.000329740375137,3.88117256555e-05,1793254980847075328
+382,6.366666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914,800,839,657.145906529,635,657,0.401478084594,0.00448036222576,0.0697944593975,0.999999935291,0.00014019732302,-0.000328946425574,3.94468971927e-05,1793254980863742208
+383,6.383333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914,800,839,657.734497967,635,657,0.401381022907,0.0044901580232,0.0697921199449,0.999999933104,0.000145201831422,-0.00033348665725,3.86538950839e-05,1793254980880408832
+384,6.400000000,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.318815808,649,914.318815808,800,839,657.681184192,635,657,0.401295845279,0.00448949518271,0.0697903430032,0.999999936778,0.000111751615609,-0.000336196465808,3.04692959596e-05,1793254980897075456
+385,6.416666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.89962184,649,914.89962184,800,839,657.10037816,635,657,0.401220433491,0.00448023784823,0.0697890283106,0.999999941858,4.6700828274e-05,-0.000337402104383,1.62105745134e-05,1793254980913742080
+386,6.433333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.525173724,649,914.525173724,800,839,657.474826276,635,657.474826276,0.401165660638,0.00447716459625,0.0697913823497,0.99999994392,3.29961529613e-05,-0.000332929297431,1.51580791971e-05,1793254980930408704
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,781,760,738,720.79477356,686,649,914,800,839,658,635,657.79477356,0.401029025684,0.00447379855873,0.0698047773302,0.999999951271,3.63020045164e-05,-0.000309364413913,2.08055493307e-05,1793254980997075200
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,781.318216251,760,738,720.318216251,686,649,915,800,839,658,635,657,0.400978267184,0.00447480463002,0.0698144926551,0.999999955563,3.90939253986e-05,-0.000294719783207,2.2039499255e-05,1793254981080409088
+396,6.600000000,POSE2_TO_POSE3_RETREAT,781.265837595,760,738,720,686,649,914.734162405,800,839,657.734162405,635,657,0.400975738455,0.00447568340455,0.0698160865086,0.999999956214,4.11342054366e-05,-0.000292211827207,2.22018784668e-05,1793254981097075456
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,781.56063167,760,738,720,686,649,914,800,839,657.43936833,635,657,0.400971283838,0.00447581131506,0.069816985004,0.99999995677,3.81302572942e-05,-0.000290722089824,2.20703993771e-05,1793254981130408960
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649.588095998,914.588095998,800,838.411904002,657.411904002,635,657,0.40097103761,0.00447659409665,0.0698190139026,0.999999957738,3.83293381834e-05,-0.000287360236133,2.18800771928e-05,1793254981163742208
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914.921850238,800.921850238,839,658,635,657,0.400966916355,0.0044761979943,0.0698183212527,0.999999957296,3.78957707937e-05,-0.000288958348581,2.18063597049e-05,1793254981230408704
+405,6.750000000,POSE2_TO_POSE3_RETREAT,781.498060988,760,738,720,686,649,914.501939012,800.501939012,839,658,635,657.498060988,0.400969359548,0.00447560857788,0.0698198233524,0.999999958081,3.81444502283e-05,-0.0002861826431,2.19723723205e-05,1793254981247075328
+406,6.766666667,POSE2_TO_POSE3_RETREAT,782,760,738,720,686,649,914.07384279,800,839,657.92615721,635,657.92615721,0.400972150487,0.00447456367945,0.0698214842697,0.99999995893,3.76781750433e-05,-0.000283247689662,2.21447428842e-05,1793254981263742464
+407,6.783333333,POSE2_TO_POSE3_RETREAT,782,760,738,720,686,649,914.645302696,800,839,657.354697304,635,657.354697304,0.400972605344,0.00447339287115,0.0698221847064,0.999999959302,3.41622696403e-05,-0.000282394049462,2.19718165764e-05,1793254981280409088
+408,6.800000000,POSE2_TO_POSE3_RETREAT,781.772875103,759.772875103,738,720,686,649,914.772875103,800,839,657.227124897,635,657,0.400971833943,0.00447318324611,0.0698221915309,0.999999959246,3.32310184079e-05,-0.000282704863926,2.19544655349e-05,1793254981297075712
+409,6.816666667,POSE2_TO_POSE3_RETREAT,781.174096568,759.174096568,738,720,686,649,914.174096568,800,839,657.825903432,635,657,0.400969055963,0.00447454644387,0.0698210633701,0.999999958497,3.65291405799e-05,-0.000284921122429,2.21916885547e-05,1793254981313742336
+410,6.833333333,POSE2_TO_POSE3_RETREAT,781,759,737.593139914,720,686,649,914,800,839,658,635,657,0.400967848616,0.00447448382089,0.069820748181,0.999999958201,3.63736692126e-05,-0.000285976208273,2.21902910421e-05,1793254981330408960
+411,6.850000000,POSE2_TO_POSE3_RETREAT,781,759,737.019489299,720,686,649,914,800,839,658,635,657,0.400967285143,0.00447383668881,0.0698207662662,0.999999958093,3.48024119408e-05,-0.000286555276284,2.20910720618e-05,1793254981347075584
+412,6.866666667,POSE2_TO_POSE3_RETREAT,781,759,737.555240656,720,686,649,914.555240656,800,839,658,635.555240656,657,0.400969340608,0.0044754648112,0.0698220696425,0.999999958605,3.76001020763e-05,-0.000284412346125,2.2030977014e-05,1793254981363742208
+413,6.883333333,POSE2_TO_POSE3_RETREAT,781,759.133450674,738,720,686,649,915,800,839,658,635.866549326,657.133450674,0.400971519253,0.00447628122955,0.069823491373,0.999999959255,3.91002293105e-05,-0.000281912064172,2.20555683308e-05,1793254981380408832
+414,6.900000000,POSE2_TO_POSE3_RETREAT,781,759.723436105,738,720,686,649,915,800,839,658,635.276563895,657.723436105,0.4009738042,0.00447404706526,0.0698251633555,0.999999960329,3.56357519083e-05,-0.000278516774013,2.23651645819e-05,1793254981397075456
+415,6.916666667,POSE2_TO_POSE3_RETREAT,781,759.691915042,738,720,686,649.308084958,914.691915042,800,839,657.691915042,634.691915042,657.691915042,0.400973512285,0.00447319914799,0.0698249246869,0.999999960301,3.35356018529e-05,-0.000278886276595,2.22543579365e-05,1793254981413742080
+416,6.933333333,POSE2_TO_POSE3_RETREAT,781,759.111975229,738,720,686,649.888024771,914.111975229,800,839,657.111975229,634.111975229,657.111975229,0.400970946541,0.0044735744583,0.0698230000557,0.999999959305,3.26393374761e-05,-0.00028257784087,2.17725868209e-05,1793254981430408704
+417,6.950000000,POSE2_TO_POSE3_RETREAT,781.463227553,759.463227553,738,720,686.463227553,649.536772447,914.463227553,800,839,657.463227553,634.463227553,657,0.40097072014,0.00447327591535,0.069822634378,0.999999959111,3.27287612762e-05,-0.000283253085934,2.1793093941e-05,1793254981447075328
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..30e332077fa3bff58d41a4afe9e898a8408274a1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_04/simulation_data.csv
@@ -0,0 +1,419 @@
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+408,6.800000000,pose2_to_pose3_retreat,0.575669580288,0.0101818030608,1.06002053348,0.546240727346,0.0188560384831,1.05969223757
+409,6.816666667,pose2_to_pose3_retreat,0.57566900965,0.0101817771944,1.06002053952,0.546240156563,0.0188560120579,1.05969224182
+410,6.833333333,pose2_to_pose3_retreat,0.575668626741,0.0101817598375,1.06002054358,0.546239773557,0.0188559943262,1.05969224467
+411,6.850000000,pose2_to_pose3_retreat,0.575668589833,0.0101817581645,1.06002054397,0.546239736639,0.018855992617,1.05969224495
+412,6.866666667,pose2_to_pose3_retreat,0.575668044125,0.0101817441199,1.06002054697,0.54623919083,0.0188559781883,1.05969224691
+413,6.883333333,pose2_to_pose3_retreat,0.575667448896,0.0101817830743,1.06002053611,0.546238595676,0.0188560174863,1.05969223837
+414,6.900000000,pose2_to_pose3_retreat,0.575667094623,0.0101818025437,1.0600205637,0.546238241415,0.0188560369732,1.05969226543
+415,6.916666667,pose2_to_pose3_retreat,0.575666997499,0.010181803074,1.06002061533,0.54623814425,0.0188560372664,1.05969231441
+416,6.933333333,pose2_to_pose3_retreat,0.575666941238,0.0101818033812,1.06002064523,0.546238087966,0.0188560374363,1.05969234279
+417,6.950000000,pose2_to_pose3_retreat,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020493,1.05969211612
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b486218ac7f90921f5685d1106a4f29d00106370
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:918d3a495657dfe95cf7044461e2599414888e6e4dd8a64e1d1853c510ae49a3
+size 26502678
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e26015f7454da2d8c4bbcb5b5df49f6d1bea38e3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_05/franka_data.csv
@@ -0,0 +1,420 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657,0.400970154623,0.00447614806407,0.069823366688,0.999999959243,3.86545036592e-05,-0.000282016949701,2.20433762232e-05,1793254981578877440
+1,0.016666667,BASELINE,781,759.383919926,737.383919926,720,687,649,914.616080074,800,839,657.383919926,635,657,0.400971899139,0.00447670311272,0.0698250689603,0.999999960219,3.79280039007e-05,-0.000278663683823,2.16888674766e-05,1793254981595544320
+2,0.033333333,BASELINE,781,759,737.219672958,720,687,649,914.780327042,800,839,657.219672958,635,657.219672958,0.400972839546,0.00447645412141,0.0698260113743,0.999999960737,3.7113852569e-05,-0.000276914259377,2.16039119682e-05,1793254981612211200
+3,0.050000000,BASELINE,781,759,737.802616046,720,687,649,914.197383954,800,839,657.802616046,635,657.802616046,0.400972450208,0.00447487550041,0.0698256972214,0.999999960514,3.61547529283e-05,-0.000277817084782,2.19647128636e-05,1793254981628877824
+4,0.066666667,BASELINE,781,759.380413617,738,720,687,649,914,800,839,657.619586383,635.380413617,658,0.400971058019,0.00447408483058,0.0698244878769,0.999999960087,3.38750293191e-05,-0.0002796481343,2.18235947404e-05,1793254981645544192
+5,0.083333333,BASELINE,781,759.955576948,738,720,687,649,914,800,839,657.044423052,635.955576948,658,0.400969152428,0.00447369754615,0.0698228202463,0.999999959543,3.09192228728e-05,-0.000281954380682,2.14255231621e-05,1793254981662210816
+6,0.100000000,BASELINE,781,760,738,720,687,649,914,800,839,657.530815766,635.469184234,657.469184234,0.400969276115,0.00447440817903,0.0698228498931,0.999999959335,3.42713221332e-05,-0.000282297152265,2.15363814821e-05,1793254981678877440
+7,0.116666667,BASELINE,781,760,737.891953525,720,687,649,914,800,839,658,635,657,0.400969658227,0.00447513298543,0.069823035831,0.999999959281,3.73018806944e-05,-0.000282098045414,2.16211686849e-05,1793254981695544064
+8,0.133333333,BASELINE,781,760,737.305939214,720,687,649,914,800,839,658,635,657,0.400970432169,0.0044755139695,0.0698232847129,0.999999959838,3.65744255029e-05,-0.000280228826609,2.14021847537e-05,1793254981712210688
+9,0.150000000,BASELINE,781,759.721244825,737,720,687,649,914.278755175,800,839,658,634.721244825,657,0.400971436766,0.00447559454185,0.0698240820134,0.999999960347,3.599115656e-05,-0.000278477884161,2.14445356779e-05,1793254981728877824
+10,0.166666667,BASELINE,781,759.137992287,737,720,687,649,914.862007713,800,839,658,634.137992287,657,0.400972693316,0.00447534696035,0.0698254783772,0.999999960806,3.55653890732e-05,-0.00027685614065,2.17723549472e-05,1793254981745544704
+11,0.183333333,BASELINE,781,759.437860588,737,720.437860588,687,649,914.562139412,800,839,657.562139412,634.437860588,657,0.400972458177,0.00447486545575,0.0698252885766,0.99999996062,3.57582684162e-05,-0.000277488532449,2.19610962858e-05,1793254981762211328
+12,0.200000000,BASELINE,781,760,737,721,687,649,914.011263543,800,839,657.011263543,635,657.011263543,0.400971788078,0.00447433326585,0.0698246328889,0.999999960249,3.61073172793e-05,-0.000278764158316,2.20931886288e-05,1793254981778877696
+13,0.216666667,BASELINE,781,760,737,721,687,649,914.576952906,800,839,657.576952906,635,657.576952906,0.400972463524,0.00447487466708,0.0698252415947,0.999999960714,3.47061086552e-05,-0.000277315110279,2.15584643026e-05,1793254981795544320
+14,0.233333333,BASELINE,781,760,737.151360282,720.848639718,687,649,914.848639718,800,838.848639718,658,635,657.848639718,0.400973120525,0.00447543597346,0.0698258867178,0.999999961128,3.40316766955e-05,-0.000275927486264,2.12301112327e-05,1793254981812210944
+15,0.250000000,BASELINE,781,760,737.751623601,720.248376399,687,649,914.248376399,800,838.248376399,658,635,657.248376399,0.400973722824,0.0044760563145,0.0698266398466,0.999999961402,3.55127124419e-05,-0.000274722032741,2.15138121494e-05,1793254981828877824
+16,0.266666667,BASELINE,781,760,737.662362466,719.662362466,687,649,914,800,838,658,635,657,0.40097306686,0.00447540072408,0.0698264328,0.999999961127,3.52528461927e-05,-0.000275749614565,2.15835285966e-05,1793254981845544192
+17,0.283333333,BASELINE,781,760,737.086406376,719.086406376,687,649,914,800,838,658,635,657,0.400971522761,0.00447384452835,0.0698255480218,0.999999960459,3.376417912e-05,-0.000278353365297,2.15022059252e-05,1793254981862211072
+18,0.300000000,BASELINE,781,759.5090491,737.4909509,719.4909509,687,649,914,800,838.4909509,657.5090491,635,657,0.400971299678,0.00447447078065,0.0698254252963,0.999999960345,3.44807626622e-05,-0.000278662352413,2.16361738426e-05,1793254981878877696
+19,0.316666667,BASELINE,781,759,738,720,687,649,914,800,839,657.06982719,635,657,0.400971435091,0.00447532955494,0.0698254935794,0.999999960373,3.54967978186e-05,-0.000278421856864,2.17899725331e-05,1793254981895544576
+20,0.333333333,BASELINE,781,759,738,720,687,649,914,800,839,657.658146334,635,657,0.400972501148,0.00447505459666,0.0698259814313,0.999999960725,3.58461920275e-05,-0.000277108746694,2.18088644085e-05,1793254981912211968
+21,0.350000000,BASELINE,781,759,737.75605905,720,687,649,914,800,839,657.75605905,635,657,0.400972605852,0.00447463582705,0.0698258968105,0.99999996084,3.56439156807e-05,-0.00027671751097,2.18223292131e-05,1793254981928878848
+22,0.366666667,BASELINE,781,759,737.173766064,720,687,649,914,800,839,657.173766064,635,657,0.400971377135,0.00447401758766,0.0698250181559,0.999999960628,3.46764588185e-05,-0.00027760493765,2.18282665366e-05,1793254981945544448
+23,0.383333333,BASELINE,781,759.403216344,737.403216344,720,687,649,914,800,839,657,635,657,0.400972897059,0.00447424890087,0.0698263036187,0.999999961191,3.47043317214e-05,-0.000275563769925,2.18743339564e-05,1793254981962210816
+24,0.400000000,BASELINE,781,759.977939959,737.977939959,720,687,649,914,800,839,657,635,657,0.400975586111,0.00447484156954,0.0698285095843,0.999999962074,3.51555660784e-05,-0.000272276930465,2.19374706332e-05,1793254981978877440
+25,0.416666667,BASELINE,781,760,738,720.552094049,687,649.552094049,914.552094049,800,839,657.552094049,635,657,0.400972865141,0.0044754422059,0.0698267859596,0.99999996108,3.64895367736e-05,-0.000275733463421,2.19197684074e-05,1793254981995544064
+26,0.433333333,BASELINE,781,759.869455745,738,720.869455745,687,649.869455745,914.869455745,800,839,657.869455745,634.869455745,657.130544255,0.400970670342,0.00447590545681,0.0698253774024,0.999999960306,3.71550048948e-05,-0.000278442357209,2.18438608038e-05,1793254982012210944
+27,0.450000000,BASELINE,781,759.275680107,738,720.275680107,687,649.275680107,914.275680107,800,839,657.275680107,634.275680107,657.724319893,0.400971108915,0.00447588007223,0.0698256434368,0.999999960628,3.53232864265e-05,-0.00027754315177,2.15728636157e-05,1793254982028878080
+28,0.466666667,BASELINE,781.308456412,759.308456412,738,720,687,649,914,800,839,657.308456412,634.308456412,658,0.40097190464,0.00447615174508,0.0698258126101,0.999999960838,3.59207425157e-05,-0.000276709689181,2.15720124466e-05,1793254982045544960
+29,0.483333333,BASELINE,781.884239075,759.884239075,738,720,687,649,914,800,839,657.884239075,634.884239075,658,0.400973009895,0.00447668086517,0.0698258978377,0.999999960947,3.86234625452e-05,-0.00027593320322,2.18052855315e-05,1793254982062211584
+30,0.500000000,BASELINE,781.539989367,760,738,720.460010633,687,649,914.460010633,800,839,658,635,658,0.400971961466,0.00447627773084,0.0698255119377,0.999999960671,3.75731860487e-05,-0.000277083466593,2.17111390794e-05,1793254982078877952
+31,0.516666667,BASELINE,781,760,738,720.963558488,687,649,914.963558488,800,839,658,635,657.963558488,0.400970510586,0.00447562640439,0.0698250629584,0.999999960319,3.55975347332e-05,-0.000278624581287,2.15433814922e-05,1793254982095544320
+32,0.533333333,BASELINE,781,760,738,720.377134722,687,649,914.377134722,800,839,658,635,657.377134722,0.400971165173,0.00447476986181,0.0698254512378,0.999999960344,3.39092056522e-05,-0.000278747025823,2.15081554627e-05,1793254982112210944
+33,0.550000000,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657,0.40097173888,0.00447413021461,0.0698257968559,0.999999960458,3.36752366594e-05,-0.000278354670279,2.16407021017e-05,1793254982128877568
+34,0.566666667,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657,0.40097216684,0.00447388140865,0.0698260655991,0.999999960732,3.60619955463e-05,-0.000277034655308,2.20755717269e-05,1793254982145543936
+35,0.583333333,BASELINE,781,759.631891033,738,720,687,649,914.368108967,800,838.631891033,658,635,657,0.400972275001,0.0044748992194,0.0698263458594,0.999999960806,3.6956924673e-05,-0.000276669379374,2.18437380998e-05,1793254982162210560
+36,0.600000000,BASELINE,781,759.057455553,738,720,687,649,914.942544447,800,838.057455553,658,635,657,0.400972203912,0.00447662697372,0.0698266325751,0.999999960769,3.70156776201e-05,-0.000276839238274,2.12382147383e-05,1793254982178877440
+37,0.616666667,BASELINE,781,759,737.483289879,720,687,649,914.483289879,800,838.516710121,658,635,657,0.400972481432,0.00447504772948,0.0698263122163,0.999999960943,3.46642348426e-05,-0.000276497942142,2.14729263006e-05,1793254982195544320
+38,0.633333333,BASELINE,781,759.093927935,737.093927935,720,687,649,914,800,839,658,635,657,0.400972739998,0.00447350179812,0.0698259725491,0.999999961087,3.27456205681e-05,-0.000276189348277,2.17371765244e-05,1793254982212210944
+39,0.650000000,BASELINE,781,759.687542549,737.687542549,720,687,649,914,800,839,658,635,657,0.400972691618,0.00447408830571,0.0698258890875,0.999999960982,3.45546031022e-05,-0.000276356940456,2.16617917764e-05,1793254982228877568
+40,0.666666667,BASELINE,781,759.726723419,737.726723419,720,687,649,914,800,838.726723419,658,635,657,0.400972666646,0.00447422179361,0.0698258734891,0.999999960985,3.44778338175e-05,-0.000276363614329,2.15489433735e-05,1793254982245543936
+41,0.683333333,BASELINE,781,759.149747321,737.149747321,720,687,649,914,800,838.149747321,658,635,657,0.400972667689,0.00447385182867,0.0698259333089,0.999999961108,3.23053783861e-05,-0.000276191455412,2.13944606214e-05,1793254982262210560
+42,0.700000000,BASELINE,781,759,737,720,687,649,914,800,838.425507689,657.574492311,635,657,0.400971890715,0.00447402986509,0.0698259968561,0.99999996094,3.22968429664e-05,-0.000276805107308,2.13666432668e-05,1793254982278877184
+43,0.716666667,BASELINE,781,759.000162655,737.000162655,720,687,649,914,800,839,657.000162655,635,657,0.400970841633,0.00447440002514,0.0698260617468,0.999999960668,3.30472326302e-05,-0.000277693708364,2.13832542342e-05,1793254982295543808
+44,0.733333333,BASELINE,781,759.586433504,737.586433504,720,687,649,914,800,839,657.586433504,635,657,0.400971924333,0.0044749304968,0.0698262599642,0.999999960822,3.54289700291e-05,-0.000276837557793,2.15116522988e-05,1793254982312211200
+45,0.750000000,BASELINE,781,760,737.828392343,720,687,649,914.171607657,800,839,658,635,657.171607657,0.400972659092,0.0044750872342,0.0698264713049,0.999999960967,3.69835578316e-05,-0.000276092406883,2.17292825697e-05,1793254982328878592
+46,0.766666667,BASELINE,781,760,737.245844479,720,687,649,914.754155521,800,839,658,635,657.754155521,0.400972560653,0.0044743490089,0.0698267140714,0.999999961105,3.65574118444e-05,-0.000275613061395,2.21605926897e-05,1793254982345545216
+47,0.783333333,BASELINE,781,760,737,720,687,649,914.66733796,800,839,658,635,658,0.400972125201,0.00447416958345,0.0698265427772,0.999999961138,3.4760202074e-05,-0.000275739771827,2.19943453554e-05,1793254982362211584
+48,0.800000000,BASELINE,781,760,737,720,687,649,914.091782176,800,839,658,635,658,0.400971443679,0.00447439816657,0.069826069156,0.999999961087,3.19619077421e-05,-0.000276308994953,2.139179049e-05,1793254982378877952
+49,0.816666667,BASELINE,781,760,737.483725433,720,687,649,914,800,839,658,635,658,0.40097193983,0.00447456601309,0.0698264103951,0.999999961203,3.22729151493e-05,-0.000275849114783,2.1454340294e-05,1793254982395544576
+50,0.833333333,BASELINE,781,760,738,720,687,649,914.059056804,800,839,658,635,658,0.4009725412,0.00447469073444,0.0698268429901,0.999999961303,3.31533133251e-05,-0.000275367705237,2.16260413815e-05,1793254982412211200
+51,0.850000000,BASELINE,781,760,738,720,687,649,914.632931858,800,839,658,635,658,0.400972112087,0.0044745399692,0.0698267242957,0.999999960994,3.3854918405e-05,-0.000276400614778,2.16492578282e-05,1793254982428877568
+52,0.866666667,BASELINE,781,760,738,720,687,649,914.785493925,800,839,658,635,658,0.400971971465,0.00447472132214,0.0698264837082,0.999999960819,3.45015779929e-05,-0.000276961975666,2.15464664896e-05,1793254982445544192
+53,0.883333333,BASELINE,781,760,738,720,687,649,914.19025426,800,839,658,635,658,0.400972342895,0.00447549216211,0.0698260267688,0.999999960883,3.50507130541e-05,-0.000276686369932,2.12200199605e-05,1793254982462211072
+54,0.900000000,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657.60818831,0.400973124181,0.00447628941351,0.0698263924471,0.999999961119,3.63045793328e-05,-0.000275679632831,2.10797064387e-05,1793254982478877952
+55,0.916666667,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657.032311132,0.40097409801,0.00447709907246,0.0698271445753,0.999999961433,3.7889514573e-05,-0.000274329424486,2.10268345816e-05,1793254982495545088
+56,0.933333333,BASELINE,781,760,737.446332927,720,687,649,914,800,839,657.446332927,635.553667073,657,0.400972968847,0.00447644609249,0.0698265958605,0.999999961288,3.60240624602e-05,-0.000275082787412,2.13625897562e-05,1793254982512211200
+57,0.950000000,BASELINE,780.861290816,760,737.138709184,720,687,649,914.138709184,800,839,657,635.861290816,657,0.400972214009,0.00447594516765,0.0698263836373,0.999999961251,3.41371376839e-05,-0.000275443238697,2.15137618242e-05,1793254982528877568
+58,0.966666667,BASELINE,780.281138836,760,737.718861164,720,687,649,914.718861164,800,839,657,635.281138836,657,0.400973048305,0.00447620485741,0.0698274883904,0.99999996166,3.28346114784e-05,-0.000274155298217,2.10039775736e-05,1793254982545543936
+59,0.983333333,BASELINE,780.594976416,760,738,720,687,649,915,800,839,657.297488208,635,657,0.400972290023,0.00447565036656,0.0698270231419,0.999999961391,3.27257544546e-05,-0.000275140814818,2.10889504395e-05,1793254982562210560
+60,1.000000000,BASELINE,781.749363082,760,738,720,687,649,915,800,839,657.874681541,635,657,0.400970034361,0.00447433036477,0.0698250817427,0.999999960479,3.37392119717e-05,-0.000278263886902,2.17331273041e-05,1793254982578877184
+61,1.016666667,BASELINE,781.551098319,760,738,720,687,649,915,800,839,658,635,657,0.400971051093,0.00447406272039,0.0698254872185,0.999999960795,3.34346491779e-05,-0.000277165610479,2.17162064034e-05,1793254982595543808
+62,1.033333333,BASELINE,781,759.977032047,738,720.022967953,687,649,914.977032047,800,839,658,635,657,0.400972909494,0.00447412716998,0.0698265072525,0.99999996143,3.28233487064e-05,-0.000274952615934,2.15102000461e-05,1793254982612210944
+63,1.050000000,BASELINE,781,759.386388199,738,720.613611801,687,649,914.386388199,800,839,658,635,657,0.40097314004,0.00447518628261,0.0698266300807,0.999999961638,3.36650734653e-05,-0.000274123428768,2.11622441529e-05,1793254982628878080
+64,1.066666667,BASELINE,781,759,738,720.599056389,687,649,914,800,839,657.799528194,635.200471806,657,0.40097261064,0.00447608357894,0.0698264891324,0.999999961507,3.52073919778e-05,-0.000274419020544,2.10088507834e-05,1793254982645544704
+65,1.083333333,BASELINE,781,759,738,719.439652155,687,649,914,800,839,657.219826078,635.780173922,657,0.400970643656,0.00447667476911,0.0698258492011,0.999999960729,3.80750159424e-05,-0.00027684234433,2.12235092215e-05,1793254982662210816
+66,1.100000000,BASELINE,781,759,738,719.356247701,687,649,914.356247701,800,838.643752299,657.356247701,635.643752299,657.356247701,0.40097041602,0.00447717102074,0.0698256716951,0.999999960674,3.79765860272e-05,-0.000277059555061,2.1177556512e-05,1793254982678877440
+67,1.116666667,BASELINE,781,759,738,719.930105131,687,649,914.930105131,800,838.069894869,657.930105131,635.069894869,657.930105131,0.400971250846,0.00447760928027,0.069825776656,0.999999961061,3.60663767942e-05,-0.000275929187426,2.09724125326e-05,1793254982695543808
+68,1.133333333,BASELINE,781,759,737.483252542,720,687,649,914.483252542,800,838.516747458,658,635,658,0.400971840027,0.00447693608166,0.0698260359431,0.999999961102,3.62395041507e-05,-0.000275742401336,2.11779044971e-05,1793254982712210688
+69,1.150000000,BASELINE,781,759.103536499,737,720,687,649,914,800,839,658,635,657.896463501,0.400972394154,0.00447625807929,0.0698264241326,0.999999961158,3.63162845927e-05,-0.000275515398024,2.13674675136e-05,1793254982728877312
+70,1.166666667,BASELINE,781,759.682851452,737,720,687,649,914,800,839,658,635,657.317148548,0.400972943744,0.00447626635835,0.0698273063081,0.9999999615,3.46225700968e-05,-0.000274502221159,2.12221256206e-05,1793254982745543936
+71,1.183333333,BASELINE,781,760,737.26109617,720,687,649.26109617,914.26109617,800,839,658,635,657,0.400972659589,0.00447572641778,0.0698272335404,0.999999961469,3.33321997196e-05,-0.000274770468769,2.12681153046e-05,1793254982762210816
+72,1.200000000,BASELINE,781,760,737.838046277,720,687,649.838046277,914.838046277,800,839,658,635,657,0.400971366836,0.00447452328353,0.0698260055562,0.999999960988,3.25297636145e-05,-0.000276588884396,2.15455631024e-05,1793254982778878208
+73,1.216666667,BASELINE,781,760,738,720,687,649.586900959,914.586900959,800,839,658,635,657,0.400972013881,0.00447475291337,0.069826550293,0.999999961247,3.30042649203e-05,-0.000275595047957,2.15241364954e-05,1793254982795544576
+74,1.233333333,BASELINE,781,760,738,720,687,649.012588673,914.012588673,800,839,658,635,657,0.400973417937,0.00447554168413,0.06982778684,0.999999961792,3.39770952501e-05,-0.000273503720897,2.13860731636e-05,1793254982812210944
+75,1.250000000,BASELINE,781,760,738,720,687,649,914.577369815,800,839,657.422630185,635,657,0.400974765997,0.00447457532102,0.0698285364907,0.999999962435,3.30683699329e-05,-0.00027124924618,2.14435354644e-05,1793254982828877568
+76,1.266666667,BASELINE,781,760,737.835466616,720,687,649,914.835466616,800,839,657,635,657,0.40097500604,0.00447435960599,0.0698284561653,0.99999996251,3.30840717495e-05,-0.00027097439992,2.14043841636e-05,1793254982845544192
+77,1.283333333,BASELINE,781,760,737.256231387,720,687,649,914.256231387,800,839,657,635,657,0.400972456519,0.00447613501888,0.069826311411,0.999999961141,3.55360478155e-05,-0.000275698368112,2.11106765267e-05,1793254982862210560
+78,1.300000000,BASELINE,781,760,737.321149622,720,687,649,914,800,839,657.321149622,635,657,0.400972600915,0.00447655389355,0.0698265133918,0.999999961193,3.55832931093e-05,-0.000275507549517,2.1076271428e-05,1793254982878877440
+79,1.316666667,BASELINE,781,760,737.897059693,720,687,649,914,800,839,657.897059693,635,657,0.400974882332,0.00447589665824,0.0698285769825,0.999999962372,3.37229218652e-05,-0.000271417945816,2.12475649544e-05,1793254982895544064
+80,1.333333333,BASELINE,781,759.52664648,738,720,687,649,914.47335352,800,839,658,635,657,0.400973856927,0.00447648654552,0.0698275757896,0.9999999619,3.46175092488e-05,-0.000273054549305,2.10598612547e-05,1793254982912210688
+81,1.350000000,BASELINE,781,759,737.949244957,720,687,649,915,800,839,657.949244957,635,657,0.400972206299,0.0044772301882,0.0698260771237,0.999999961129,3.61403151152e-05,-0.000275682713322,2.08517998046e-05,1793254982928877312
+82,1.366666667,BASELINE,781,759,737.360997977,720,687,649,915,800,839,657.360997977,635,657,0.400971556369,0.00447672764307,0.069826374161,0.999999961072,3.79661063996e-05,-0.000275613309098,2.12555904657e-05,1793254982945543936
+83,1.383333333,BASELINE,781.224251097,759.224251097,737.224251097,720,687,649,914.775748903,800,839,657,634.775748903,657,0.400971673923,0.00447647103838,0.0698268051415,0.999999961207,3.82527981564e-05,-0.000275068598908,2.14340182647e-05,1793254982962210816
+84,1.400000000,BASELINE,781.804737915,759.804737915,737.804737915,720,687,649,914.195262085,800,839,657,634.195262085,657,0.40097301067,0.00447660512411,0.0698274488983,0.999999961648,3.60945423861e-05,-0.000273768837942,2.12544443041e-05,1793254982978877440
+85,1.416666667,BASELINE,782,760,738,720,687,649,914,800,839,657.379836306,634.379836306,657.379836306,0.4009739456,0.00447538409158,0.0698276637513,0.99999996186,3.41298157714e-05,-0.000273227864689,2.14919785309e-05,1793254982995543808
+86,1.433333333,BASELINE,782,760,738,720,687,649,914,800,839,657.952203386,634.952203386,657.952203386,0.400974676857,0.00447347617902,0.0698276612022,0.999999961955,3.2263185012e-05,-0.000273071504526,2.194093585e-05,1793254983012210432
+87,1.450000000,BASELINE,781.468970136,759.468970136,738,720,687,649,914,800,839,657.468970136,635,658,0.400973972314,0.00447578140024,0.0698273241126,0.999999961679,3.55520677056e-05,-0.000273714707438,2.14011774219e-05,1793254983028877312
+88,1.466666667,BASELINE,781,759,738,720.112520669,687,649,914,800,839,657,635,657.887479331,0.400972998208,0.00447752856975,0.0698269478334,0.99999996137,3.79293749126e-05,-0.000274556239396,2.09751707004e-05,1793254983045544192
+89,1.483333333,BASELINE,781,759,738,720.702825583,687,649,914,800,839,657,635,657.297174417,0.400971434989,0.00447527610576,0.0698265345795,0.999999961109,3.44413174124e-05,-0.00027593056761,2.14147043831e-05,1793254983062210816
+90,1.500000000,BASELINE,781,759,738,720.713513373,687,649,914,800,839,657.286486627,635,657.286486627,0.400970570611,0.0044746880736,0.0698259821811,0.999999960776,3.43391924859e-05,-0.000277139066345,2.15324083541e-05,1793254983078877184
+91,1.516666667,BASELINE,781,759,738,720.13658789,687,649,914,800,839,657.86341211,635,657.86341211,0.400970414715,0.00447578743508,0.0698252887185,0.999999960371,3.76697109977e-05,-0.000278179447816,2.13238427829e-05,1793254983095543808
+92,1.533333333,BASELINE,781,759.437900867,738,720,687,649,914.437900867,800,838.562099133,658,635,657.562099133,0.400970962439,0.0044754609485,0.0698258720051,0.999999960742,3.64522511673e-05,-0.000277005413169,2.13181815666e-05,1793254983112210688
+93,1.550000000,BASELINE,781,760,737.988032296,720,687,649,914.988032296,800,838.011967704,657.988032296,635,657,0.400971741984,0.00447470930296,0.0698268454206,0.999999961342,3.38541644666e-05,-0.000275158957097,2.13722342245e-05,1793254983128877312
+94,1.566666667,BASELINE,781,760,737.397833747,720,687,649,914.397833747,800,838.602166253,657.397833747,635,657,0.400973176945,0.00447478499664,0.0698275335372,0.999999961698,3.27106928176e-05,-0.000274011454263,2.12704759594e-05,1793254983145544192
+95,1.583333333,BASELINE,781,760,737,720,687,649,914,800,839,657.187737136,635,657,0.400974406037,0.00447502049691,0.0698282070128,0.999999962002,3.2546749865e-05,-0.000272923290912,2.12238110931e-05,1793254983162210816
+96,1.600000000,BASELINE,781,760,737,720,687,649,914,800,839,657.763737549,635,657,0.400975209365,0.00447558649669,0.0698288502088,0.999999962201,3.44085914279e-05,-0.000271957848637,2.12910860714e-05,1793254983178877440
+97,1.616666667,BASELINE,781,760,737,720.340131189,687,649,914.340131189,800,839,658,635,657.340131189,0.400974941989,0.00447541240008,0.0698288269479,0.99999996213,3.52752888926e-05,-0.000272098712922,2.13816196227e-05,1793254983195544064
+98,1.633333333,BASELINE,781,760,737,720.916798253,687,649,914.916798253,800,839,658,635,657.916798253,0.400973930018,0.00447472362159,0.0698283402156,0.999999961874,3.54499377403e-05,-0.000273008930976,2.14883277729e-05,1793254983212210944
+99,1.650000000,BASELINE,781,760,737,720.495684979,687,649.504315021,914.495684979,800,839,657.495684979,635,658,0.400972978619,0.00447561362577,0.0698278031608,0.999999961658,3.53823564643e-05,-0.000273810711101,2.14484169171e-05,1793254983228877568
+100,1.666666667,BASELINE,781.092137004,760,737.092137004,720,687.092137004,649.907862996,914.092137004,800,838.907862996,657.092137004,635,657.907862996,0.400972417325,0.00447630294692,0.0698274697263,0.999999961553,3.49546239127e-05,-0.000274253497637,2.14023335573e-05,1793254983245544448
+101,1.683333333,BASELINE,781.671892841,760,737.671892841,720,687.671892841,649.328107159,914.671892841,800,838.328107159,657.671892841,635,657.328107159,0.40097386654,0.00447452140403,0.0698282588199,0.999999961995,3.28370018668e-05,-0.000272893135648,2.14544148527e-05,1793254983262210816
+102,1.700000000,BASELINE,781.749292478,760,738,720,687.749292478,649,914.749292478,800,838,657.749292478,635,657.250707522,0.400974704543,0.00447337159169,0.0698287115619,0.999999962259,3.13057692994e-05,-0.000272103490355,2.14712059128e-05,1793254983278877440
+103,1.716666667,BASELINE,781.171704951,760,738,720,687.171704951,649,914.171704951,800,838,657.171704951,635,657.828295049,0.400974745631,0.00447304544877,0.0698287257584,0.999999962296,3.05390891339e-05,-0.000272057962759,2.14419844988e-05,1793254983295544320
+104,1.733333333,BASELINE,781.40336667,759.59663333,737.59663333,720,687,649,914,800,838.40336667,657.40336667,635,657.59663333,0.400973428201,0.00447336123626,0.0698279271396,0.999999961809,3.08093350955e-05,-0.000273805312458,2.15251552107e-05,1793254983312210688
+105,1.750000000,BASELINE,781.977374009,759.022625991,737.022625991,720,687,649,914,800,838.977374009,657.977374009,635,657.022625991,0.400971536061,0.00447394858665,0.0698267846666,0.999999961095,3.15182433324e-05,-0.000276311122886,2.16558724054e-05,1793254983328877312
+106,1.766666667,BASELINE,781.433370234,759.566629766,737.566629766,720,687,649,914,800,839,657.433370234,634.433370234,657,0.400972780941,0.00447524468803,0.0698277290496,0.999999961576,3.43073169931e-05,-0.000274239389223,2.15223221778e-05,1793254983345544192
+107,1.783333333,POSE1_TO_POSE2_PRESS,781,759,737,720,687,649,915,800,839,658,634,657,0.400973234233,0.00447569953169,0.0698279897564,0.999999962138,3.28618770142e-05,-0.000272375346709,2.13432753247e-05,1793254983386682368
+108,1.800000000,POSE1_TO_POSE2_PRESS,781,759,737,720,687,649,914.421030421,800,839,657.421030421,634.578969579,657,0.400972632016,0.00447588876822,0.0698270094297,0.999999961533,3.39267050509e-05,-0.000274456722783,2.13831890453e-05,1793254983403348736
+109,1.816666667,POSE1_TO_POSE2_PRESS,781,759.155467071,737,720,687,649,914,800,839,657.155467071,635,657,0.400972123737,0.00447619411037,0.0698265378462,0.999999961213,3.49284781194e-05,-0.000275497310189,2.13436533093e-05,1793254983420015616
+110,1.833333333,POSE1_TO_POSE2_PRESS,781,759.725374658,737,720,687,649,914,800,839,657.725374658,635,657,0.400971865877,0.00447680896425,0.0698274224584,0.999999961665,3.57621609487e-05,-0.000273763387733,2.10923230613e-05,1793254983436683520
+111,1.850000000,POSE1_TO_POSE2_PRESS,781,760,737.308431565,720,687,649,914.308431565,800,839,657.691568435,635,657,0.400972549789,0.00447608751622,0.0698282353756,0.999999962016,3.48644012222e-05,-0.000272599282994,2.10323489276e-05,1793254983453349888
+112,1.866666667,POSE1_TO_POSE2_PRESS,781,760,737.903717876,720,687,649,914.903717876,800,839,657.096282124,635,657,0.40097410959,0.00447412324937,0.0698289816133,0.99999996227,3.23563247033e-05,-0.000271965133573,2.11503443025e-05,1793254983470015488
+113,1.883333333,POSE1_TO_POSE2_PRESS,781,759.516411245,738,720,687,649,914.516411245,800,839,657.483588755,635,657,0.400973710837,0.00447523957768,0.0698286113017,0.999999962053,3.36627810589e-05,-0.000272606681308,2.11358376482e-05,1793254983486682112
+114,1.900000000,POSE1_TO_POSE2_PRESS,781,759,737.939680262,720,687,649,914,800,839,658,635,657.060319738,0.400973099593,0.00447670048401,0.0698281472952,0.999999961777,3.54144928492e-05,-0.000273397099863,2.10973787683e-05,1793254983503348992
+115,1.916666667,POSE1_TO_POSE2_PRESS,781,759,737.364362347,720,687,649,914,800,839,658,635,657.635637653,0.400973900571,0.00447602849056,0.0698287226938,0.999999961814,3.46838116411e-05,-0.000273357019952,2.10726985892e-05,1793254983520015616
+116,1.933333333,POSE1_TO_POSE2_PRESS,781,759.209026457,737,720,687,649,914.209026457,800,839,658,635,657.790973543,0.400977798932,0.00447556692096,0.0698305346417,0.999999962475,3.43167420149e-05,-0.000270972488854,2.11282159323e-05,1793254983536682240
+117,1.950000000,POSE1_TO_POSE2_PRESS,781,759.779083242,737,720,687,649,914.779083242,800,839,658,635,657.220916758,0.400987047092,0.00447546879535,0.0698344823566,0.999999964185,3.45777020961e-05,-0.00026453862355,2.13222503736e-05,1793254983553348864
+118,1.966666667,POSE1_TO_POSE2_PRESS,781.366778071,760,737.366778071,720,687,649,914.633221929,800,839,657.633221929,635,657,0.401011747585,0.00447417331657,0.0698454115047,0.999999968893,3.409703769e-05,-0.000246135633761,2.16387659343e-05,1793254983570015488
+119,1.983333333,POSE1_TO_POSE2_PRESS,781.965633349,760,737.965633349,720,687,649,914.034366651,800,839,657.034366651,635,657,0.401046225474,0.00447212021785,0.0698607581244,0.999999974973,3.31471136651e-05,-0.000220159232432,2.20327808916e-05,1793254983586681856
+120,2.000000000,POSE1_TO_POSE2_PRESS,781.457089447,760,738,720,687,649,914,800,839,657.542910553,635,657,0.401097271807,0.00447524120662,0.0698760992958,0.999999980286,3.32101958888e-05,-0.000194653695718,2.08384728448e-05,1793254983603348480
+121,2.016666667,POSE1_TO_POSE2_PRESS,781,760,737.88095814,720,687,649.11904186,914,800,839,657.88095814,635,657,0.401151936753,0.00447762414731,0.0698902322721,0.999999984323,3.32764467201e-05,-0.000172776570211,1.98514468616e-05,1793254983620015104
+122,2.033333333,POSE1_TO_POSE2_PRESS,781,760,737.30418146,720,687,649.69581854,914,800,839,657.30418146,635,657,0.401216637229,0.00447595793756,0.0698997208266,0.999999985681,3.31177395038e-05,-0.000164741025873,2.00332749457e-05,1793254983636681728
+123,2.050000000,POSE1_TO_POSE2_PRESS,781,759.721755043,737.278244957,720,687,649.721755043,914,800,839,657.278244957,635,657,0.401291241171,0.00447537689331,0.0699067046454,0.999999987188,3.20063957007e-05,-0.000155663872582,1.91679724701e-05,1793254983653348352
+124,2.066666667,POSE1_TO_POSE2_PRESS,781,759.133024276,737.866975724,720,687,649.133024276,914,800,839,657.866975724,635,657,0.401376896109,0.00447600675517,0.0699108934986,0.999999988834,2.98320312315e-05,-0.000145424417306,1.7134206112e-05,1793254983670014976
+125,2.083333333,POSE1_TO_POSE2_PRESS,781,759,738,720,687,649.450699186,914,800,839,658,634.549300814,657.450699186,0.401470931817,0.00447674850588,0.069908867871,0.999999988341,2.65297493827e-05,-0.000149666453897,1.46654539635e-05,1793254983686681856
+126,2.100000000,POSE1_TO_POSE2_PRESS,781,759.032452093,738,720,687,649.967547907,914,800,839,657.967547907,634,658,0.401569064078,0.00447745926476,0.0699053133747,0.999999987237,2.2988726065e-05,-0.0001576432861,1.2088110321e-05,1793254983703348480
+127,2.116666667,POSE1_TO_POSE2_PRESS,781,759.605724515,738,720,687,649.394275485,914,800,839,657.394275485,634,658,0.401694696263,0.00447710923354,0.0699065115689,0.999999987343,2.09560084032e-05,-0.000157413102178,9.8171430802e-06,1793254983720015616
+128,2.133333333,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914,800,839,657.177822911,634.177822911,657.822177089,0.401831560199,0.00447762745924,0.0699086719523,0.999999987823,1.92379265995e-05,-0.000154705234809,7.13786661103e-06,1793254983736682752
+129,2.150000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914,800,839,657.747335212,634.747335212,657.252664788,0.401993164223,0.00448005818893,0.0699129517437,0.999999989091,1.82128914562e-05,-0.000146539789974,3.55921031492e-06,1793254983753349120
+130,2.166666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649.333761516,914.333761516,800,839,657.666238484,635,657,0.402177141075,0.00448177273144,0.069918575182,0.999999990599,1.40266122049e-05,-0.000136396969518,-6.55447285877e-07,1793254983770016000
+131,2.183333333,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649.933675676,914.933675676,800,839,657.066324324,635,657,0.402378958788,0.00448291616251,0.0699252700898,0.999999992187,7.31945060822e-06,-0.000124677322427,-5.37727407512e-06,1793254983786682624
+132,2.200000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649.48771931,915,800,839,657.51228069,635,657,0.402599574101,0.00448480900521,0.0699274224069,0.999999992496,2.35344171896e-06,-0.000122062529905,-1.01255473672e-05,1793254983803348992
+133,2.216666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649.087717833,914.912282167,800,839,658,635,657,0.402828731204,0.00448667868495,0.0699292521106,0.999999992758,-2.4590573913e-06,-0.000119388590269,-1.50090277764e-05,1793254983820015616
+134,2.233333333,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649.660285492,914.339714508,800,839,658,635,657,0.403092187341,0.00448790545611,0.0699324195684,0.999999993694,-7.61930018391e-06,-0.000110132284528,-2.06216812928e-05,1793254983836681984
+135,2.250000000,POSE1_TO_POSE2_PRESS,781.241058165,760,738,720,687,649.758941835,914.241058165,800,839,658,635,657.241058165,0.403379698592,0.00448924988926,0.0699394970353,0.999999994998,-1.31676279897e-05,-9.56391890931e-05,-2.61553561363e-05,1793254983853348864
+136,2.266666667,POSE1_TO_POSE2_PRESS,781.833801274,760,738,720,687,649.166198726,914.833801274,800,839,658,635,657.833801274,0.403702304349,0.00449076598195,0.0699522788984,0.999999996614,-1.92821410621e-05,-7.35060289827e-05,-3.1573806951e-05,1793254983870015232
+137,2.283333333,POSE1_TO_POSE2_PRESS,781.582954544,760,738,720,687,649.417045456,914.582954544,800,839,658,635,658,0.404034120979,0.00449196880981,0.0699557268976,0.999999996504,-2.50757377549e-05,-7.05582157904e-05,-3.72150900718e-05,1793254983886681856
+138,2.300000000,POSE1_TO_POSE2_PRESS,781.003411538,760,738,720,687,649.996588462,914.003411538,800,839,658,635,658,0.404369526525,0.00449304957715,0.0699555380506,0.999999995786,-3.07442924793e-05,-7.50857797977e-05,-4.29431974254e-05,1793254983903348480
+139,2.316666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687,650,914.570604712,800,839,657.429395288,635,657.429395288,0.40475394982,0.00449549065966,0.0699604877761,0.999999995925,-3.52010600898e-05,-6.69693422253e-05,-4.92615370698e-05,1793254983920016384
+140,2.333333333,POSE1_TO_POSE2_PRESS,781,760,738,720,687,650,914.851737573,800,839,657,635,657,0.405147423977,0.00449738892891,0.069966029752,0.999999997135,-1.35836385724e-05,-5.73870749946e-05,-4.74606780361e-05,1793254983936683776
+141,2.350000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687,650,914.263168416,800,839,657,635,657,0.40556691513,0.00449765124028,0.0699732402162,0.999999995164,8.54470686931e-05,-4.36739679566e-05,-2.15372075896e-05,1793254983953350144
+142,2.366666667,POSE1_TO_POSE2_PRESS,781.320322168,760,738,720,687,649.679677832,914,800,839,657,635,657,0.40600921955,0.0044944573537,0.0699701273594,0.999999991544,0.000120229157276,-4.7569419072e-05,-1.38965352408e-05,1793254983970016512
+143,2.383333333,POSE1_TO_POSE2_PRESS,781.899705512,760,738,720,687,649.100294488,914,800,839,657,635,657,0.406469974289,0.00448846826034,0.0699586654975,0.99999999231,0.000103050062051,-6.57058245422e-05,-2.10421086457e-05,1793254983986682880
+144,2.400000000,POSE1_TO_POSE2_PRESS,781.525288242,760,738,720.474711758,687,649.474711758,914.474711758,800,839,657,635,657,0.406951787303,0.00448643948785,0.0699416130705,0.999999992076,8.44782621067e-05,-8.9748254076e-05,-2.5617415987e-05,1793254984003348992
+145,2.416666667,POSE1_TO_POSE2_PRESS,781,760,738,720.902229681,686.95111484,650,915,800,839,657.04888516,635,657,0.407445507554,0.00448643277974,0.0699256592552,0.999999991602,5.98345794795e-05,-0.00011109849799,-2.95322441677e-05,1793254984020015104
+146,2.433333333,POSE1_TO_POSE2_PRESS,781,760,738,719.752085054,686.376042527,650,915,800,839,657.623957473,635,657,0.408019943381,0.00449926714867,0.0699341279689,0.999999995054,-2.70270644107e-05,-9.01625708384e-05,-3.21294988946e-05,1793254984036681984
+147,2.450000000,POSE1_TO_POSE2_PRESS,781,760,738,719.204887357,686.204887357,650,915,800,839.204887357,658,635,657,0.408608674418,0.00450807977944,0.0699454733453,0.999999994473,-7.55638050118e-05,-6.46927865235e-05,-3.40549102308e-05,1793254984053348864
+148,2.466666667,POSE1_TO_POSE2_PRESS,781,760,738,719.796884372,686.796884372,650,915,800,839.796884372,658,635,657,0.409224414476,0.004509293826,0.0699622538244,0.999999997592,-5.16903129752e-05,-3.06568346613e-05,-3.47109556775e-05,1793254984070016000
+149,2.483333333,POSE1_TO_POSE2_PRESS,781,760,738,720,686.619319637,650,915,800,839.619319637,657.619319637,635,657,0.409852648782,0.0045175146272,0.0699627085478,0.999999998939,-1.25739143153e-05,-2.73970379544e-05,-3.48411130136e-05,1793254984086683136
+150,2.500000000,POSE1_TO_POSE2_PRESS,781,760,738,720,686.03980712,650,915,800,839.03980712,657.03980712,635,657,0.410487408906,0.00452939510788,0.0699546362084,0.999999997994,3.45039658998e-05,-4.02118545859e-05,-3.46965950517e-05,1793254984103350016
+151,2.516666667,POSE1_TO_POSE2_PRESS,781.53405037,760,738,720,686,650,915,800,839.53405037,657,635,657,0.411146605709,0.00453798993456,0.0699521654764,0.999999996497,5.62980452661e-05,-4.99098590146e-05,-3.66915085608e-05,1793254984120016384
+152,2.533333333,POSE1_TO_POSE2_PRESS,782,760,738,719.891914291,686,650,915,800,840,657.108085709,635,657,0.411824537684,0.00454522418757,0.0699555639736,0.999999995692,6.89095542485e-05,-4.8849700449e-05,-3.84986788617e-05,1793254984136682496
+153,2.550000000,POSE1_TO_POSE2_PRESS,782,760,738,719.315300141,686,650,915,800,840,657.684699859,635,657,0.412575869505,0.00454761113607,0.0699826133712,0.999999998005,4.98003498066e-05,-2.15171411007e-06,-3.88079999103e-05,1793254984153349120
+154,2.566666667,POSE1_TO_POSE2_PRESS,781.731908843,760,738,719,686,649.731908843,915,800,840,658,635.268091157,657.268091157,0.413334508747,0.00455296740465,0.0700089650326,0.999999997358,4.70524417541e-05,3.89663205099e-05,-3.93791587381e-05,1793254984170015488
+155,2.583333333,POSE1_TO_POSE2_PRESS,781.140340194,760,738,719,686,649.140340194,915,800,840,658,635.859659806,657.859659806,0.414101965188,0.00456190644078,0.0700344748124,0.999999994448,6.40459922664e-05,7.33516185594e-05,-4.02662498543e-05,1793254984186681856
+156,2.600000000,POSE1_TO_POSE2_PRESS,781.440006964,760.440006964,738,719,686.440006964,649.440006964,915,800,839.559993036,657.559993036,635.559993036,658,0.4148528978,0.00456937994287,0.0700086546553,0.999999995302,8.39746202684e-05,2.54977187003e-05,-4.11689777212e-05,1793254984203348992
+157,2.616666667,POSE1_TO_POSE2_PRESS,782,760.983177935,738,719,686.983177935,649.983177935,915,800.016822065,839,657.016822065,635.016822065,657.983177935,0.415600125198,0.00457646123106,0.0699670333686,0.999999992603,0.000103797438259,-4.7366491244e-05,-4.21413634803e-05,1793254984220015872
+158,2.633333333,POSE1_TO_POSE2_PRESS,782,760.407755327,738,719,686.407755327,649.407755327,915,800.592244673,839,657.592244673,635.592244673,657.407755327,0.416394971987,0.00458565425004,0.0699308381712,0.999999989805,8.97938604469e-05,-0.000101384051901,-4.5265353516e-05,1793254984236682496
+159,2.650000000,POSE1_TO_POSE2_PRESS,781.828341178,760,738,718.828341178,685.828341178,649,915,800.828341178,839.171658822,658,636,657.171658822,0.417210360545,0.00459377475599,0.0699148691105,0.999999987541,8.37363042625e-05,-0.00012507196773,-4.75650730181e-05,1793254984253349120
+160,2.666666667,POSE1_TO_POSE2_PRESS,781.239219911,760,738,718.239219911,685.239219911,649,915,800.239219911,839.760780089,658,636,657.760780089,0.418075705227,0.00459928698353,0.0699480886253,0.999999991337,9.70029273627e-05,-7.50002708584e-05,-4.78602233079e-05,1793254984270015488
+161,2.683333333,POSE1_TO_POSE2_PRESS,781.344270887,760,738,718.344270887,685.344270887,649,915,800.344270887,840,658,636,657.655729113,0.418963783333,0.00460519217643,0.0699760383875,0.999999991595,0.000115898149692,-3.30450800526e-05,-4.78090521426e-05,1793254984286682112
+162,2.700000000,POSE1_TO_POSE2_PRESS,781.923912233,760,738,718.923912233,685.923912233,649,915,800.923912233,840,658,636,657.076087767,0.419867403748,0.00461136603093,0.0700003853339,0.999999989254,0.000138641521345,3.36103140806e-06,-4.75211085699e-05,1793254984303348480
+163,2.716666667,POSE1_TO_POSE2_PRESS,782,760,738,718.50143761,686,649,914.50143761,801,840,658,636,657,0.420815477865,0.00461651584299,0.0700262707327,0.999999990133,0.00012517285589,4.14416715289e-05,-4.84614359796e-05,1793254984320015104
+164,2.733333333,POSE1_TO_POSE2_PRESS,782,760,738,718,686,649.072531832,914.072531832,800.927468168,840,657.927468168,636,657,0.421759508008,0.00461906322195,0.0700449667751,0.999999990507,0.000108840635273,6.83297240816e-05,-4.97073079561e-05,1793254984336681984
+165,2.750000000,POSE1_TO_POSE2_PRESS,782,760,738,718,686,649.647009367,914.647009367,800.352990633,840,657.352990633,636,657,0.422629067806,0.004604671666,0.0700123012149,0.99999999242,0.000110557686869,1.60101138418e-05,-5.17832815084e-05,1793254984353348864
+166,2.766666667,POSE1_TO_POSE2_PRESS,782,760,738,718,686,650,915,800.228642971,840,657.228642971,636,657.228642971,0.423480483734,0.00458522830338,0.0699585147257,0.999999991436,9.87119837669e-05,-6.77707612854e-05,-5.28316946073e-05,1793254984370015744
+167,2.783333333,POSE1_TO_POSE2_PRESS,782,760,738,718,686,650,915,800.82168152,840,657.82168152,636,657.82168152,0.424302983336,0.0045577337135,0.069871067135,0.999999976167,6.52508862731e-05,-0.000201692462838,-5.22424517309e-05,1793254984386682624
+168,2.800000000,POSE1_TO_POSE2_PRESS,782,760,738,717.596020379,686,650,915,801,840,657.596020379,636,657.596020379,0.425255841451,0.00455078464464,0.0698676443869,0.999999977434,5.13473252715e-05,-0.000199277599515,-5.27616585629e-05,1793254984403349248
+169,2.816666667,POSE1_TO_POSE2_PRESS,782,760,738,717.018340415,686,650,915,801,840,657.018340415,636,657.018340415,0.426264750161,0.00455266959739,0.0699003500601,0.999999987948,4.58529796366e-05,-0.000138241682826,-5.37574690197e-05,1793254984420015616
+170,2.833333333,POSE1_TO_POSE2_PRESS,782,760.55703497,738,717,686,649.44296503,915,801,840,657,635.44296503,657.55703497,0.427297872587,0.00456174554958,0.0699657639914,0.999999994742,7.01150462837e-05,-5.50804671057e-05,-5.06640443115e-05,1793254984436682240
+171,2.850000000,POSE1_TO_POSE2_PRESS,782,760.864634788,738,717.135365212,686,649.135365212,915,801,840.135365212,657,635.135365212,658,0.428325987029,0.00456876086676,0.0700259623309,0.999999995085,8.23968366345e-05,2.60348975958e-05,-4.8611223132e-05,1793254984453348864
+172,2.866666667,POSE1_TO_POSE2_PRESS,782,760.276160826,738,717.723839174,686,649.723839174,915,801,840.723839174,657,635.723839174,658,0.429334680559,0.00456808935134,0.0700651125525,0.999999992619,5.13110286859e-05,9.78737792405e-05,-5.04904401101e-05,1793254984470015232
+173,2.883333333,POSE1_TO_POSE2_PRESS,782,760,738,718,686,650,915,801,840.692491371,657.307508629,636,657.692491371,0.430297034427,0.0045696942882,0.0700638113269,0.999999992651,4.89179718897e-05,9.83398062719e-05,-5.13202498467e-05,1793254984486681856
+174,2.900000000,POSE1_TO_POSE2_PRESS,782,760,738,718,686,650,915,801,840.1130703,657.8869297,636,657.1130703,0.431218412708,0.00457331216272,0.0700267411784,0.999999995467,7.18962893636e-05,3.5694861994e-05,-5.12221282029e-05,1793254984503348736
+175,2.916666667,POSE1_TO_POSE2_PRESS,782.463247287,760,738,718,685.536752713,650,915,801,840,658,636,657,0.432080543023,0.00457483979241,0.0699475504447,0.999999990224,8.32105841819e-05,-0.000100164589367,-5.09329326857e-05,1793254984520015616
+176,2.933333333,POSE1_TO_POSE2_PRESS,782.961838883,760,738,717.961838883,685.038161117,650,915,801,840,657.961838883,636,657.038161117,0.432941257759,0.00457550433892,0.0698677765995,0.999999966758,8.96989675495e-05,-0.000236363130439,-5.07049565759e-05,1793254984536682496
+177,2.950000000,POSE1_TO_POSE2_PRESS,782.395932646,760,738,717.395932646,685.604067354,650,915,801,840,657.395932646,636,657.604067354,0.433981055919,0.00457124164578,0.0699211708595,0.999999987619,6.85578914354e-05,-0.000131759626147,-5.19643005723e-05,1793254984553349120
+178,2.966666667,POSE1_TO_POSE2_PRESS,782,760,738,717,686,650,915,801,840.180811345,657.180811345,636,658,0.435010091195,0.00456793051378,0.0699737944398,0.999999996463,5.56800930921e-05,-3.43672029841e-05,-5.28453798543e-05,1793254984570015488
+179,2.983333333,POSE1_TO_POSE2_PRESS,782,760,738,717,686,650,915,801,840.782800676,657.782800676,636,658,0.436014055852,0.00456683592659,0.0700246228265,0.99999999561,6.2050590076e-05,4.62279040813e-05,-5.28453387948e-05,1793254984586682112
+180,3.000000000,POSE1_TO_POSE2_PRESS,782.36876607,760,738,717,686,650,915,801,841,658,636,657.63123393,0.43698389772,0.00456557719397,0.0700449987449,0.999999993186,6.01347881884e-05,8.46316770031e-05,-5.33744816861e-05,1793254984603348480
+181,3.016666667,POSE1_TO_POSE2_PRESS,782.945686525,760,738,717,686,650,915,801,841,658,636,657.054313475,0.437934478515,0.00456422580758,0.0700481854031,0.999999992175,5.35416863059e-05,9.92200458604e-05,-5.42023288614e-05,1793254984620015360
+182,3.033333333,POSE1_TO_POSE2_PRESS,782.479156826,760,738,717,686,650,915,801,840.479156826,658,635.479156826,657,0.438786841753,0.00456179749701,0.0699889892636,0.999999997239,4.78139083863e-05,1.33807363792e-05,-5.5296378199e-05,1793254984636682240
+183,3.050000000,POSE1_TO_POSE2_PRESS,782.098277738,760.098277738,738,717,686,649.901722262,915,801,840.098277738,658,635.098277738,657.098277738,0.439623526909,0.00456069982607,0.0699234922895,0.999999993724,4.67531341889e-05,-8.50041049881e-05,-5.60349318531e-05,1793254984653348864
+184,3.066666667,POSE1_TO_POSE2_PRESS,782.688020314,760.688020314,738,717,686,649.311979686,915,801,840.688020314,658,635.688020314,657.688020314,0.440432855148,0.00456681608368,0.0698589078686,0.999999977339,6.8581270102e-05,-0.000193932019823,-5.48573827686e-05,1793254984670015744
+185,3.083333333,POSE1_TO_POSE2_PRESS,783,761,738,717.2729671,685.7270329,649.2729671,915,801,841,657.7270329,635.7270329,657.7270329,0.441308548782,0.00457262065917,0.0698515422978,0.999999973846,7.71792008776e-05,-0.000208188642594,-5.48522059848e-05,1793254984686682624
+186,3.100000000,POSE1_TO_POSE2_PRESS,783,761,738,717.852527276,685.147472724,649.852527276,915,801,841,657.147472724,635.147472724,657.147472724,0.442258783108,0.00457807515697,0.0699084441954,0.999999989167,7.09171370888e-05,-0.000116111701826,-5.61638227524e-05,1793254984703349248
+187,3.116666667,POSE1_TO_POSE2_PRESS,783,761,738,718,684.570842351,649.570842351,915,801,841,657.429157649,635.429157649,657.429157649,0.443136260297,0.00458283077873,0.0699460610028,0.999999993284,7.84769865513e-05,-6.51998272481e-05,-5.49763353859e-05,1793254984720015616
+188,3.133333333,POSE1_TO_POSE2_PRESS,783,760.995216079,738,717.995216079,684,649,915,800.995216079,841,658,636,658,0.443988201846,0.00458735632089,0.0699764851702,0.999999994063,9.06177695132e-05,-2.92756985665e-05,-5.29660574629e-05,1793254984736682240
+189,3.150000000,POSE1_TO_POSE2_PRESS,783,760.420090087,738,717.420090087,684,649,915,800.420090087,841,658,636,658,0.444756273739,0.00459288909745,0.0699341151091,0.999999989241,8.64816792601e-05,-0.000105179349897,-5.45516163462e-05,1793254984753348608
+190,3.166666667,POSE1_TO_POSE2_PRESS,783,760,737.841149468,717,683.841149468,649,915,800.158850532,841,657.841149468,636,658,0.445514647475,0.00459766753665,0.0698896492376,0.999999978888,8.54314836534e-05,-0.000178236616391,-5.61864164767e-05,1793254984770015232
+191,3.183333333,POSE1_TO_POSE2_PRESS,783,760,737.251872486,717,683.251872486,649,915,800.748127514,841,657.251872486,636,658,0.44624674295,0.00460040200059,0.0698395044825,0.999999964354,9.27429262417e-05,-0.000243581246019,-5.7954643195e-05,1793254984786682112
+192,3.200000000,POSE1_TO_POSE2_PRESS,783,760,737.332149976,717,683,648.667850024,915,800.667850024,841,657.332149976,635.667850024,658,0.446943946706,0.00460335119868,0.0697938019903,0.999999942374,0.000104114866459,-0.000318039922835,-5.71138530711e-05,1793254984803348992
+193,3.216666667,POSE1_TO_POSE2_PRESS,783,760,737.912249905,717,683,648.087750095,915,800.087750095,841,657.912249905,635.087750095,658,0.44761510375,0.00460646069566,0.0697514156504,0.99999991178,0.00011851796734,-0.000399302230805,-5.43254316267e-05,1793254984820015616
+194,3.233333333,POSE1_TO_POSE2_PRESS,783,760,737.511384525,717,682.511384525,648,915,800.488615475,841,658,635.488615475,658,0.448300130434,0.00460918524932,0.0697316062196,0.99999989918,0.000119257068349,-0.000429379760085,-5.52350300955e-05,1793254984836682240
+195,3.250000000,POSE1_TO_POSE2_PRESS,783,760,737,717,682,648,915,801,841,658,635.935881412,657.935881412,0.448990531887,0.00461193751324,0.0697215168608,0.99999989374,0.000117797309082,-0.000442049233381,-5.689133152e-05,1793254984853348864
+196,3.266666667,POSE1_TO_POSE2_PRESS,783,760,737,717,682,648,915,801,841,658,635.361943825,657.361943825,0.449704014255,0.00461545561673,0.069756719496,0.99999991566,0.000118217489707,-0.000388838812248,-5.92442801318e-05,1793254984870015488
+197,3.283333333,POSE1_TO_POSE2_PRESS,783,760,737,717,681.781130246,648,915,800.781130246,841,657.781130246,635,657.218869754,0.450378783146,0.00461793188951,0.0697747725658,0.999999924938,0.000126927749234,-0.000361442119998,-5.80694869202e-05,1793254984886682112
+198,3.300000000,POSE1_TO_POSE2_PRESS,783,760,737,717,681.188577124,648,915,800.188577124,841,657.188577124,635,657.811422876,0.4509874552,0.00461862941088,0.0697635456277,0.999999916001,0.000149791927335,-0.000378118043696,-5.08716666411e-05,1793254984903348736
+199,3.316666667,POSE1_TO_POSE2_PRESS,783,760,737,717,680.606445942,648,915,800,841,657,635,658,0.451550256285,0.0046204014826,0.0697273983068,0.999999895597,0.000154280674069,-0.000426956297579,-5.20761691762e-05,1793254984920015360
+200,3.333333333,POSE1_TO_POSE2_PRESS,783,760,737,717,680.0291797,648,915,800,841,657,635,658,0.452091644721,0.00462267515764,0.0696796180774,0.999999866639,0.000150191717286,-0.000490808021236,-5.72028997432e-05,1793254984936681984
+201,3.350000000,POSE1_TO_POSE2_PRESS,783,760,737.544772046,716.455227954,680,647.455227954,915,800,841,657.544772046,635,658,0.45259423882,0.00462393338773,0.0696418510874,0.999999837838,0.000151304553202,-0.00054586747203,-5.8821956838e-05,1793254984953348864
+202,3.366666667,POSE1_TO_POSE2_PRESS,783,760.118702264,737.881297736,716.118702264,679.881297736,647,915,800,841,658,635.118702264,658,0.453093673173,0.00462546647472,0.0696114605361,0.999999812065,0.000153658353513,-0.000590496729171,-5.97803030359e-05,1793254984970015744
+203,3.383333333,POSE1_TO_POSE2_PRESS,783,760.693227605,737.306772395,716.693227605,679.306772395,647,915,800,841,658,635.693227605,658,0.45358890525,0.00462826262639,0.0696073487732,0.999999807382,0.000159714063524,-0.000596871008249,-5.891859875e-05,1793254984986682624
+204,3.400000000,POSE1_TO_POSE2_PRESS,782.722292008,760.722292008,737,717,678.722292008,647,915,800,841,657.722292008,635.722292008,658,0.454070204769,0.00463141767488,0.0696093010136,0.999999806136,0.00016582552987,-0.000597401057179,-5.78042160824e-05,1793254985003348992
+205,3.416666667,POSE1_TO_POSE2_PRESS,782.126405868,760.126405868,737,717,678.126405868,647,915,800,841,657.126405868,635.126405868,658,0.45453554132,0.00463498392176,0.0696182009597,0.999999808838,0.000172000877512,-0.000591235200736,-5.64003324729e-05,1793254985020015872
+206,3.433333333,POSE1_TO_POSE2_PRESS,782.452390788,760.452390788,737,717,678,647,915,800,841,657,635,657.547609212,0.454930723311,0.00463486122519,0.0696058537559,0.999999791422,0.000170962773567,-0.000620235003913,-5.6890772334e-05,1793254985036682240
+207,3.450000000,POSE1_TO_POSE2_PRESS,783,760.973341127,737,717,677.973341127,647,915,800,841.026658873,657,635,657,0.455305932244,0.00463401296877,0.0695877227247,0.999999767601,0.00016823095714,-0.000658131934311,-5.79538320164e-05,1793254985053349120
+208,3.466666667,POSE1_TO_POSE2_PRESS,783,760.397575212,737,717,677.397575212,647,915,800,841.602424788,657,635,657,0.455658809495,0.00463867815428,0.0695682917987,0.999999749517,0.000170617287967,-0.000684265646246,-6.03058885058e-05,1793254985070015744
+209,3.483333333,POSE1_TO_POSE2_PRESS,783,760,737,716.816833181,676.816833181,647,915,800,841.816833181,657.183166819,635.183166819,657.183166819,0.456008171335,0.00464271359009,0.0695556333374,0.999999741022,0.000154684186252,-0.000700092186726,-6.24500437267e-05,1793254985086682368
+210,3.500000000,POSE1_TO_POSE2_PRESS,783,760,737,716.224988626,676.224988626,647,915,800,841.224988626,657.775011374,635.775011374,657.775011374,0.456349689619,0.00464534394176,0.0695580854511,0.999999753083,9.78771733106e-05,-0.000692921591216,-6.41303338894e-05,1793254985103348992
+211,3.516666667,POSE1_TO_POSE2_PRESS,782.641864833,760,737,716.358135167,676,646.641864833,915,800,841,658,635.641864833,657.641864833,0.456667880385,0.00464973643444,0.0695641835547,0.999999761269,7.99632127025e-05,-0.000683282480473,-6.47517499039e-05,1793254985120015616
+212,3.533333333,POSE1_TO_POSE2_PRESS,782.06408933,760,737,716.93591067,676,646.06408933,915,800,841,658,635.06408933,657.06408933,0.456971764675,0.00465520962897,0.0695725177038,0.999999768337,8.59019254662e-05,-0.00067212945682,-6.47237703604e-05,1793254985136682496
+213,3.550000000,POSE1_TO_POSE2_PRESS,782.510821941,760,737,717,675.489178059,646,915,800,841,658,635,657.510821941,0.457225329591,0.00467609940032,0.0695674126646,0.99999975666,0.000124780346866,-0.000683249567081,-6.54208123741e-05,1793254985153349120
+214,3.566666667,POSE1_TO_POSE2_PRESS,782.918069333,760,737,717,675,646,915,800,841.081930667,657.918069333,635,658,0.45746586372,0.00469633799246,0.0695597803347,0.999999740941,0.000164936939355,-0.000697581450588,-6.55304369953e-05,1793254985170015488
+215,3.583333333,POSE1_TO_POSE2_PRESS,782.366700311,760,737,717,675,646,915,800,841.633299689,657.366700311,635,658,0.457667706629,0.00470182486332,0.069547274493,0.999999725078,0.000188869867898,-0.000714393718055,-6.17560479676e-05,1793254985186682112
+216,3.600000000,POSE1_TO_POSE2_PRESS,782.41644905,760,737,717,674.791775475,646,915,800,841.791775475,657.208224525,635,658,0.457856400748,0.00470283023549,0.0695310119251,0.999999705985,0.000202200234781,-0.00073729295285,-5.95374240683e-05,1793254985203348736
+217,3.616666667,POSE1_TO_POSE2_PRESS,783.659849141,760,737,717,674.17007543,646,915,800,841.17007543,657.82992457,635,658,0.458018985044,0.00469493660755,0.0695072895533,0.999999681057,0.000194476885822,-0.000772279197378,-6.04081137426e-05,1793254985220015104
+218,3.633333333,POSE1_TO_POSE2_PRESS,783.58258274,760,737,717,674,646,915,800,841,658,635,658,0.458157412907,0.0046965596981,0.0694878039838,0.999999656883,0.000197146168418,-0.000802174208329,-6.23140408817e-05,1793254985236682240
+219,3.650000000,POSE1_TO_POSE2_PRESS,783.007972068,760,737,717,674,646,915,800,841,658,635,658,0.458286743799,0.00470176664984,0.0694699139345,0.999999632584,0.000203729168531,-0.000830151931908,-6.46098236997e-05,1793254985253349120
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,760,737,716.435289031,674,646,915,800,841,658,635,658,0.458401086314,0.00470170084857,0.0694619832243,0.99999962233,0.000203862881885,-0.000842364019304,-6.48291030127e-05,1793254985270015488
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,760,737.142573597,716.142573597,674,646,915,800,841.142573597,658,635,658,0.458512036496,0.0047018221513,0.0694558207508,0.999999614729,0.000204179672561,-0.000851229912851,-6.52656266771e-05,1793254985286682368
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,760,737.736935169,716.736935169,674,646,915,800,841.736935169,658,635,658,0.458612905224,0.00470277142055,0.069454817469,0.999999615287,0.000205364122357,-0.000850195232401,-6.64831302508e-05,1793254985303348736
+223,3.716666667,POSE1_TO_POSE2_PRESS,783,760,737.677448825,717,674,646,915,800,841.677448825,658,635,658,0.458701544887,0.00470344576966,0.0694519783124,0.99999961277,0.000206361014834,-0.00085285063134,-6.72319552134e-05,1793254985320015104
+224,3.733333333,POSE1_TO_POSE2_PRESS,783,760,737.098777137,717,674,646,915,800,841.098777137,658,635,658,0.458780474121,0.0047039018196,0.0694476813865,0.99999960779,0.000207208978269,-0.000858436123401,-6.76086278691e-05,1793254985336681728
+225,3.750000000,POSE1_TO_POSE2_PRESS,783,760,737,717,674,646,915,800,841,658,635,658,0.458837322383,0.00470057153714,0.0694418391346,0.999999601383,0.000203700645954,-0.000866753460418,-6.6918320248e-05,1793254985353348864
+226,3.766666667,POSE1_TO_POSE2_PRESS,783.051085995,760,737,717,673.948914005,646,915,800,841,658,635,658,0.458888344728,0.00469719299436,0.0694358922024,0.99999959461,0.000199906115407,-0.000875464315142,-6.61844835983e-05,1793254985370015744
+227,3.783333333,POSE1_TO_POSE2_PRESS,783.625274594,760,737,717,673.374725406,646,915,800,841,658,635,658,0.458926250417,0.00470130049104,0.0694321303627,0.999999587907,0.000202362499376,-0.00088244692413,-6.72537306795e-05,1793254985386682624
+228,3.800000000,POSE1_TO_POSE2_PRESS,783.793690124,760,737,717,673,646,915,800,841.206309876,658,635,658,0.458960444529,0.00470387498852,0.0694285011472,0.999999582839,0.000204294048651,-0.000887675751705,-6.79496753315e-05,1793254985403349248
+229,3.816666667,POSE1_TO_POSE2_PRESS,783.199792226,760,737,717,673,646,915,800,841.800207774,658,635,658,0.458987665814,0.00470356948729,0.069425121089,0.999999580927,0.000205239606989,-0.000889609803691,-6.79443081242e-05,1793254985420015616
+230,3.833333333,POSE1_TO_POSE2_PRESS,783,760,737,717,673,646,915,800,842,658,635,658,0.459009271787,0.00470151268039,0.0694229609451,0.999999578684,0.000204113037881,-0.000892437073431,-6.7277848305e-05,1793254985436681984
+231,3.850000000,POSE1_TO_POSE2_PRESS,783,760,737,717,673,646,915,800,842,658,635,658,0.459028031071,0.00469856804759,0.0694214192379,0.99999957626,0.000201936001959,-0.000895717160605,-6.62762470196e-05,1793254985453348608
+232,3.866666667,POSE1_TO_POSE2_PRESS,783,760,737,717,672.465006985,645.465006985,915,800,841.465006985,658,635,658,0.459035372707,0.00470179277503,0.0694184257737,0.999999571132,0.00020523425309,-0.000900668668448,-6.64194529259e-05,1793254985470015232
+233,3.883333333,POSE1_TO_POSE2_PRESS,783,760,737,717,672.113618369,645.113618369,915,800,841,657.886381631,635,657.886381631,0.459041494775,0.00470424430382,0.0694155368616,0.999999566611,0.000207469643837,-0.00090516148738,-6.64597922021e-05,1793254985486682112
+234,3.900000000,POSE1_TO_POSE2_PRESS,783,760,737,717,672.70194544,645.70194544,915,800,841,657.29805456,635,657.29805456,0.459046204902,0.00470147498568,0.069413553142,0.999999565631,0.000203497872975,-0.000907198627528,-6.57010092572e-05,1793254985503348736
+235,3.916666667,POSE1_TO_POSE2_PRESS,783,760,737,717,672.714163835,646,915,800,841,657,635,657.285836165,0.459049140723,0.00470151427193,0.0694111016689,0.999999562917,0.000203301512894,-0.000910234462492,-6.56320525734e-05,1793254985520015360
+236,3.933333333,POSE1_TO_POSE2_PRESS,783,760,737,717,672.134828322,646,915,800,841,657,635,657.865171678,0.45905025467,0.0047044374601,0.0694081699017,0.999999558415,0.000206981780763,-0.000914295767232,-6.62714160972e-05,1793254985536681984
+237,3.950000000,POSE1_TO_POSE2_PRESS,783,760,737,717,672.441963861,645.558036139,915,800,841,657,635,657.558036139,0.459051854502,0.00470415368472,0.0694085480153,0.999999558726,0.000207477363778,-0.000913855770241,-6.60958234299e-05,1793254985553348608
+238,3.966666667,POSE1_TO_POSE2_PRESS,783,760,737,717,672.982022506,645.017977494,915,800,841,657.017977494,635,657.017977494,0.459053563117,0.00470288555977,0.0694098732975,0.999999560415,0.000206965916568,-0.000912151606918,-6.56766530047e-05,1793254985570015488
+239,3.983333333,POSE1_TO_POSE2_PRESS,783,760,737,717,672.406228251,645.593771749,915,800,841,657.593771749,635,657.593771749,0.459054074143,0.00470125717509,0.0694094365428,0.999999559493,0.000205180782874,-0.000913586685014,-6.53696654144e-05,1793254985586682112
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,760,737,717,672,646,915,800,841,657.826457441,635,657.826457441,0.459054753104,0.00470075222309,0.0694089189268,0.999999558636,0.00020494941784,-0.000914590228205,-6.51801016129e-05,1793254985603348736
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,760,737,717,672,646,915,800,841,657.237160055,635,657.237160055,0.459055834388,0.00470293867184,0.069408207592,0.999999557936,0.000208440406791,-0.00091455994584,-6.52718492682e-05,1793254985620015360
+242,4.033333333,POSE1_TO_POSE2_PRESS,783,760,737,717,672,645.653683228,915,800,841,657,635,657.346316772,0.459056430264,0.00470275265226,0.0694076260858,0.999999557769,0.000207488992358,-0.000914951599404,-6.53709688957e-05,1793254985636681984
+243,4.050000000,POSE1_TO_POSE2_PRESS,783,760,737,717,672,645.074126498,915,800,841,657,635,657.925873502,0.459056699223,0.00470096880522,0.0694071320175,0.999999557954,0.000203545675378,-0.000915627421466,-6.5475053449e-05,1793254985653348608
+244,4.066666667,POSE1_TO_POSE2_PRESS,783,760,737.501416388,717,672,645.501416388,915,800,841,657.501416388,635,658,0.459056652107,0.00470170065588,0.0694070913703,0.999999557852,0.0002045007247,-0.000915528602773,-6.544874688e-05,1793254985670015232
+245,4.083333333,POSE1_TO_POSE2_PRESS,782.922174184,760,738,716.922174184,672,645.922174184,915,800,841.077825816,658,635,658,0.45905669872,0.00470272819933,0.0694071252902,0.999999557784,0.000205997530433,-0.000915269141841,-6.54081968462e-05,1793254985686682112
+246,4.100000000,POSE1_TO_POSE2_PRESS,782.336264697,760,738,716.336264697,672,645.336264697,915,800,841.663735303,658,635,658,0.459057659871,0.0047032774668,0.0694072118834,0.999999558233,0.000206341152876,-0.000914702625607,-6.53995039701e-05,1793254985703348736
+247,4.116666667,POSE1_TO_POSE2_PRESS,782.247320184,760,737.752679816,716.247320184,672,645,915,800,841.752679816,658,635.247320184,657.752679816,0.45905873279,0.0047033501185,0.0694075590116,0.999999558829,0.000206637450802,-0.000913997036045,-6.52050945856e-05,1793254985720015360
+248,4.133333333,POSE1_TO_POSE2_PRESS,782.827773968,760,737.172226032,716.827773968,672,645,915,800,841.172226032,658,635.827773968,657.172226032,0.459059956258,0.00470278078174,0.0694082570733,0.999999559626,0.00020687000393,-0.000913104118393,-6.4760530086e-05,1793254985736681984
+249,4.150000000,POSE1_TO_POSE2_PRESS,783,760,737.406300393,717,672,645,915,800,841,657.593699607,636,657.406300393,0.459058578363,0.00470210038876,0.069407350309,0.999999558525,0.000206581336921,-0.000914392007001,-6.45121432515e-05,1793254985753348608
+250,4.166666667,POSE1_TO_POSE2_PRESS,783,760,737.984013657,717,672,645,915,800,841,657.015986343,636,657.984013657,0.459056102987,0.00470137314264,0.0694057664894,0.999999556619,0.000206072773877,-0.000916599949558,-6.43465212577e-05,1793254985770015232
+251,4.183333333,POSE1_TO_POSE2_PRESS,783,760,737.440983761,717,672,645.559016239,915,800,841,657.559016239,635.440983761,658,0.459056819639,0.00470091953581,0.0694058998373,0.999999556191,0.000205472488023,-0.000917203351075,-6.43167242721e-05,1793254985786681856
+252,4.200000000,HOLD_POSE2,783,760,737,717,672,646,915,800,841,658,635,658,0.459059861234,0.00470048253422,0.0694077014208,0.999999558295,0.000204579084638,-0.000915112855314,-6.42332771997e-05,1793254985827803648
+253,4.216666667,HOLD_POSE2,783,760,737,717,672,645.421189587,915,800,841.578810413,657.421189587,635,658,0.459061223823,0.0047014403612,0.0694079851305,0.999999559055,0.000207269591444,-0.000913697508807,-6.39204248505e-05,1793254985844470272
+254,4.233333333,HOLD_POSE2,783,760,737,716.849272694,672,645,915,800,842,657.150727306,635,657.849272694,0.459062078612,0.00470200618121,0.0694083025758,0.999999559535,0.000208962322186,-0.000912801808665,-6.36962480752e-05,1793254985861137152
+255,4.250000000,HOLD_POSE2,783,760,737,716.295776337,672,645,915,800,842,657.704223663,635,657.295776337,0.459061576475,0.00470152449201,0.069408710169,0.999999559287,0.000207988825823,-0.000913294691885,-6.37090274799e-05,1793254985877804800
+256,4.266666667,HOLD_POSE2,783,760,737,716.275340592,672,645.275340592,915,800,841.724659408,658,635,657.275340592,0.459061352336,0.00470113347255,0.0694084398049,0.999999559221,0.000205893883156,-0.000913817487829,-6.40490012233e-05,1793254985894471680
+257,4.283333333,HOLD_POSE2,783,760,737,716.866680005,672,645.866680005,915,800,841.133319995,658,635,657.866680005,0.459061447243,0.00470084651164,0.069407391373,0.999999559357,0.000202511895627,-0.00091437461353,-6.47644845279e-05,1793254985911137536
+258,4.300000000,HOLD_POSE2,783,760,737,717,672,645.532983057,915,800,841.467016943,658,635,658,0.459062472985,0.00470160115909,0.0694079992271,0.999999560031,0.000203563540109,-0.000913413677031,-6.46122441517e-05,1793254985927803904
+259,4.316666667,HOLD_POSE2,783,760,737,717,672,645.066548887,915,800,842,658,635,657.933451113,0.459063519877,0.00470228330946,0.0694088288518,0.999999560603,0.000205656793436,-0.000912347188321,-6.42050347683e-05,1793254985944470528
+260,4.333333333,HOLD_POSE2,783,760,737,717,672,645.640000369,915,800,842,658,635,657.359999631,0.459062664068,0.0047001038477,0.0694076754664,0.999999559224,0.000205853949015,-0.000913842480733,-6.377960123e-05,1793254985961137920
+261,4.350000000,HOLD_POSE2,783,760,737,717,672,645.785962357,915.214037643,800,841.785962357,658,635,657.214037643,0.459061618319,0.00469912958573,0.0694068010065,0.99999955813,0.000205704154894,-0.000915089194281,-6.35367085798e-05,1793254985977804800
+262,4.366666667,HOLD_POSE2,783,760,737,717,672,645.210937165,915.789062835,800,841.210937165,658,635,657.789062835,0.459060252225,0.00470018796699,0.0694063969715,0.999999557519,0.000204969208913,-0.000915916664251,-6.36016823201e-05,1793254985994470912
+263,4.383333333,HOLD_POSE2,783,760,737,717,672,645,915.624335763,800,841,658,635,658,0.459061565107,0.0047015740896,0.0694074611811,0.999999558839,0.000205639406375,-0.000914322911594,-6.36197173602e-05,1793254986011137280
+264,4.400000000,HOLD_POSE2,783,760,737,717,672,645,915.031027539,800,841,658,635,658,0.459064430072,0.00470315009181,0.0694093760296,0.999999561269,0.00020712368451,-0.000911326404912,-6.36105581062e-05,1793254986027803904
+265,4.416666667,HOLD_POSE2,783,760,737,717,672,645.546380078,915,800,841,658,635,658,0.459063834799,0.00470223340469,0.069408734102,0.999999560571,0.000206172522945,-0.000912320688067,-6.34193721422e-05,1793254986044470272
+266,4.433333333,HOLD_POSE2,783,760,737,717,672,646,915,800,841.122672372,658,635,657.877327628,0.459063189171,0.00470120580766,0.0694080123477,0.999999559815,0.00020538423829,-0.000913342604024,-6.31792954961e-05,1793254986061137152
+267,4.450000000,HOLD_POSE2,783,760,737,717,672,646,915,800,841.698086815,658,635,657.301913185,0.459063062403,0.00470027653194,0.069407516684,0.999999559492,0.000205693069801,-0.000913653753363,-6.27958508091e-05,1793254986077803776
+268,4.466666667,HOLD_POSE2,783,760,737,717,672,646,915,800,842,657.726686219,635,657.273313781,0.459062936555,0.00470054805315,0.0694072896401,0.999999559182,0.000205749225169,-0.000913971394332,-6.29174228029e-05,1793254986094470400
+269,4.483333333,HOLD_POSE2,783,760,737,717,672,646,915,800,842,657.151666241,635,657.848333759,0.459062811724,0.00470214511271,0.0694073591208,0.999999558888,0.000205526455843,-0.000914296201277,-6.35964737088e-05,1793254986111137280
+270,4.500000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,672,645,915,800,841,657,635,658,0.459062360087,0.00470164261438,0.0694056236189,0.999999557236,0.000204789730588,-0.000916258165748,-6.37146983245e-05,1793254986146160896
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783.396827198,760,737.603172802,717,672,645.603172802,915,800,841,657,635,658,0.459063105933,0.00469981353933,0.0694066650194,0.999999558922,0.000203183692942,-0.00091480784684,-6.32325963401e-05,1793254986162828032
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783,760,737.795625576,716.795625576,672,646,915,800,841,657,635,658,0.459063714927,0.00469922364817,0.0694076157853,0.99999956006,0.000202976552031,-0.000913617188458,-6.31250798983e-05,1793254986179494912
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783,760,737.198214664,716.198214664,672,646,915,800,841,657,635,658,0.459064060737,0.00470101685567,0.06940839225,0.999999560145,0.000205459656751,-0.000912925888107,-6.37379362195e-05,1793254986196161024
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783,760,737,716.394332382,672,645.605667618,915,800,841,657.394332382,635,658,0.459064105174,0.00470098516689,0.0694088532638,0.99999956074,0.000204452562279,-0.00091249881827,-6.37514680761e-05,1793254986212827136
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783,760,737,716.984464316,672,645.015535684,915,800,841,657.984464316,635,658,0.459063999969,0.00470004735442,0.0694091576454,0.999999561585,0.000201712464058,-0.000912202947982,-6.34674147448e-05,1793254986229493248
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783,760,737,717.566474666,672,645.566474666,915,800,841,658,635,658,0.459063745286,0.00470098637789,0.0694080011678,0.999999560132,0.000204485902487,-0.000913181850612,-6.34025613511e-05,1793254986246160128
+277,4.616666667,POSE2_TO_POSE3_RETREAT,783,760,737,717.853947583,672,645.853947583,915,800,841,658,635,658,0.45906323298,0.0047016804311,0.0694070381189,0.99999955906,0.000206237864205,-0.000913968292282,-6.33091830167e-05,1793254986262827008
+278,4.633333333,POSE2_TO_POSE3_RETREAT,783,760,737,717.280840669,672,645.280840669,915,800,841,658,635,658,0.459061979201,0.0047015098182,0.0694067561436,0.999999559303,0.000204567161762,-0.000914091201574,-6.31150689394e-05,1793254986279493632
+279,4.650000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645,915,800,841,658,635,658,0.459054858397,0.00470112899136,0.069403291212,0.99999955499,0.000203822850186,-0.000918967489711,-6.30494757798e-05,1793254986296160512
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645,915,800,841,658,635,658,0.459042099927,0.00470054616852,0.0693967677558,0.999999546233,0.000203968714028,-0.000928411332082,-6.31073792578e-05,1793254986312826880
+281,4.683333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645,915.459505793,800,841.459505793,658,635.459505793,658,0.459009912296,0.00470181908725,0.0693813026207,0.99999952363,0.000206124960362,-0.000951967122574,-6.33242216731e-05,1793254986329493248
+282,4.700000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645,915.947276257,800,841.947276257,658,635.947276257,658,0.458970229948,0.00470336814927,0.0693629479666,0.999999496567,0.000208642607535,-0.000979437331383,-6.35311046703e-05,1793254986346159872
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645,915.372764424,800,841.372764424,658,635.372764424,658,0.458913118819,0.00470223032524,0.0693421113603,0.99999947175,0.000208865497129,-0.00100443255187,-6.31752347551e-05,1793254986362826240
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645.202031214,915,800,841,658,635,658,0.458852215325,0.00470153668887,0.0693253954805,0.999999451182,0.000209337365948,-0.00102462636396,-6.28897008955e-05,1793254986379492864
+285,4.750000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645.777351328,915,800,841,658,635,658,0.458784304748,0.00470166376868,0.0693162933782,0.999999439331,0.000210269268758,-0.00103594871806,-6.27341255068e-05,1793254986396159744
+286,4.766666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645.639341259,915,800,841,657.639341259,635.360658741,658,0.458706884964,0.00470225056035,0.0693114524129,0.999999433051,0.000212182678581,-0.0010416670439,-6.16862193638e-05,1793254986412826880
+287,4.783333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645.050991337,915,800,841,657.050991337,635.949008663,658,0.458623461829,0.00470312757744,0.0693093015903,0.999999430335,0.000214715733653,-0.00104384743234,-6.00749667189e-05,1793254986429493760
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,672.531016894,645,915,800,841,657.531016894,636,658,0.458523302538,0.00470317424687,0.0693150415838,0.999999437266,0.000217125227444,-0.00103678836333,-5.82578316659e-05,1793254986446160384
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783.111159695,760,737,717,672.888840305,645,915,800,841,658,635.888840305,658,0.458417700001,0.00470285016375,0.0693221122954,0.99999944601,0.000219237462369,-0.00102798170904,-5.62946540085e-05,1793254986462826752
+290,4.833333333,POSE2_TO_POSE3_RETREAT,783.68603106,760,737,717,672.31396894,645,915,800,841,658,635.31396894,658,0.458296015569,0.00470130815123,0.0693316106098,0.999999458654,0.000220158569802,-0.00101554231966,-5.38037468494e-05,1793254986479493376
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783.740189771,760,737,716.740189771,672,645,915,800,841,657.740189771,635,658,0.458161300477,0.00470048540135,0.0693404322468,0.999999470125,0.00022295212896,-0.00100370738025,-5.11193862072e-05,1793254986496159744
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783.167724988,760,737,716.167724988,672,645,915,800,841,657.167724988,635,658,0.458010904352,0.00470052820927,0.0693484395725,0.999999480219,0.000227998988725,-0.00099259983436,-4.82022246252e-05,1793254986512826624
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,760,737,716.421446932,672,645,915.421446932,800,841,657.421446932,635,657.578553068,0.457840967806,0.00470057408724,0.0693565893631,0.999999491252,0.000232504603905,-0.000980504157345,-4.52662683065e-05,1793254986529493504
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645.016957518,915.983042482,800,841,658,635,657,0.457661868747,0.00470059220948,0.0693650173682,0.999999502793,0.000236811819684,-0.000967753290596,-4.2273244183e-05,1793254986546160384
+295,4.916666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645.593179377,915.406820623,800,841,658,635,657,0.457447648664,0.00469965298,0.0693806738656,0.999999521707,0.000241972998514,-0.000946898993284,-3.76549837759e-05,1793254986562827008
+296,4.933333333,POSE2_TO_POSE3_RETREAT,783,760,737,716.83048018,672.16951982,646,915,800,841,657.83048018,635,657.16951982,0.457224344809,0.00469811420541,0.0693975879069,0.999999542441,0.000246225509503,-0.000923801607632,-3.28847165937e-05,1793254986579493632
+297,4.950000000,POSE2_TO_POSE3_RETREAT,783,760,737,716.253854838,672.746145162,646,915,800,841,657.253854838,635,657.746145162,0.45697922603,0.00469513561011,0.0694175219704,0.999999567993,0.000248295836148,-0.000895317392907,-2.77494009229e-05,1793254986596160000
+298,4.966666667,POSE2_TO_POSE3_RETREAT,783,760,737,716.329582312,673,646,915,800,841,657,635,658,0.456710392788,0.00469412440205,0.0694318264809,0.999999585225,0.000253351622594,-0.000874553310388,-2.27843188187e-05,1793254986612826624
+299,4.983333333,POSE2_TO_POSE3_RETREAT,783,760,737,716.918376826,673,646,915,800,841,657,635,658,0.456422908444,0.00469466051868,0.0694417034199,0.999999596162,0.000260755434291,-0.000859861013401,-1.79531235166e-05,1793254986629493248
+300,5.000000000,POSE2_TO_POSE3_RETREAT,783.478146273,760,737,717,673.478146273,646,915,800,841,657.478146273,635.478146273,658,0.456091117917,0.00469103296432,0.0694493593884,0.999999601397,0.000264432909759,-0.000852708354305,-1.29891895637e-05,1793254986646159616
+301,5.016666667,POSE2_TO_POSE3_RETREAT,783.964151125,760,737,717,674,646,915,800,841,658,635.964151125,658,0.455748861625,0.00468533221726,0.069456285419,0.999999605903,0.00026607129869,-0.000846958508547,-7.86797626309e-06,1793254986662826240
+302,5.033333333,POSE2_TO_POSE3_RETREAT,783.365566108,760,737,717,674,646,915,800,841,658,635.365566108,658,0.455354250921,0.00465760637607,0.0694573641594,0.999999613638,0.00024511512756,-0.000844181738883,-6.13216918634e-07,1793254986679493120
+303,5.050000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,674.223824588,646,915,800,841,658,635,657.776175412,0.454944310189,0.00463691707842,0.0694538172061,0.999999614245,0.00023142489403,-0.000847296899559,6.33934572107e-06,1793254986696160000
+304,5.066666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,674.798790942,646,915,800,841,658,635,657.201209058,0.454510319355,0.00462726689372,0.0694430133456,0.999999604163,0.00022913365222,-0.000859655472639,1.2817813721e-05,1793254986712826624
+305,5.083333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,675,646,915.384446516,800,841,658,635.384446516,657.384446516,0.45407863499,0.00463009993959,0.0694484278787,0.999999614852,0.000239927995362,-0.000844060143057,1.71254005585e-05,1793254986729493248
+306,5.100000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,675,646,915.975856595,800,841,658,635.975856595,657.975856595,0.453648192253,0.00463965322723,0.0694625734472,0.99999963575,0.000257766853139,-0.000813416064385,2.02643122827e-05,1793254986746159616
+307,5.116666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,675.557219622,646,915.442780378,800,841,658,636,658,0.453181399148,0.00463964118664,0.0694993545558,0.999999681554,0.000258813266053,-0.000754520359932,2.46324333565e-05,1793254986762826496
+308,5.133333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,676,646.136232968,915,800,841,658,635.863767032,658,0.452690041911,0.00463974573084,0.0695281231293,0.999999717366,0.000246814799393,-0.000709767614212,2.41100550972e-05,1793254986779493120
+309,5.150000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,676,646.709086319,915,800,841,658,635.290913681,658,0.452124916042,0.00464152869062,0.0695281242866,0.999999725861,0.000195298685093,-0.000714196077803,7.74618183204e-06,1793254986796159744
+310,5.166666667,POSE2_TO_POSE3_RETREAT,783.281680878,760.281680878,737,717,676.281680878,647,915,800,841,658,635,657.718319122,0.451538933153,0.00464078780115,0.0695241688158,0.999999721636,0.000169751684691,-0.000726569587499,2.88503368922e-06,1793254986812826624
+311,5.183333333,POSE2_TO_POSE3_RETREAT,783.854008373,760.854008373,737,717,676.854008373,647,915,800,841,658,635,657.145991627,0.45093142941,0.00463744272967,0.0695161307797,0.999999706221,0.00017100038352,-0.000747141030641,9.89273674983e-06,1793254986829493504
+312,5.200000000,POSE2_TO_POSE3_RETREAT,783.557105643,761,737,717,677.442894357,647,915,800,841,658,635,657.442894357,0.450311654488,0.00463869429405,0.069521197439,0.999999705333,0.000174368667764,-0.000747458491576,1.53202237434e-05,1793254986846160384
+313,5.216666667,POSE2_TO_POSE3_RETREAT,783,760.963576354,737,717,678.036423646,647,915,800,841,658,635,658,0.449687741274,0.00464132176914,0.0695327740716,0.999999712734,0.000177625617436,-0.000736600509192,2.00292463288e-05,1793254986862827008
+314,5.233333333,POSE2_TO_POSE3_RETREAT,783,760.385322487,737,717,678.614677513,647,915,800,841,658,635,658,0.449064776551,0.00464100189464,0.0695744368036,0.999999766004,0.000168429286462,-0.000662672121958,2.21001140665e-05,1793254986879493376
+315,5.250000000,POSE2_TO_POSE3_RETREAT,783.191556405,760,737,717,679,647.191556405,915,800,841,658,635,658,0.448419083778,0.00463945737857,0.0696162383011,0.999999811689,0.0001545993595,-0.000593439261232,2.34655800793e-05,1793254986896160000
+316,5.266666667,POSE2_TO_POSE3_RETREAT,783.765689126,760,737,717,679,647.765689126,915,800,841,658,635,658,0.447727998634,0.00463546700926,0.0696583169359,0.999999848721,0.000131515220088,-0.000533584315996,2.34222181558e-05,1793254986912826368
+317,5.283333333,POSE2_TO_POSE3_RETREAT,783.660551799,760,737,717,679.339448201,648,915,800,840.660551799,658,635,657.660551799,0.446981402265,0.00463282650588,0.0696582326725,0.999999848855,0.000115855251714,-0.000536890069396,2.48194805994e-05,1793254986929493248
+318,5.300000000,POSE2_TO_POSE3_RETREAT,783.0870503,760,737,717,679.9129497,648,915,800,840.0870503,658,635,657.0870503,0.446196530221,0.00463111674962,0.0696290766275,0.999999823705,0.000105314329267,-0.000583745818707,2.72100695125e-05,1793254986946160128
+319,5.316666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,680.504956688,648,915,800,840,658,635.504956688,657,0.445432546407,0.00462930672836,0.0696198349167,0.999999821853,9.46063292331e-05,-0.000588665228505,2.85951027893e-05,1793254986962826496
+320,5.333333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,681.096957665,648,915.096957665,800,840,658,635.903042335,657.096957665,0.444671295913,0.00462688709557,0.0696237769861,0.999999830552,0.000109528240385,-0.000571031352372,2.86821040718e-05,1793254986979493376
+321,5.350000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,681.672580559,648,915.672580559,800,840,658,635.327419441,657.672580559,0.443905085471,0.00462154648158,0.0696752121008,0.999999853427,0.000251128720378,-0.000479103878463,2.32492744953e-05,1793254986996160000
+322,5.366666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,682.248910661,648.248910661,915.751089339,800,840,657.751089339,635,657.751089339,0.443104155974,0.00461452202255,0.0697205367603,0.999999864962,0.000320477236132,-0.000408457928027,2.30761984931e-05,1793254987012826624
+323,5.383333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,682.82617365,648.82617365,915.17382635,800,840,657.17382635,635,657.17382635,0.442257426627,0.00460527630727,0.0697578007651,0.999999889249,0.000294514041641,-0.000365885674019,2.98415659953e-05,1793254987029493248
+324,5.400000000,POSE2_TO_POSE3_RETREAT,782.585862064,760,737,717,683.414137936,649,915,800.414137936,840,657,635,657.414137936,0.441433071066,0.00459986079358,0.0697886754328,0.999999914912,0.000264523624463,-0.000314961144104,3.16562305371e-05,1793254987046159872
+325,5.416666667,POSE2_TO_POSE3_RETREAT,782.006540387,760,737,717,684,649,915,800.993459613,840,657.006540387,635,658,0.440617273786,0.00459606595716,0.0698164410428,0.999999938301,0.000232831227022,-0.000261159294175,3.13584304045e-05,1793254987062826752
+326,5.433333333,POSE2_TO_POSE3_RETREAT,782.583877502,760,737,717,684,649,915,800.416122498,840,657.583877502,635,658,0.439707064998,0.00458968618768,0.0698131270202,0.99999994211,0.000204036731278,-0.000270313731933,3.2859790715e-05,1793254987079493376
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,684,649,915,800.160753383,840,658,635.160753383,658,0.43877214717,0.00458478696427,0.0697907283874,0.999999936222,0.000177516234794,-0.000308063922725,3.37796238455e-05,1793254987096160000
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,684,649,915,800.736438649,840,658,635.736438649,658,0.437773451238,0.00458370928366,0.0697190691229,0.999999899103,0.000156865321334,-0.000419624623251,3.31984357573e-05,1793254987112826624
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783,760,736.68138002,717,684,649,915,800.68138002,840,658,636,658,0.436816937561,0.00457890956693,0.0696932016262,0.999999884641,0.000140778920907,-0.000458041943553,3.31217999149e-05,1793254987129493504
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783,760,736.093713265,717,684,649,915,800.093713265,840,658,636,658,0.435896043009,0.0045709669153,0.0697060012743,0.999999896697,0.000128546852351,-0.00043469607614,3.34712146056e-05,1793254987146160384
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783,760,736.487581793,717.487581793,684,649,915,800.487581793,840,657.512418207,635.512418207,657.512418207,0.434983595423,0.00456601226926,0.0697575636504,0.999999922799,0.00013605132382,-0.000366865659359,3.6089897059e-05,1793254987162827008
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783,760,737,717.932801618,684.067198382,649,915,800.932801618,840,657.067198382,635,657.067198382,0.434071001682,0.00456142566976,0.0698117163589,0.999999944997,0.000144235364728,-0.000296129962945,3.88462745193e-05,1793254987179493376
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783,760,737,717.356740981,684.643259019,649,915,800.356740981,840,657.643259019,635,657.643259019,0.433145165212,0.00455533334191,0.0698297953146,0.999999955151,0.000129210625304,-0.000267303432854,3.93851710271e-05,1793254987196160000
+334,5.566666667,POSE2_TO_POSE3_RETREAT,782.781863802,760,737,717,685,649,915,800,840,658,635,657.781863802,0.432197275708,0.00454993852417,0.0698357771065,0.999999959416,0.000118288656051,-0.000256193408375,3.92447776138e-05,1793254987212826624
+335,5.583333333,POSE2_TO_POSE3_RETREAT,782.208911645,760,737,717,685,649,915,800,840,658,635,657.208911645,0.431213515236,0.00454567826275,0.069822081894,0.999999955265,0.000114040171376,-0.000273900697998,3.7999464877e-05,1793254987229493248
+336,5.600000000,POSE2_TO_POSE3_RETREAT,782,760,737,717,685,649,915,800,840,657.623120195,635,657,0.430173015661,0.00454100513313,0.069764683989,0.999999926576,0.00010731233063,-0.000366010364516,3.69838468593e-05,1793254987246159616
+337,5.616666667,POSE2_TO_POSE3_RETREAT,782,760,737,717,685,649,915,800,840,657.029960688,635,657,0.4290999553,0.00453609507132,0.0696822064565,0.999999869023,9.91616624284e-05,-0.000500817255402,3.61000430551e-05,1793254987262826240
+338,5.633333333,POSE2_TO_POSE3_RETREAT,782,760,737,717,685,649,915,800,840,657.546764965,635,657,0.42819367182,0.00452531065999,0.0697286034211,0.999999905438,8.92708842482e-05,-0.000424046366764,3.65958940995e-05,1793254987279493376
+339,5.650000000,POSE2_TO_POSE3_RETREAT,782.122516921,760,737,717.122516921,685,649,915,800,840,658,635,657.122516921,0.427295400715,0.00451616662879,0.0697815773174,0.999999938708,8.0179157372e-05,-0.000338744230814,3.75136769426e-05,1793254987296160256
+340,5.666666667,POSE2_TO_POSE3_RETREAT,782.697901109,760,737,717.697901109,685,649,915,800,840,658,635,657.697901109,0.426393952001,0.00451424115758,0.0698335204671,0.999999961726,7.43831896785e-05,-0.000263511506478,3.97197833654e-05,1793254987312826624
+341,5.683333333,POSE2_TO_POSE3_RETREAT,782.71958,760,737,718,685.28042,649,915,800,840,657.71958,635,657.71958,0.425463584419,0.00450727289195,0.0698537334097,0.999999969631,7.01972321538e-05,-0.000232752434235,4.04459813165e-05,1793254987329493248
+342,5.700000000,POSE2_TO_POSE3_RETREAT,782.129174091,760,737,718,685.870825909,649,915,800,840,657.129174091,635,657.129174091,0.424501248812,0.00449473014774,0.0698388706969,0.999999965381,6.77910348273e-05,-0.000251156057772,3.95362380209e-05,1793254987346159616
+343,5.716666667,POSE2_TO_POSE3_RETREAT,782,760,737,718,685.54767926,649.45232074,915,800,839.54767926,657.45232074,635,657,0.423504916884,0.00448917433516,0.0697942275661,0.999999943667,5.4623439334e-05,-0.000328936050723,3.85045618738e-05,1793254987362826240
+344,5.733333333,POSE2_TO_POSE3_RETREAT,782,759.968866273,737,718,685,650,915,800.031133727,839.031133727,657.968866273,635,657.031133727,0.42250003252,0.00448537161324,0.069741044289,0.999999908884,3.8677242656e-05,-0.000423473841021,3.74903689913e-05,1793254987379493120
+345,5.750000000,POSE2_TO_POSE3_RETREAT,782,759.393308282,737,718,685,650,915,800.606691718,839.606691718,657.393308282,635,657.606691718,0.421512086083,0.00447800699414,0.0696843680835,0.999999863605,2.68451377601e-05,-0.00052026156015,3.73790533254e-05,1793254987396159744
+346,5.766666667,POSE2_TO_POSE3_RETREAT,781.818651802,759.181348198,737,718,685,650,915,800.818651802,840,657.181348198,635,658,0.420585090014,0.00446937863593,0.0696665589874,0.999999847984,1.84268789002e-05,-0.00054984814243,3.68611392488e-05,1793254987412826368
+347,5.783333333,POSE2_TO_POSE3_RETREAT,781.245940885,759.754059115,737,718,685,650,915,800.245940885,840,657.754059115,635,658,0.419789629371,0.00445802303644,0.0697326279694,0.999999904864,1.73759513274e-05,-0.000434409737461,3.54657562848e-05,1793254987429493248
+348,5.800000000,POSE2_TO_POSE3_RETREAT,781.338616759,760,737,718.338616759,685.338616759,650,915,800,840,658,635,658,0.418988041142,0.00445137724494,0.0698008609517,0.999999947038,7.22493010248e-06,-0.000323371858971,3.60919863321e-05,1793254987446160128
+349,5.816666667,POSE2_TO_POSE3_RETREAT,781.932090722,760,737,718.932090722,685.932090722,650,915,800,840,658,635,658,0.418181841072,0.00444827625341,0.0698707226487,0.999999975969,-9.77520398848e-06,-0.000215646006589,3.82397672772e-05,1793254987462826496
+350,5.833333333,POSE2_TO_POSE3_RETREAT,781.508061043,760,737,718.508061043,686.491938957,650,915,800,839.508061043,658,635,658,0.417321277981,0.00443939874199,0.0698544956733,0.999999969421,-7.90731444712e-06,-0.000244274132407,3.77454617666e-05,1793254987479493376
+351,5.850000000,POSE2_TO_POSE3_RETREAT,781.051275926,760,737.051275926,718.051275926,686.948724074,649.948724074,915,800,839.051275926,658,635,657.948724074,0.416456046357,0.00443027325024,0.069826521732,0.999999957349,-5.89997281843e-06,-0.000289677014943,3.6796417988e-05,1793254987496160000
+352,5.866666667,POSE2_TO_POSE3_RETREAT,781.651666392,760,737.651666392,718.651666392,686.348333608,649.348333608,915,800,839.651666392,658,635,657.348333608,0.415616043901,0.00442648530339,0.069791873159,0.999999945842,-2.85075509495e-05,-0.000326043420313,3.46335201417e-05,1793254987512826624
+353,5.883333333,POSE2_TO_POSE3_RETREAT,781.754073527,760,738,719,685.754073527,649.245926473,915,800,839.754073527,658,635,657,0.414781813514,0.00442579510475,0.0697595600525,0.999999927969,-3.79402670452e-05,-0.000376054929045,3.47217227962e-05,1793254987529493504
+354,5.900000000,POSE2_TO_POSE3_RETREAT,781.168285334,760,738,719,685.168285334,649.831714666,915,800,839.168285334,658,635,657,0.413955559801,0.00442938588443,0.0697304744733,0.999999899877,-2.9165791196e-05,-0.000444923494457,3.79208666663e-05,1793254987546160384
+355,5.916666667,POSE2_TO_POSE3_RETREAT,781.413791436,760,738,719,685.413791436,649.586208564,914.586208564,800,839.413791436,658,635,657,0.413204785222,0.00444827835191,0.0697399786166,0.999999907775,1.70159699539e-06,-0.000427806986745,3.77838499135e-05,1793254987562827264
+356,5.933333333,POSE2_TO_POSE3_RETREAT,781.994372187,760,738,719,685.994372187,649.005627813,914.005627813,800,839.994372187,658,635,657,0.412484434505,0.00447333855921,0.069765037345,0.999999927781,4.14741029501e-05,-0.000376031971755,3.63021072665e-05,1793254987579493888
+357,5.950000000,POSE2_TO_POSE3_RETREAT,782,760,737.428985703,719,686.571014297,649,914,800,839.428985703,657.428985703,635.571014297,657,0.411858041057,0.00447272389192,0.0698240985949,0.999999961215,2.67381904433e-05,-0.00027477366082,3.6815921346e-05,1793254987596160256
+358,5.966666667,POSE2_TO_POSE3_RETREAT,781.852888597,760,737.147111403,719,687.147111403,649.147111403,914.147111403,800,839,657.147111403,635.852888597,657.147111403,0.411219345793,0.00446888251673,0.0698663840289,0.999999978392,1.75258056782e-05,-0.000203727205326,3.74588031987e-05,1793254987612826880
+359,5.983333333,POSE2_TO_POSE3_RETREAT,781.2782633,760,737.7217367,719,687.7217367,649.7217367,914.7217367,800,839,657.7217367,635.2782633,657.7217367,0.410542228158,0.00445639448028,0.0698589507948,0.99999997431,2.59156114799e-05,-0.000221885660046,3.84199997883e-05,1793254987629493504
+360,6.000000000,POSE2_TO_POSE3_RETREAT,781,760,737.695763273,719,687.391526546,650,915,800,839,658,635,657.695763273,0.409874303294,0.00444954369614,0.069833685852,0.999999963187,2.53114539263e-05,-0.00026741505596,3.8392713077e-05,1793254987646160384
+361,6.016666667,POSE2_TO_POSE3_RETREAT,781,760,737.105869456,719,686.211738913,650,915,800,839,658,635,657.105869456,0.409215009838,0.00444798589986,0.0697916781774,0.999999941827,1.62625908478e-05,-0.000338643856686,3.74373092226e-05,1793254987662827008
+362,6.033333333,POSE2_TO_POSE3_RETREAT,781,759.525631587,737.474368413,719,686,649.525631587,914.525631587,800,839,658,635,657,0.408592074893,0.00445289351968,0.0697676605046,0.999999929465,7.25022140897e-06,-0.000373828233638,3.56482329473e-05,1793254987679493376
+363,6.050000000,POSE2_TO_POSE3_RETREAT,781,759.052251481,738,719.052251481,686,649,914.052251481,800,839.052251481,658,635,657,0.407986039708,0.00445923733638,0.0697513253349,0.999999921201,1.01873419789e-06,-0.000395542452062,3.38144342539e-05,1793254987696160000
+364,6.066666667,POSE2_TO_POSE3_RETREAT,781,759.627703135,738,719.627703135,686,649,914.627703135,800,839.627703135,658,635,657,0.407469593842,0.00446580176083,0.0697725152798,0.999999933913,2.2552625286e-05,-0.000361320872754,3.33586891297e-05,1793254987712826624
+365,6.083333333,POSE2_TO_POSE3_RETREAT,781,760,738,719.792293309,686.207706691,649,914.792293309,800,839.792293309,658,635,657.207706691,0.406964130495,0.00447055434766,0.0697894918237,0.999999941782,4.09028358606e-05,-0.000337086099951,3.36946841779e-05,1793254987729493504
+366,6.100000000,POSE2_TO_POSE3_RETREAT,781,760,738,719.203947941,686.796052059,649,914.203947941,800,839.203947941,658,635,657.796052059,0.406478793381,0.00447198660215,0.0697987469863,0.999999943113,5.34187078296e-05,-0.000331152922347,3.54816047122e-05,1793254987746160384
+367,6.116666667,POSE2_TO_POSE3_RETREAT,781,760,738,719.378700325,686.621299675,649,914,800,839,658,635,658,0.406000376363,0.00447066571214,0.069796784529,0.999999940429,4.49910840718e-05,-0.000340455457577,3.47489569728e-05,1793254987762826752
+368,6.133333333,POSE2_TO_POSE3_RETREAT,781,760,738,719.958325872,686.041674128,649,914,800,839,658,635,658,0.405525630938,0.00446788409932,0.0697888703922,0.999999935117,2.54515691163e-05,-0.000357841532329,3.26795138127e-05,1793254987779493120
+369,6.150000000,POSE2_TO_POSE3_RETREAT,781,760,737.46460835,720,685.46460835,649,914.53539165,800.53539165,839,657.46460835,635,658,0.40512341016,0.00446941504872,0.0697988979008,0.999999942461,1.87135887841e-05,-0.000337277300451,3.11820956167e-05,1793254987796159744
+370,6.166666667,POSE2_TO_POSE3_RETREAT,781,760,737.111995459,720,685.111995459,649,915,800.888004541,839,657.111995459,635,657.888004541,0.404737775179,0.00447111446946,0.0698114977584,0.999999950722,1.5248352485e-05,-0.000312101581899,3.02577176481e-05,1793254987812826368
+371,6.183333333,POSE2_TO_POSE3_RETREAT,781,760,737.687508003,720,685.687508003,649,915,800.312491997,839,657.687508003,635,657.312491997,0.404397531315,0.00447212845679,0.0698289914044,0.999999960076,2.12236544916e-05,-0.000280007820461,3.15215870546e-05,1793254987829492992
+372,6.200000000,POSE2_TO_POSE3_RETREAT,781,759.731656686,738,720,686.268343314,649,914.731656686,800,839,658,635,657,0.404066481129,0.00446904823226,0.0698385438133,0.999999965071,1.63554876535e-05,-0.000261852636299,3.20060358934e-05,1793254987846159872
+373,6.216666667,POSE2_TO_POSE3_RETREAT,781,759.144497491,738,720,686.855502509,649,914.144497491,800,839,658,635,657,0.40374635388,0.00446110371743,0.0698386613202,0.999999965634,-1.39569138311e-06,-0.000260257732338,3.15644632512e-05,1793254987862826496
+374,6.233333333,POSE2_TO_POSE3_RETREAT,781,759.438234759,738,720,686.561765241,649.438234759,914.438234759,800,839,658,635,657.438234759,0.403435417836,0.0044583682278,0.0698298395636,0.999999961811,-1.08460032765e-05,-0.000274445481632,3.06618479341e-05,1793254987879493120
+375,6.250000000,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649.980682863,914.980682863,800,839,658,635,658,0.403128609319,0.00445729737243,0.0698181618049,0.999999956236,-1.75360207928e-05,-0.000293836876373,2.96764288907e-05,1793254987896159744
+376,6.266666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649.405494845,914.405494845,800,839,658,635,658,0.402854239428,0.00445519803029,0.0698082690632,0.999999949748,-2.27684302462e-05,-0.000314716935774,3.06389738123e-05,1793254987912826368
+377,6.283333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914,800,839,658,635,658,0.402598587419,0.00445297589811,0.0698008034124,0.999999945083,-2.758651096e-05,-0.000328762754282,3.14439765812e-05,1793254987929492736
+378,6.300000000,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914,800,839,658,635,658,0.402387663182,0.00445046034919,0.0697991374809,0.999999945705,-3.14145221946e-05,-0.000326477630197,3.18725204169e-05,1793254987946159360
+379,6.316666667,POSE2_TO_POSE3_RETREAT,781,759.671761355,738,720,686.328238645,649,914,800,839,657.671761355,635,657.671761355,0.40219290394,0.00444670129374,0.0697976637386,0.999999945145,-3.45824442831e-05,-0.000327732818111,3.3233563622e-05,1793254987962825984
+380,6.333333333,POSE2_TO_POSE3_RETREAT,781,759.082083357,738,720,686.917916643,649,914,800,839,657.082083357,635,657.082083357,0.402011019997,0.00444195179581,0.0697963430734,0.999999943635,-3.72246106227e-05,-0.000331807835243,3.53373347985e-05,1793254987979492608
+381,6.350000000,POSE2_TO_POSE3_RETREAT,781,759.500446687,738,720,686.499553313,649,914,800,839,657.500446687,635,657.500446687,0.401852274099,0.00443919363296,0.0697955268877,0.999999943252,-3.41492032418e-05,-0.000333027848269,3.77217051017e-05,1793254987996159488
+382,6.366666667,POSE2_TO_POSE3_RETREAT,781,759.919055889,738,720,686,649,914,800,839,658,635,658,0.401701468186,0.00443895790599,0.0697945008682,0.999999943273,-1.84296085512e-05,-0.000333931845146,4.00530054139e-05,1793254988012826368
+383,6.383333333,POSE2_TO_POSE3_RETREAT,781,759.343911256,738,720,686,649,914,800,839,658,635,658,0.401576294928,0.00445215671827,0.0697916956371,0.999999940402,6.88434371179e-05,-0.000335725208916,4.17832492687e-05,1793254988029492992
+384,6.400000000,POSE2_TO_POSE3_RETREAT,781,759.231650441,738,720,686,649,914.231650441,800,839,658,635,658,0.401463824068,0.00446684051031,0.0697905323924,0.999999934412,0.000128301375759,-0.000336017673956,4.24991125343e-05,1793254988046159872
+385,6.416666667,POSE2_TO_POSE3_RETREAT,781,759.80783238,738,720,686,649,914.80783238,800,839,658,635,658,0.401370245375,0.00448373289745,0.0697918112587,0.999999932611,0.000146390163075,-0.000334077869384,4.17062974097e-05,1793254988062826496
+386,6.433333333,POSE2_TO_POSE3_RETREAT,781,759.605556279,738,720,686.394443721,649,915,800.394443721,839,658,635,658,0.401288869169,0.00448383570266,0.0697913382656,0.999999934264,0.000135015409887,-0.000334143632586,3.98892855663e-05,1793254988079493120
+387,6.450000000,POSE2_TO_POSE3_RETREAT,781,759.013725826,738,720,686.986274174,649,915,800.986274174,839,658,635,658,0.401213599298,0.0044755367006,0.0697899886105,0.999999937182,0.000108896572656,-0.000335213017645,3.75597471732e-05,1793254988096159744
+388,6.466666667,POSE2_TO_POSE3_RETREAT,781,759.564289979,738,720,685.871420041,649,914.435710021,800.435710021,839,658,635,657.435710021,0.401157884341,0.00447417321193,0.0697908007995,0.999999942062,6.06850000332e-05,-0.000334044919896,2.46406353087e-05,1793254988112826112
+389,6.483333333,POSE2_TO_POSE3_RETREAT,781,760,738,720.141171794,685.141171794,649.141171794,914.141171794,800.141171794,839,658,635,657,0.401107921964,0.00447272435306,0.0697923535551,0.999999944615,2.39463972081e-05,-0.000331615845948,1.50615105748e-05,1793254988129493248
+390,6.500000000,POSE2_TO_POSE3_RETREAT,781,760,738,720.71558027,685.71558027,649.71558027,914.71558027,800.71558027,839,658,635,657,0.401074188604,0.00447050815962,0.0697960214877,0.999999946607,2.40264895781e-05,-0.000325480043215,1.65039328436e-05,1793254988146159872
+391,6.516666667,POSE2_TO_POSE3_RETREAT,781,759.702473734,738,720.702473734,686,649.702473734,914.702473734,800.702473734,839,658,635,657.297526266,0.401047319826,0.00446909457869,0.0698003643175,0.999999949085,2.33260250329e-05,-0.00031775715056,1.77634727844e-05,1793254988162826752
+392,6.533333333,POSE2_TO_POSE3_RETREAT,781,759.113135006,738,720.113135006,686,649.113135006,914.113135006,800.113135006,839,658,635,657.886864994,0.401027183803,0.00446846819674,0.0698053690835,0.999999952004,2.18599936701e-05,-0.000308477647397,1.88436424495e-05,1793254988179493376
+393,6.550000000,POSE2_TO_POSE3_RETREAT,781,759.466740975,738,720,686.466740975,649,914.466740975,800,839,658,635,658,0.401008953918,0.00446946741015,0.0698067968225,0.999999952483,2.32240415779e-05,-0.000306807749571,1.90502456171e-05,1793254988196159744
+394,6.566666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,687,649,915,800,839,658,635,657.955783427,0.400992051864,0.00447058430363,0.0698075072758,0.999999952485,2.50151262467e-05,-0.0003066592701,1.9102104992e-05,1793254988212826624
+395,6.583333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,687,649,915,800,839,658,635,657.380137665,0.40098566596,0.00446847386878,0.0698098106188,0.999999953594,2.38577077891e-05,-0.000303068034013,1.97885009619e-05,1793254988229493248
+396,6.600000000,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.805473831,649,915,800,839,658,635,657.194526169,0.400980265781,0.00446743682243,0.069811949968,0.999999954681,2.30364828516e-05,-0.000299493915595,2.02525623748e-05,1793254988246159872
+397,6.616666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.232719285,649,915,800,839,658,635,657.767280715,0.400976782202,0.00446848682712,0.0698137704545,0.999999955739,2.28689383751e-05,-0.000295953080467,2.02843258888e-05,1793254988262826496
+398,6.633333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.353386323,649.353386323,915,800,839,658,635,657.646613677,0.400974600428,0.00446904941032,0.0698152918624,0.999999956383,2.41137292891e-05,-0.000293647793018,2.05681875246e-05,1793254988279493376
+399,6.650000000,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.948629426,649.948629426,915,800,839,658,635,657.051370574,0.400973309605,0.00446927840351,0.0698166085818,0.999999956746,2.63251192518e-05,-0.000292188111177,2.10245845333e-05,1793254988296160000
+400,6.666666667,POSE2_TO_POSE3_RETREAT,780.473758149,760,737.473758149,720,687,649.473758149,915,800,839,658,635,657.526241851,0.400972308754,0.00446807610194,0.069817896817,0.999999957243,2.40890621471e-05,-0.000290670238527,2.10727703892e-05,1793254988312827392
+401,6.683333333,POSE2_TO_POSE3_RETREAT,780.102417141,760,737.102417141,720,686.897582859,649,914.897582859,800,839,658,635,657.897582859,0.400971431663,0.0044671309128,0.0698189586037,0.999999957672,2.22623948182e-05,-0.000289335870384,2.1077948074e-05,1793254988329494784
+402,6.700000000,POSE2_TO_POSE3_RETREAT,780.679650314,760,737.679650314,720,686.320349686,649,914.320349686,800,839,658,635,657.320349686,0.400971001357,0.00446800447884,0.069818983026,0.999999957758,2.4281213237e-05,-0.00028887772832,2.10624892497e-05,1793254988346161152
+403,6.716666667,POSE2_TO_POSE3_RETREAT,781,760,737.738302271,720,686,649,914,800,839,657.738302271,635,657,0.400970470804,0.00446892253298,0.0698189343902,0.999999957739,2.52281584293e-05,-0.000288875201073,2.09180642749e-05,1793254988362827520
+404,6.733333333,POSE2_TO_POSE3_RETREAT,781,760,737.150251233,720,686,649,914,800,839,657.150251233,635,657,0.400969815237,0.00446989606648,0.0698187946464,0.999999957591,2.48384110707e-05,-0.000289440853804,2.06128105086e-05,1793254988379493888
+405,6.750000000,POSE2_TO_POSE3_RETREAT,781,760,737,720,686.431452712,649,914.431452712,800,839,657,635,657,0.400968921864,0.00446950284754,0.0698184135324,0.999999957561,2.43507802279e-05,-0.000289576944287,2.07261992676e-05,1793254988396160512
+406,6.766666667,POSE2_TO_POSE3_RETREAT,781,760,737.01086518,720.01086518,687,649,914.98913482,800,839,657,635,657,0.400968002183,0.00446864604986,0.0698179910821,0.999999957584,2.38582904375e-05,-0.000289520372424,2.0981391076e-05,1793254988412826880
+407,6.783333333,POSE2_TO_POSE3_RETREAT,781,760,737.584416873,720.584416873,687,649,914.415583127,800,839,657,635,657,0.400969946637,0.00446807333541,0.0698197178916,0.999999958248,2.48538931737e-05,-0.0002871210017,2.11395593623e-05,1793254988429493504
+408,6.800000000,POSE2_TO_POSE3_RETREAT,781,760,738,720.841866468,686.841866468,649,914,800,839,657,635,657.158133532,0.400971094464,0.00446797228113,0.0698209989497,0.999999958722,2.55961888039e-05,-0.000285394298009,2.12258230351e-05,1793254988446160128
+409,6.816666667,POSE2_TO_POSE3_RETREAT,781,760,738,720.267715906,686.267715906,649,914,800,839,657,635,657.732284094,0.400970146528,0.00446911206854,0.0698211073264,0.99999995871,2.56720850108e-05,-0.000285437244296,2.11229203292e-05,1793254988462826496
+410,6.833333333,POSE2_TO_POSE3_RETREAT,780.683130042,760,738,720,686,649,914.316869958,800.316869958,839,657,635,657.683130042,0.400969402692,0.0044696503716,0.0698209619044,0.999999958607,2.63675917068e-05,-0.000285740487956,2.1068124245e-05,1793254988479493376
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..452289e9b5d8db2934c518140e3e0ff495886216
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_11/depth_05/simulation_data.csv
@@ -0,0 +1,420 @@
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+346,5.766666667,pose2_to_pose3_retreat,0.591991167531,0.0101817013919,1.06002065481,0.562562315735,0.0188559404482,1.0596923512
+347,5.783333333,pose2_to_pose3_retreat,0.591273947631,0.0101817329547,1.06002040957,0.561845097279,0.0188559773089,1.05969211638
+348,5.800000000,pose2_to_pose3_retreat,0.590577999026,0.0101817215106,1.06002051122,0.561149148037,0.0188559636108,1.05969221557
+349,5.816666667,pose2_to_pose3_retreat,0.589892441623,0.0101817143353,1.06002064429,0.560463590103,0.0188559543131,1.05969234018
+350,5.833333333,pose2_to_pose3_retreat,0.589199502667,0.0101817643269,1.06002064389,0.559770649534,0.0188559987298,1.05969233704
+351,5.850000000,pose2_to_pose3_retreat,0.588501092601,0.0101817824484,1.06002056296,0.559072239204,0.0188560160824,1.05969225947
+352,5.866666667,pose2_to_pose3_retreat,0.587799317405,0.0101817361992,1.0600206019,0.558370466028,0.0188559768309,1.05969230219
+353,5.883333333,pose2_to_pose3_retreat,0.587115787832,0.0101818645491,1.06002071345,0.557686934211,0.0188560978508,1.05969242124
+354,5.900000000,pose2_to_pose3_retreat,0.586456371301,0.010181855874,1.06002038565,0.557027518341,0.0188560915632,1.05969209716
+355,5.916666667,pose2_to_pose3_retreat,0.585832546304,0.0101817776887,1.06002031778,0.556403693724,0.0188560143177,1.05969202008
+356,5.933333333,pose2_to_pose3_retreat,0.585241270248,0.0101818004307,1.060020494,0.55581241705,0.0188560347798,1.0596921915
+357,5.950000000,pose2_to_pose3_retreat,0.584674734992,0.0101818315955,1.06002062956,0.555245881803,0.0188560659387,1.0596923261
+358,5.966666667,pose2_to_pose3_retreat,0.584121975292,0.0101817648871,1.0600205234,0.554693123478,0.0188560041105,1.05969222561
+359,5.983333333,pose2_to_pose3_retreat,0.5835794325,0.0101816652366,1.06002032858,0.554150581773,0.0188559084089,1.05969203764
+360,6.000000000,pose2_to_pose3_retreat,0.583037555289,0.0101817800177,1.06002053562,0.553608701979,0.0188560142088,1.05969223896
+361,6.016666667,pose2_to_pose3_retreat,0.582500995389,0.0101818124547,1.06002051189,0.553072142804,0.0188560492832,1.05969221997
+362,6.033333333,pose2_to_pose3_retreat,0.581991255875,0.0101817833045,1.06002061715,0.552562403055,0.0188560193594,1.0596923258
+363,6.050000000,pose2_to_pose3_retreat,0.58150850642,0.0101817998072,1.06002043574,0.552079652932,0.0188560336769,1.05969214647
+364,6.066666667,pose2_to_pose3_retreat,0.581054824848,0.0101819077819,1.06002058267,0.551625970728,0.0188561391014,1.05969228271
+365,6.083333333,pose2_to_pose3_retreat,0.580625065975,0.0101819207069,1.06002061116,0.551196212135,0.0188561529663,1.05969231093
+366,6.100000000,pose2_to_pose3_retreat,0.580217069105,0.0101818929209,1.06002050726,0.550788215286,0.0188561256299,1.05969221706
+367,6.116666667,pose2_to_pose3_retreat,0.57982817952,0.0101819253486,1.06002051201,0.550399325024,0.0188561559177,1.05969222602
+368,6.133333333,pose2_to_pose3_retreat,0.579459346104,0.0101819293096,1.06002067014,0.550030492411,0.0188561621653,1.05969237312
+369,6.150000000,pose2_to_pose3_retreat,0.579114485153,0.0101817564211,1.06002076725,0.54968563231,0.0188559921794,1.05969247068
+370,6.166666667,pose2_to_pose3_retreat,0.578794201534,0.0101817849831,1.06002081762,0.549365348694,0.0188560203705,1.05969251116
+371,6.183333333,pose2_to_pose3_retreat,0.578499560937,0.0101816863528,1.06002059794,0.549070710073,0.0188559284788,1.05969229228
+372,6.200000000,pose2_to_pose3_retreat,0.578220088528,0.0101816693716,1.06002048595,0.548791237962,0.0188559126761,1.05969218482
+373,6.216666667,pose2_to_pose3_retreat,0.577953791942,0.01018178922,1.06002053126,0.548524939661,0.0188560269405,1.05969223626
+374,6.233333333,pose2_to_pose3_retreat,0.577698587979,0.0101818796805,1.06002050233,0.548269734951,0.0188561151505,1.05969221485
+375,6.250000000,pose2_to_pose3_retreat,0.57745591047,0.0101817293542,1.06002053629,0.548027058164,0.0188559669064,1.05969223898
+376,6.266666667,pose2_to_pose3_retreat,0.577231461286,0.0101817616205,1.06002042275,0.547802610086,0.0188560029581,1.05969212633
+377,6.283333333,pose2_to_pose3_retreat,0.577026297635,0.0101819117694,1.06002073026,0.547597445389,0.0188561494829,1.05969243176
+378,6.300000000,pose2_to_pose3_retreat,0.576841854426,0.0101819019935,1.06002067107,0.547413000858,0.0188561355071,1.05969238019
+379,6.316666667,pose2_to_pose3_retreat,0.576676752097,0.0101818931583,1.06002057472,0.547247897789,0.0188561240505,1.05969228096
+380,6.333333333,pose2_to_pose3_retreat,0.576528985407,0.0101818395134,1.06002054779,0.547100132101,0.0188560735855,1.05969224828
+381,6.350000000,pose2_to_pose3_retreat,0.576395460509,0.0101817456529,1.06002054128,0.546966609219,0.0188559865807,1.0596922422
+382,6.366666667,pose2_to_pose3_retreat,0.57627570064,0.010181709946,1.06002051551,0.546846850108,0.0188559536645,1.05969222229
+383,6.383333333,pose2_to_pose3_retreat,0.576170550625,0.010181755884,1.06002046371,0.546741698914,0.0188559957541,1.0596921745
+384,6.400000000,pose2_to_pose3_retreat,0.57607833547,0.010181654739,1.06002027818,0.546649485103,0.018855899159,1.05969198872
+385,6.416666667,pose2_to_pose3_retreat,0.575998593427,0.0101818450832,1.06002055005,0.546569741513,0.018856083754,1.0596922482
+386,6.433333333,pose2_to_pose3_retreat,0.575930485941,0.0101817711735,1.06002043454,0.546501633299,0.0188560076393,1.05969213939
+387,6.450000000,pose2_to_pose3_retreat,0.575872721752,0.0101818251498,1.06002057423,0.546443868504,0.0188560596785,1.05969228215
+388,6.466666667,pose2_to_pose3_retreat,0.575824819489,0.0101818263436,1.06002055876,0.546395966383,0.0188560613956,1.05969226766
+389,6.483333333,pose2_to_pose3_retreat,0.575785898098,0.0101817672119,1.06002064566,0.546357046102,0.0188560059254,1.05969235183
+390,6.500000000,pose2_to_pose3_retreat,0.575756080356,0.0101817379237,1.06002061906,0.546327228653,0.0188559775767,1.05969232378
+391,6.516666667,pose2_to_pose3_retreat,0.575732507244,0.0101817818732,1.06002030189,0.546303654248,0.0188560172481,1.05969200951
+392,6.533333333,pose2_to_pose3_retreat,0.575714332577,0.010181868128,1.06002050755,0.546285479991,0.0188561047668,1.05969221184
+393,6.550000000,pose2_to_pose3_retreat,0.575700567636,0.0101818988078,1.06002036381,0.546271714395,0.0188561333395,1.05969207119
+394,6.566666667,pose2_to_pose3_retreat,0.575690293006,0.0101818717357,1.06002042258,0.546261439305,0.0188561047029,1.05969212955
+395,6.583333333,pose2_to_pose3_retreat,0.57568270005,0.0101818174072,1.06002065496,0.546253846189,0.0188560497272,1.05969235873
+396,6.600000000,pose2_to_pose3_retreat,0.575677611813,0.0101818601801,1.06002063968,0.546248757812,0.0188560921649,1.05969234778
+397,6.616666667,pose2_to_pose3_retreat,0.5756748693,0.0101818743654,1.06002060977,0.546246015498,0.018856107054,1.05969231896
+398,6.633333333,pose2_to_pose3_retreat,0.575673011971,0.0101818579091,1.06002052583,0.546244159107,0.0188560936739,1.05969223209
+399,6.650000000,pose2_to_pose3_retreat,0.575671783581,0.0101818470254,1.06002047032,0.546242931337,0.0188560848246,1.05969217463
+400,6.666666667,pose2_to_pose3_retreat,0.57567097975,0.0101818399033,1.06002043399,0.546242127912,0.0188560790339,1.05969213704
+401,6.683333333,pose2_to_pose3_retreat,0.575670441264,0.0101818291026,1.06002040756,0.546241589419,0.0188560682037,1.05969211046
+402,6.700000000,pose2_to_pose3_retreat,0.575670004217,0.0101818169893,1.06002038496,0.546241152212,0.0188560555552,1.05969208813
+403,6.716666667,pose2_to_pose3_retreat,0.575669580613,0.0101818052486,1.06002036304,0.546240728452,0.0188560432958,1.05969206648
+404,6.733333333,pose2_to_pose3_retreat,0.575669151682,0.0101817933603,1.06002034085,0.546240299363,0.0188560308822,1.05969204456
+405,6.750000000,pose2_to_pose3_retreat,0.575669019767,0.0101817897041,1.06002033403,0.546240167399,0.0188560270645,1.05969203782
+406,6.766666667,pose2_to_pose3_retreat,0.575668941765,0.0101817875422,1.06002033,0.546240089368,0.018856024807,1.05969203383
+407,6.783333333,pose2_to_pose3_retreat,0.575668900329,0.0101817863938,1.06002032785,0.546240047918,0.0188560236079,1.05969203171
+408,6.800000000,pose2_to_pose3_retreat,0.575668840191,0.010181784727,1.06002032474,0.546239987758,0.0188560218674,1.05969202864
+409,6.816666667,pose2_to_pose3_retreat,0.575668735758,0.0101817818325,1.06002031934,0.546239883286,0.018856018845,1.0596920233
+410,6.833333333,pose2_to_pose3_retreat,0.575668463629,0.0101817742901,1.06002030526,0.546239611057,0.0188560109694,1.0596920094
+411,6.850000000,pose2_to_pose3_retreat,0.575668006623,0.0101817729996,1.0600203738,0.546239153622,0.018856008147,1.059692076
+412,6.866666667,pose2_to_pose3_retreat,0.575667807791,0.0101817747456,1.06002042231,0.546238954549,0.0188560090294,1.05969212322
+413,6.883333333,pose2_to_pose3_retreat,0.575667788527,0.0101817749148,1.06002042701,0.546238935262,0.0188560091148,1.0596921278
+414,6.900000000,pose2_to_pose3_retreat,0.575667702209,0.0101817756728,1.06002044807,0.546238848839,0.0188560094979,1.0596921483
+415,6.916666667,pose2_to_pose3_retreat,0.575667436539,0.0101817780057,1.06002051289,0.546238582849,0.0188560106768,1.0596922114
+416,6.933333333,pose2_to_pose3_retreat,0.575667099883,0.0101817069965,1.06002055822,0.546238246656,0.018855941199,1.05969225566
+417,6.950000000,pose2_to_pose3_retreat,0.575666925187,0.0101816391708,1.06002052203,0.546238072988,0.0188558769196,1.05969222102
+418,6.966666667,pose2_to_pose3_retreat,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..033729b66a585562c027dbb4d6b8317cd7ae9890
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c537b18e2b67a9bb370d12291d6947fcb6583bfeccaabf4d230be139599f145
+size 26369909
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3e3bbaf0bce38724838f4bb0e953b4f77a77fea4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_01/franka_data.csv
@@ -0,0 +1,417 @@
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+17,0.283333333,BASELINE,781,760.871811366,737.871811366,718,685,649,914,800,839,657.871811366,635,658,0.401035644761,0.00447252768679,0.0798554332279,0.999999981862,0.000100387993383,-0.000153157254665,5.23497191028e-05,1793254990160997120
+18,0.300000000,BASELINE,781,760.550257413,737.550257413,718.449742587,685,649,914,800,839.449742587,658,635,657.550257413,0.401035698053,0.00447329496559,0.0798560373645,0.999999981888,0.000101278942422,-0.000152487727388,5.20955781431e-05,1793254990177663744
+19,0.316666667,BASELINE,781,760,737.028849957,719,685,649,914,800,840,658,635,657,0.401035956405,0.00447408148117,0.0798569444076,0.999999981933,0.000102504901037,-0.000151423930749,5.19336495491e-05,1793254990194330368
+20,0.333333333,BASELINE,781,760,737.616248378,719,685,649,914,800,840,658,635,657,0.401034532301,0.0044737802991,0.0798552388447,0.999999981694,0.000101299909889,-0.00015377949545,5.19874662609e-05,1793254990210996992
+21,0.350000000,BASELINE,781,760,738,718.798976033,685,649,914,800,839.798976033,657.798976033,635,657,0.401034005211,0.00447364781346,0.0798545875386,0.999999981594,0.000100793660934,-0.000154741247305,5.20445458614e-05,1793254990227663872
+22,0.366666667,BASELINE,781,760,738,718.219142972,685,649,914,800,839.219142972,657.219142972,635,657,0.401035168455,0.00447383321903,0.0798559228718,0.999999981764,0.000101604120277,-0.000153076501211,5.21077740358e-05,1793254990244330240
+23,0.383333333,BASELINE,780.651048152,760,737.651048152,718.348951848,685.348951848,649.348951848,914,800,839,657.348951848,635,657,0.40103639593,0.00447353299811,0.0798571661619,0.999999982045,0.000101539006363,-0.00015122398229,5.22677383717e-05,1793254990260996608
+24,0.400000000,BASELINE,780.090085032,760,737.090085032,718.909914968,685.909914968,649.909914968,914,800,839,657.909914968,635,657,0.401037662431,0.00447293772708,0.0798583535298,0.999999982389,0.000100941923999,-0.000149257378828,5.24864763148e-05,1793254990277663232
+25,0.416666667,BASELINE,780.477437803,760,737,719,686,649.522562197,914,800,839,658,635,657.477437803,0.40103598762,0.0044733720843,0.0798571076055,0.999999981977,0.000101883943898,-0.000151423585522,5.23183759982e-05,1793254990294329856
+26,0.433333333,BASELINE,781,759.950182734,737,719,686,649,914,800,839.049817266,657.950182734,635,658,0.401033904641,0.00447384995864,0.0798555242928,0.999999981462,0.000102863306737,-0.000154207442603,5.21139557611e-05,1793254990310996224
+27,0.450000000,BASELINE,781,759.337078529,737,719,686,649,914,800,839.662921471,657.337078529,635,658,0.401033569086,0.00447259260635,0.079855389773,0.999999981519,0.000100935544326,-0.000155035074586,5.23356670086e-05,1793254990327662848
+28,0.466666667,BASELINE,781,759.261410678,737,719,685.738589322,649,914,800,839.738589322,657,635,657.738589322,0.40103364948,0.00447260634811,0.0798554714826,0.999999981547,0.000100393045131,-0.000155256085834,5.21845831306e-05,1793254990344329728
+29,0.483333333,BASELINE,781,759.84205223,737,719,685.15794777,649,914,800,839.15794777,657,635,657.15794777,0.401034237822,0.00447417233129,0.0798558172482,0.999999981543,0.000101542209103,-0.000154736300716,5.15782473184e-05,1793254990360996608
+30,0.500000000,BASELINE,781,760,737,718.581058256,685.418941744,649,914,800,839.418941744,657,635,657.418941744,0.401035033187,0.00447431972372,0.0798559916746,0.999999981641,0.000102160857418,-0.000153698103548,5.15631319719e-05,1793254990377664000
+31,0.516666667,BASELINE,781,760,737,718.005570776,685.994429224,649,914,800,839.994429224,657,635,657.994429224,0.40103590591,0.00447393703209,0.0798561020767,0.999999981776,0.000102581268208,-0.000152466191641,5.17689376712e-05,1793254990394331648
+32,0.533333333,BASELINE,781,760,737.566845606,718.566845606,685.433154394,649,914,800,839.433154394,657.566845606,635,658,0.401035045322,0.00447191158767,0.0798561975773,0.999999981896,0.000100440770651,-0.000152966114697,5.2163946616e-05,1793254990410997504
+33,0.550000000,BASELINE,781,760,737.855521946,718.855521946,685,649,914,800,839,657.855521946,635,657.855521946,0.401034603962,0.00447064241782,0.0798563891263,0.99999998197,9.94616277103e-05,-0.00015303751294,5.24142478802e-05,1793254990427663616
+34,0.566666667,BASELINE,781,760,737.261568898,718.261568898,685,649,914,800,839,657.261568898,635,657.261568898,0.401035519539,0.0044717759934,0.079856879937,0.999999981907,0.000102173365373,-0.000151723095149,5.22086061448e-05,1793254990444330240
+35,0.583333333,BASELINE,781,760,737,718,685,649,914,800,839,657.323302855,635,657.323302855,0.40103565377,0.0044726215488,0.0798570785077,0.999999981947,0.000101800382622,-0.00015181347512,5.19145290725e-05,1793254990460996864
+36,0.600000000,BASELINE,781,760,737,718,685,649,914,800,839,657.901028168,635,657.901028168,0.401035173122,0.00447324044749,0.0798570471008,0.999999982065,9.89998863359e-05,-0.000153009357408,5.15508579876e-05,1793254990477663744
+37,0.616666667,BASELINE,781,760,737,718.475971496,685,649,914,800,839,658,635,658,0.401035048067,0.00447359433406,0.0798565883384,0.999999981914,0.000100257235923,-0.000153117484148,5.17200992634e-05,1793254990494330112
+38,0.633333333,BASELINE,781,760,737,719,685,649.051609712,914,800,839,658,635,658,0.401034824301,0.00447379466515,0.0798559653531,0.999999981695,0.000102074406489,-0.000153258916776,5.19823109949e-05,1793254990510996736
+39,0.650000000,BASELINE,781,760,737,719,685,649.640468877,914,800,839,658,635,658,0.401032807741,0.00447296681521,0.0798545525035,0.999999981364,0.000100986708589,-0.000156087919034,5.20654990618e-05,1793254990527663616
+40,0.666666667,BASELINE,781,760,737.225831132,718.774168868,685,649.774168868,914,800,839,658,635,657.774168868,0.401032329424,0.00447218144323,0.0798542991799,0.999999981358,0.000100174453549,-0.000156670320605,5.19904644667e-05,1793254990544329984
+41,0.683333333,BASELINE,781,760,737.805711043,718.194288957,685,649.194288957,914,800,839,658,635,657.194288957,0.401034262701,0.0044714626665,0.0798558637139,0.999999981869,9.97940265846e-05,-0.000153730593672,5.1667374872e-05,1793254990560996608
+42,0.700000000,BASELINE,781,760,738,718,685.383840736,649,914,800,839,658,635,657,0.401034140587,0.0044714705485,0.0798560301533,0.999999981869,9.94215002435e-05,-0.000153921381148,5.18309973919e-05,1793254990577663488
+43,0.716666667,BASELINE,781,760,738,718,685.961088524,649,914,800,839,658,635,657,0.401032982816,0.00447184457438,0.0798554921301,0.99999998161,9.90529548263e-05,-0.000155689550963,5.22398611026e-05,1793254990594330112
+44,0.733333333,BASELINE,781,760,737.464932967,718,685.464932967,649,914,800,839,658,635,657.535067033,0.4010339865,0.00447192313039,0.0798562636241,0.999999981711,9.972954512e-05,-0.000154638510114,5.21478223331e-05,1793254990610996736
+45,0.750000000,BASELINE,781,759.888027352,737.111972648,718,685.111972648,649,914,800,839,657.888027352,635,657.888027352,0.401034880465,0.00447211506483,0.0798570559818,0.999999981786,0.000100714178056,-0.000153536626719,5.2066116751e-05,1793254990627663104
+46,0.766666667,BASELINE,781,759.297604899,737.702395101,718,685.702395101,649,914,800,839,657.297604899,635,657.297604899,0.40103463804,0.00447288271187,0.0798575330435,0.999999981648,0.000102692260558,-0.000153088212639,5.21832680918e-05,1793254990644329728
+47,0.783333333,BASELINE,781,759.28728778,737.71271222,718,685.71271222,649,914,800,839.28728778,657.28728778,635.28728778,657,0.401034595061,0.00447376107068,0.079857530545,0.999999981459,0.000104453545218,-0.000153141949804,5.21377576065e-05,1793254990660996608
+48,0.800000000,BASELINE,781,759.866560349,737.133439651,718,685.133439651,649,914,800,839.866560349,657.866560349,635.866560349,657,0.40103475479,0.00447475195143,0.0798570406458,0.999999981222,0.000105994487743,-0.000153706048075,5.19269258718e-05,1793254990677664000
+49,0.816666667,BASELINE,781,760,737,718,685,649,914,800,839.556538864,658,635.556538864,657.443461136,0.401033583867,0.00447507444746,0.0798558625708,0.999999981186,0.000104289176964,-0.000155149129697,5.1776076132e-05,1793254990694330880
+50,0.833333333,BASELINE,781,760,737,718,685.019992945,649,914,800,839.019992945,658,635,657.980007055,0.401032121539,0.00447514102184,0.0798545627489,0.999999981216,0.000101653076807,-0.000156738927955,5.16523434787e-05,1793254990710996992
+51,0.850000000,BASELINE,781,760,737,718,685.606180134,649,914,800,839.606180134,658,635,657.393819866,0.401033685537,0.00447362533717,0.0798556482097,0.999999981624,0.000100173202112,-0.000155033257727,5.17881387284e-05,1793254990727663616
+52,0.866666667,BASELINE,781,760,737,718,685.809978856,649,914,800,839.809978856,658,635,657.190021144,0.401034992285,0.00447261748958,0.0798566754199,0.999999981916,9.97849849841e-05,-0.00015334288532,5.1932147815e-05,1793254990744330240
+53,0.883333333,BASELINE,781,760,737,718,685.230941042,649,914,800,839.230941042,658,635,657.769058958,0.401035772383,0.00447264930054,0.0798575833779,0.999999981975,0.000101631640238,-0.00015168383115,5.20929724931e-05,1793254990760996608
+54,0.900000000,BASELINE,781,760,737.346583769,718,685,649,914,800,839,658,635.346583769,657.653416231,0.401035016949,0.0044732413658,0.0798571157848,0.999999981755,0.00010240131577,-0.000152638080705,5.20087426191e-05,1793254990777663488
+55,0.916666667,BASELINE,781,760,737.923104772,718,685,649,914,800,839,658,635.923104772,657.076895228,0.401033242783,0.00447420512568,0.0798557355975,0.999999981349,0.000102456480742,-0.000155326098273,5.17619339598e-05,1793254990794330368
+56,0.933333333,BASELINE,781,760,737.500172628,718,685,649,914,800,839,658,636,657.499827372,0.401034081508,0.00447355095055,0.0798558060282,0.999999981526,0.000101334964443,-0.000155004743551,5.14979450999e-05,1793254990810997248
+57,0.950000000,BASELINE,781,760,737.077940919,718.077940919,685.077940919,649.077940919,914,800,839.077940919,658,635.922059081,657.922059081,0.401035044998,0.00447274952538,0.0798560852135,0.999999981747,0.000100197081142,-0.000154371414687,5.13448606457e-05,1793254990827663616
+58,0.966666667,BASELINE,781,760,737.664936228,718.664936228,685.664936228,649.664936228,914,800,839.664936228,658,635.335063772,657.335063772,0.401034196885,0.00447261271971,0.0798562696718,0.999999981668,0.000100135102915,-0.000154725520179,5.19333942159e-05,1793254990844329984
+59,0.983333333,BASELINE,781,760,737.749857639,718.749857639,686,649.749857639,914,800,839.749857639,658,635,657,0.40103318708,0.00447215465356,0.0798561059751,0.999999981627,9.94600751352e-05,-0.000155324591625,5.222596628e-05,1793254990860996608
+60,1.000000000,BASELINE,781,760,737.167030992,718.167030992,686,649.167030992,914,800,839.167030992,658,635,657,0.401031962227,0.00447126931745,0.0798554792395,0.999999981636,9.79697038264e-05,-0.000156249462888,5.21249156034e-05,1793254990877663232
+61,1.016666667,BASELINE,781,760,737.409670921,718,686,649,914,800,839,658,635,657.409670921,0.401031512571,0.00447268425178,0.0798551335096,0.999999981275,0.00010071335,-0.000156809984029,5.21218913026e-05,1793254990894329856
+62,1.033333333,BASELINE,781,760,737.983912406,718,686,649,914,800,839,658,635,657.983912406,0.401031374324,0.00447502323714,0.0798549006638,0.999999980751,0.000105157860571,-0.000157224140551,5.21582455794e-05,1793254990910996480
+63,1.050000000,BASELINE,781,760,738,718.557585539,685.442414461,649,914,800,839.557585539,657.442414461,635,658,0.401033794314,0.00447284453614,0.0798566922227,0.999999981432,0.000102829209335,-0.000154338619059,5.23699635619e-05,1793254990927663360
+64,1.066666667,BASELINE,781,760,737.86459426,719,685,649.13540574,914,800,839.86459426,657.13540574,635,658,0.401035771756,0.00447163647351,0.0798580446512,0.999999981939,0.000101213338688,-0.000152091819173,5.24005717368e-05,1793254990944330240
+65,1.083333333,BASELINE,781,760,737.272739211,719,685,649.727260789,914,800,839.272739211,657.727260789,635,658,0.401036008815,0.00447413935181,0.0798577200885,0.999999981788,0.000102658321591,-0.000152318734251,5.18036248035e-05,1793254990960996864
+66,1.100000000,BASELINE,781,760,737.309402188,719,685,649.690597812,914,800,839,658,635,657.690597812,0.401034543767,0.00447401061643,0.079856635502,0.999999981576,0.000102203833619,-0.000154072207907,5.16174694207e-05,1793254990977663488
+67,1.116666667,BASELINE,781,760,737.883241579,719,685,649.116758421,914,800,839,658,635,657.116758421,0.401031623975,0.00447163271596,0.0798549013449,0.999999981302,0.000100125922135,-0.000157130387508,5.17824058584e-05,1793254990994330112
+68,1.133333333,BASELINE,781,760,738,718.538278647,685,649,914,800,839,657.538278647,635,657.461721353,0.4010319368,0.00447065807337,0.079855270936,0.999999981651,9.74852279095e-05,-0.000156556198793,5.18057804297e-05,1793254991010996480
+69,1.150000000,BASELINE,781,760,738,718,685,649,914,800,839,657.041946733,635,657.958053267,0.401033038678,0.00447022643784,0.0798561532979,0.999999982116,9.50342528219e-05,-0.000155103275187,5.17720022963e-05,1793254991027663104
+70,1.166666667,BASELINE,781,760,738,718,685,649,914,800,839,657.629458225,635,657.370541775,0.401033663267,0.00447219513381,0.0798567154685,0.999999982076,9.69205446521e-05,-0.00015428935021,5.14652042946e-05,1793254991044330240
+71,1.183333333,BASELINE,781,760,737.785511388,718.214488612,685,649,914,800,839,657.785511388,635,657,0.401033932619,0.00447309435455,0.0798568953404,0.999999981981,9.82322231255e-05,-0.000154092486686,5.1425082867e-05,1793254991060997120
+72,1.200000000,BASELINE,781,760,737.204718148,718.795281852,685,649,914,800,839,657.204718148,635,657,0.401033595298,0.00447216712094,0.0798564223207,0.999999981794,9.85625745988e-05,-0.000154949443392,5.18403928574e-05,1793254991077664000
+73,1.216666667,BASELINE,781,760,737,719,685,649,914,800,839,657.372348388,635.372348388,657,0.40103397315,0.00447319256372,0.0798566695691,0.999999981671,0.000100839530469,-0.000154230773132,5.19906233414e-05,1793254991094330368
+74,1.233333333,BASELINE,781,760,737,719,685,649,914,800,839,657.947386242,635.947386242,657,0.40103474031,0.00447528095446,0.0798573088985,0.99999998157,0.000104176128896,-0.000152654403422,5.19965566168e-05,1793254991110996736
+75,1.250000000,BASELINE,781,760,737.523019682,719,685,649,914,800,839,658,635.476980318,657.523019682,0.401035053304,0.00447532379463,0.0798572699516,0.999999981384,0.000105338542151,-0.00015308193066,5.19793599576e-05,1793254991127663360
+76,1.266666667,BASELINE,781,760,738,719,685,649,914,800,839,658,635.101505403,658,0.401035290441,0.00447519892562,0.0798572928241,0.99999998127,0.000105842945701,-0.000153502828628,5.19148150312e-05,1793254991144329984
+77,1.283333333,BASELINE,781,760,738,719,685,649,914,800,839,658,635.693483451,658,0.401035382053,0.00447525912107,0.0798579444793,0.999999981544,0.000104225886522,-0.000152916531218,5.16327397534e-05,1793254991160996608
+78,1.300000000,BASELINE,781,760,738,718.723457236,685.276542764,649,914,800,839,658,635.723457236,657.723457236,0.401034643441,0.00447460398916,0.0798574587382,0.999999981664,0.000102243899263,-0.000153504076955,5.15213183077e-05,1793254991177663232
+79,1.316666667,BASELINE,781,760,738,718.149974524,685.850025476,649,914,800,839,658,635.149974524,657.149974524,0.401033013369,0.00447318076891,0.0798557517089,0.999999981615,9.98700677342e-05,-0.000155352045962,5.15931377632e-05,1793254991194330112
+80,1.333333333,BASELINE,781,760,737.573995067,718,685.573995067,649,914,800,839,658,635,657.426004933,0.401033532225,0.00447258292116,0.079856069854,0.999999981587,0.000100750935304,-0.000154917468355,5.17301523045e-05,1793254991210996992
+81,1.350000000,BASELINE,781,760,737.002919648,718,685.002919648,649.002919648,914,800,839,658,635,658,0.401034801521,0.00447228781325,0.0798571029568,0.999999981563,0.000102781524159,-0.000153679502688,5.18883728198e-05,1793254991227663872
+82,1.366666667,BASELINE,781,760,737.590050236,718,685.590050236,649.590050236,914,800,839,658,635,658,0.401033960286,0.00447408480146,0.0798576946707,0.999999981462,0.000104242481521,-0.000153425444996,5.16701719879e-05,1793254991244330496
+83,1.383333333,BASELINE,781,760,738,718.17576097,685.82423903,649.82423903,914,800,839,658,635.17576097,658,0.401033266443,0.00447478461287,0.0798577140531,0.999999981481,0.000103885791041,-0.000153592721629,5.15297446273e-05,1793254991260996864
+84,1.400000000,BASELINE,781,760,738,718.758186648,685.241813352,649.241813352,914,800,839,658,635.758186648,658,0.401032913624,0.00447294584577,0.0798564092109,0.999999981766,9.93235412718e-05,-0.000154734855149,5.15692646031e-05,1793254991277663488
+85,1.416666667,BASELINE,781,760,738,719,685.336275208,649.336275208,914,800,839.336275208,658,635.663724792,657.663724792,0.40103302386,0.00447265673675,0.079856007025,0.999999981784,9.85160061393e-05,-0.00015509316432,5.17055748485e-05,1793254991294329856
+86,1.433333333,BASELINE,781,760,738,719,685.911284653,649.911284653,914,800,839.911284653,658,635.088715347,657.088715347,0.401033462835,0.00447346778757,0.0798562456682,0.999999981619,0.000100374082391,-0.000154895007459,5.19106000923e-05,1793254991310996480
+87,1.450000000,BASELINE,781,760,737.514532326,718.514532326,685.514532326,649.514532326,914,800,839.514532326,658,635,657.485467674,0.401032732224,0.00447232337204,0.079856242876,0.999999981417,0.000100376500684,-0.000156167869768,5.19894732351e-05,1793254991327663360
+88,1.466666667,BASELINE,781,760,737.061621861,718,685.061621861,649,914,800,839.061621861,658,635,658,0.401031964291,0.0044709767548,0.07985619385,0.99999998126,9.99737830622e-05,-0.000157414657484,5.20274390863e-05,1793254991344329728
+89,1.483333333,BASELINE,781,760,737.65612572,718,685.65612572,649,914,800,839.65612572,658,635,658,0.40103271874,0.00447096651258,0.0798561259003,0.999999981567,9.8995086819e-05,-0.000156115287251,5.19106716627e-05,1793254991360996352
+90,1.500000000,BASELINE,781,760,737.756177894,718,685.756177894,649,914,800,840,657.756177894,635,658,0.40103330004,0.00447188219558,0.0798565730552,0.999999981673,0.000100064073371,-0.000154771691558,5.18431339643e-05,1793254991377662976
+91,1.516666667,BASELINE,781,760,737.177821694,718,685.177821694,649,914,800,840,657.177821694,635,658,0.401033643775,0.00447406828659,0.0798577269554,0.999999981493,0.000103942566152,-0.000153367416794,5.18431415105e-05,1793254991394329856
+92,1.533333333,BASELINE,781,760,737.396575078,718.396575078,685,649,914,800,840,657.396575078,635,658,0.401034319029,0.00447396840191,0.0798578918012,0.999999981633,0.000103590343236,-0.000152717117868,5.17659643396e-05,1793254991410996224
+93,1.550000000,BASELINE,781,760,737.969214069,718.969214069,685,649,914,800,840,657.969214069,635,658,0.401035141465,0.00447285363311,0.0798576175454,0.999999981916,0.000101359847411,-0.000152401554771,5.16545201559e-05,1793254991427663104
+94,1.566666667,BASELINE,781,760,737.456035712,719,685.543964288,649,914,800,839.456035712,657.456035712,635,658,0.40103444128,0.00447290247104,0.0798569862858,0.999999981665,0.000101313917964,-0.000154071981141,5.16374442339e-05,1793254991444329728
+95,1.583333333,BASELINE,781,760,737.122875796,718.877124204,685.877124204,649,914,800,839,657,635,657.877124204,0.401033981631,0.00447306692218,0.0798566967485,0.999999981469,0.000101777185826,-0.000155035763163,5.16407029106e-05,1793254991460996352
+96,1.600000000,BASELINE,781,760,737.717296405,718.282703595,685.282703595,649,914,800,839,657,635,657.282703595,0.40103477704,0.00447342133979,0.0798577964347,0.999999981602,0.000103718222242,-0.000152854730201,5.1701421448e-05,1793254991477663232
+97,1.616666667,BASELINE,781,760,737.700323699,718,685,649,914,800,839,657,635,657.299676301,0.401034164417,0.00447338618662,0.0798573300513,0.999999981527,0.000103628923335,-0.000153425992192,5.16464062122e-05,1793254991494329856
+98,1.633333333,BASELINE,781,760,737.128863847,718,685,649,914,800,839,657,635,657.871136153,0.401032274815,0.00447299772245,0.0798554433621,0.999999981258,0.000101698265014,-0.000156493375933,5.14864292669e-05,1793254991510996736
+99,1.650000000,BASELINE,781,760,737.447991446,718,685.447991446,649,914,800,839,657,635,657.552008554,0.401032252196,0.00447349908385,0.0798556675731,0.999999981239,0.000102340085525,-0.000156156627669,5.16091146554e-05,1793254991527663360
+100,1.666666667,BASELINE,781,760,738,718,685.973078456,649,914,800,839,657,635,657.026921544,0.401032791258,0.00447421372389,0.0798564809292,0.999999981296,0.000103633670036,-0.000154872231448,5.18008903958e-05,1793254991544329728
+101,1.683333333,BASELINE,781,760,738,718,685.383619045,649,914,800,839,657,635,657.616380955,0.401033708515,0.00447397139106,0.0798567624312,0.999999981434,0.000102895695415,-0.000154496382014,5.17166774376e-05,1793254991560996352
+102,1.700000000,BASELINE,781,760,737.796543006,718.203456994,685,649,914,800,839,657.203456994,635,658,0.401033701511,0.00447360858297,0.0798566977085,0.999999981498,0.000101996456888,-0.000154704076455,5.16469628457e-05,1793254991577662976
+103,1.716666667,BASELINE,781,760,737.213908857,718.786091143,685,649,914,800,839,657.786091143,635,658,0.401031971985,0.0044730212485,0.0798559877364,0.999999981421,0.000100796675377,-0.000155999305465,5.16042684662e-05,1793254991594329600
+104,1.733333333,BASELINE,780.636983458,760,737.363016542,718.636983458,685,649,914,800,839,658,635.363016542,658,0.401031806554,0.00447325140615,0.0798559719217,0.999999981403,0.00010103140478,-0.000155986334412,5.15228740933e-05,1793254991610996480
+105,1.750000000,BASELINE,780.063369827,760,737.936630173,718.063369827,685,649,914,800,839,658,635.936630173,658,0.401032548502,0.00447395581613,0.079856358809,0.99999998142,0.000102098338084,-0.000155214436289,5.14190286568e-05,1793254991627663104
+106,1.766666667,BASELINE,780.512815403,760,737.487184597,718,685,649,914,800,839,658,635.487184597,658,0.401031780353,0.00447311585291,0.0798554346656,0.999999981323,0.00010120639483,-0.000156375171846,5.15573424723e-05,1793254991644329728
+107,1.783333333,POSE1_TO_POSE2_PRESS,782,759,738,718,685,649,914,800,839,657,635,657,0.401032688184,0.00447330538718,0.079856443498,0.999999981614,0.000100632817451,-0.000154959502338,5.1309365218e-05,1793254991686743808
+108,1.800000000,POSE1_TO_POSE2_PRESS,781.41967096,759.58032904,737.41967096,718,685,649,914,800,839,657,635,657.58032904,0.401032069238,0.00447482349705,0.0798555594771,0.999999981204,0.000102790491031,-0.000156219434133,5.12084212266e-05,1793254991703411456
+109,1.816666667,POSE1_TO_POSE2_PRESS,781,760,737,718,685,649,914,800,839,657,635,658,0.401031868517,0.00447579103723,0.0798550777977,0.999999980957,0.00010419127063,-0.000156874383018,5.11942606914e-05,1793254991720078592
+110,1.833333333,POSE1_TO_POSE2_PRESS,781,760,737,718,685,649,914,800,839,657,635,658,0.401032760282,0.00447532037943,0.079855647115,0.999999981151,0.000103614891994,-0.000155948995633,5.14067959071e-05,1793254991736744448
+111,1.850000000,POSE1_TO_POSE2_PRESS,781,760,737,718.315332393,685.315332393,649,914,800,839,657.315332393,635,658,0.401032637621,0.0044744380564,0.0798560261391,0.999999981304,0.000102526351528,-0.000155630273053,5.15623576775e-05,1793254991753410816
+112,1.866666667,POSE1_TO_POSE2_PRESS,781,760,737,718.906236982,685.906236982,649,914,800,839,657.906236982,635,658,0.401031628443,0.00447319597497,0.0798562388638,0.999999981422,0.000100990227648,-0.000155841721088,5.16681297597e-05,1793254991770077440
+113,1.883333333,POSE1_TO_POSE2_PRESS,781,760,737,718.517386568,686,649,914,800,839,657.517386568,635,657.517386568,0.401031569808,0.00447450211201,0.0798559512736,0.999999981028,0.000103318855274,-0.000156886998148,5.15240464213e-05,1793254991786744064
+114,1.900000000,POSE1_TO_POSE2_PRESS,781,760,737.056791802,718,685.943208198,649,914,800,839,657,635,657,0.401031692972,0.00447600981875,0.0798557078059,0.99999998058,0.000106015211773,-0.000157993033241,5.13687042195e-05,1793254991803410688
+115,1.916666667,POSE1_TO_POSE2_PRESS,781,760,737.635955414,718,685.364044586,649,914,800,839,657,635,657,0.401031839344,0.00447495095622,0.0798567381171,0.999999980603,0.000105389432045,-0.000158211407807,5.15432481911e-05,1793254991820077824
+116,1.933333333,POSE1_TO_POSE2_PRESS,781,760,738,718.218739934,685,649,914,800,839,657.218739934,635,657,0.401033108226,0.00447463406628,0.0798578623453,0.999999980394,0.000105092953128,-0.000159671411987,5.17052495221e-05,1793254991836744448
+117,1.950000000,POSE1_TO_POSE2_PRESS,781,760,738,718.807652032,685,649,914,800,839,657.807652032,635,657,0.401036276726,0.00447557281184,0.0798591455088,0.999999979784,0.000105353747886,-0.000163232617838,5.1846025006e-05,1793254991853410816
+118,1.966666667,POSE1_TO_POSE2_PRESS,781,760,738,719,685,649,914,800,839,657.610058733,635,657.389941267,0.401052466548,0.00447573847361,0.0798652544288,0.999999980203,0.00010449676735,-0.000161152803944,5.20042720242e-05,1793254991870077184
+119,1.983333333,POSE1_TO_POSE2_PRESS,781,760,738,719,685,649,914,800,839,657.030981775,635,657.969018225,0.401074972186,0.00447552916173,0.0798737040164,0.999999981104,0.000103097625176,-0.00015633689069,5.21709933835e-05,1793254991886744064
+120,2.000000000,POSE1_TO_POSE2_PRESS,781,760,737.453659624,718.453659624,685,649,914,800,839,657.546340376,635,657.453659624,0.401123696779,0.00447393338272,0.0798886229326,0.999999983818,0.00010093061578,-0.000139534745016,5.20387644565e-05,1793254991903410688
+121,2.016666667,POSE1_TO_POSE2_PRESS,781,760,737.123045194,718,685.123045194,649,914,800,839.123045194,658,635,657,0.401178586505,0.00447288802557,0.0799033152604,0.99999998637,9.87812474851e-05,-0.000121864844927,5.14861994947e-05,1793254991920077568
+122,2.033333333,POSE1_TO_POSE2_PRESS,781,760,737.697847835,718,685.697847835,649,914,800,839.697847835,658,635,657,0.401250670038,0.00447415126868,0.0799158330678,0.999999988731,9.68560067197e-05,-0.000103496561339,4.94524235611e-05,1793254991936744192
+123,2.050000000,POSE1_TO_POSE2_PRESS,781,760,737.721044488,718,685.721044488,649,914,800,839.721044488,658,635,657.278955512,0.401332283152,0.00447539146023,0.079926635629,0.999999990393,9.63267153281e-05,-8.77255742907e-05,4.73310392306e-05,1793254991953410816
+124,2.066666667,POSE1_TO_POSE2_PRESS,781,760,737.132949585,718,685.132949585,649,914,800,839.132949585,658,635,657.867050415,0.401424456972,0.0044766061059,0.0799355373481,0.999999991444,9.73444196253e-05,-7.48329206894e-05,4.51125671248e-05,1793254991970077696
+125,2.083333333,POSE1_TO_POSE2_PRESS,781,760,737,718,685,649,914,800,839.44925121,658,635,658,0.4015316904,0.00447806097799,0.0799409721281,0.999999992247,9.58569523422e-05,-6.75802963172e-05,4.18280233443e-05,1793254991986744320
+126,2.100000000,POSE1_TO_POSE2_PRESS,781,760,737.029543955,718,685,649,914,800,839.970456045,657.970456045,635,657.970456045,0.401644589542,0.00447957798997,0.0799455022537,0.999999992977,9.36324909956e-05,-6.18045078678e-05,3.82072946029e-05,1793254992003410688
+127,2.116666667,POSE1_TO_POSE2_PRESS,781,760,737.606384581,718,685,649,914,800,839.393615419,657.393615419,635,657.393615419,0.401780955019,0.00448094622717,0.0799520340077,0.999999993851,9.13112473829e-05,-5.28676986846e-05,3.4127490256e-05,1793254992020077568
+128,2.133333333,POSE1_TO_POSE2_PRESS,781,760,737.817964926,718,685,649,914,800,839,657,635,657,0.401926515425,0.00448258557437,0.0799578193495,0.999999994614,8.86126301875e-05,-4.51260725748e-05,2.9710927026e-05,1793254992036743936
+129,2.150000000,POSE1_TO_POSE2_PRESS,781,760,737.244871221,718,685,649,914,800,839,657,635,657,0.402091828912,0.00448480733609,0.0799620012029,0.999999995279,8.51033168069e-05,-3.99520113739e-05,2.45709187559e-05,1793254992053410560
+130,2.166666667,POSE1_TO_POSE2_PRESS,781,760,737.338999917,718,685,649,914,800,839,657,635,657,0.402274952114,0.00448751235023,0.0799655425064,0.999999995989,8.07944692721e-05,-3.40322825318e-05,1.83133078706e-05,1793254992070077184
+131,2.183333333,POSE1_TO_POSE2_PRESS,781,760,737.93091165,718,685,649,914,800,839,657,635,657,0.402471362321,0.00449057789639,0.0799686059262,0.999999996678,7.58891267237e-05,-2.75562457638e-05,1.12219059599e-05,1793254992086743808
+132,2.200000000,POSE1_TO_POSE2_PRESS,781,760,738,718,685.511240925,649.511240925,914,800,839,657,635,657.511240925,0.402680525349,0.00449313234889,0.0799634771631,0.999999996739,6.88686387757e-05,-4.19951848151e-05,3.99305118843e-06,1793254992103410688
+133,2.216666667,POSE1_TO_POSE2_PRESS,781,760,738,718,686,649.910680426,914,800.089319574,839,657.089319574,635.089319574,658,0.402897135483,0.0044959334116,0.0799573823383,0.999999996411,6.12217407954e-05,-5.84558111717e-05,-3.46929244211e-06,1793254992120077568
+134,2.233333333,POSE1_TO_POSE2_PRESS,781,760,738,718,686,649.336510263,914,800.663489737,839,657.663489737,635.663489737,658,0.403145022772,0.00450043975777,0.0799519198605,0.999999996078,5.16917482403e-05,-7.08880377297e-05,-1.21004817046e-05,1793254992136743936
+135,2.250000000,POSE1_TO_POSE2_PRESS,781,760,737.756542121,718,686,649,914,801,839.243457879,658,635.756542121,657.756542121,0.403416579596,0.0045047123821,0.079948723503,0.999999995568,4.84654477518e-05,-7.84894268854e-05,-1.88188668725e-05,1793254992153410560
+136,2.266666667,POSE1_TO_POSE2_PRESS,781,760,737.168364471,718,686,649,914,801,839.831635529,658,635.168364471,657.168364471,0.403721650853,0.00450865407196,0.0799487358179,0.999999995132,5.41647463664e-05,-7.92506786675e-05,-2.28288512424e-05,1793254992170077184
+137,2.283333333,POSE1_TO_POSE2_PRESS,781,760,737.413974957,718,686,649,914,801,840,658,635,657.413974957,0.404060530237,0.00451624221128,0.0799529515683,0.999999996007,4.50896775251e-05,-7.36379966019e-05,-2.30349973866e-05,1793254992186743808
+138,2.300000000,POSE1_TO_POSE2_PRESS,781,760,737.993972974,718,686,649,914,801,840,658,635,657.993972974,0.404412968233,0.004525292745,0.0799588530903,0.999999997168,3.00894054329e-05,-6.54690729065e-05,-2.17156287747e-05,1793254992203410432
+139,2.316666667,POSE1_TO_POSE2_PRESS,781,760,738,718,686,649,914,801,840,658,635.571186673,658,0.404811156995,0.00453331370152,0.0799602248983,0.99999999693,4.73126987563e-05,-5.71493747996e-05,-2.51963280743e-05,1793254992220077312
+140,2.333333333,POSE1_TO_POSE2_PRESS,781,760.146874018,738,718,685.853125982,649,914,801,840,658,635.853125982,658,0.405215556648,0.00454119552341,0.0799600637319,0.999999996122,6.50135370089e-05,-5.22980558818e-05,-2.81731582807e-05,1793254992236743936
+141,2.350000000,POSE1_TO_POSE2_PRESS,781,760.718234384,738,718,685.281765616,649,914,801,840,658,635.281765616,658,0.405636518123,0.00454870647121,0.079955609524,0.999999994458,8.31166186836e-05,-5.74754125913e-05,-2.95480630398e-05,1793254992253410816
+142,2.366666667,POSE1_TO_POSE2_PRESS,781.300654241,761,738,718,685,649,914,800.699345759,839.699345759,658,635,658,0.406083562349,0.00455801650891,0.079949136346,0.999999993007,9.0145849845e-05,-6.92831324746e-05,-3.25473567639e-05,1793254992270077696
+143,2.383333333,POSE1_TO_POSE2_PRESS,781.893834669,761,738,718,685,649,914,800.106165331,839.106165331,658,635,658,0.406555984243,0.0045690769998,0.0799406987795,0.999999991746,8.6400609292e-05,-8.75419672006e-05,-3.71271249761e-05,1793254992286744064
+144,2.400000000,POSE1_TO_POSE2_PRESS,782,761,738,718,685.474875926,649.474875926,914,800.474875926,839.474875926,658,635.474875926,658,0.407057950738,0.00457684917337,0.0799374403094,0.999999989177,0.00010953127612,-9.28170336585e-05,-3.21499945973e-05,1793254992303410688
+145,2.416666667,POSE1_TO_POSE2_PRESS,781.947234689,760.947234689,738,718,685.947234689,649.947234689,914,801,840,657.947234689,635.947234689,658,0.407567726756,0.00458431326673,0.0799342401861,0.999999985544,0.000136596893305,-9.7786294167e-05,-2.63042175242e-05,1793254992320077312
+146,2.433333333,POSE1_TO_POSE2_PRESS,781.374329254,760.374329254,738,718,685.374329254,649.374329254,914,801,840,657.374329254,635.374329254,658,0.408090998595,0.00459580662761,0.0799204859661,0.999999980859,0.000144698658268,-0.000127641598352,-3.24322787748e-05,1793254992336744192
+147,2.450000000,POSE1_TO_POSE2_PRESS,781,760,737.795450866,718,685,649,914,801,839.795450866,657.204549134,635,657.795450866,0.408641955433,0.00460598581593,0.0799144017892,0.999999978087,0.000148893358884,-0.000142461673707,-3.68965940489e-05,1793254992353410816
+148,2.466666667,POSE1_TO_POSE2_PRESS,781,760,737.205313103,718,685,649,914,801,839.205313103,657.794686897,635,657.205313103,0.40924510029,0.00461368770148,0.0799227761509,0.999999980339,0.00014572298482,-0.000128939347868,-3.8224637928e-05,1793254992370077440
+149,2.483333333,POSE1_TO_POSE2_PRESS,781.377889955,760,737.377889955,718,685,649,914,801,839.377889955,658,635.377889955,657.377889955,0.409924150838,0.00461899801278,0.0799527206712,0.999999984795,0.000150237238577,-7.88542619599e-05,-4.02507280229e-05,1793254992386744064
+150,2.500000000,POSE1_TO_POSE2_PRESS,781.957393163,760,737.957393163,718,685,649,914,801,839.957393163,658,635.957393163,657.957393163,0.410643698854,0.00462303236226,0.0799941733824,0.999999986431,0.000158851423038,-9.26207648816e-06,-4.26492421268e-05,1793254992403410688
+151,2.516666667,POSE1_TO_POSE2_PRESS,782,760,737.465931027,718,685,649,914,800.465931027,840,658,636,658,0.411318677041,0.0046145953477,0.0799968129186,0.999999988239,0.000147068971434,-9.12397904021e-06,-4.25352732594e-05,1793254992420077056
+152,2.533333333,POSE1_TO_POSE2_PRESS,781.89004662,760,737.10995338,718,685,649,914,800.10995338,840,657.89004662,635.89004662,658,0.411990507902,0.00460399891404,0.0799888362014,0.99999999,0.000132702382963,-2.50424264421e-05,-4.1989103336e-05,1793254992436743680
+153,2.550000000,POSE1_TO_POSE2_PRESS,781.316552837,760,737.683447163,718,685,649,914,800.683447163,840,657.316552837,635.316552837,658,0.412663981184,0.00458847118485,0.0799490887363,0.999999989005,0.000114265419819,-8.54156710182e-05,-4.04614286674e-05,1793254992453410304
+154,2.566666667,POSE1_TO_POSE2_PRESS,781.265125023,760,738,718,685.265125023,649,914,801,840,657.265125023,635.265125023,658,0.413370107754,0.00457505376575,0.0799215437492,0.999999987033,9.82891292398e-05,-0.000120925894851,-4.06107919948e-05,1793254992470076928
+155,2.583333333,POSE1_TO_POSE2_PRESS,781.856885796,760,738,718,685.856885796,649,914,801,840,657.856885796,635.856885796,658,0.41411646348,0.00456423626031,0.0799090322888,0.999999987528,8.53444011698e-05,-0.000125804724197,-4.28262769607e-05,1793254992486743552
+156,2.600000000,POSE1_TO_POSE2_PRESS,782,760,738,718,685.560923889,649,914.439076111,801,840,658,635.560923889,658,0.414932633952,0.0045673629732,0.0799296598183,0.999999990728,9.33339754461e-05,-8.8985904279e-05,-4.37452454537e-05,1793254992503410176
+157,2.616666667,POSE1_TO_POSE2_PRESS,782,760,738,718,685,649,914.98195122,801,840,657.98195122,635,658,0.415769256145,0.00457490992886,0.0799596471357,0.999999992364,0.000107740288641,-4.13482969005e-05,-4.42179839288e-05,1793254992520076800
+158,2.633333333,POSE1_TO_POSE2_PRESS,782,760,738,718,685,649,914.408051444,801,840,657.408051444,635,658,0.41654987371,0.00458159960048,0.079952331449,0.999999990075,0.000114105055012,-7.01610166666e-05,-4.36851079805e-05,1793254992536743680
+159,2.650000000,POSE1_TO_POSE2_PRESS,782,760,737.834276077,718,685,649.165723923,914,801,840,657.165723923,635,657.834276077,0.417361165606,0.00458689027961,0.0799517352017,0.999999989024,0.000119012424903,-7.63893944161e-05,-4.41992681935e-05,1793254992553410048
+160,2.666666667,POSE1_TO_POSE2_PRESS,782,760,737.260806836,718,685,649.739193164,914,801,840,657.739193164,635,657.260806836,0.418247928246,0.00458873889256,0.0799676713896,0.999999991276,0.000120334032175,-2.70515038589e-05,-4.72895446996e-05,1793254992570076928
+161,2.683333333,POSE1_TO_POSE2_PRESS,781.676109191,760,737,718,685,649.676109191,914,801,840,657.676109191,635.323890809,657.323890809,0.419132723477,0.00458914482542,0.0799823760788,0.999999992769,0.000109532902036,8.5992440249e-06,-4.88889394242e-05,1793254992586743808
+162,2.700000000,POSE1_TO_POSE2_PRESS,781.082045421,760,737,718,685,649.082045421,914,801,840,657.082045421,635.917954579,657.917954579,0.420015877552,0.00458834734908,0.0799960535148,0.999999994322,8.8619611338e-05,3.28328828687e-05,-4.92447175503e-05,1793254992603410688
+163,2.716666667,POSE1_TO_POSE2_PRESS,781.497984261,760,737,717.502015739,685,649,914,801,840.497984261,657,636,657.502015739,0.420907685316,0.00458826496476,0.0799791671522,0.999999994033,9.78746266866e-05,2.1825511881e-06,-4.84743910828e-05,1793254992620077056
+164,2.733333333,POSE1_TO_POSE2_PRESS,782,760,737.07497108,717.07497108,685,649,914,801,840.92502892,657,635.92502892,657.07497108,0.421805063864,0.00458855914632,0.0799629219691,0.999999992446,0.000109696072566,-2.80673100775e-05,-4.78236232335e-05,1793254992636743680
+165,2.750000000,POSE1_TO_POSE2_PRESS,782,760,737.646696294,717.646696294,685,649,914,801,840.353303706,657,635.353303706,657.646696294,0.422730165763,0.0045905891931,0.0799833759,0.999999993118,0.000106491759685,2.60862831086e-06,-4.91606706716e-05,1793254992653410560
+166,2.766666667,POSE1_TO_POSE2_PRESS,782,760,737.773792197,718,685.226207803,649,914,801,840.226207803,657,635.226207803,657.773792197,0.423642792585,0.00459320596704,0.0799952017808,0.999999992788,0.000108219742715,1.7120144538e-05,-4.91923077186e-05,1793254992670077184
+167,2.783333333,POSE1_TO_POSE2_PRESS,782,760,737.181686014,718,685.818313986,649,914,801,840.818313986,657,635.818313986,657.181686014,0.424535240713,0.00459677179133,0.0799930715172,0.999999991922,0.000117925872237,5.48519413978e-06,-4.71124018403e-05,1793254992686743808
+168,2.800000000,POSE1_TO_POSE2_PRESS,782,760,737.399675556,718,686,649,914,801.399675556,841,657.399675556,636,657.399675556,0.425429623285,0.00459951953697,0.0799564362628,0.999999989451,0.000122815466542,-6.09434249318e-05,-4.79591938109e-05,1793254992703410944
+169,2.816666667,POSE1_TO_POSE2_PRESS,782,760,737.976280634,718,686,649,914,801.976280634,841,657.976280634,636,657.976280634,0.42632486215,0.00460190513299,0.0799045262402,0.999999979365,0.000125572861779,-0.000151628261461,-5.01015845816e-05,1793254992720077568
+170,2.833333333,POSE1_TO_POSE2_PRESS,782,760,738,718,686,649,914,802,841,657.46511038,636,658,0.427296425364,0.00459934642728,0.0799030353242,0.999999982904,0.000118075868542,-0.000132412251198,-5.21319427711e-05,1793254992736744192
+171,2.850000000,POSE1_TO_POSE2_PRESS,782,760,738,718,685.900899967,649,914,801.900899967,841,657.099100033,635.900899967,658,0.428269630062,0.00459703010128,0.0799065771287,0.999999986249,0.000110904183786,-0.000110982299044,-5.37122702609e-05,1793254992753410560
+172,2.866666667,POSE1_TO_POSE2_PRESS,782,760,738,718,685.304720635,649,914,801.304720635,841,657.695279365,635.304720635,658,0.429234644147,0.00459699349434,0.0799245131059,0.999999987595,0.00010757085489,-0.000102096787195,-5.30593812744e-05,1793254992770076928
+173,2.883333333,POSE1_TO_POSE2_PRESS,782,760,738,718,685.289371045,649,914.289371045,801,841,658,635.289371045,658,0.4302101538,0.00459582931859,0.0799552220881,0.999999991311,0.000102369047629,-6.46569918555e-05,-5.21288658684e-05,1793254992786743808
+174,2.900000000,POSE1_TO_POSE2_PRESS,782,760,738,718,685.881280045,649,914.881280045,801,841,658,635.881280045,658,0.431196636528,0.0045934862676,0.0799992852693,0.999999994168,9.52137426978e-05,2.63635851096e-06,-5.09080914022e-05,1793254992803410688
+175,2.916666667,POSE1_TO_POSE2_PRESS,782,760,738,718,686,649,915,801,841,657.53950232,636,658,0.432141637616,0.00459555814167,0.0800103488041,0.999999993755,9.80921796606e-05,1.47733114132e-05,-5.14731264079e-05,1793254992820077568
+176,2.933333333,POSE1_TO_POSE2_PRESS,782,760,738,718,686,649,914.96370752,801,841,657.03629248,635.96370752,658,0.433073356048,0.00459867272876,0.0800082210018,0.999999993283,0.000103080243238,6.87149793721e-06,-5.2546592752e-05,1793254992836744704
+177,2.950000000,POSE1_TO_POSE2_PRESS,782,760,738,718,686,649,914.391437904,801,841,657.608562096,635.391437904,658,0.43396261184,0.00460082793531,0.0799335522353,0.99999998902,0.000102046214259,-9.25994425013e-05,-5.4511820406e-05,1793254992853411072
+178,2.966666667,POSE1_TO_POSE2_PRESS,782,760,738,718,685.81737391,648.81737391,914.18262609,801.18262609,841,658,635,658,0.434870877955,0.00460145228203,0.0798901619912,0.999999982516,9.88116780637e-05,-0.000148495062758,-5.61540137651e-05,1793254992870077440
+179,2.983333333,POSE1_TO_POSE2_PRESS,782,760,738,718,685.239425601,648.239425601,914.760574399,801.760574399,841,658,635,658,0.435820295,0.00459876284796,0.0799144788982,0.999999988189,9.08138076145e-05,-0.00011006523124,-5.7096951088e-05,1793254992886744064
+180,3.000000000,POSE1_TO_POSE2_PRESS,782,760,738,717.652365944,685,648.347634056,915,801.652365944,841,657.652365944,635.347634056,658,0.436752874848,0.00459766481988,0.0799467680906,0.999999992095,8.90548799469e-05,-6.82465618433e-05,-5.67650802949e-05,1793254992903410688
+181,3.016666667,POSE1_TO_POSE2_PRESS,782,760,738,717.058862175,685,648.941137825,915,801.058862175,841,657.058862175,635.941137825,658,0.437673546264,0.00459769233915,0.0799846958071,0.999999993964,9.17085441406e-05,-2.4031085257e-05,-5.55315810974e-05,1793254992920077312
+182,3.033333333,POSE1_TO_POSE2_PRESS,782,760,737.480795602,717.519204398,685,649,915,801.519204398,841,657,636,658,0.438601278627,0.0045995248555,0.0800100545902,0.999999993975,9.22112573178e-05,2.10253861726e-05,-5.57224800349e-05,1793254992936743936
+183,3.050000000,POSE1_TO_POSE2_PRESS,782,760,737.095592119,717.904407881,685,649,915,801.904407881,841,657,636,658,0.439509156402,0.00460222418616,0.0800195902535,0.999999993123,9.45312306708e-05,4.13087188312e-05,-5.57811144487e-05,1793254992953410816
+184,3.066666667,POSE1_TO_POSE2_PRESS,782,760,737.672084112,717.327915888,685,649,915,801.327915888,841,657,636,658,0.440313239892,0.00460828451145,0.0799564853145,0.999999990761,0.00010718472501,-6.35011717801e-05,-5.4385431146e-05,1793254992970077696
+185,3.083333333,POSE1_TO_POSE2_PRESS,782,760,737.752065007,717,685,649,915,801,841.247934993,657.247934993,636,658,0.44107159665,0.00461563853891,0.0798720004953,0.999999971992,0.000118417259344,-0.00019736956453,-5.51223000019e-05,1793254992986744320
+186,3.100000000,POSE1_TO_POSE2_PRESS,782,760,737.177059912,717,685,649,915,801,841.822940088,657.822940088,636,658,0.441769631699,0.00462469918787,0.0797593118383,0.999999921824,0.000127775293942,-0.000369571250053,-5.86723818738e-05,1793254993003410688
+187,3.116666667,POSE1_TO_POSE2_PRESS,782,760,737.411456916,717,684.588543084,649,915,801,841.588543084,657.588543084,636,657.588543084,0.442560428081,0.00462966968021,0.0797426611692,0.999999916059,0.00012852509126,-0.00038432246338,-6.04906150628e-05,1793254993020077312
+188,3.133333333,POSE1_TO_POSE2_PRESS,782,760,737.994213902,717,683.994213902,648.994213902,915,801,841,657,636,657.005786098,0.443392331651,0.00463283821588,0.0797690718548,0.999999936183,0.000125504549824,-0.000328783707255,-6.15135626373e-05,1793254993036744192
+189,3.150000000,POSE1_TO_POSE2_PRESS,782,760,737.41950519,717,683.41950519,648.41950519,915,801,841,657,636,657.58049481,0.444207943806,0.00463776664974,0.0798279938196,0.999999958663,0.000128360988006,-0.000250170504663,-6.01053829047e-05,1793254993053410816
+190,3.166666667,POSE1_TO_POSE2_PRESS,782,760,737,717,683,648,915,801,841.154993798,657.154993798,635.845006202,658,0.445005950741,0.00464208462969,0.0798715173621,0.99999997063,0.000133825691557,-0.000193461049051,-5.83354011782e-05,1793254993070077440
+191,3.183333333,POSE1_TO_POSE2_PRESS,782,760,737,717,683,648,915,801,841.728926043,657.728926043,635.271073957,658,0.445756372063,0.00464475259236,0.0798734199544,0.999999968548,0.000146340374192,-0.00019595602461,-5.55874920568e-05,1793254993086743808
+192,3.200000000,POSE1_TO_POSE2_PRESS,782,760,737,717,683,648,915,801,841.686467893,657.686467893,635,658,0.446466073833,0.00464503472189,0.07985901194,0.999999964991,0.000146386168601,-0.000213229904903,-5.58836491063e-05,1793254993103410432
+193,3.216666667,POSE1_TO_POSE2_PRESS,782,760,737,717,683,648,915,801,841.092308243,657.092308243,635,658,0.447139329439,0.00464318140652,0.0798300050841,0.999999959413,0.000135271658625,-0.000243731673365,-5.89044038426e-05,1793254993120077056
+194,3.233333333,POSE1_TO_POSE2_PRESS,782,760,737,717.48590766,682.51409234,648,915,801,841.48590766,657.48590766,635,658,0.447747566108,0.00464255060128,0.0797835454147,0.999999941486,0.000131248856093,-0.000309930109015,-6.12001140737e-05,1793254993136743680
+195,3.250000000,POSE1_TO_POSE2_PRESS,782.061125113,760,737,717.938874887,682,647.938874887,915,801,842,658,635,658,0.448339001012,0.00464217126426,0.0797336545927,0.999999915943,0.000129126110545,-0.000384010293088,-6.3065565644e-05,1793254993153410560
+196,3.266666667,POSE1_TO_POSE2_PRESS,782.635789522,760,737,717.364210478,682,647.364210478,915,801,842,658,635,658,0.4488897521,0.00464201545044,0.0796819073679,0.999999879289,0.000132007613692,-0.000469145678071,-6.24366528813e-05,1793254993170077184
+197,3.283333333,POSE1_TO_POSE2_PRESS,783,760,737,717,681.782663576,647.217336424,915.217336424,801,842,658,635.217336424,658,0.449456374653,0.00464220262446,0.0796491588743,0.999999853638,0.000135021637062,-0.000520225475881,-6.21250485377e-05,1793254993186743808
+198,3.300000000,POSE1_TO_POSE2_PRESS,783,760,737,717,681.189205927,647.810794073,915.810794073,801,842,658,635.810794073,658,0.450050464222,0.00464298337139,0.0796492894861,0.999999857236,0.000138265000257,-0.000512368857015,-6.23625771093e-05,1793254993203410432
+199,3.316666667,POSE1_TO_POSE2_PRESS,783,760,737,717,681,648,915.607827257,801,841.607827257,658,636,657.607827257,0.450638378643,0.00464308863011,0.0796777246698,0.99999987764,0.000137958224592,-0.000470941712346,-6.24608738745e-05,1793254993220077312
+200,3.333333333,POSE1_TO_POSE2_PRESS,783,760,737,717,681,648,915.03210198,801,841.03210198,658,636,657.03210198,0.4512234029,0.0046428777334,0.0797194075254,0.999999903184,0.000135989841823,-0.000413802216585,-6.24940044348e-05,1793254993236743936
+201,3.350000000,POSE1_TO_POSE2_PRESS,783,760,737,717,680.457792897,647.457792897,915,800.457792897,841.542207103,657.457792897,635.457792897,657.542207103,0.451696862315,0.00464204379409,0.0797089392797,0.999999894933,0.000132110984374,-0.000434470001606,-6.25867595783e-05,1793254993253410816
+202,3.366666667,POSE1_TO_POSE2_PRESS,782.879968816,759.879968816,737,717,679.879968816,647,915,800,842,657.120031184,635,658,0.452151214013,0.00464126646295,0.0796888713705,0.999999879471,0.000128607587151,-0.000469658384706,-6.27660060105e-05,1793254993270077440
+203,3.383333333,POSE1_TO_POSE2_PRESS,782.287995379,759.287995379,737,717,679.287995379,647,915,800,842,657.712004621,635,658,0.452556340891,0.00464085636452,0.0796431677553,0.999999842031,0.000127024012303,-0.000543873853606,-6.32714777003e-05,1793254993286743808
+204,3.400000000,POSE1_TO_POSE2_PRESS,782.297469103,759.297469103,737,717,679,647,915,800,842,658,635,658,0.452949454592,0.0046431485386,0.0796046130016,0.99999980653,0.000131676392569,-0.000604636112695,-6.33760153884e-05,1793254993303410688
+205,3.416666667,POSE1_TO_POSE2_PRESS,782.876766825,759.876766825,737,717,679,647,915,800,842,658,635,658,0.453331186727,0.00464800090375,0.0795728312356,0.999999774916,0.000142236851055,-0.000652652508366,-6.3100699688e-05,1793254993320077312
+206,3.433333333,POSE1_TO_POSE2_PRESS,783,760,737,717,678.548140657,647,915,800,842,657.548140657,635,658,0.453691571293,0.00464891727685,0.0795545963521,0.999999758767,0.000141918115351,-0.000676936024182,-6.3891987865e-05,1793254993336743680
+207,3.450000000,POSE1_TO_POSE2_PRESS,783,760,737,717.025773119,678,646.974226881,915,800,841.974226881,657,635,658,0.454044584342,0.00464876728837,0.0795403803025,0.999999747069,0.000138762050399,-0.000694542928784,-6.4941379791e-05,1793254993353410048
+208,3.466666667,POSE1_TO_POSE2_PRESS,783,760,737,717.598785651,678,646.401214349,915,800,841.401214349,657,635,658,0.454363557014,0.00464855747801,0.0795337726846,0.999999738767,0.000137778904862,-0.000706549622204,-6.53515915628e-05,1793254993370076928
+209,3.483333333,POSE1_TO_POSE2_PRESS,783,760,737,717.821599979,677.821599979,646.178400021,915,800,841.178400021,657.178400021,635,658,0.454675002889,0.00464807338281,0.0795289781572,0.999999732786,0.000136821128904,-0.000715134753634,-6.54958147426e-05,1793254993386743808
+210,3.500000000,POSE1_TO_POSE2_PRESS,783,760,737,717.22656788,677.22656788,646.77343212,915,800,841.77343212,657.77343212,635,658,0.454968870774,0.00464694872794,0.0795284178882,0.999999732515,0.000135922600769,-0.000715729231613,-6.50188530938e-05,1793254993403410432
+211,3.516666667,POSE1_TO_POSE2_PRESS,783,760,736.643307203,717,677,647,915,800,841.643307203,657.643307203,635,657.643307203,0.455228328935,0.00464767218814,0.0795248754414,0.999999726572,0.000136318796264,-0.000723906440294,-6.50560247765e-05,1793254993420077568
+212,3.533333333,POSE1_TO_POSE2_PRESS,783,760,736.067284693,717,677,647,915,800,841.067284693,657.067284693,635,657.067284693,0.455466628649,0.00464953205061,0.0795194992594,0.999999717009,0.000137511114721,-0.000736746255438,-6.54093359996e-05,1793254993436744448
+213,3.550000000,POSE1_TO_POSE2_PRESS,783,760,736.510421638,717,676.489578362,647,915,800,841.510421638,657.510421638,635.510421638,657.510421638,0.455677838,0.00465236109285,0.0795155613189,0.999999711741,0.000139723240869,-0.000743387969351,-6.61049056339e-05,1793254993453410816
+214,3.566666667,POSE1_TO_POSE2_PRESS,783,760,736.910144147,717,676,646.910144147,915,800.089855853,842,658,636,658,0.455878384542,0.00465878625787,0.079510800587,0.999999705068,0.000145346457862,-0.000751093771369,-6.78042088429e-05,1793254993470077440
+215,3.583333333,POSE1_TO_POSE2_PRESS,783,760,736.322368999,717,676,646.322368999,915,800.677631001,842,658,636,658,0.456039699303,0.00468442836564,0.0795004264463,0.999999687036,0.000169124193362,-0.0007692385042,-7.48146774581e-05,1793254993486744320
+216,3.600000000,POSE1_TO_POSE2_PRESS,783,760,736.261513581,717.261513581,676,646,915.261513581,800.738486419,842,657.738486419,635.738486419,658,0.456187689071,0.00470032051297,0.0794873893555,0.999999665812,0.000182261986934,-0.000792999224735,-7.94314284844e-05,1793254993503410688
+217,3.616666667,POSE1_TO_POSE2_PRESS,783,760,736.840668117,717.840668117,676,646,915.840668117,800.159331883,842,657.159331883,635.159331883,658,0.45631949396,0.00470437011225,0.0794711177794,0.999999640916,0.000182476238755,-0.000823581263864,-8.11407096775e-05,1793254993520077312
+218,3.633333333,POSE1_TO_POSE2_PRESS,783,760,736.582876536,717.582876536,676,646.417123464,915.582876536,800,842,657.417123464,635,658,0.4564426503,0.00469921608348,0.0794647881622,0.999999634258,0.000172424981677,-0.000833688430308,-8.19559572029e-05,1793254993536744192
+219,3.650000000,POSE1_TO_POSE2_PRESS,783,760,736.007445604,717.007445604,676,646.992554396,915.007445604,800,842,657.992554396,635,658,0.456562524323,0.0046905690767,0.0794622317359,0.999999634576,0.000158477739694,-0.000836024934577,-8.24318993839e-05,1793254993553410816
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,760,736,717.5676254,675.4323746,646.4323746,915.5676254,800,842,657.4323746,635,658,0.456666128799,0.00469551319836,0.0794690003918,0.999999641743,0.000163113775542,-0.000826395424462,-8.3536737856e-05,1793254993570077440
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,759.853590182,736.146409818,718,675,645.853590182,915.707180364,800,842,657.146409818,635,658,0.45676242136,0.00469924678481,0.079474833037,0.999999647548,0.000166528613896,-0.000818560227457,-8.44509293123e-05,1793254993586744064
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,759.263539443,736.736460557,718,675,645.263539443,914.527078885,800,842,657.736460557,635,658,0.456837204095,0.00469877243187,0.0794774590409,0.999999649263,0.000165504909801,-0.000816637342701,-8.47624545428e-05,1793254993603410688
+223,3.716666667,POSE1_TO_POSE2_PRESS,783,759.321192712,737,717.678807288,675,645,914,800.321192712,842,657.678807288,635,658.321192712,0.45690123751,0.00469774510753,0.079478631826,0.999999649004,0.000164862603364,-0.000817119524265,-8.44267920168e-05,1793254993620077312
+224,3.733333333,POSE1_TO_POSE2_PRESS,783,759.901632103,737,717.098367897,675,645,914,800.901632103,842,657.098367897,635,658.901632103,0.456956594754,0.00469627145919,0.079478631664,0.999999647148,0.00016452813716,-0.0008195429248,-8.35687600265e-05,1793254993636743936
+225,3.750000000,POSE1_TO_POSE2_PRESS,783,760,737,717,675,645,914,800.523521437,842,657,635,658.523521437,0.456997544546,0.00469864949549,0.0794757972542,0.99999964419,0.000167657655769,-0.000822575922037,-8.29482536026e-05,1793254993653410560
+226,3.766666667,POSE1_TO_POSE2_PRESS,783,760,737,717.050308955,674.949691045,645,914,800,842,657.050308955,635,658,0.457034362426,0.00470108653865,0.0794724709364,0.999999641037,0.000171236464257,-0.000825748294511,-8.21196030543e-05,1793254993670077184
+227,3.783333333,POSE1_TO_POSE2_PRESS,783,760,737,717.625445665,674.374554335,645,914,800,842,657.625445665,635,658,0.45705874491,0.0046959400874,0.0794700462355,0.999999638411,0.000172128542672,-0.00082907699948,-7.86139535758e-05,1793254993686744064
+228,3.800000000,POSE1_TO_POSE2_PRESS,783,760,737,718,674.206760653,645,914,800,841.793239347,658,635,658,0.457079647492,0.00469300630652,0.0794679775059,0.999999634722,0.000180517561422,-0.000832188355483,-7.37055628971e-05,1793254993703410688
+229,3.816666667,POSE1_TO_POSE2_PRESS,783,760,737,718,674.799612517,645,914,800,841.200387483,658,635,658,0.45709405193,0.00469420432069,0.0794665734939,0.999999628701,0.000202905872147,-0.000834893847876,-6.61777859716e-05,1793254993720077312
+230,3.833333333,POSE1_TO_POSE2_PRESS,783,760,737,718,674.618640346,645,914,800,841,657.618640346,635,658,0.457104662294,0.00469532788563,0.079464856317,0.999999624972,0.000211984807184,-0.000837326082949,-6.32710179832e-05,1793254993736744192
+231,3.850000000,POSE1_TO_POSE2_PRESS,783,760,737,718,674.042563162,645,914,800,841,657.042563162,635,658,0.45711333545,0.00469641343768,0.0794629792421,0.999999622598,0.00021426813874,-0.000839618796281,-6.27236803224e-05,1793254993753410816
+232,3.866666667,POSE1_TO_POSE2_PRESS,783,760,736.468458526,718,674.531541474,645,914,800,841,657.531541474,635,658,0.457117980372,0.00469501880569,0.0794614319311,0.999999622012,0.000213102623692,-0.000840624810283,-6.25508375602e-05,1793254993770077184
+233,3.883333333,POSE1_TO_POSE2_PRESS,783,760,736.217376216,718,674.891311892,645,914,800,841.108688108,658,635,658,0.457122085627,0.00469339968714,0.0794603534592,0.999999621744,0.00021170777543,-0.000841308982981,-6.23840911589e-05,1793254993786743808
+234,3.900000000,POSE1_TO_POSE2_PRESS,783,760,737.400084864,718,674.299957568,645,914,800,841.700042432,658,635,658,0.457125221451,0.00469166235305,0.079461240196,0.999999622255,0.000210516371129,-0.000841019768946,-6.21117397733e-05,1793254993803410688
+235,3.916666667,POSE1_TO_POSE2_PRESS,783,760,737.714784546,717.714784546,674,645,914,800,842,657.714784546,635.285215454,658,0.457128116562,0.00469153801086,0.0794621047044,0.999999623282,0.000209708766549,-0.00084001023601,-6.19673547566e-05,1793254993820077312
+236,3.933333333,POSE1_TO_POSE2_PRESS,783,760,737.135974354,717.135974354,674,645,914,800,842,657.135974354,635.864025646,658,0.457130763888,0.0046930740481,0.0794629463316,0.999999624839,0.000209296237118,-0.00083825922204,-6.19546955725e-05,1793254993836744192
+237,3.950000000,POSE1_TO_POSE2_PRESS,783,760,737,717.436417099,674,644.563582901,914,800,842,657,635.563582901,657.563582901,0.457131209102,0.00469220856737,0.0794619119768,0.999999624139,0.000206901754086,-0.000839685731217,-6.19718444686e-05,1793254993853410816
+238,3.966666667,POSE1_TO_POSE2_PRESS,783,760,737,718,674,644.00694651,914,800,842,657.00694651,635,657.00694651,0.457130999042,0.00469063293723,0.0794603274114,0.999999622761,0.000203948660317,-0.000842044464887,-6.19970555911e-05,1793254993870077440
+239,3.983333333,POSE1_TO_POSE2_PRESS,783,760,737,718,674,644.586451109,914,800,842,657.586451109,635,657.586451109,0.457132511009,0.00469130297104,0.0794608707272,0.999999623555,0.000205113061445,-0.000840822262977,-6.19323875852e-05,1793254993886744064
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,760,737,718,674,645,914,800,842.169697071,658,635,658,0.457133464511,0.0046913745624,0.0794611815486,0.999999623916,0.000205895115729,-0.000840216198964,-6.17391114246e-05,1793254993903410688
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,760,737,718,674,645,914,800,842.76226619,658,635,658,0.457133026358,0.00468995488117,0.0794609130117,0.999999623202,0.000205724391022,-0.000841145503275,-6.12253536394e-05,1793254993920077056
+242,4.033333333,POSE1_TO_POSE2_PRESS,783.346720977,760,736.653279023,718,674,645,914,800,842.653279023,658,635,658,0.457132681913,0.00468961845009,0.0794606623544,0.999999622554,0.000205262686311,-0.000842033147461,-6.11527544151e-05,1793254993936743680
+243,4.050000000,POSE1_TO_POSE2_PRESS,783.925739272,760,736.074260728,718,674,645,914,800,842.074260728,658,635,658,0.457132400252,0.00469000777872,0.0794604236762,0.99999962195,0.000204606029818,-0.000842892880016,-6.13757241478e-05,1793254993953410560
+244,4.066666667,POSE1_TO_POSE2_PRESS,783.4973193,760,736,717.4973193,674,645,914,800,841.4973193,658,635,658,0.457133971353,0.0046909534405,0.0794609448177,0.999999622602,0.000205812937223,-0.000841840834878,-6.11689936385e-05,1793254993970077440
+245,4.083333333,POSE1_TO_POSE2_PRESS,783,759.920810261,736.079189739,717,674,645,914,800,841.079189739,658,635,658,0.457135482242,0.00469151490754,0.0794614251706,0.999999623248,0.000206629180568,-0.000840892214749,-6.09023208837e-05,1793254993986744064
+246,4.100000000,POSE1_TO_POSE2_PRESS,783,759.345096738,736.654903262,717,674,645,914,800,841.654903262,658,635,658,0.457134906492,0.00468915425811,0.0794609488742,0.999999622718,0.000203276876289,-0.000842355613698,-6.06561885e-05,1793254994003410688
+247,4.116666667,POSE1_TO_POSE2_PRESS,783,759.236160601,736.763839399,717,674,645,914,800,842,658,635,658,0.457134923876,0.00468819475199,0.0794609893198,0.999999622681,0.000202692014789,-0.000842540407493,-6.06542849024e-05,1793254994020077312
+248,4.133333333,POSE1_TO_POSE2_PRESS,783,759.825713835,736.174286165,717,674,645,914,800,842,658,635,658,0.45713582883,0.00468933192772,0.0794618030224,0.999999623387,0.000206248376562,-0.000840811886412,-6.10178472005e-05,1793254994036743936
+249,4.150000000,POSE1_TO_POSE2_PRESS,783,760,736.816240516,717,674,645,914,800,842,658,635,658,0.457136171866,0.00469001658774,0.0794614013928,0.99999962275,0.000208958738448,-0.00084090002253,-6.10154863667e-05,1793254994053410816
+250,4.166666667,POSE1_TO_POSE2_PRESS,783,760,737.975054307,717,674,645,914,800,842,658,635,658,0.457136279068,0.00469051132843,0.0794604896927,0.999999621549,0.000211314036941,-0.000841750603389,-6.08595488593e-05,1793254994070077440
+251,4.183333333,HOLD_POSE2,783,760,737,718,674,645,914,801,842,658,635,658,0.457136439731,0.00468862603822,0.0794602048286,0.999999621938,0.000204444650608,-0.000842984034715,-6.08590942626e-05,1793254994099511040
+252,4.200000000,HOLD_POSE2,783,760,736.412177297,718,674,645,914,800.412177297,842,657.412177297,635.587822703,658,0.457136934213,0.00468919383406,0.0794603889038,0.999999623221,0.000202836937828,-0.000841847720616,-6.08818723563e-05,1793254994116177664
+253,4.216666667,HOLD_POSE2,783,759.826581088,736.173418912,718,674,645,914,800,842,657.173418912,635.826581088,658,0.457137513411,0.00468970473347,0.0794606411371,0.99999962421,0.000202548682752,-0.000840743229661,-6.08703937655e-05,1793254994132844032
+254,4.233333333,HOLD_POSE2,783,759.24620955,736.75379045,718,674,645,914,800,842,657.75379045,635.24620955,658,0.457138291408,0.00469008211725,0.0794610533132,0.999999624508,0.000205356726191,-0.000839713416101,-6.07785269013e-05,1793254994149510656
+255,4.250000000,HOLD_POSE2,783,759.331397106,736.668602894,717.668602894,674,645,914,800,842,658,635,658,0.457139234134,0.0046903562577,0.0794618434878,0.99999962474,0.000206315941301,-0.000839204194645,-6.07390958483e-05,1793254994166177536
+256,4.266666667,HOLD_POSE2,783,759.906966571,736.093033429,717.093033429,674,645,914,800,842,658,635,658,0.457140298232,0.00469055432876,0.0794629121704,0.999999624929,0.000205912945268,-0.000839078543903,-6.0738299344e-05,1793254994182844416
+257,4.283333333,HOLD_POSE2,783,760,736.481338162,717.481338162,674,645,914,800,842,658,635,658,0.457139197612,0.0046895340216,0.0794619411384,0.999999624426,0.000205607486322,-0.000839771070931,-6.04832476434e-05,1793254994199511040
+258,4.300000000,HOLD_POSE2,783,760,737,717.942825928,674,645,914,800,842,658,635,658,0.457137872934,0.00468849237095,0.0794606822778,0.99999962377,0.000205347236246,-0.000840633933298,-6.02302815696e-05,1793254994216177408
+259,4.316666667,HOLD_POSE2,783,760,737,717.351141198,674,645,914,800,842,658,635,658,0.457138355393,0.00468944726621,0.079460409069,0.999999622934,0.000205333829132,-0.00084161449605,-6.04550994098e-05,1793254994232844032
+260,4.333333333,HOLD_POSE2,783,760,737,717.235601123,674,645,914,800,842,658,635,658,0.457138341553,0.00468995158578,0.0794603403768,0.999999622429,0.000205173485638,-0.000842245384695,-6.05632443971e-05,1793254994249510912
+261,4.350000000,HOLD_POSE2,783,760,737,717.815128552,674,645,914,800,842,658,635,658,0.457137603227,0.00468979816294,0.0794605702345,0.999999622408,0.000204798647044,-0.000842365825247,-6.05010724206e-05,1793254994266177536
+262,4.366666667,HOLD_POSE2,783,760,737,718,674,645,914.391985438,800,842,657.608014562,635,658,0.457137830413,0.00468955763252,0.0794605196415,0.999999622593,0.000204791805078,-0.000842150121894,-6.0473521715e-05,1793254994282844416
+263,4.383333333,HOLD_POSE2,783,760,737,718,674,645,914.967591394,800,842,657.032408606,635,658,0.45713850988,0.00468927629766,0.0794603376748,0.999999622874,0.000204957346349,-0.000841776956279,-6.04621888913e-05,1793254994299511296
+264,4.400000000,HOLD_POSE2,783,760,737,718,673.446448531,644.446448531,914.446448531,800,842,657,635,658,0.457138118747,0.00468814962954,0.0794594916276,0.999999622128,0.000204276014202,-0.000842826763339,-6.0478205052e-05,1793254994316177664
+265,4.416666667,HOLD_POSE2,783,760,737,717.861649253,673.138350747,644.138350747,914,800,841.861649253,657,635,658,0.45713772973,0.00468768480881,0.0794589624528,0.999999621295,0.000204591094093,-0.000843745218351,-6.03844237854e-05,1793254994332844288
+266,4.433333333,HOLD_POSE2,783,760,737,717.282516255,673.717483745,644.717483745,914,800,841.282516255,657,635,658,0.457137550955,0.00468948930235,0.0794595690569,0.999999620375,0.000208241696285,-0.000843974704916,-5.99356318812e-05,1793254994349510656
+267,4.450000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,674,645,914,800,842,658,635,658,0.457140834991,0.00469044461115,0.0794626035688,0.999999624713,0.000205531105785,-0.000839456687286,-6.03660443731e-05,1793254994386849280
+268,4.466666667,POSE2_TO_POSE3_RETREAT,783.417492144,760,737,717,673.417492144,645,914,800,842,658,635,658,0.457139132151,0.00468857187047,0.0794621086512,0.999999624406,0.000203613445538,-0.00084033321405,-5.97409795025e-05,1793254994403515904
+269,4.483333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,673.166575031,645,914,800,841.833424969,657.833424969,635,658,0.457138233297,0.00468766756516,0.0794617760299,0.999999623945,0.000203199479772,-0.000841013989607,-5.92875826898e-05,1793254994420182528
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,673.754587432,645,914,800,841.245412568,657.245412568,635,658,0.457139368541,0.00468921341572,0.0794618540207,0.999999623096,0.000206589883588,-0.000841199511804,-5.92685085509e-05,1793254994436849408
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783,760,736.661915029,717,674,645,914,800,841,657,635,658,0.457139909811,0.00468899682953,0.0794616743723,0.999999623374,0.000205940050389,-0.000840993273434,-5.97518101582e-05,1793254994453516032
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783,760,736.081651628,717,674,645,914,800,841,657,635,658,0.457140025603,0.00468751776723,0.0794613101705,0.999999624456,0.000202396097647,-0.000840506407495,-6.05949756451e-05,1793254994470182912
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783,760,736.493916702,717.493916702,673.506083298,645,914,800,841,657.493916702,635,658,0.457139427297,0.00468822915551,0.0794611267118,0.999999623647,0.000204086177855,-0.000841078319595,-6.03542640141e-05,1793254994486849280
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783,760,736.931186393,718,673,644.931186393,914,800,841.068813607,657.931186393,635.068813607,658,0.457138838393,0.0046892325712,0.0794609456385,0.999999622681,0.000206221310617,-0.00084172732798,-6.00499156362e-05,1793254994503515648
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783,760,736.355571923,718,673,644.355571923,914,800,841.644428077,657.355571923,635.644428077,658,0.457139179979,0.00468974492748,0.0794605641472,0.999999622884,0.000205321676173,-0.000841667198478,-6.05841032029e-05,1793254994520182272
+276,4.600000000,POSE2_TO_POSE3_RETREAT,782.772906926,760,736,717.772906926,673,644,914,800,841.772906926,657.227093074,635.772906926,657.772906926,0.457137131774,0.00468968370259,0.0794593504295,0.999999622025,0.000204098080334,-0.000842972093014,-6.07650690101e-05,1793254994536849152
+277,4.616666667,POSE2_TO_POSE3_RETREAT,782.178848872,760,736,717.178848872,673,644,914,800,841.178848872,657.821151128,635.178848872,657.178848872,0.45713122185,0.00468869561448,0.0794567918979,0.999999619438,0.000202350987832,-0.00084648276163,-6.03752555117e-05,1793254994553515776
+278,4.633333333,POSE2_TO_POSE3_RETREAT,782.401877881,760,736.401877881,717.401877881,673,644.803755761,914,800,841.401877881,658,635.401877881,657.401877881,0.457111273695,0.0046887920668,0.0794480006102,0.999999606628,0.000204445789978,-0.000861013688362,-6.00160085827e-05,1793254994570182656
+279,4.650000000,POSE2_TO_POSE3_RETREAT,782.976862305,760,736.976862305,717.976862305,673,645.95372461,914,800,841.976862305,658,635.976862305,657.976862305,0.457085278654,0.00468935567847,0.0794365245991,0.99999958909,0.000208195465531,-0.00088029152677,-5.96699279716e-05,1793254994586849280
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783.552126104,760,737,718,673,645.447873896,914.552126104,800,842,658,635.447873896,658,0.457035623401,0.00468700674336,0.0794186106321,0.999999560798,0.000205084476416,-0.000912625297244,-5.88089622417e-05,1793254994603516160
+281,4.683333333,POSE2_TO_POSE3_RETREAT,784,760,736.868960616,718,673,645,914.868960616,800,842,658,635,658,0.456980599516,0.00468549579421,0.0794007948156,0.99999953282,0.000203458272348,-0.000943191593783,-5.79143676435e-05,1793254994620182784
+282,4.700000000,POSE2_TO_POSE3_RETREAT,784,760,736.277258794,718,673,645,914.277258794,800,842,658,635,658,0.456910189858,0.00468736003704,0.0793842729597,0.999999510521,0.000208062983252,-0.000965620056871,-5.69774438292e-05,1793254994636849152
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783.69327573,760,736,718,673,645,914,800,842,657.69327573,635,658,0.456834565853,0.00468775660672,0.0793730481384,0.999999494854,0.000209790372694,-0.000981410240608,-5.57993503719e-05,1793254994653516032
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783.116098683,760,736,718,673,645,914,800,842,657.116098683,635,658,0.456754344124,0.00468685906194,0.0793664939551,0.999999485299,0.000208980696354,-0.000991347149599,-5.44086067124e-05,1793254994670182656
+285,4.750000000,POSE2_TO_POSE3_RETREAT,782.540105413,760,736.459894587,718,673,645,914,800,841.540105413,657.459894587,635,658,0.456662924401,0.00468639923641,0.0793681045552,0.999999487468,0.000209694532082,-0.000989124491088,-5.21922155646e-05,1793254994686849024
+286,4.766666667,POSE2_TO_POSE3_RETREAT,782.035515687,760,737,718,673.035515687,645,914,800,841.035515687,657.964484313,635,658,0.4565670448,0.00468606265485,0.0793716073919,0.999999492295,0.000211030224708,-0.000984074270647,-4.97281711081e-05,1793254994703515648
+287,4.783333333,POSE2_TO_POSE3_RETREAT,782.610012396,760,737,718,673.610012396,645,914,800,841.610012396,657.389987604,635,658,0.456446273074,0.00468592377015,0.0793726268402,0.999999492857,0.000215981404376,-0.000982578156109,-4.66607828173e-05,1793254994720182272
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783,760,736.810106261,718,673.810106261,645,914,800,841.810106261,657.189893739,635,658,0.45631439233,0.00468593267686,0.0793728016236,0.999999492454,0.000220463298907,-0.000982147037758,-4.32911137603e-05,1793254994736849152
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783,760,736.21884376,718,673.21884376,645,914,800,841.21884376,657.78115624,635,658,0.456159031034,0.00468625396277,0.0793711910814,0.999999490055,0.00022395328864,-0.000983966948035,-3.92825295778e-05,1793254994753515776
+290,4.833333333,POSE2_TO_POSE3_RETREAT,783,760,736.362681342,718,673.362681342,645,914,800,841.362681342,658,635,658,0.455990665156,0.00468491059833,0.0793713762616,0.999999490942,0.000227385547905,-0.000982445067352,-3.48456883983e-05,1793254994770182656
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783,760,736.938484528,718,673.938484528,645,914,800,841.938484528,658,635,658,0.455814657404,0.00468258903816,0.0793726166591,0.999999493734,0.000230783883434,-0.000978959455652,-3.01571908759e-05,1793254994786849280
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783,760,737,718,674,645,914,800,841.485550583,658,635,658,0.455615785935,0.00468045861635,0.0793825595461,0.999999508086,0.000235912724285,-0.00096310539419,-2.45236404964e-05,1793254994803515904
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,760,737,717.910083508,674,645,914,800,841,658,635,658,0.45541031311,0.00467817658024,0.0793948681807,0.999999525237,0.000240849963852,-0.00094401825836,-1.86012364598e-05,1793254994820182528
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,760,737,717.337392885,674,645,914,800,841,658,635,658,0.455184080117,0.00467495775254,0.0794142899467,0.999999551165,0.000243647109236,-0.000915515539655,-1.17348653367e-05,1793254994836849408
+295,4.916666667,POSE2_TO_POSE3_RETREAT,782.754723182,759.754723182,736.754723182,717.245276818,674.245276818,645,914,800,841,657.754723182,635,658,0.454931870467,0.00467364977797,0.0794274120412,0.999999568346,0.000250060760616,-0.000894848716732,-4.77242999962e-06,1793254994853516288
+296,4.933333333,POSE2_TO_POSE3_RETREAT,782.157744534,759.157744534,736.157744534,717.842255466,674.842255466,645,914,800,841,657.157744534,635,658,0.454642412968,0.00467508177125,0.0794315010508,0.999999573782,0.000261660111122,-0.000885417768046,2.32775115779e-06,1793254994870182912
+297,4.950000000,POSE2_TO_POSE3_RETREAT,782.420797207,759.420797207,736,717.579202793,675,645,914,800,841,657,635,658,0.45432266671,0.00467373988952,0.0794300476693,0.999999573163,0.000269146036258,-0.000883823370319,9.51589008052e-06,1793254994886849536
+298,4.966666667,POSE2_TO_POSE3_RETREAT,782.992717589,759.992717589,736,717.007282411,675,645,914,800,841,657,635,658,0.453992042693,0.00467140181104,0.0794266038189,0.999999570354,0.000275154684457,-0.000885043355677,1.67356175974e-05,1793254994903516160
+299,4.983333333,POSE2_TO_POSE3_RETREAT,783,760,736,717,675,645,914,800,841.568207172,657.568207172,635,658,0.453617577507,0.00466911093923,0.079424461855,0.99999956836,0.000274268008992,-0.000887468607519,2.13398902878e-05,1793254994920182784
+300,5.000000000,POSE2_TO_POSE3_RETREAT,783,760,736,717.148167342,675,645.148167342,914,800,841.851832658,658,635,658,0.453236153955,0.00466636866744,0.0794261263677,0.999999575349,0.000260209686534,-0.000883821145649,2.12878337719e-05,1793254994936849408
+301,5.016666667,POSE2_TO_POSE3_RETREAT,783,760,736,717.741418439,675,645.741418439,914,800,841.258581561,658,635,658,0.452835526598,0.00466226859489,0.0794391748165,0.999999607156,0.000206851854743,-0.00086188500203,7.34983802728e-06,1793254994953516032
+302,5.033333333,POSE2_TO_POSE3_RETREAT,782.674562471,760,736,717.674562471,675.325437529,645.674562471,914,800,841,657.674562471,635,658,0.452407130967,0.00465971954592,0.0794566379321,0.999999634358,0.000187936346216,-0.000834223310606,5.88985605789e-06,1793254994970182656
+303,5.050000000,POSE2_TO_POSE3_RETREAT,782.097676408,760,736,717.097676408,675.902323592,645.097676408,914,800,841,657.097676408,635,658,0.451957280203,0.00465836889119,0.079477512031,0.999999659052,0.000195632611641,-0.000802137786828,1.40709803712e-05,1793254994986849280
+304,5.066666667,POSE2_TO_POSE3_RETREAT,782,759.521397486,736,717,676,645,914,800,841,657,635,658,0.451485337858,0.00465870714102,0.0794988635957,0.999999683626,0.000195266193618,-0.000770919376275,1.74111994224e-05,1793254995003516160
+305,5.083333333,POSE2_TO_POSE3_RETREAT,782,759.056252145,736,717,676.056252145,645.056252145,914,800,841,657.056252145,635,658,0.451007672522,0.00465959557347,0.0795211959157,0.999999708125,0.000198637344909,-0.000737507694013,1.9395775067e-05,1793254995020182784
+306,5.100000000,POSE2_TO_POSE3_RETREAT,782,759.648132284,736,717,676.648132284,645.648132284,914,800,841,657.648132284,635,658,0.450518389144,0.00466244491427,0.0795519402341,0.999999735533,0.000253245629686,-0.000681528931421,1.78674260987e-05,1793254995036849408
+307,5.116666667,POSE2_TO_POSE3_RETREAT,782.23494984,760,736,717,677.23494984,646,914,800,841,657.76505016,635,658,0.449997374519,0.00466384664414,0.079579544089,0.99999976051,0.000277225850543,-0.000633887160731,1.76761446752e-05,1793254995053516032
+308,5.133333333,POSE2_TO_POSE3_RETREAT,782.814345416,760,736,717,677.814345416,646,914,800,841,657.185654584,635,658,0.449429840663,0.00466312611909,0.0796025438985,0.999999787883,0.000256304119521,-0.000598467756526,1.94450572236e-05,1793254995070182400
+309,5.150000000,POSE2_TO_POSE3_RETREAT,783,760,736,717.391067305,678.391067305,646,914,800,841,657.391067305,635,658,0.44879623457,0.00466075538412,0.0796000383374,0.999999786664,0.00023946334384,-0.00060736263076,2.09731986427e-05,1793254995086849024
+310,5.166666667,POSE2_TO_POSE3_RETREAT,783,760,736,717.966528496,678.966528496,646,914,800,841,657.966528496,635,658,0.448131474477,0.00465760655133,0.0795855066247,0.999999771557,0.000224546798082,-0.000637152328507,2.23878129357e-05,1793254995103515904
+311,5.183333333,POSE2_TO_POSE3_RETREAT,782.447920302,760,736,717.447920302,679.552079698,646,914,800,841,657.447920302,635,657.447920302,0.447465884818,0.00464991796955,0.0795570680157,0.999999750398,0.000215311538985,-0.000672532084378,2.33582736993e-05,1793254995120182784
+312,5.200000000,POSE2_TO_POSE3_RETREAT,782.136608422,760,736,717,680,646,914,800,841,657,635,657.136608422,0.446802894524,0.00464245251509,0.0795445115017,0.999999742941,0.000209173839339,-0.000685396477481,2.43916522738e-05,1793254995136849408
+313,5.216666667,POSE2_TO_POSE3_RETREAT,782.715805541,760,736,717,680,646,914,800,841,657,635,657.715805541,0.446148491859,0.00463661827794,0.0795861928686,0.999999782401,0.000211935001569,-0.000624196344345,2.57177409135e-05,1793254995153516288
+314,5.233333333,POSE2_TO_POSE3_RETREAT,783,760,736,717,680.294606073,646.294606073,914,800,841,657.294606073,635.294606073,658,0.445471678204,0.00462970378115,0.0796364918154,0.999999826349,0.000204708970599,-0.000551940399638,2.75336450714e-05,1793254995170182912
+315,5.250000000,POSE2_TO_POSE3_RETREAT,783,760,736,717,680.873024615,646.873024615,914,800,841,657.873024615,635.873024615,658,0.444773274563,0.00462174860192,0.0796950926211,0.999999871913,0.00018786165105,-0.000469033690969,2.98214192579e-05,1793254995186849536
+316,5.266666667,POSE2_TO_POSE3_RETREAT,782.549690453,760,736,717,681.450309547,647,914,800.450309547,841,657.549690453,635.549690453,658,0.444012166979,0.00461310086271,0.0797230300912,0.999999887829,0.000181700749577,-0.000436155644548,3.3100545489e-05,1793254995203516160
+317,5.283333333,POSE2_TO_POSE3_RETREAT,782,760,736.027675405,717.027675405,682.027675405,647.027675405,914,800.972324595,841,657,635,658,0.443233921532,0.00460421042193,0.0797415893491,0.999999896321,0.000178174598926,-0.00041746691565,3.65246777484e-05,1793254995220182528
+318,5.300000000,POSE2_TO_POSE3_RETREAT,782,760,736.613098682,717.613098682,682.613098682,647.613098682,914,800.386901318,841,657,635,658,0.442465723336,0.00459435446365,0.0797449596948,0.99999990487,0.000167172212157,-0.000401155848071,3.7251770161e-05,1793254995236849152
+319,5.316666667,POSE2_TO_POSE3_RETREAT,782,760,737,717.803315329,683,648,914,800,841,657.196684671,635,658,0.44167069662,0.00458515557888,0.0797442914258,0.999999909505,0.000157387593523,-0.000393433343223,3.77995350711e-05,1793254995253515776
+320,5.333333333,POSE2_TO_POSE3_RETREAT,782,760,737,717.22331008,683,648,914,800,841,657.77668992,635,658,0.440823383599,0.00457723727135,0.0797357522632,0.999999907049,0.000149976295235,-0.000402449169009,3.79978069273e-05,1793254995270182400
+321,5.350000000,POSE2_TO_POSE3_RETREAT,782,759.645519215,736.645519215,717,683,648,914,800,840.645519215,658,635,658,0.439927518276,0.00456750544964,0.07969881348,0.999999884601,0.000140679793348,-0.000457735867197,3.85235019457e-05,1793254995286849280
+322,5.366666667,POSE2_TO_POSE3_RETREAT,782,759.069114694,736.069114694,717,683,648,914,800,840.069114694,658,635,658,0.439001256675,0.00455663827235,0.0796440950312,0.999999843876,0.00013020305367,-0.000541990578092,3.9254180968e-05,1793254995303515904
+323,5.383333333,POSE2_TO_POSE3_RETREAT,782,759.505565897,736.505565897,717.505565897,683.505565897,648,914,800,840.505565897,657.494434103,635,658,0.438155167335,0.00454399604875,0.0796909156162,0.999999883519,0.000115951986674,-0.000466806151096,4.01230348498e-05,1793254995320182784
+324,5.400000000,POSE2_TO_POSE3_RETREAT,782.082273378,760,736.917726622,717.917726622,684,648,914,800.082273378,840.917726622,657,635,658,0.437323126018,0.00453193641913,0.0797546755472,0.999999926611,0.000103295824367,-0.000366584133192,4.1513745437e-05,1793254995336849408
+325,5.416666667,POSE2_TO_POSE3_RETREAT,782.672957249,760,736.327042751,717.327042751,684,648,914,800.672957249,840.327042751,657,635,658,0.436510396768,0.0045249713919,0.0798376251207,0.99999996334,0.000103673099604,-0.000245876286833,4.60129526518e-05,1793254995353516032
+326,5.433333333,POSE2_TO_POSE3_RETREAT,782.741775861,760,736,717,684,648,913.741775861,800.741775861,840,657,635,658,0.435646234719,0.00451563814507,0.0798789512806,0.999999976861,9.52471669526e-05,-0.000186670254804,4.85744454634e-05,1793254995370182656
+327,5.450000000,POSE2_TO_POSE3_RETREAT,782.163228574,760,736,717,684,648,913.163228574,800.163228574,840,657,635,658,0.434718270947,0.00450336715663,0.0798686442352,0.999999975174,7.59009892422e-05,-0.00020375628213,4.87322340403e-05,1793254995386849280
+328,5.466666667,POSE2_TO_POSE3_RETREAT,782,760,736,717.414413306,683.585586694,648,913.414413306,800,840,657,635,657.585586694,0.433746874303,0.00449262350289,0.0798333895357,0.999999963856,6.33810074504e-05,-0.000256891100365,4.7716844291e-05,1793254995403515904
+329,5.483333333,POSE2_TO_POSE3_RETREAT,782,760,736,717.991699308,683.008300692,648,913.991699308,800,840,657,635,657.008300692,0.432758407729,0.00448248012291,0.0797883299111,0.999999944947,5.35438577571e-05,-0.000324193810597,4.62403718633e-05,1793254995420182784
+330,5.500000000,POSE2_TO_POSE3_RETREAT,782,759.43767114,736,717.43767114,683.56232886,648,914,800,840,657,635,657,0.431696196159,0.00447163626537,0.0797260342807,0.99999989667,4.68549046984e-05,-0.000449415898113,4.98998408297e-05,1793254995436849664
+331,5.516666667,POSE2_TO_POSE3_RETREAT,782,759.138449624,736.138449624,717.138449624,684,648,913.861550376,800.138449624,840,657,635,657,0.430681980606,0.0044599997037,0.0796912211932,0.999999862534,3.78761614845e-05,-0.000520332437281,5.24509540439e-05,1793254995453516288
+332,5.533333333,POSE2_TO_POSE3_RETREAT,782,759.732979376,736.732979376,717.732979376,684,648,913.267020624,800.732979376,840,657,635,657,0.429829417392,0.00444578548356,0.0797477693015,0.999999914595,2.12031090245e-05,-0.000409572421819,5.11041070565e-05,1793254995470182656
+333,5.550000000,POSE2_TO_POSE3_RETREAT,782,760,737,718,684,648,913,801,840,657.319621269,635,657.319621269,0.428958063124,0.00443675550774,0.0798063589651,0.999999950964,1.18058561257e-05,-0.000308611354886,5.18897059005e-05,1793254995486849280
+334,5.566666667,POSE2_TO_POSE3_RETREAT,782,760,737,718,684,648,913,801,840,657.899832102,635,657.899832102,0.428071388413,0.00443195228501,0.0798666131207,0.999999975235,8.34061681551e-06,-0.000215639448614,5.44139035622e-05,1793254995503515904
+335,5.583333333,POSE2_TO_POSE3_RETREAT,781.525855011,760,736.525855011,717.525855011,684,648,913,801,840,657.525855011,635,657.525855011,0.427103688635,0.00444185395368,0.079840403216,0.999999965606,2.2047862429e-05,-0.0002556128424,5.44472094785e-05,1793254995520182272
+336,5.600000000,POSE2_TO_POSE3_RETREAT,781,759.951518727,736,717,684,648,913,801,839.951518727,657,635,657,0.426119547669,0.004455084819,0.0797973365758,0.999999946107,4.00705652983e-05,-0.000321345969575,5.40042409574e-05,1793254995536848896
+337,5.616666667,POSE2_TO_POSE3_RETREAT,781,759.363219151,736,717,684,648,913,801,839.363219151,657,635,657,0.42514059469,0.00447121966535,0.079767467121,0.999999929726,6.62456562604e-05,-0.000365018952556,5.40454742355e-05,1793254995553515520
+338,5.633333333,POSE2_TO_POSE3_RETREAT,781,759,736.221598606,717,684,648,913.221598606,801,839.221598606,657.221598606,635,657.221598606,0.424161406587,0.00447732299938,0.0797393926168,0.999999911766,7.97129910876e-05,-0.000408811564307,5.46467859116e-05,1793254995570182400
+339,5.650000000,POSE2_TO_POSE3_RETREAT,781,759,736.800797738,717,684,648,913.800797738,801,839.800797738,657.800797738,635,657.800797738,0.423181838901,0.00446723817424,0.0797142146753,0.99999989327,7.26734309873e-05,-0.000452797232261,5.6151913538e-05,1793254995586849280
+340,5.666666667,POSE2_TO_POSE3_RETREAT,781,759.378294873,737,717,684,648,913.621705127,800.621705127,840,658,635,657.621705127,0.42230946314,0.00445858313261,0.0797435019467,0.999999917262,6.31275767927e-05,-0.000397907154053,5.62156809942e-05,1793254995603516160
+341,5.683333333,POSE2_TO_POSE3_RETREAT,781,759.954899752,737,717,684,648,913.045100248,800.045100248,840,658,635,657.045100248,0.421493279663,0.00445067761372,0.0798013410122,0.999999954698,5.22678711993e-05,-0.000291184356172,5.5523857017e-05,1793254995620182784
+342,5.700000000,POSE2_TO_POSE3_RETREAT,781.530669231,760,737,717.530669231,684,648,913.530669231,800.530669231,839.469330769,657.469330769,635,657,0.420650087433,0.00445585246111,0.0798464044072,0.999999973401,5.70567059126e-05,-0.000216346520294,5.59994993401e-05,1793254995636849408
+343,5.716666667,POSE2_TO_POSE3_RETREAT,781.891032884,760,737,717.891032884,684.108967116,648,914,801,839.108967116,657,635,657,0.419789370831,0.00446149010687,0.0798743512973,0.999999981682,6.25286677338e-05,-0.000171932162153,5.62591636621e-05,1793254995653516032
+344,5.733333333,POSE2_TO_POSE3_RETREAT,781.301266058,760,737,717.301266058,684.698733942,648,914,801,839.698733942,657,635,657,0.418861443004,0.00446427243214,0.0798315576505,0.999999965153,6.51559396794e-05,-0.000249818605638,5.51287566959e-05,1793254995670182400
+345,5.750000000,POSE2_TO_POSE3_RETREAT,781,760,737,717.283334062,685,648.283334062,914,800.716665938,840,657.283334062,635,657.283334062,0.417966817318,0.00446606975236,0.0798064423564,0.999999951942,6.92256104603e-05,-0.000297127102533,5.51237555051e-05,1793254995686849024
+346,5.766666667,POSE2_TO_POSE3_RETREAT,781,760,737,717.86253883,685,648.86253883,914,800.13746117,840,657.86253883,635,657.86253883,0.417106967347,0.00446683848399,0.0797997876293,0.999999946788,7.48015018382e-05,-0.000312504670926,5.62939560886e-05,1793254995703515648
+347,5.783333333,POSE2_TO_POSE3_RETREAT,781,759.562598021,737,718,685,649,914,800.437401979,840,657.562598021,635.437401979,658,0.416268115297,0.00446571402906,0.0797968436957,0.999999942196,7.09525429108e-05,-0.000327649455373,5.67486289447e-05,1793254995720182528
+348,5.800000000,POSE2_TO_POSE3_RETREAT,781,759.010944335,737,718,685,648.989055665,914,800.989055665,839.989055665,657,635.989055665,658,0.415436712053,0.00446398453761,0.0797947361265,0.99999993752,6.4554635564e-05,-0.000342853943136,5.696279438e-05,1793254995736849408
+349,5.816666667,POSE2_TO_POSE3_RETREAT,781,759.586042445,737,718,685,648.413957555,914,800.413957555,839.413957555,657,635.413957555,658,0.414652462752,0.00446143455444,0.0797762181233,0.999999928815,7.79439906292e-05,-0.000364869903665,5.62568108283e-05,1793254995753516032
+350,5.833333333,POSE2_TO_POSE3_RETREAT,781,760,737,717.833703274,685,648.166296726,913.833703274,800,839.166296726,657,635,658,0.413886833617,0.00446027294594,0.0797689799733,0.999999926939,8.6029351375e-05,-0.00036831726642,5.53433119781e-05,1793254995770182912
+351,5.850000000,POSE2_TO_POSE3_RETREAT,781,760,737,717.240203063,685,648.759796937,913.240203063,800,839.759796937,657,635,658,0.413169038087,0.0044626779645,0.0797907188938,0.9999999428,8.04891619701e-05,-0.00032406333596,5.38967221638e-05,1793254995786849280
+352,5.866666667,POSE2_TO_POSE3_RETREAT,781,760,737,717.343500269,685,649,913,800.343500269,840,657.343500269,635,658,0.412440623486,0.00446500715905,0.0797945544787,0.999999944433,8.21441684419e-05,-0.000318483724224,5.43481281927e-05,1793254995803516160
+353,5.883333333,POSE2_TO_POSE3_RETREAT,781,760,737,717.920542768,685,649,913,800.920542768,840,657.920542768,635,658,0.411704989132,0.00446728480151,0.0797862177722,0.999999936966,8.86911135203e-05,-0.000339198379097,5.60899618105e-05,1793254995820183040
+354,5.900000000,POSE2_TO_POSE3_RETREAT,781.493827886,760,737.493827886,718,685,649,913.493827886,801,840,658,635,658,0.411020914513,0.00446564002936,0.0797845169549,0.999999934992,8.32638969102e-05,-0.000346299149827,5.62104033812e-05,1793254995836849408
+355,5.916666667,POSE2_TO_POSE3_RETREAT,781.931271438,760,737.931271438,718,685,648.931271438,914,800.931271438,839.931271438,658,635,657.931271438,0.410351738588,0.00446400278102,0.0797858076487,0.999999935262,7.68219935928e-05,-0.000347026039972,5.60959562969e-05,1793254995853515776
+356,5.933333333,POSE2_TO_POSE3_RETREAT,781.339510091,760,737.339510091,718,685,648.339510091,914,800.339510091,839.339510091,658,635,657.339510091,0.409733286739,0.00446718941576,0.0798017999941,0.99999994558,7.72095299155e-05,-0.00031579088305,5.61643378556e-05,1793254995870182656
+357,5.950000000,POSE2_TO_POSE3_RETREAT,781,760,737.246751934,718,685,648,913.753248066,800,839,657.753248066,635.246751934,657,0.409132147778,0.00446939325597,0.0798195583201,0.999999954469,8.12937314832e-05,-0.000285066868521,5.64848481871e-05,1793254995886849280
+358,5.966666667,POSE2_TO_POSE3_RETREAT,781,760,737.825612263,718,685,648,913.174387737,800,839,657.174387737,635.825612263,657,0.408554310634,0.00447027433299,0.0798396935136,0.999999961765,9.03533492227e-05,-0.000255030813467,5.71447037234e-05,1793254995903515904
+359,5.983333333,POSE2_TO_POSE3_RETREAT,781,760,737.597238802,718,685,648.402761198,913,800,839,657,635.597238802,657.402761198,0.407965571157,0.00447196791309,0.0798237811235,0.999999953273,9.48989449135e-05,-0.000285027287369,5.66346941885e-05,1793254995920182784
+360,6.000000000,POSE2_TO_POSE3_RETREAT,781,760,737.020827682,718,685,648.979172318,913,800,839,657,635.020827682,657.979172318,0.407372131105,0.00447401180284,0.0797923268705,0.999999935592,9.74983269248e-05,-0.000340906698082,5.56202989021e-05,1793254995936849408
+361,6.016666667,POSE2_TO_POSE3_RETREAT,781,759.434890601,737,718,685,648.434890601,913,800.565109399,839.565109399,657,635.565109399,658,0.406850771928,0.00447325394847,0.0797665027756,0.999999922051,8.95349222028e-05,-0.000380576928862,5.51604607672e-05,1793254995953516032
+362,6.033333333,POSE2_TO_POSE3_RETREAT,780.850355929,759,737,718,684.850355929,648,913,800.850355929,840,657,635.850355929,658,0.406352612678,0.00447347751225,0.0797532348776,0.999999916085,8.58773154157e-05,-0.000396809938568,5.47421899387e-05,1793254995970182656
+363,6.050000000,POSE2_TO_POSE3_RETREAT,780.270875146,759,737,718,684.270875146,648,913,800.270875146,840,657,635.270875146,658,0.405913330957,0.00447682178753,0.0797754270609,0.999999933573,9.57250568386e-05,-0.000347467435035,5.43836020091e-05,1793254995986849280
+364,6.066666667,POSE2_TO_POSE3_RETREAT,780.306718884,759.306718884,737,718,684.306718884,648,913,800,840,657,635,657.693281116,0.405491472377,0.00447904588297,0.0797942370046,0.999999944063,0.000102813063243,-0.000313454784393,5.5217004312e-05,1793254996003516160
+365,6.083333333,POSE2_TO_POSE3_RETREAT,780.882656803,759.882656803,737,718,684.882656803,648,913,800,840,657,635,657.117343197,0.405084906788,0.004480286753,0.0798100782244,0.9999999497,0.00010747874295,-0.000292897742309,5.70966626642e-05,1793254996020182784
+366,6.100000000,POSE2_TO_POSE3_RETREAT,781,760,737,718,685.457461547,648,913,800,839.542538453,657.457461547,635,657.457461547,0.404699903957,0.00448150915842,0.0798190000959,0.999999951673,0.000110246089149,-0.0002845405292,5.94639119147e-05,1793254996036849408
+367,6.116666667,POSE2_TO_POSE3_RETREAT,780.967090074,760,737,718,685.967090074,648,913,800,839,658,635,657.967090074,0.404322267541,0.00448261222134,0.0798257725654,0.999999952677,0.000111470086634,-0.000280088398722,6.14022957821e-05,1793254996053516032
+368,6.133333333,POSE2_TO_POSE3_RETREAT,780.375801557,760,737,718,685.375801557,648,913,800,839,658,635,657.375801557,0.403976003336,0.00448177057755,0.0798261161217,0.999999952316,9.47497225896e-05,-0.000288928865429,5.39473432138e-05,1793254996070182400
+369,6.150000000,POSE2_TO_POSE3_RETREAT,780,760,737,718.211189551,685,648,913,800,839,657.788810449,635,657,0.403644828977,0.00448107208022,0.079826956281,0.999999951953,9.04209187026e-05,-0.000292150234791,5.06610734293e-05,1793254996086849024
+370,6.166666667,POSE2_TO_POSE3_RETREAT,780,760,737,718.79068607,685,648,913,800,839,657.20931393,635,657,0.403339970802,0.00448062322524,0.0798286624983,0.999999951931,0.000107702550989,-0.000285572100038,5.46448370028e-05,1793254996103515648
+371,6.183333333,POSE2_TO_POSE3_RETREAT,780.367485413,760,737,718.632514587,685,648,913,800,839.367485413,657.367485413,635,657,0.40306186047,0.00447940099888,0.0798280681145,0.999999951183,0.000108474878576,-0.000287577709457,5.62749396799e-05,1793254996120182272
+372,6.200000000,POSE2_TO_POSE3_RETREAT,780.942759734,760,737,718.057240266,685,648,913,800,839.942759734,657.942759734,635,657,0.402798874263,0.00447774148166,0.0798261728919,0.999999950062,9.9912278363e-05,-0.000294436862832,5.65742018071e-05,1793254996136849152
+373,6.216666667,POSE2_TO_POSE3_RETREAT,780.471505202,760,737,718.528494798,685,648,913,800,839.471505202,658,635,657.528494798,0.402581013358,0.00447365201051,0.0798274415324,0.999999951678,9.05928392152e-05,-0.000291867111743,5.7014597133e-05,1793254996153515776
+374,6.233333333,POSE2_TO_POSE3_RETREAT,780,759.886140671,737,718.886140671,685,648,913,800,839,657.886140671,635,658,0.40237385902,0.00446807571827,0.0798291886687,0.999999953532,8.09601127248e-05,-0.000288173026204,5.7768770095e-05,1793254996170182656
+375,6.250000000,POSE2_TO_POSE3_RETREAT,780,759.307013328,737,718.307013328,685,648,913,800,839,657.307013328,635,658,0.402190080275,0.00445752094228,0.0798314625515,0.99999995537,7.03889131926e-05,-0.000284141873863,5.97414209497e-05,1793254996186849280
+376,6.266666667,POSE2_TO_POSE3_RETREAT,780,759.271773219,737,718,685,648,913,800,839,657,635,658,0.402021255492,0.00445133452252,0.079836022556,0.999999957535,6.61783496608e-05,-0.000277216918004,6.0838874329e-05,1793254996203515904
+377,6.283333333,POSE2_TO_POSE3_RETREAT,780,759.850175226,737,718,685,648,913,800,839,657,635,658,0.401869302563,0.00445007671187,0.0798431618829,0.9999999601,6.91441896713e-05,-0.0002670270216,6.09488839298e-05,1793254996220182784
+378,6.300000000,POSE2_TO_POSE3_RETREAT,780.42603152,760,737.42603152,718.42603152,685,648,913,800,839,657,635,657.57396848,0.401735186632,0.00445733854991,0.079843762231,0.999999958616,9.40251791043e-05,-0.000265099360332,6.04122858484e-05,1793254996236849408
+379,6.316666667,POSE2_TO_POSE3_RETREAT,780.998978223,760,737.998978223,719,685,648,913,800,839,657.001021777,635,657.001021777,0.401607338259,0.00446757386506,0.0798420679562,0.999999954819,0.000126513575759,-0.000266078546059,5.96499041252e-05,1793254996253515776
+380,6.333333333,POSE2_TO_POSE3_RETREAT,780.410227491,760,737.410227491,719,685,648,913,800,839,657.589772509,635,657.589772509,0.401497886898,0.00447500447411,0.0798353780859,0.999999951505,0.00012803864903,-0.000277688739821,5.90380244286e-05,1793254996270182400
+381,6.350000000,POSE2_TO_POSE3_RETREAT,780,759.824405532,737,718.824405532,685,648,912.824405532,800,839,657.824405532,635,658,0.401394691417,0.00447991782027,0.0798287154945,0.999999948752,0.000126445354832,-0.000288338312784,5.80376321248e-05,1793254996286849024
+382,6.366666667,POSE2_TO_POSE3_RETREAT,780,759.245313664,737,718.245313664,685,648,912.245313664,800,839,657.245313664,635,658,0.4013058713,0.00447904676316,0.0798221155876,0.99999994746,0.000117686383872,-0.000296780479832,5.61444792908e-05,1793254996303515904
+383,6.383333333,POSE2_TO_POSE3_RETREAT,780,759,737,718,685,648,912.332867628,800,839,657,635,658,0.401232139113,0.00447666890457,0.0798180366681,0.999999946809,0.000109913147281,-0.000302033760077,5.54728416246e-05,1793254996320182784
+384,6.400000000,POSE2_TO_POSE3_RETREAT,780,759,737,718,685,648,912.910379743,800,839,657,635,658,0.401169495946,0.00447318360665,0.0798158105736,0.999999946663,0.000102864385399,-0.000304943336046,5.56989689041e-05,1793254996336849408
+385,6.416666667,POSE2_TO_POSE3_RETREAT,780,759.483232324,737,718,685,648,913,800,839,657.483232324,635,657.516767676,0.401123905031,0.00447226591612,0.0798155792678,0.999999946537,0.000100937788435,-0.000306008124167,5.56507040125e-05,1793254996353516288
+386,6.433333333,POSE2_TO_POSE3_RETREAT,780,760,737,718.057229298,685,648,913,800,839,657.942770702,635,657,0.401082566575,0.00447189222746,0.0798156368154,0.999999946412,9.99651594256e-05,-0.00030674836225,5.55739868616e-05,1793254996370182912
+387,6.450000000,POSE2_TO_POSE3_RETREAT,780,760,737,718.649943059,685,648,913,800,839,657.350056941,635,657,0.401051709162,0.00447219560957,0.0798149685834,0.999999946221,9.91149522572e-05,-0.000307622560335,5.57026566261e-05,1793254996386849536
+388,6.466666667,POSE2_TO_POSE3_RETREAT,780.237051382,760,737.237051382,719,685,648,913,800,839,657.237051382,635,657.237051382,0.401026388464,0.00447266774846,0.0798146556001,0.999999946257,9.86633864178e-05,-0.00030765489036,5.56829382057e-05,1793254996403515904
+389,6.483333333,POSE2_TO_POSE3_RETREAT,780.816073264,760,737.816073264,719,685,648,913,800,839,657.816073264,635,657.816073264,0.401009055038,0.00447338333596,0.0798148550988,0.99999994662,9.87869009045e-05,-0.000306472740848,5.54491548724e-05,1793254996420182528
+390,6.500000000,POSE2_TO_POSE3_RETREAT,780.608023442,760,737.608023442,719,685,648,913,800,839,657.608023442,635,658,0.400996687524,0.00447392913281,0.0798159355668,0.999999947107,0.000100043144005,-0.000304469853405,5.54623567724e-05,1793254996436849408
+391,6.516666667,POSE2_TO_POSE3_RETREAT,780.033571944,760,737.033571944,719,685,648,913,800,839,657.033571944,635,658,0.400986631767,0.00447439588782,0.0798174261482,0.999999947643,0.000101826700742,-0.000302084891857,5.55905365123e-05,1793254996453516032
+392,6.533333333,POSE2_TO_POSE3_RETREAT,780,759.461218028,737,718.461218028,685,648.538781972,913,800,839,657,635.538781972,658,0.400980656646,0.00447418582094,0.0798181268898,0.999999948109,0.000100261737691,-0.000301103394628,5.5370106218e-05,1793254996470182912
+393,6.550000000,POSE2_TO_POSE3_RETREAT,780.116008141,759.116008141,737,718.116008141,685,649,913,800,839,657,635.883991859,658,0.400975361428,0.0044742683204,0.0798184931289,0.99999994839,9.92787715501e-05,-0.000300546191676,5.51036233393e-05,1793254996486849536
+394,6.566666667,POSE2_TO_POSE3_RETREAT,780.714018839,759.714018839,737,718.714018839,685,649,913,800,839,657,635.285981161,658,0.40097183878,0.00447574095114,0.0798176732352,0.999999947925,0.000101577500854,-0.000301389949136,5.47357000286e-05,1793254996503516160
+395,6.583333333,POSE2_TO_POSE3_RETREAT,780.69921132,759.69921132,737.30078868,718.69921132,685,648.69921132,913,800,839,657,635,657.69921132,0.40097019228,0.00447475060231,0.0798184279716,0.999999948315,0.000100596576893,-0.000300418894985,5.47556766741e-05,1793254996520182784
+396,6.600000000,POSE2_TO_POSE3_RETREAT,780.122743878,759.122743878,737.877256122,718.122743878,685,648.122743878,913,800,839,657,635,657.122743878,0.400970265306,0.00447150288426,0.0798206258875,0.999999949476,9.66097862498e-05,-0.000297784530267,5.51311712424e-05,1793254996536849408
+397,6.616666667,POSE2_TO_POSE3_RETREAT,780,759.450257381,737.549742619,718.450257381,685,648.450257381,913,800,839,657,635,657,0.400970585055,0.00447128024689,0.0798214314218,0.999999950082,9.59590901448e-05,-0.000295970320866,5.50325923919e-05,1793254996553515776
+398,6.633333333,POSE2_TO_POSE3_RETREAT,780,760,737.023186625,719,685.023186625,648.976813375,913,800,839,657.023186625,635.023186625,657.023186625,0.400970946491,0.00447193001617,0.079821868291,0.999999950513,9.6369122831e-05,-0.000294418424426,5.48163279243e-05,1793254996570182400
+399,6.650000000,POSE2_TO_POSE3_RETREAT,780,760,737.617437554,719,685.617437554,648.382562446,913,800,839,657.617437554,635.617437554,657.617437554,0.400970690781,0.00447391085377,0.0798225024325,0.99999995025,0.000100676197277,-0.000293862520997,5.48602299769e-05,1793254996586849280
+400,6.666666667,POSE2_TO_POSE3_RETREAT,780,760,737.795005928,718.795005928,685.795005928,648,913,800,839,658,635.795005928,657.795005928,0.400970463475,0.00447490734241,0.0798230619613,0.999999950258,0.000102056277672,-0.000293386472307,5.47060849039e-05,1793254996603515904
+401,6.683333333,POSE2_TO_POSE3_RETREAT,780,760,737.219547553,718.219547553,685.219547553,648,913,800,839,658,635.219547553,657.219547553,0.400970287501,0.00447412492019,0.0798234866501,0.999999950775,9.81467082057e-05,-0.000293054736754,5.41940300145e-05,1793254996620182784
+402,6.700000000,POSE2_TO_POSE3_RETREAT,780,759.64349436,737,718,685,648,913,800,839,658,635.35650564,657.35650564,0.400969804972,0.00447403365029,0.0798231768422,0.999999950764,9.71903534734e-05,-0.000293465553871,5.3889416511e-05,1793254996636849408
+403,6.716666667,POSE2_TO_POSE3_RETREAT,780,759.067074269,737,718,685,648,913,800,839,658,635.932925731,657.932925731,0.400969133343,0.0044743687254,0.0798224139518,0.999999950434,9.80557220967e-05,-0.000294334422836,5.37127655428e-05,1793254996653516288
+404,6.733333333,POSE2_TO_POSE3_RETREAT,780,759.505906269,737.505906269,718,685.505906269,648.505906269,913,800,839.505906269,658,635.494093731,658,0.400970004293,0.00447426382013,0.0798229028298,0.999999950817,9.87674891917e-05,-0.000292726420722,5.40563711882e-05,1793254996670182912
+405,6.750000000,POSE2_TO_POSE3_RETREAT,780.081720863,760,737.918279137,718.081720863,685.918279137,648.918279137,913,800,839.918279137,658,635,657.918279137,0.400970596708,0.00447424095102,0.0798233751884,0.999999951122,9.93951246674e-05,-0.000291407149825,5.43894434218e-05,1793254996686849536
+406,6.766666667,POSE2_TO_POSE3_RETREAT,780.678241639,760,737.321758361,718.678241639,685.321758361,648.321758361,913,800,839.321758361,658,635,657.321758361,0.400968154832,0.00447509985895,0.0798227050635,0.999999950361,9.96201953509e-05,-0.000293961457245,5.42245753481e-05,1793254996703515904
+407,6.783333333,POSE2_TO_POSE3_RETREAT,781,760,737,718.735015754,685,648,912.735015754,800,839,657.735015754,635,657.264984246,0.400967209833,0.00447516084907,0.0798226459009,0.999999950234,9.88841560416e-05,-0.00029467924574,5.40146281518e-05,1793254996720182784
+408,6.800000000,POSE2_TO_POSE3_RETREAT,781,760,737,718.15972372,685,648,912.15972372,800,839,657.15972372,635,657.84027628,0.400968017738,0.00447428744373,0.079823302201,0.999999950852,9.70226162071e-05,-0.000293246393034,5.37518913699e-05,1793254996736849408
+409,6.816666667,POSE2_TO_POSE3_RETREAT,780.585294771,759.585294771,737,718,685,648,912,800,839,657.414705229,635,657.585294771,0.400968787629,0.00447510684472,0.0798235619311,0.999999951008,9.79321826574e-05,-0.000292441206683,5.35834533035e-05,1793254996753516032
+410,6.833333333,POSE2_TO_POSE3_RETREAT,780.011197582,759.011197582,737,718,685,648,912,800,839,657.988802418,635,657.011197582,0.400969542908,0.00447657687591,0.0798236692395,0.999999950985,9.99068239505e-05,-0.000291877263989,5.34512589653e-05,1793254996770182912
+411,6.850000000,POSE2_TO_POSE3_RETREAT,780.580686731,759.580686731,737,718.580686731,685,648,912.580686731,800,839,657.419313269,635,657.580686731,0.400969662757,0.00447546697374,0.0798239676059,0.999999951018,0.000101115127788,-0.00029133572009,5.35117096333e-05,1793254996786849536
+412,6.866666667,POSE2_TO_POSE3_RETREAT,781,760,737,719,685,648,913,800,839,657.168703154,635.168703154,657.831296846,0.400969185165,0.00447484276822,0.0798237749864,0.99999995088,0.000101483617223,-0.000291681656716,5.35093802404e-05,1793254996803516160
+413,6.883333333,POSE2_TO_POSE3_RETREAT,781,760,737,719,685,648,913,800,839,657.746482588,635.746482588,657.253517412,0.400967289532,0.00447552074057,0.0798223825943,0.999999950321,9.98526657016e-05,-0.000294178501335,5.33455274474e-05,1793254996820182784
+414,6.900000000,POSE2_TO_POSE3_RETREAT,780.676971966,759.676971966,737,718.676971966,685,648,913,800,839,657.676971966,635.676971966,657,0.400966976738,0.00447516358146,0.0798225539215,0.999999950457,9.8573369578e-05,-0.000294127261733,5.34599723098e-05,1793254996836849408
+415,6.916666667,POSE2_TO_POSE3_RETREAT,780.101391315,759.101391315,737,718.101391315,685,648,913,800,839,657.101391315,635.101391315,657,0.400967901456,0.00447399712676,0.0798239478095,0.999999951137,9.75690078457e-05,-0.000292083856412,5.3791998299e-05,1793254996853516032
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c52175453b2eb090aacca68c6378185ad7b3ef25
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,417 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+1,0.016666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+2,0.033333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+3,0.050000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+4,0.066666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+5,0.083333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+6,0.100000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+7,0.116666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+8,0.133333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+9,0.150000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+10,0.166666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+11,0.183333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+12,0.200000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+13,0.216666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+14,0.233333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+15,0.250000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+16,0.266666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+17,0.283333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+18,0.300000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+19,0.316666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+20,0.333333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+21,0.350000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+22,0.366666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+23,0.383333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+24,0.400000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+25,0.416666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+26,0.433333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+27,0.450000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+28,0.466666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+29,0.483333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+30,0.500000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+31,0.516666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+32,0.533333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+33,0.550000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+392,6.533333333,pose2_to_pose3_retreat,0.57567636059,0.0101817752538,1.0700203874,0.546247507772,0.0188560112881,1.06969209648
+393,6.550000000,pose2_to_pose3_retreat,0.575672815538,0.0101817928553,1.07002043172,0.546243962712,0.0188560287879,1.06969213881
+394,6.566666667,pose2_to_pose3_retreat,0.575670720116,0.0101818076879,1.07002052516,0.546241867753,0.0188560449276,1.06969222514
+395,6.583333333,pose2_to_pose3_retreat,0.575669469698,0.0101818380105,1.07002057885,0.546240616834,0.0188560735296,1.0696922783
+396,6.600000000,pose2_to_pose3_retreat,0.575668944104,0.0101818635298,1.0700206002,0.546240090568,0.0188560968379,1.06969230162
+397,6.616666667,pose2_to_pose3_retreat,0.575668807436,0.0101818701655,1.07002060575,0.546239953725,0.0188561028987,1.06969230769
+398,6.633333333,pose2_to_pose3_retreat,0.575668775151,0.010181871733,1.07002060706,0.546239921398,0.0188561043305,1.06969230912
+399,6.650000000,pose2_to_pose3_retreat,0.575668772509,0.0101818718613,1.07002060716,0.546239918752,0.0188561044477,1.06969230924
+400,6.666666667,pose2_to_pose3_retreat,0.575668679641,0.0101818763704,1.07002061094,0.546239825765,0.0188561085661,1.06969231336
+401,6.683333333,pose2_to_pose3_retreat,0.575668463787,0.0101818868508,1.0700206197,0.546239609636,0.0188561181384,1.06969232294
+402,6.700000000,pose2_to_pose3_retreat,0.575668382062,0.0101818908188,1.07002062302,0.546239527805,0.0188561217627,1.06969232656
+403,6.716666667,pose2_to_pose3_retreat,0.5756683662,0.0101818915889,1.07002062366,0.546239511924,0.0188561224661,1.06969232727
+404,6.733333333,pose2_to_pose3_retreat,0.575668112309,0.0101819039162,1.07002063397,0.546239257707,0.0188561337254,1.06969233853
+405,6.750000000,pose2_to_pose3_retreat,0.575667817136,0.0101819083601,1.07002063448,0.546238962348,0.0188561375811,1.06969234024
+406,6.766666667,pose2_to_pose3_retreat,0.57566771008,0.0101818950718,1.07002061736,0.546238855513,0.018856125064,1.06969232368
+407,6.783333333,pose2_to_pose3_retreat,0.575667593326,0.0101818805797,1.07002059869,0.546238739,0.018856111413,1.06969230562
+408,6.800000000,pose2_to_pose3_retreat,0.575667492201,0.0101818680276,1.07002058252,0.546238638084,0.0188560995893,1.06969228998
+409,6.816666667,pose2_to_pose3_retreat,0.575667347498,0.0101818500662,1.07002055939,0.546238493679,0.0188560826703,1.0696922676
+410,6.833333333,pose2_to_pose3_retreat,0.57566715794,0.0101818265374,1.07002052908,0.546238304513,0.0188560605071,1.06969223828
+411,6.850000000,pose2_to_pose3_retreat,0.57566708806,0.0101818178635,1.0700205179,0.546238234777,0.0188560523366,1.06969222747
+412,6.866666667,pose2_to_pose3_retreat,0.575666956754,0.0101818023133,1.07002051848,0.546238103431,0.018856036543,1.06969222518
+413,6.883333333,pose2_to_pose3_retreat,0.575666871217,0.0101817929641,1.07002054136,0.546238017544,0.0188560257943,1.06969224249
+414,6.900000000,pose2_to_pose3_retreat,0.575666773668,0.0101817789997,1.07002055215,0.546237919902,0.0188560113982,1.06969225027
+415,6.916666667,pose2_to_pose3_retreat,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..803e2ce4179278ce8e05d4c3565c5543cbb85a69
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54c842e6cdfc9eb9f87684a4bf25eb4a0c01db64a14a84ab2123a8692061b6b2
+size 26436352
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..316db465b971a19febbc19093e60ab96361366cf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_02/franka_data.csv
@@ -0,0 +1,418 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,781,760,737,719,685,648,913,800,839,658,635,658,0.400969302569,0.0044747815403,0.0798261638977,0.999999951732,9.98839030472e-05,-0.000289257266256,5.37542462043e-05,1793254996971505408
+1,0.016666667,BASELINE,781,760,737,718.424053469,685,648,913,800,839,658,635,657.424053469,0.400969817271,0.00447606145802,0.0798258688481,0.999999951716,0.000101884723013,-0.000288656704667,5.35209468574e-05,1793254996988172288
+2,0.033333333,BASELINE,780.843333998,759.843333998,737.156666002,718,685,648,913,800,839,658,635,657.156666002,0.400970286298,0.00447703055093,0.079825805327,0.999999951818,0.000102923334305,-0.000287969149245,5.3324996117e-05,1793254997004838912
+3,0.050000000,BASELINE,780.249289347,759.249289347,737.750710653,718,685,648,913,800,839,658,635,657.750710653,0.400970627809,0.00447713188644,0.079826388185,0.999999952259,0.000101275661079,-0.000287038725131,5.32333148069e-05,1793254997021505536
+4,0.066666667,BASELINE,780,759.333516127,737.666483873,718.333516127,685,648,913,800,839,658,635,658,0.400970731068,0.00447735624114,0.0798263736174,0.999999952326,0.000101063452701,-0.000286880095673,5.32317986795e-05,1793254997038172416
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+6,0.100000000,BASELINE,780,760,737,719,685.482017243,648.482017243,913,800,839,658,635,657.517982757,0.400970178671,0.00447744070017,0.0798260844956,0.999999952139,0.000101529492381,-0.000287370579904,5.32092450474e-05,1793254997071505664
+7,0.116666667,BASELINE,780.057614799,760,737.057614799,719,685.942385201,648.942385201,912.942385201,800,839,658,635,657,0.400969644518,0.00447705208304,0.0798262884696,0.99999995218,0.000100948532064,-0.000287452398278,5.31045205425e-05,1793254997088172288
+8,0.133333333,BASELINE,780.65123906,760,737.65123906,719,685.34876094,648.34876094,912.34876094,800,839,658,635,657,0.400969370894,0.00447613605484,0.079825857036,0.99999995208,0.000100406191749,-0.000287993972562,5.30929522868e-05,1793254997104838656
+9,0.150000000,BASELINE,780.762605884,760,737.762605884,718.762605884,685,648.237394116,912.237394116,800,839,658,635,657,0.400969550537,0.00447523717856,0.0798257599492,0.99999995206,0.000100323586817,-0.000288077087544,5.31661288191e-05,1793254997121505280
+10,0.166666667,BASELINE,780.187089332,760,737.187089332,718.187089332,685,648.812910668,912.812910668,800,839,658,635,657,0.400970375773,0.00447436273198,0.0798261390753,0.999999952156,0.000100895786908,-0.000287507215038,5.33600080671e-05,1793254997138171904
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+13,0.216666667,BASELINE,780,760,737,718.553863351,685.446136649,648,912.553863351,800,839,658,635,658,0.400970121355,0.00447619793787,0.0798262246305,0.999999952073,0.000102417194301,-0.000287252473919,5.33875718956e-05,1793254997188172288
+14,0.233333333,BASELINE,780,760,737.142927599,719,685,648,913,800.142927599,839,658,635,657.857072401,0.400970239879,0.00447693527021,0.0798264538863,0.999999952206,0.000102275519544,-0.000286908505083,5.30124653067e-05,1793254997204838912
+15,0.250000000,BASELINE,780,760,737.722285063,719,685,648,913,800.722285063,839,658,635,657.277714937,0.400970883122,0.00447750390665,0.0798268783072,0.999999952213,0.000104271345773,-0.000286131065599,5.32079355065e-05,1793254997221505792
+16,0.266666667,BASELINE,780,760,737.701528323,718.701528323,685,648,913,800.701528323,839,657.701528323,635,657,0.400970556122,0.00447740856609,0.079826685503,0.999999952097,0.000103979855786,-0.000286642444459,5.32024932421e-05,1793254997238172160
+17,0.283333333,BASELINE,780,760,737.128261067,718.128261067,685,648,913,800.128261067,839,657.128261067,635,657,0.400969335841,0.00447670191811,0.0798259244349,0.999999951865,0.000101582489545,-0.000288340406914,5.30120757704e-05,1793254997254838784
+18,0.300000000,BASELINE,780,759.554297224,737,718.445702776,685.445702776,648,913,800,839,657.445702776,635,657.445702776,0.400968806353,0.00447575936907,0.0798257351025,0.999999951905,0.000100052228991,-0.000288738122293,5.30149187155e-05,1793254997271505664
+19,0.316666667,BASELINE,780.019864604,759.019864604,737,719,686,648,913,800,839,658,635,658,0.400968493288,0.00447479301811,0.0798257105182,0.999999952014,9.88597239738e-05,-0.000288758647922,5.30717128792e-05,1793254997288172032
+20,0.333333333,BASELINE,780.593948919,759.593948919,737,719,686,648,913,800,839,658,635,658,0.400968663476,0.0044750595673,0.079825684833,0.999999951902,0.000100117820631,-0.000288711418873,5.30796572186e-05,1793254997304838656
+21,0.350000000,BASELINE,781,760,737,719,685.825629547,648,912.825629547,800,839,658,635,657.825629547,0.400968793678,0.00447541972932,0.0798257699922,0.999999951872,0.000101243205211,-0.000288416819314,5.31267703181e-05,1793254997321505280
+22,0.366666667,BASELINE,781,760,737,719,685.229894256,648,912.229894256,800,839,658,635,657.229894256,0.400968827255,0.00447600610594,0.0798261230062,0.999999952039,0.000102047891907,-0.000287524450859,5.32685344187e-05,1793254997338171904
+23,0.383333333,BASELINE,781,759.646389153,737,719,685,648,912.353610847,800,839,657.646389153,635,657.353610847,0.400969702682,0.0044769298033,0.0798263202257,0.999999952192,0.000102382231368,-0.000286900736737,5.31195630171e-05,1793254997354838784
+24,0.400000000,BASELINE,781,759.070569434,737,719,685,648,912.929430566,800,839,657.070569434,635,657.929430566,0.400971107127,0.0044780654729,0.079826419544,0.999999952336,0.000102421004952,-0.000286445844768,5.27878935923e-05,1793254997371505664
+25,0.416666667,BASELINE,780.481199355,759.518800645,737,718.481199355,685.518800645,648,913,800,839,657,635,658,0.400970916569,0.00447731579556,0.0798265022264,0.99999995236,0.000102043281511,-0.00028647299121,5.29124717979e-05,1793254997388172032
+26,0.433333333,BASELINE,780,760,737,718.107618446,686,648.107618446,913,800,839,657.107618446,635,658,0.400970608092,0.00447657522839,0.07982675729,0.999999952388,0.000101927659375,-0.000286391101031,5.30553795687e-05,1793254997404838656
+27,0.450000000,BASELINE,780,760,737,718.685747324,686,648.685747324,913,800,839,657.685747324,635,658,0.400970758059,0.00447702577848,0.0798277761674,0.999999952503,0.000103212284371,-0.000285538143228,5.29998169228e-05,1793254997421505280
+28,0.466666667,BASELINE,780,759.736552653,737,719,685.736552653,648.736552653,913,800,839,657.736552653,635,657.736552653,0.40096991015,0.00447722942751,0.0798275273887,0.999999952281,0.000103529242553,-0.000286214997659,5.29303972628e-05,1793254997438172160
+29,0.483333333,BASELINE,780,759.159363393,737,719,685.159363393,648.159363393,913,800,839,657.159363393,635,657.159363393,0.400967873859,0.00447713903974,0.0798257689462,0.999999951653,0.00010269379719,-0.000288713719858,5.2844475158e-05,1793254997454838784
+30,0.500000000,BASELINE,780,759.41286117,737,719,685.41286117,648,913,800.41286117,839,657,635,657,0.400968224198,0.00447685239089,0.0798256486778,0.999999951761,0.00010170668819,-0.000288692338202,5.28330383395e-05,1793254997471505408
+31,0.516666667,BASELINE,780,759.98319213,737,719,685.98319213,648,913,800.98319213,839,657,635,657,0.400969484824,0.0044764908859,0.079826153227,0.999999952149,0.000100661733034,-0.000287709761174,5.285001103e-05,1793254997488172288
+32,0.533333333,BASELINE,780,759.425287401,737.574712599,719,685.425287401,648,913,800.425287401,839,657.574712599,635.574712599,657,0.400970030809,0.00447670419863,0.0798266935942,0.999999952374,0.000100682415527,-0.000286925859898,5.28038392251e-05,1793254997504838912
+33,0.550000000,BASELINE,780.163990388,759,737.836009612,718.836009612,685,648,913,800,839,657.836009612,635.836009612,657,0.400970271683,0.00447681223726,0.0798269372794,0.999999952446,0.000101007814197,-0.000286558290721,5.2816701792e-05,1793254997521505792
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+35,0.583333333,BASELINE,780.676466301,759.323533699,737,718.323533699,685.323533699,648.323533699,913,800.323533699,839,657,635,657.323533699,0.40096879451,0.00447644978125,0.0798260092863,0.999999951874,0.000102061869648,-0.000288132918113,5.30466345946e-05,1793254997554838784
+36,0.600000000,BASELINE,780.102179213,759.897820787,737,718.897820787,685.897820787,648.897820787,913,800.897820787,839,657,635,657.897820787,0.400967400083,0.00447632850356,0.079825675825,0.999999951642,0.000101333030989,-0.000289198775246,5.30258527719e-05,1793254997571505664
+37,0.616666667,BASELINE,780.470208506,759.529791494,737,718.529791494,686,648.529791494,913,800.529791494,839,657.470208506,635,657.529791494,0.400968647977,0.00447577218581,0.079826322962,0.999999952156,0.000100633798436,-0.000287689052972,5.28736142443e-05,1793254997588172544
+38,0.633333333,BASELINE,780.956186665,759.043813335,737,718.043813335,685.956186665,648,913,800,839,658,635,657,0.400970318998,0.00447534107529,0.0798271094453,0.99999995275,0.00010015975867,-0.000285812336229,5.27137070428e-05,1793254997604839168
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+40,0.666666667,BASELINE,780,760,737.225823073,719,685.225823073,648.225823073,913,800,839,657.774176927,635,657,0.400970005646,0.00447856141611,0.0798268975263,0.999999952225,0.000102933462628,-0.000286632174186,5.28826983818e-05,1793254997638172160
+41,0.683333333,BASELINE,780,760,737.804259266,719,685.804259266,648.804259266,913,800,839,657.195740734,635,657,0.400970015918,0.00447722926896,0.0798268860658,0.999999952462,0.000100664231804,-0.000286608828015,5.28987452179e-05,1793254997654839040
+42,0.700000000,BASELINE,780,760,738,719,686,648.619320066,913,800,839.380679934,657.380679934,635,657.380679934,0.400969857879,0.00447704748691,0.0798272018444,0.9999999525,0.000101159335593,-0.000286282889124,5.29897234155e-05,1793254997671505664
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+44,0.733333333,BASELINE,780.543529845,760,738,718.456470155,686,648,913,800,839.456470155,658,635,657.456470155,0.40097009427,0.00447541998933,0.0798276885616,0.999999952796,9.99963767176e-05,-0.000285615084492,5.32192323254e-05,1793254997704838912
+45,0.750000000,BASELINE,780.87004055,760,737.87004055,718.12995945,686,648,913,800,839,657.87004055,635,657,0.400970245659,0.00447413259549,0.0798274606383,0.99999995298,9.76213994758e-05,-0.000285797397711,5.31892784482e-05,1793254997721505024
+46,0.766666667,BASELINE,780.290625784,760,737.290625784,718.709374216,686,648,913,800,839,657.290625784,635,657,0.400969051624,0.00447612537474,0.0798265692404,0.999999952468,9.90808167635e-05,-0.00028717334965,5.27174985594e-05,1793254997738171904
+47,0.783333333,BASELINE,780.287026445,760,737,719,686,648.287026445,912.712973555,800,839.287026445,657.287026445,635.287026445,657,0.400969428118,0.0044763206404,0.0798269056554,0.999999952653,9.89691255231e-05,-0.000286590068114,5.25784263895e-05,1793254997754838528
+48,0.800000000,BASELINE,780.862904996,760,737,719,686,648.862904996,912.137095004,800,839.862904996,657.862904996,635.862904996,657,0.40097138513,0.00447470695945,0.0798284776928,0.999999953538,9.727633273e-05,-0.000284035091358,5.27741781037e-05,1793254997771505152
+49,0.816666667,BASELINE,780.553141018,760,737.446858982,719,686,648.553141018,912.446858982,800,839.553141018,658,636,657,0.400971351465,0.00447508191892,0.0798287286194,0.999999953384,9.8994441743e-05,-0.000283969384546,5.28584682509e-05,1793254997788172032
+50,0.833333333,BASELINE,780,760,737.967066551,719,686,648.032933449,913,800,839,658,635.967066551,657,0.400970660602,0.00447602518426,0.0798284985433,0.99999995291,0.00010151207117,-0.000284742621111,5.28939679939e-05,1793254997804839424
+51,0.850000000,BASELINE,780,760,737.38767235,719,686,648.61232765,913,800,839,658,635.38767235,657,0.400969385269,0.0044760885034,0.0798271363282,0.9999999526,9.96127919794e-05,-0.000286531135589,5.26977485971e-05,1793254997821506048
+52,0.866666667,BASELINE,780,760,737,719,686,649,913,800,839,658,635,657.191630211,0.400968800937,0.0044755762158,0.0798265031154,0.999999952502,9.79998729033e-05,-0.000287439938394,5.26299010205e-05,1793254997838172416
+53,0.883333333,BASELINE,780,760,737,719,686,649,913,800,839,658,635,657.770747437,0.400969613845,0.00447390001914,0.0798273439861,0.999999952843,9.69659901273e-05,-0.000286569914834,5.28216284647e-05,1793254997854839040
+54,0.900000000,BASELINE,780,760,737,718.653403716,686,648.653403716,913,800,839,658,635,657.653403716,0.400969618522,0.00447385186664,0.0798275049295,0.999999952805,9.7703324885e-05,-0.000286441441838,5.28759659296e-05,1793254997871505664
+55,0.916666667,BASELINE,780,760,737,718.079696532,686,648.079696532,913,800,839,658,635,657.079696532,0.400969093595,0.00447487050745,0.0798272203434,0.999999952517,9.96012688002e-05,-0.000286798877764,5.28402771426e-05,1793254997888172288
+56,0.933333333,BASELINE,780,760,737.507428462,718,686,648,913,800,839,658,635,657,0.400969020788,0.0044754827248,0.0798271752283,0.999999952795,9.92531596844e-05,-0.000285989581606,5.26283152093e-05,1793254997904838912
+57,0.950000000,BASELINE,780.094944289,760,737.905055711,718.094944289,686,648,913,800,839,658,635,657.094944289,0.400969008884,0.00447609447553,0.0798272137779,0.999999953041,9.91364184786e-05,-0.00028519746741,5.24596459206e-05,1793254997921505280
+58,0.966666667,BASELINE,780.673426193,760,737.326573807,718.673426193,686,648,913,800,839,658,635,657.673426193,0.400968935682,0.00447703777034,0.0798274816679,0.999999952666,0.000102043375595,-0.000285451454953,5.26562873142e-05,1793254997938172160
+59,0.983333333,BASELINE,780.749770137,760,737,719,686,648.250229863,913,800,839,657.749770137,635,657.749770137,0.400968719341,0.00447711867365,0.0798273049575,0.999999952413,0.000103135531705,-0.000285931573941,5.27352551347e-05,1793254997954839040
+60,1.000000000,BASELINE,780.175142052,760,737,719,686,648.824857948,913,800,839,657.175142052,635,657.175142052,0.400968317431,0.00447608157195,0.0798265518667,0.999999952324,0.000101874978533,-0.000286704849976,5.26616708548e-05,1793254997971505920
+61,1.016666667,BASELINE,780.398773201,760,737,719,686,648.601226799,913,800,839,657,635,657.398773201,0.400969271164,0.00447535177464,0.0798274719379,0.999999952608,0.00010117623534,-0.000285889409158,5.30535866605e-05,1793254997988172288
+62,1.033333333,BASELINE,780.972375901,760,737,719,686,648.027624099,913,800,839,657,635,657.972375901,0.400970819235,0.00447475670527,0.0798291255542,0.999999953053,0.000100723800041,-0.000284377445634,5.36495862605e-05,1793254998004838656
+63,1.050000000,BASELINE,780.433636189,759.433636189,737,718.433636189,686,648,913,800,839,657.566363811,635.566363811,657.433636189,0.400971156079,0.00447575066387,0.0798290010246,0.999999953161,0.000101701208649,-0.000283760539623,5.30550427985e-05,1793254998021505280
+64,1.066666667,BASELINE,780,759.156804272,737.156804272,718.156804272,686,648.156804272,913,800,839.156804272,658,635.843195728,657,0.40097115326,0.00447709907528,0.0798285834442,0.99999995312,0.00010259450192,-0.000283688442491,5.2489662214e-05,1793254998038171904
+65,1.083333333,BASELINE,780,759.734941338,737.734941338,718.734941338,686,648.734941338,913,800,839.734941338,658,635.265058662,657,0.400970402435,0.00447918387199,0.0798276201763,0.999999952727,0.000103067389806,-0.000284958562594,5.2164496838e-05,1793254998054838784
+66,1.100000000,BASELINE,780,760,737.688256226,718.688256226,686,648.688256226,912.688256226,800,839.688256226,657.688256226,635,657,0.400969143048,0.00447908160025,0.0798269052476,0.999999952468,0.000101705403246,-0.000286366727922,5.21053116126e-05,1793254998071505664
+67,1.116666667,BASELINE,780,760,737.112583747,718.112583747,686,648.112583747,912.112583747,800,839.112583747,657.112583747,635,657,0.4009674531,0.00447712771117,0.079826400568,0.999999952313,9.87899741227e-05,-0.000287891765116,5.22713106828e-05,1793254998088172288
+68,1.133333333,BASELINE,780,760,737,718.472844985,686,648,912,800,839,657.472844985,635,657,0.400968396448,0.00447608352421,0.0798271440972,0.999999952541,9.99870495256e-05,-0.000286620086296,5.26343507657e-05,1793254998104838912
+69,1.150000000,BASELINE,780,760,737,719,686,648,912.059783924,800,839,657.940216076,635,657.059783924,0.40096986349,0.00447542393848,0.0798281041461,0.999999952863,0.000101853727776,-0.000284773493385,5.29574143799e-05,1793254998121505792
+70,1.166666667,BASELINE,780,760,737,719,686,648,912.639232412,800,839,657.360767588,635,657.639232412,0.400970317892,0.00447618502835,0.0798283084933,0.999999953253,0.000100850110797,-0.00028383968067,5.25165908554e-05,1793254998138172160
+71,1.183333333,BASELINE,780,760,737.217441599,719,686,648.217441599,913,800,839,657.217441599,635,657.782558401,0.400970742437,0.00447668598779,0.0798284007018,0.999999953483,0.000100504712954,-0.000283200229422,5.22608820643e-05,1793254998154838784
+72,1.200000000,BASELINE,780,760,737.793606348,719,686,648.793606348,913,800,839,657.793606348,635,657.206393652,0.400971117725,0.00447675779853,0.07982830791,0.999999953449,0.000101245208561,-0.000283046399329,5.23105652742e-05,1793254998171505408
+73,1.216666667,BASELINE,780,760,737.632232527,719,686,649,913,800,839.367767473,658,635,657.367767473,0.400970294639,0.00447694705839,0.0798278158736,0.999999953129,0.000101402396435,-0.00028409376114,5.24434085377e-05,1793254998188171776
+74,1.233333333,BASELINE,780,760,737.059189793,719,686,649,913,800,839.940810207,658,635,657.940810207,0.40096880266,0.00447720187433,0.0798271009926,0.999999952647,0.000101234001779,-0.000285811587318,5.2622668904e-05,1793254998204838400
+75,1.250000000,BASELINE,780,760,737.531668495,718.468331505,686,648.468331505,913,800,840,657.468331505,635,658,0.40096829012,0.00447754610776,0.0798267533264,0.999999952193,0.000102883259643,-0.000286792093654,5.27212613756e-05,1793254998221505280
+76,1.266666667,BASELINE,780,760,738,718.121324561,686,648.121324561,913,800,839.878675439,657.121324561,635,658,0.400968227269,0.00447781254376,0.07982665656,0.999999951985,0.000104043407808,-0.000287091949058,5.27481282026e-05,1793254998238172160
+77,1.283333333,BASELINE,780,760,738,718.698746425,686,648.698746425,913,800,839.301253575,657.698746425,635,658,0.400969430813,0.00447774779431,0.0798273439906,0.999999952703,0.000102577742403,-0.00028515230353,5.25402872174e-05,1793254998254839040
+78,1.300000000,BASELINE,780.274435575,760,737.725564425,718.725564425,686,648.725564425,913,800,839,657.725564425,635.274435575,657.725564425,0.400970090712,0.00447732926243,0.0798277128343,0.999999953096,0.000101639209838,-0.000284131313527,5.24196091873e-05,1793254998271505664
+79,1.316666667,BASELINE,780.848234583,760,737.151765417,718.151765417,686,648.151765417,913,800,839,657.151765417,635.848234583,657.151765417,0.400970157585,0.00447652481293,0.0798277341528,0.999999953139,0.000101275691369,-0.000284112423592,5.23940114156e-05,1793254998288172032
+80,1.333333333,BASELINE,780.56542174,760,737,718.43457826,686,648,913,800,839,657,635.56542174,657,0.400970442863,0.00447707529162,0.0798280806367,0.999999953191,0.00010237220214,-0.000283527920015,5.24477245017e-05,1793254998304838912
+81,1.350000000,BASELINE,780.024934615,759.975065385,737,719,686,648,913,800,839,657.024934615,635.024934615,657.024934615,0.400970731043,0.00447803171379,0.0798284944248,0.99999995323,0.000103845277879,-0.000282838383409,5.25262021669e-05,1793254998321505280
+82,1.366666667,BASELINE,780.604208574,759.395791426,737,719,686,648,913,800,839,657.604208574,635.604208574,657.604208574,0.400969337662,0.00447718079454,0.0798278049185,0.999999952994,0.000102017631074,-0.000284335660107,5.25211772056e-05,1793254998338171904
+83,1.383333333,BASELINE,780.818860416,759.181139584,737,719,686,648.181139584,913,800,839,658,635.818860416,658,0.400968785719,0.0044768407432,0.0798275329414,0.999999952811,0.000101207129745,-0.000285276273591,5.24696394994e-05,1793254998354838528
+84,1.400000000,BASELINE,780.246983285,759.753016715,737,719,686,648.753016715,913,800,839,658,635.246983285,658,0.400970048851,0.00447760268868,0.0798281616196,0.999999952752,0.000102590720161,-0.000285016104992,5.23177688042e-05,1793254998371505408
+85,1.416666667,BASELINE,780,760,737.329091634,719,686,648.670908366,913,800,839,657.670908366,635,658,0.40097031835,0.00447730872375,0.0798284786014,0.999999952932,0.000102179174375,-0.000284537778808,5.22801859955e-05,1793254998388172288
+86,1.433333333,BASELINE,780,760,737.908357666,719,686,648.091642334,913,800,839,657.091642334,635,658,0.400969832491,0.0044762120591,0.0798285586325,0.999999953293,0.000100402971768,-0.00028389360995,5.23294844777e-05,1793254998404838912
+87,1.450000000,BASELINE,780.496943516,760,738,719,686,648,913,800,839,657.496943516,635,658,0.400970169519,0.00447597020594,0.0798284969475,0.999999953474,9.95051115654e-05,-0.000283551116702,5.24272792076e-05,1793254998421505536
+88,1.466666667,BASELINE,781,760,737.91497783,718.91497783,686,648.08502217,913,800.08502217,839,658,635,657.91497783,0.400970725312,0.00447612566416,0.0798285384481,0.999999953609,9.92791776819e-05,-0.00028313424951,5.25371112477e-05,1793254998438172160
+89,1.483333333,BASELINE,781,760,737.339917714,718.339917714,686,648.660082286,913,800.660082286,839,658,635,657.339917714,0.400971650642,0.00447764515342,0.0798293281812,0.999999953663,0.000101974570291,-0.000281961941817,5.26637909575e-05,1793254998454838784
+90,1.500000000,BASELINE,780.763503727,760,737.236496273,718,686,649,913,801,839.236496273,658,635,657,0.400971767815,0.00447858111425,0.0798294547406,0.999999953532,0.0001035694346,-0.000281851820303,5.26297003512e-05,1793254998471505408
+91,1.516666667,BASELINE,780.185132655,760,737.814867345,718,686,649,913,801,839.814867345,658,635,657,0.400970716728,0.00447867353665,0.0798286226278,0.999999953142,0.00010357339458,-0.000283277176302,5.23632030306e-05,1793254998488172288
+92,1.533333333,BASELINE,780.40000934,759.59999066,738,718.40000934,686,649,913,800.59999066,839.59999066,658,635,657.40000934,0.400970433865,0.0044778738595,0.079828608485,0.999999953144,0.000102409697881,-0.000283705035429,5.23044593148e-05,1793254998504838912
+93,1.550000000,BASELINE,780.98833907,759.01166093,738,718.98833907,686,649,913,800.01166093,839.01166093,658,635,657.98833907,0.400970512674,0.00447665419082,0.0798289794342,0.999999953328,0.000100696280118,-0.000283663283152,5.23435238907e-05,1793254998521505792
+94,1.566666667,BASELINE,780.431804259,759.568195741,738,719,686,648.431804259,913,800.568195741,839,657.431804259,635.568195741,658,0.400969110441,0.00447669716996,0.0798279449362,0.999999953067,0.000100566608241,-0.000284647802842,5.22305623954e-05,1793254998538172416
+95,1.583333333,BASELINE,780,760,738,718.852958765,686,648.147041235,913,800.852958765,839.147041235,657,635.852958765,658,0.400968473934,0.00447663057443,0.0798274601143,0.999999952993,0.000100362784261,-0.000284990446554,5.21723096457e-05,1793254998554838784
+96,1.600000000,BASELINE,780,760,738,718.276565427,686,648.723434573,913,800.276565427,839.723434573,657,635.276565427,658,0.400970160745,0.00447616947432,0.0798286632993,0.999999953491,9.98489284421e-05,-0.000283398252923,5.22827796569e-05,1793254998571505408
+97,1.616666667,BASELINE,780.298265218,760,737.701734782,718.298265218,686,648.701734782,913,800,839.701734782,657,635,658,0.400971144084,0.00447694490943,0.0798290099528,0.999999953517,0.000101417706487,-0.000282748593131,5.22810133925e-05,1793254998588172288
+98,1.633333333,BASELINE,780.871654377,760,737.128345623,718.871654377,686,648.128345623,913,800,839.128345623,657,635,658,0.400971478531,0.00447886094166,0.0798285665298,0.999999953101,0.000104907534699,-0.000282968339616,5.21757188357e-05,1793254998604838656
+99,1.650000000,BASELINE,781,760,737,719,686,648,913,800,839,657.459827811,635,658,0.400970452945,0.00447776984169,0.0798276883423,0.999999952871,0.000103778385439,-0.000284192115517,5.21734103611e-05,1793254998621505024
+100,1.666666667,BASELINE,781,760,737,719,686,648,913,800,839,657.94901625,635,658,0.400969157659,0.00447595109493,0.0798268124094,0.999999952716,0.000101509167837,-0.00028554610482,5.22259808139e-05,1793254998638171904
+101,1.683333333,BASELINE,781,760,737,719,686,648,913,800,839,657.371100922,635,658,0.400969128634,0.00447557491384,0.0798272556307,0.999999952812,0.000101224258052,-0.000285253295336,5.25387822e-05,1793254998654838784
+102,1.700000000,BASELINE,780.79484745,760,737,719,686,648.20515255,913,800.20515255,839,657.20515255,635.20515255,657.79484745,0.400969692816,0.00447623793536,0.0798278000792,0.999999953082,0.000101230077261,-0.000284302943246,5.25332084026e-05,1793254998671505664
+103,1.716666667,BASELINE,780.221576019,760,737,719,686,648.778423981,913,800.778423981,839,657.778423981,635.778423981,657.221576019,0.400971321427,0.00447876566738,0.0798285261664,0.999999953662,0.000101757570897,-0.000282172718703,5.19563527785e-05,1793254998688172544
+104,1.733333333,BASELINE,780.354070567,759.645929433,737,718.645929433,686,648.645929433,913,800.645929433,839,658,635.645929433,657,0.400970687358,0.00447816042057,0.0798279493615,0.999999953483,0.000100834222901,-0.000283138573008,5.1942370942e-05,1793254998704838912
+105,1.750000000,BASELINE,780.931213612,759.068786388,737,718.068786388,686,648.068786388,913,800.068786388,839,658,635.068786388,657,0.40096862775,0.00447558132638,0.0798265517051,0.999999952819,9.89968118659e-05,-0.000286055026903,5.22830122839e-05,1793254998721505536
+106,1.766666667,BASELINE,781,759,737.522308099,718.522308099,686,648.522308099,913,800.522308099,839,658,635,657,0.400969060877,0.00447682803013,0.0798269949056,0.999999952743,0.000100589211504,-0.000285755185975,5.23497416267e-05,1793254998738171904
+107,1.783333333,POSE1_TO_POSE2_PRESS,780,760,738,718,686,648,913,800,839,657,635,657,0.400968832237,0.00447678440318,0.0798275610821,0.999999952886,0.000101113452301,-0.000285024123998,5.25779876124e-05,1793254998780492032
+108,1.800000000,POSE1_TO_POSE2_PRESS,780.57358096,760,738,718.57358096,686,648.57358096,913,800,839.57358096,657,635,657.57358096,0.400969820116,0.00447680000543,0.0798280492227,0.999999953018,0.000102536864232,-0.000284075538841,5.24448846505e-05,1793254998797158912
+109,1.816666667,POSE1_TO_POSE2_PRESS,780.85217059,760,737.85217059,718.85217059,686,649,913,800,840,657.14782941,635,658,0.400970807209,0.00447691010365,0.0798284693731,0.999999953218,0.00010307300202,-0.000283212315815,5.22558982811e-05,1793254998813825792
+110,1.833333333,POSE1_TO_POSE2_PRESS,780.275987874,760,737.275987874,718.275987874,686,649,913,800,840,657.724012126,635,658,0.400971792027,0.00447729401516,0.0798286925144,0.999999953618,0.000101038157743,-0.000282596439507,5.19049830581e-05,1793254998830492416
+111,1.850000000,POSE1_TO_POSE2_PRESS,780,760,737,718.309846914,686,648.690153086,913,800,839.690153086,658,635,658,0.400971668001,0.00447761115287,0.0798287396553,0.999999953597,0.000101276295181,-0.00028260049679,5.18260990003e-05,1793254998847158784
+112,1.866666667,POSE1_TO_POSE2_PRESS,780,760,737,718.904555419,686,648.095444581,913,800,839.095444581,658,635,658,0.400970524545,0.00447786690122,0.0798286249881,0.999999953187,0.000103604126582,-0.000283174497721,5.19973101785e-05,1793254998863825408
+113,1.883333333,POSE1_TO_POSE2_PRESS,780.484164286,760,737,719,686,648.484164286,913,800.484164286,839.484164286,658,635,658,0.400969879178,0.00447702420759,0.0798280710406,0.999999953138,0.000102410029933,-0.000283747308519,5.21793706044e-05,1793254998880492032
+114,1.900000000,POSE1_TO_POSE2_PRESS,781,760,737.060544257,719,686,649,913,801,840,658,635,657.939455743,0.400969594902,0.00447629966446,0.0798276571443,0.999999953177,0.000101002122558,-0.000284088310265,5.23308863614e-05,1793254998897158400
+115,1.916666667,POSE1_TO_POSE2_PRESS,781,760,737.63402435,719,686,649,913,801,840,658,635,657.36597565,0.400971563112,0.00447835515254,0.0798291412364,0.999999953389,0.000103486952855,-0.000282467334603,5.22060536483e-05,1793254998913825024
+116,1.933333333,POSE1_TO_POSE2_PRESS,781,760,738,718.787188437,686,648.787188437,913,800.787188437,840,657.787188437,635,657.212811563,0.400975611073,0.00447894228028,0.0798315540412,0.999999954189,0.000104485100767,-0.000279257081748,5.21537727369e-05,1793254998930491648
+117,1.950000000,POSE1_TO_POSE2_PRESS,781,760,738,718.199041118,686,648.199041118,913,800.199041118,840,657.199041118,635,657.800958882,0.400983327091,0.00447693966067,0.0798356048165,0.999999956015,0.000102861186685,-0.000273243820864,5.22294514514e-05,1793254998947158528
+118,1.966666667,POSE1_TO_POSE2_PRESS,780.616311348,760,738,718,686,648,913,800,840,657,635,657.616311348,0.40100473252,0.00447666088434,0.0798447103549,0.999999960356,0.000101219763573,-0.000257548780085,5.2077004528e-05,1793254998963825408
+119,1.983333333,POSE1_TO_POSE2_PRESS,780.036352788,760,738,718,686,648,913,800,840,657,635,657.036352788,0.401033140553,0.00447726391279,0.0798564015784,0.99999996564,9.95693838111e-05,-0.000236901176107,5.18078635033e-05,1793254998980492032
+120,2.000000000,POSE1_TO_POSE2_PRESS,780,760,738,718.540212928,686,648,913,800.540212928,839.459787072,657.540212928,635,657,0.401088639343,0.00447784965101,0.0798746832958,0.999999973436,9.99855531433e-05,-0.000201322175069,5.09963425659e-05,1793254998997158656
+121,2.016666667,POSE1_TO_POSE2_PRESS,780.116137321,760,738,719,686,648,913,800.883862679,839.116137321,657.883862679,635,657,0.401149084247,0.00447825243842,0.0798926491739,0.999999979607,0.000100030232198,-0.000168145342431,5.00709057671e-05,1793254999013825280
+122,2.033333333,POSE1_TO_POSE2_PRESS,780.690426982,760,738,719,686,648,913,800.309573018,839.690426982,657.309573018,635,657,0.401221894366,0.00447793806118,0.0799076304572,0.99999998299,9.8064235779e-05,-0.000148383916409,4.88391654869e-05,1793254999030491648
+123,2.050000000,POSE1_TO_POSE2_PRESS,780.726103224,760,737.726103224,718.726103224,686,648.273896776,913,800.273896776,839.726103224,657,635.273896776,657.273896776,0.401300968727,0.00447801685457,0.07991905027,0.999999985607,9.62970950008e-05,-0.000131569948063,4.69288815594e-05,1793254999047158272
+124,2.066666667,POSE1_TO_POSE2_PRESS,780.131897754,760,737.131897754,718.131897754,686,648.868102246,913,800.868102246,839.131897754,657,635.868102246,657.868102246,0.401387368806,0.00447855544152,0.0799263051191,0.999999987546,9.476250617e-05,-0.000118202886485,4.42250745788e-05,1793254999063824896
+125,2.083333333,POSE1_TO_POSE2_PRESS,780.447138864,760,737.447138864,718.447138864,686,648.552861136,913,800.552861136,839,657.447138864,635.552861136,658,0.401488667887,0.0044809308796,0.0799310334477,0.99999998861,9.41444795848e-05,-0.000110546982961,4.11823850676e-05,1793254999080491520
+126,2.100000000,POSE1_TO_POSE2_PRESS,781,760,737.978131115,718.978131115,686,648.021868885,913,800.021868885,839,658,635,658,0.401595313823,0.00448380011544,0.0799350914813,0.999999989433,9.38086432385e-05,-0.000104356993728,3.79920604772e-05,1793254999097158400
+127,2.116666667,POSE1_TO_POSE2_PRESS,781,760,737.402866379,718.402866379,686,648.597133621,913,800.597133621,839,658,635,658,0.401729697423,0.00448590358534,0.0799404281556,0.9999999906,9.39964296387e-05,-9.40297097722e-05,3.35124137069e-05,1793254999113825280
+128,2.133333333,POSE1_TO_POSE2_PRESS,781,759.822595281,737.177404719,718.177404719,686,648.822595281,913,801,839,657.822595281,635.177404719,658,0.401873040056,0.00448794524687,0.0799462358418,0.999999991751,9.3065571563e-05,-8.3678350616e-05,2.88827642862e-05,1793254999130491904
+129,2.150000000,POSE1_TO_POSE2_PRESS,781,759.230625229,737.769374771,718.769374771,686,648.230625229,913,801,839,657.230625229,635.769374771,658,0.40203731844,0.00448984247224,0.079953144204,0.999999993023,8.95206273229e-05,-7.32707331838e-05,2.39025842442e-05,1793254999147158528
+130,2.166666667,POSE1_TO_POSE2_PRESS,781,759.353681658,737.646318342,718.646318342,686,648.353681658,913,800.646318342,839,657.353681658,635.646318342,657.646318342,0.402219651568,0.00449150251614,0.0799587191189,0.999999994358,8.32972056765e-05,-6.34395670502e-05,1.79243373544e-05,1793254999163825152
+131,2.183333333,POSE1_TO_POSE2_PRESS,781,759.933097652,737.066902348,718.066902348,686,648.933097652,913,800.066902348,839,657.933097652,635.066902348,657.066902348,0.402413508002,0.00449301118116,0.0799634429731,0.999999995639,7.53642680475e-05,-5.39763150699e-05,1.1309082221e-05,1793254999180491776
+132,2.200000000,POSE1_TO_POSE2_PRESS,781,760,737.506932517,718.506932517,686,649,913,800.506932517,839.506932517,658,635,657.506932517,0.402620267725,0.00449601517119,0.0799619033679,0.999999995869,6.90897440311e-05,-5.89061851607e-05,4.23966076174e-06,1793254999197158656
+133,2.216666667,POSE1_TO_POSE2_PRESS,781,760,737.919644805,718.919644805,686,649,913,801,839.919644805,658,635,658,0.402833248676,0.00449937910222,0.0799587200775,0.999999995792,6.27345224758e-05,-6.68651640412e-05,-3.09712549765e-06,1793254999213825280
+134,2.233333333,POSE1_TO_POSE2_PRESS,781,760,737.344272992,718.344272992,686,649,913,801,839.344272992,658,635,658,0.40307417841,0.0045037579208,0.079950447915,0.999999995089,5.45485450896e-05,-8.19101810779e-05,-1.17157554284e-05,1793254999230492160
+135,2.250000000,POSE1_TO_POSE2_PRESS,780.761704912,760,737.238295088,718,686,649,913,800.761704912,839.238295088,658,635,657.761704912,0.403339045092,0.00450929358646,0.0799448712837,0.999999994286,5.16058016445e-05,-9.14746870838e-05,-1.99382924685e-05,1793254999247158528
+136,2.266666667,POSE1_TO_POSE2_PRESS,780.168416429,760,737.831583571,718,686,649,913,800.168416429,839.831583571,658,635,657.168416429,0.403639571154,0.00451655263224,0.0799433102446,0.999999993712,5.64740187747e-05,-9.28747552944e-05,-2.75707607703e-05,1793254999263825152
+137,2.283333333,POSE1_TO_POSE2_PRESS,780.41290985,760,738,718.41290985,686,649,913,800.41290985,839.58709015,657.58709015,635.41290985,657,0.403970873337,0.00452338104515,0.0799473680452,0.999999991439,9.33355539384e-05,-8.8672097835e-05,-2.33916695022e-05,1793254999280492032
+138,2.300000000,POSE1_TO_POSE2_PRESS,780.989494376,760,738,718.989494376,686,649,913,800.989494376,839.010505624,657.010505624,635.989494376,657,0.40431437496,0.00453003875792,0.0799536531159,0.999999986305,0.000142879024108,-8.22485575088e-05,-1.45305555115e-05,1793254999297158912
+139,2.316666667,POSE1_TO_POSE2_PRESS,781,760,737.43493429,718.43493429,686,649,913,801,839.56506571,657,636,657,0.40469927962,0.00453844347776,0.0799557941357,0.999999994695,6.86327080074e-05,-7.40558634805e-05,-2.03957937608e-05,1793254999313825536
+140,2.333333333,POSE1_TO_POSE2_PRESS,781,760,737,718,686,648.855922805,913,801,839.855922805,657,635.855922805,657,0.405096575978,0.00454592397479,0.0799569047884,0.99999999726,1.83097797153e-05,-6.70662992827e-05,-2.54312772602e-05,1793254999330491904
+141,2.350000000,POSE1_TO_POSE2_PRESS,781,760,737,718,686,648.266212828,913,801,839.266212828,657,635.266212828,657,0.405529823341,0.00455044555449,0.0799550663776,0.999999996388,4.90880168862e-05,-6.38995880698e-05,-2.70549953283e-05,1793254999347158528
+142,2.366666667,POSE1_TO_POSE2_PRESS,781,760,737,718,686,648,913,800.682992216,839,657,635,657.317007784,0.405975610731,0.00455959703318,0.0799488729968,0.999999993946,7.57780591538e-05,-7.39221456845e-05,-3.00076900228e-05,1793254999363825152
+143,2.383333333,POSE1_TO_POSE2_PRESS,781,760,737,718,686,648,913,800.10511178,839,657,635,657.89488822,0.406431717632,0.00457255855771,0.0799390958155,0.999999990016,9.91038395842e-05,-9.47984413035e-05,-3.40540288792e-05,1793254999380492032
+144,2.400000000,POSE1_TO_POSE2_PRESS,781,760,737,718,686,648.471062553,913,800.471062553,839.471062553,657.471062553,635,658,0.406919754505,0.00458038463063,0.079932533215,0.999999986735,0.000119271962511,-0.000106818099152,-2.99031137726e-05,1793254999397158656
+145,2.416666667,POSE1_TO_POSE2_PRESS,781,760,737.046493481,718,685.953506519,649,913,801,839.953506519,658,635,658,0.407417123681,0.00458756398163,0.0799266264718,0.999999983292,0.000138032683355,-0.000117228576973,-2.49062525977e-05,1793254999413825280
+146,2.433333333,POSE1_TO_POSE2_PRESS,781,760,737.617814988,718,685.382185012,649,913,801,839.382185012,658,635,658,0.407939702472,0.0046003316236,0.0799200554354,0.999999979773,0.000148831253151,-0.000131702109474,-3.09330989225e-05,1793254999430491904
+147,2.450000000,POSE1_TO_POSE2_PRESS,781,760,737.802650559,718,685,649,913,800.802650559,839.197349441,658,635,658,0.408492589742,0.00461164692074,0.079916240342,0.999999977332,0.000155651277113,-0.000140860258809,-3.55929431006e-05,1793254999447158784
+148,2.466666667,POSE1_TO_POSE2_PRESS,781,760,737.206520379,718,685,649,913,800.206520379,839.793479621,658,635,658,0.409106720825,0.00462002748802,0.0799179941372,0.999999977673,0.000154431918974,-0.000139277700797,-3.74905083833e-05,1793254999463825152
+149,2.483333333,POSE1_TO_POSE2_PRESS,781,760,737.375306595,718,685,649,913,800.375306595,839.624693405,657.624693405,635,657.624693405,0.409766175861,0.0046263760113,0.0799435162676,0.999999981343,0.000162269683614,-9.73521294643e-05,-3.87910418138e-05,1793254999480491776
+150,2.500000000,POSE1_TO_POSE2_PRESS,781,760,737.949551854,718,685,649,913,800.949551854,839.050448146,657.050448146,635,657.050448146,0.410449655733,0.00463164740932,0.0799816372729,0.999999983333,0.00017490835432,-3.40419478399e-05,-3.9775106541e-05,1793254999497158400
+151,2.516666667,POSE1_TO_POSE2_PRESS,781,760,737.475172618,718,685,648.475172618,913,800.475172618,839.524827382,657,635.524827382,657,0.411133210387,0.00462786257703,0.0799948308635,0.999999984414,0.000171210783041,-1.53173198189e-05,-4.03082413815e-05,1793254999513825280
+152,2.533333333,POSE1_TO_POSE2_PRESS,781,760.099766731,737.099766731,718,685,648.099766731,913,800.099766731,840,657,635.900233269,657.099766731,0.411813821579,0.00462056122799,0.0799980447107,0.999999986057,0.000161398849329,-1.2408203946e-05,-4.10087680344e-05,1793254999530491904
+153,2.550000000,POSE1_TO_POSE2_PRESS,781,760.672641151,737.672641151,718,685,648.672641151,913,800.672641151,840,657,635.327358849,657.672641151,0.412480440102,0.0046007202917,0.0799653182411,0.999999988574,0.000130052958796,-6.4135035378e-05,-4.27090413604e-05,1793254999547158784
+154,2.566666667,POSE1_TO_POSE2_PRESS,781,760.744706412,738,718,685,649,913,801,840,657.255293588,635.255293588,658,0.41318601669,0.00458411762056,0.0799357317467,0.999999987928,0.000107114330584,-0.000104012243597,-4.30288422973e-05,1793254999563825664
+155,2.583333333,POSE1_TO_POSE2_PRESS,781,760.149016347,738,718,685,649,913,801,840,657.850983653,635.850983653,658,0.413943538226,0.00457183269728,0.0799103319433,0.999999986386,9.5385547068e-05,-0.000128089728311,-4.15079865763e-05,1793254999580492032
+156,2.600000000,POSE1_TO_POSE2_PRESS,781,760,738,718.432074556,685.432074556,648.567925444,913,800.567925444,840,658,635.567925444,658,0.414735484648,0.00456893852617,0.0799221711462,0.999999989074,9.54872083032e-05,-0.000104937614623,-4.14894016104e-05,1793254999597158656
+157,2.616666667,POSE1_TO_POSE2_PRESS,781,760,737.991720626,718.991720626,685.991720626,648,913,800.008279374,840,657.991720626,635.008279374,658,0.415538723174,0.00456931109187,0.0799461067769,0.999999991927,9.9609705639e-05,-6.6807148993e-05,-4.19664777141e-05,1793254999613825280
+158,2.633333333,POSE1_TO_POSE2_PRESS,781,760,737.416581952,718.416581952,685.416581952,648,913,800.583418048,840,657.416581952,635.583418048,658,0.416328785323,0.00457884829418,0.0799476536697,0.999999989839,0.000108801550243,-8.19486154637e-05,-4.20658563165e-05,1793254999630491904
+159,2.650000000,POSE1_TO_POSE2_PRESS,781,760,737,718,685.163727937,648.163727937,913,801,840,657.163727937,636,658,0.417138040379,0.00458687577035,0.0799501866399,0.999999988634,0.000116646481702,-8.53791818613e-05,-4.28391746984e-05,1793254999647158528
+160,2.666666667,POSE1_TO_POSE2_PRESS,781,760,737,718,685.757624311,648.757624311,913,801,840,657.757624311,636,658,0.417997721617,0.00459093668686,0.0799553103672,0.999999989971,0.000120952618113,-5.80412682839e-05,-4.5383159887e-05,1793254999663825408
+161,2.683333333,POSE1_TO_POSE2_PRESS,781.342418712,760,737.342418712,718.342418712,686,648.657581288,913,801,840,658,635.657581288,658,0.418901560731,0.00459229515655,0.0799722043455,0.999999992526,0.000111052688541,-1.97261497371e-05,-4.71849631345e-05,1793254999680492032
+162,2.700000000,POSE1_TO_POSE2_PRESS,781.920937221,760,737.920937221,718.920937221,686,648.079062779,913,801,840,658,635.079062779,658,0.419835846935,0.00459179027246,0.0799972139837,0.99999999431,9.13575891839e-05,2.61578177131e-05,-4.84750272105e-05,1793254999697158656
+163,2.716666667,POSE1_TO_POSE2_PRESS,782,760,738,718.50537157,685.50537157,648.49462843,913,801,840,657.50537157,635.49462843,658,0.420708670335,0.00458976238643,0.0799840928906,0.999999993709,0.000101788886635,4.43071542981e-06,-4.69228126316e-05,1793254999713825280
+164,2.733333333,POSE1_TO_POSE2_PRESS,782,760,738,718,685,649,913,801,840.068909726,657.068909726,635.931090274,657.931090274,0.421576664914,0.00458793988425,0.0799689980511,0.999999992212,0.000114224526354,-2.12402344937e-05,-4.55769313066e-05,1793254999730492160
+165,2.750000000,POSE1_TO_POSE2_PRESS,782,760,738,718,685,649,913,801,840.653321541,657.653321541,635.346678459,657.346678459,0.422481319687,0.00458945736387,0.0799842923612,0.99999999317,0.000105978633574,3.65058602925e-06,-4.91404215893e-05,1793254999747158784
+166,2.766666667,POSE1_TO_POSE2_PRESS,782,760,737.762204283,718,685.237795717,649,913,801,841,657.762204283,635.237795717,657,0.423403394765,0.00459194200011,0.079998906472,0.999999992904,0.000105544998448,2.35010850671e-05,-4.99939661065e-05,1793254999763825408
+167,2.783333333,POSE1_TO_POSE2_PRESS,782,760,737.177639084,718,685.822360916,649,913,801,841,657.177639084,635.822360916,657,0.42435087342,0.00459583700847,0.0800125286732,0.999999991466,0.000116503714301,3.60014567709e-05,-4.68956885714e-05,1793254999780492032
+168,2.800000000,POSE1_TO_POSE2_PRESS,782,760.399115228,737.399115228,718,685.600884772,648.600884772,913,801,841,657,636,657.399115228,0.425259163062,0.00459906104503,0.0799765650591,0.999999990571,0.000124876808735,-3.34857379241e-05,-4.62972660154e-05,1793254999797158656
+169,2.816666667,POSE1_TO_POSE2_PRESS,782,760.97245975,737.97245975,718,685.02754025,648.02754025,913,801,841,657,636,657.97245975,0.42615034512,0.00460199217612,0.0799189553106,0.99999998055,0.000132121177205,-0.000138763689096,-4.67901269705e-05,1793254999813825280
+170,2.833333333,POSE1_TO_POSE2_PRESS,782,760.451307817,738,718,685.548692183,648.548692183,913,801,841,657,636,657.451307817,0.427119215166,0.00460021837066,0.0799138897294,0.9999999836,0.000122619866311,-0.000123692576697,-4.96466170453e-05,1793254999830491904
+171,2.850000000,POSE1_TO_POSE2_PRESS,782,760,738,718,686,649,913,801,841,657,636,657,0.428081389243,0.00459791044384,0.0799142877886,0.999999986459,0.000113807959254,-0.000106989009283,-5.1790126558e-05,1793254999847158528
+172,2.866666667,POSE1_TO_POSE2_PRESS,782,760,738,718,686,649,913,801,841,657,636,657,0.42900525631,0.00459453182614,0.079924834062,0.999999986944,0.00011053268315,-0.000106307352582,-5.09305372082e-05,1793254999863825408
+173,2.883333333,POSE1_TO_POSE2_PRESS,782,760,738,718,686,649,913.303815435,801,841,657.303815435,636,657.303815435,0.429979075394,0.00459313618745,0.0799551801875,0.999999990667,0.000105759138078,-7.03954087084e-05,-5.02558528883e-05,1793254999880492288
+174,2.900000000,POSE1_TO_POSE2_PRESS,782,760,738,718,686,649,913.881294253,801,841,657.881294253,636,657.881294253,0.430997888976,0.00459352672791,0.0800033611356,0.999999993795,9.96360189905e-05,-2.74959429712e-06,-4.97477226361e-05,1793254999897158912
+175,2.916666667,POSE1_TO_POSE2_PRESS,781.543879128,760,738,718,685.543879128,649,913.543879128,801,841,658,635.543879128,658,0.43198211706,0.00459622586868,0.0800241673375,0.99999999301,0.000102482139681,3.10779623824e-05,-5.0118505944e-05,1793254999913825536
+176,2.933333333,POSE1_TO_POSE2_PRESS,781.03007698,760,738,718,685,648.96992302,913.03007698,801,841,658,635.03007698,658,0.432951053078,0.00459957863124,0.0800330569003,0.999999991747,0.00010737795006,4.89419370206e-05,-5.08005095595e-05,1793254999930491904
+177,2.950000000,POSE1_TO_POSE2_PRESS,781.600720572,760,738,718,685,648.399279428,913.600720572,801,841,658,635.600720572,658,0.433805982854,0.00460394290469,0.0799550745236,0.999999990854,0.000107401942468,-6.28360113799e-05,-5.29887170468e-05,1793254999947158784
+178,2.966666667,POSE1_TO_POSE2_PRESS,782,760,738,718,685,648,913.820217511,801,841,657.820217511,636,658,0.434688133553,0.00460529973716,0.0799040367222,0.999999984045,0.000104065544599,-0.00013440825117,-5.4911323353e-05,1793254999963825152
+179,2.983333333,POSE1_TO_POSE2_PRESS,782,760,738,718,685,648,913.221540732,801,841,657.221540732,636,658,0.435633709337,0.0045996492148,0.0799157799291,0.999999987799,9.28994196496e-05,-0.000112300970312,-5.62150790279e-05,1793254999980491776
+180,3.000000000,POSE1_TO_POSE2_PRESS,782,760,738,717.635475818,685,648.364524182,913,801,841,657,636,658,0.436584974453,0.00459821970577,0.0799465269401,0.999999991518,9.16922405968e-05,-7.38300709824e-05,-5.57213146132e-05,1793254999997158656
+181,3.016666667,POSE1_TO_POSE2_PRESS,782,760,738,717.056819515,685,648.943180485,913,801,841,657,636,658,0.437539581591,0.00459926974324,0.0799884373383,0.999999993561,9.63352369154e-05,-2.57467068096e-05,-5.41716343786e-05,1793255000013825536
+182,3.033333333,POSE1_TO_POSE2_PRESS,782,760.515682513,738,717,685,649,913.515682513,801.515682513,841,657,636,658,0.438490313546,0.00460153993881,0.0800158780698,0.999999993324,9.89311465412e-05,2.48510646818e-05,-5.4279501852e-05,1793255000030491904
+183,3.050000000,POSE1_TO_POSE2_PRESS,782.090448075,760.909551925,737.909551925,717,685,648.909551925,913.909551925,801.909551925,841,657.090448075,635.909551925,658,0.439417468288,0.00460485296166,0.0800305309104,0.999999991644,0.00010333483157,5.55145405217e-05,-5.43348896444e-05,1793255000047158784
+184,3.066666667,POSE1_TO_POSE2_PRESS,782.681448777,760.318551223,737.318551223,717,685,648.318551223,913.318551223,801.318551223,841,657.681448777,635.318551223,658,0.440216478431,0.0046132018999,0.0799831328285,0.999999991183,0.000118976535182,-2.56563643728e-05,-5.31010460484e-05,1793255000063825408
+185,3.083333333,POSE1_TO_POSE2_PRESS,782.462536711,760,737.268731645,717.268731645,685,648,913,801,841,658,635,658,0.44097273592,0.00462180846634,0.0799011941594,0.999999977705,0.000130701580591,-0.00015683583931,-5.39481096318e-05,1793255000080492032
+186,3.100000000,POSE1_TO_POSE2_PRESS,781.296664929,760,737.851667535,717.851667535,685,648,913,801,841,658,635,658,0.441679006438,0.00463071625415,0.0797788702266,0.999999928835,0.000137847218748,-0.000346485922782,-5.7228193735e-05,1793255000097158656
+187,3.116666667,POSE1_TO_POSE2_PRESS,781.427740094,760,737.572259906,717.572259906,684.572259906,648,913,801,841.427740094,658,635.427740094,658,0.442486354884,0.00463574752043,0.0797573148163,0.999999919999,0.000141008902381,-0.000369683376452,-5.87566408569e-05,1793255000113825280
+188,3.133333333,POSE1_TO_POSE2_PRESS,782.001465191,760,737.001465191,717.001465191,684,648,913.001465191,801,841.998534809,658,635.998534809,658,0.443328204147,0.00463944564757,0.0797702683012,0.999999931593,0.000142791696133,-0.000335950848303,-5.96816682829e-05,1793255000130491904
+189,3.150000000,POSE1_TO_POSE2_PRESS,782.573238145,760,737.573238145,717.573238145,684,648,913.573238145,801,841.426761855,658,635.426761855,658,0.444170953616,0.00463922726375,0.0798283970046,0.999999956131,0.000137122114879,-0.000255971912364,-5.84358650085e-05,1793255000147158528
+190,3.166666667,POSE1_TO_POSE2_PRESS,782.849515756,760,737.849515756,717.849515756,683.849515756,648,913.849515756,801,841,657.849515756,635,658,0.444989061128,0.00463894031896,0.0798733568638,0.999999970277,0.000134520371601,-0.000195218762169,-5.69125314188e-05,1793255000163825152
+191,3.183333333,POSE1_TO_POSE2_PRESS,782.256162267,760,737.256162267,717.256162267,683.256162267,648,913.256162267,801,841,657.256162267,635,658,0.445734648524,0.00463845160184,0.0798795613434,0.999999970329,0.000140947156433,-0.000191046332837,-5.45724376332e-05,1793255000180491776
+192,3.200000000,POSE1_TO_POSE2_PRESS,782,759.670608155,737,717.329391845,683,647.670608155,913.329391845,801,841.329391845,657,635,658,0.446450721014,0.00463849066031,0.0798644652503,0.999999966517,0.000141149254932,-0.000209690257065,-5.54297449798e-05,1793255000197158144
+193,3.216666667,POSE1_TO_POSE2_PRESS,782,759.090979222,737,717.909020778,683,647.090979222,913.909020778,801,841.909020778,657,635,658,0.447144371154,0.00463893066689,0.0798331872342,0.999999958767,0.000136622494527,-0.000245667633807,-5.87160996473e-05,1793255000213825024
+194,3.233333333,POSE1_TO_POSE2_PRESS,782,759.483590733,737,718,682.516409267,647,914,801,842,657.483590733,635,658,0.447774945839,0.00463599920264,0.0797877616123,0.999999941509,0.000131201403104,-0.000310101891487,-6.00478599183e-05,1793255000230492416
+195,3.250000000,POSE1_TO_POSE2_PRESS,782,760,737,717.941289497,681.941289497,647,914,801,842,657.941289497,635,658,0.448388143525,0.00463318655935,0.079738861827,0.999999917161,0.000126420277551,-0.000382070465601,-6.09763384034e-05,1793255000247159552
+196,3.266666667,POSE1_TO_POSE2_PRESS,782,760,737,717.352706679,681.352706679,647,914,801,842,657.352706679,635,658,0.448950499742,0.00463711154968,0.0796823800637,0.999999877354,0.000128917747333,-0.000474219997876,-6.15495364654e-05,1793255000263825920
+197,3.283333333,POSE1_TO_POSE2_PRESS,782,759.768016197,737,717,680.768016197,647,914,801,842,657,635,658,0.449534439239,0.00464055469427,0.0796512300958,0.999999852859,0.000133515649374,-0.000522142206993,-6.18352909602e-05,1793255000280492544
+198,3.300000000,POSE1_TO_POSE2_PRESS,782,759.189145996,737,717,680.189145996,647,914,801,842,657,635,658,0.45015065226,0.00464327733245,0.0796579588776,0.999999861147,0.000141254338041,-0.000503931102302,-6.16912303861e-05,1793255000297159168
+199,3.316666667,POSE1_TO_POSE2_PRESS,782,759.388119011,737,717.388119011,680,647,913.611880989,801,842,657.388119011,635.388119011,658,0.450752264898,0.00464598644829,0.0796869123076,0.999999880545,0.00014468714739,-0.000462832210095,-6.13292134916e-05,1793255000313825792
+200,3.333333333,POSE1_TO_POSE2_PRESS,782,759.964605017,737,717.964605017,680,647,913.035394983,801,842,657.964605017,635.964605017,658,0.451346791543,0.00464868900153,0.0797266520953,0.999999903179,0.000146030171451,-0.000410625114883,-6.08614150401e-05,1793255000330492672
+201,3.350000000,POSE1_TO_POSE2_PRESS,782,760,737,718,679.462169525,646.462169525,913.537830475,800.462169525,842,657.462169525,635.462169525,658,0.451836737786,0.00465257817801,0.0797142803902,0.999999892796,0.000142419101942,-0.000436264084032,-6.16277711578e-05,1793255000347159040
+202,3.366666667,POSE1_TO_POSE2_PRESS,782,760,737,718,679,646,914,800.114820896,841.885179104,657,635,658,0.452307574803,0.00465622521592,0.0796917461384,0.999999874943,0.000140269444542,-0.000475952217951,-6.25215179459e-05,1793255000363825664
+203,3.383333333,POSE1_TO_POSE2_PRESS,782,760,737,718,679,646,914,800.70839921,841.29160079,657,635,658,0.452727258483,0.00465853898128,0.0796410515578,0.999999834485,0.000145564525218,-0.000552987211021,-6.36098167441e-05,1793255000380492032
+204,3.400000000,POSE1_TO_POSE2_PRESS,782.294096903,760,737,718,678.705903097,646,914,801,841.294096903,657,635,658,0.453134097993,0.00466065698788,0.0795987047346,0.999999795056,0.000154488285351,-0.000618059173355,-6.34383596377e-05,1793255000397158656
+205,3.416666667,POSE1_TO_POSE2_PRESS,782.87218474,760,737,718,678.12781526,646,914,801,841.87218474,657,635,658,0.453528534667,0.00466258596239,0.0795644188202,0.999999758635,0.000166916033602,-0.000671579183688,-6.20504353319e-05,1793255000413825280
+206,3.433333333,POSE1_TO_POSE2_PRESS,783,760,736.554901571,718,678,646,914,801,841.554901571,657,635,658,0.453905642352,0.0046678652301,0.079547205404,0.99999974206,0.000174322333681,-0.000693863256325,-6.36075428491e-05,1793255000430491904
+207,3.450000000,POSE1_TO_POSE2_PRESS,782.982845651,759.982845651,736.017154349,718,677.982845651,646,914,801,841,657.017154349,635,658,0.454277239309,0.00467390924375,0.0795351709738,0.999999731686,0.000180160386231,-0.000706981621546,-6.59287444652e-05,1793255000447158784
+208,3.466666667,POSE1_TO_POSE2_PRESS,782.390295977,759.390295977,736.609704023,718,677.390295977,646,914,801,841,657.609704023,635,658,0.454628989991,0.00467370518312,0.0795342978177,0.999999729315,0.000181206952332,-0.000710070432773,-6.58386473743e-05,1793255000463825152
+209,3.483333333,POSE1_TO_POSE2_PRESS,782.197267261,759.197267261,737,718,677,646,914,800.802732739,841.197267261,658,635,658,0.454963089939,0.0046731900479,0.0795333590562,0.999999726823,0.000182834271131,-0.00071317848628,-6.55834124524e-05,1793255000480491776
+210,3.500000000,POSE1_TO_POSE2_PRESS,782.775207934,759.775207934,737,718,677,646,914,800.224792066,841.775207934,658,635,658,0.455263128622,0.00467207462141,0.0795322936937,0.999999724107,0.000185582288249,-0.000716323671927,-6.5009505394e-05,1793255000497158400
+211,3.516666667,POSE1_TO_POSE2_PRESS,783,760,737,718,676.64834085,646,914,800,841.64834085,657.64834085,635,658,0.455534226467,0.00467375537661,0.0795298985429,0.999999719053,0.000182963470616,-0.000724060105233,-6.44673942941e-05,1793255000513825280
+212,3.533333333,POSE1_TO_POSE2_PRESS,783,760,737,718,676.072837672,646,914,800,841.072837672,657.072837672,635,658,0.45578690243,0.00467721600456,0.0795266569327,0.999999712398,0.000176928464823,-0.000734719037363,-6.39455224318e-05,1793255000530491904
+213,3.550000000,POSE1_TO_POSE2_PRESS,782.500842075,760,737,717.500842075,676,645.500842075,914,800,841.499157925,657,635,658,0.455999016685,0.00467720714503,0.0795140707457,0.999999701142,0.000151624921052,-0.000755350530465,-6.45851335743e-05,1793255000547158272
+214,3.566666667,POSE1_TO_POSE2_PRESS,782.073843067,760,737,717.073843067,675.926156933,645,914,800,842,657,635,658,0.456201768023,0.00467656601792,0.0794998127174,0.999999686928,0.000127057587773,-0.000778263419173,-6.5629285984e-05,1793255000563824896
+215,3.583333333,POSE1_TO_POSE2_PRESS,782.671199443,760,737,717.671199443,675.328800557,645,914,800,842,657,635,658,0.456379809515,0.00467500659033,0.0794833017315,0.999999663826,0.00012750409853,-0.00080710561016,-6.83482652491e-05,1793255000580491776
+216,3.600000000,POSE1_TO_POSE2_PRESS,783,760,737,718,675,645,914,800,841.741372232,657.258627768,635,658,0.456547316871,0.00467459593962,0.0794728852073,0.999999647986,0.000127938361845,-0.000826006581372,-7.32989704396e-05,1793255000597158400
+217,3.616666667,POSE1_TO_POSE2_PRESS,783,760,737,718,675,645,914,800,841.166099137,657.833900863,635,658,0.456701926975,0.00467559176918,0.079469930307,0.999999641758,0.000128357630333,-0.000832736233498,-8.09820410019e-05,1793255000613825024
+218,3.633333333,POSE1_TO_POSE2_PRESS,783,760,737,717.590348892,675,645,914,800,841.409651108,657.590348892,635,658,0.456847264523,0.00467955610493,0.0794743327927,0.999999645655,0.000136933692938,-0.000826486406887,-8.28225322298e-05,1793255000630491648
+219,3.650000000,POSE1_TO_POSE2_PRESS,783,760,737,717.014404968,675,645,914,800,841.985595032,657.014404968,635,658,0.456988837987,0.00468472546914,0.0794817219186,0.999999653454,0.000148820905488,-0.000814967720605,-8.22913002212e-05,1793255000647158272
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,760,737,717.562348456,675,645,914,800,842,657.562348456,635,658,0.457101652437,0.00468401474668,0.0794859352301,0.999999655139,0.000176094161921,-0.000808457320214,-7.14747219682e-05,1793255000663824896
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,760,737,718,675,645,914,800,842,657.856983501,635,658,0.457204664371,0.00468412056984,0.0794871780035,0.999999653013,0.000197558767037,-0.000806800531255,-6.33871906153e-05,1793255000680491776
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,760,737,718,675,645,914,800,842,657.264066305,635,658,0.45727916036,0.00468726959032,0.079479332352,0.999999641797,0.000199508913029,-0.000820008057031,-6.47146929611e-05,1793255000697158144
+223,3.716666667,POSE1_TO_POSE2_PRESS,783,760,736.681366826,718,674.681366826,645,914,800,842,657,635.318633174,658,0.457344944441,0.00468889229822,0.0794737454893,0.999999634955,0.000198949578687,-0.000828354303531,-6.58643518633e-05,1793255000713825024
+224,3.733333333,POSE1_TO_POSE2_PRESS,783,760,736.106872083,718,674.106872083,645,914,800,842,657,635.893127917,658,0.457403732891,0.00468928938162,0.0794699724269,0.999999631707,0.000196375138707,-0.000832796957518,-6.6871203114e-05,1793255000730491904
+225,3.750000000,POSE1_TO_POSE2_PRESS,783,759.533317268,736.466682732,717.533317268,674,645,914,800,841.533317268,657,635.533317268,658,0.457449979175,0.00468937859121,0.0794672533986,0.999999627879,0.000196661315204,-0.000837285929914,-6.72243276062e-05,1793255000747158528
+226,3.766666667,POSE1_TO_POSE2_PRESS,783,759,736.95868175,717,674,645,914,800,841.082636499,657.04131825,635,658,0.457492753748,0.00468926489966,0.0794651869626,0.999999624439,0.000197310009285,-0.000841220817455,-6.73731518202e-05,1793255000763825152
+227,3.783333333,POSE1_TO_POSE2_PRESS,783,759,736.366782484,717,674,645,914,800,842.266435033,657.633217516,635,658,0.457527462749,0.00468738508189,0.0794686065752,0.999999628123,0.000194077589981,-0.000837631263335,-6.67904755999e-05,1793255000780491776
+228,3.800000000,POSE1_TO_POSE2_PRESS,783,759.220499357,736.220499357,717,674,645,914,800,842.559001285,658,635,658,0.457556094953,0.00468695706264,0.0794701707617,0.999999629354,0.000192961541068,-0.000836436304006,-6.65754151644e-05,1793255000797158656
+229,3.816666667,POSE1_TO_POSE2_PRESS,783,759.800257997,736.800257997,717,674,645,914,800,841.399484006,658,635,658,0.45757482624,0.00468889445672,0.0794687119048,0.999999626608,0.000195293691561,-0.000839142854725,-6.69593106298e-05,1793255000813825536
+230,3.833333333,POSE1_TO_POSE2_PRESS,783,760,736.626135264,717,673.626135264,645,914,800,841.373864736,658,635,658,0.457588175025,0.00469030183165,0.0794668021546,0.999999623778,0.000197084199509,-0.00084207994627,-6.71014339682e-05,1793255000830492160
+231,3.850000000,POSE1_TO_POSE2_PRESS,783,760,736.055762067,717,673.055762067,645,914,800,841.944237933,658,635,658,0.457598694692,0.00469143062115,0.0794646554087,0.999999620899,0.000198590012592,-0.000845138213162,-6.71164785304e-05,1793255000847159040
+232,3.866666667,POSE1_TO_POSE2_PRESS,783,759.477958224,736.522041776,717,673.522041776,645,914,800,841.477958224,657.477958224,635,658,0.457605934493,0.00469037796507,0.0794639221098,0.999999620188,0.000197311122002,-0.000846333384599,-6.64247090744e-05,1793255000863825408
+233,3.883333333,POSE1_TO_POSE2_PRESS,782.8969909,759,736.8969909,717.1030091,673.8969909,645,913.8969909,800,841,657.1030091,635,658,0.457612384085,0.00468912607339,0.0794636500123,0.999999620001,0.000195621261343,-0.000846995252984,-6.57989837104e-05,1793255000880491776
+234,3.900000000,POSE1_TO_POSE2_PRESS,782.304824887,759,736.304824887,717.695175113,673.304824887,645,913.304824887,800,841,657.695175113,635,658,0.457616768898,0.00468805055163,0.0794648407142,0.999999621199,0.000193412721993,-0.000846083303439,-6.58505757281e-05,1793255000897158400
+235,3.916666667,POSE1_TO_POSE2_PRESS,782.281456147,759.281456147,736,718,673,645,913,800,841.281456147,658,635,658,0.457618926171,0.00468706001911,0.0794639145537,0.999999620518,0.000192138082265,-0.000847200100573,-6.55718632903e-05,1793255000913825024
+236,3.933333333,POSE1_TO_POSE2_PRESS,782.861494191,759.861494191,736,718,673,645,913,800,841.861494191,658,635,658,0.457618720364,0.00468615964701,0.0794607427264,0.999999617838,0.000191854166836,-0.000850469087337,-6.49427483815e-05,1793255000930491904
+237,3.950000000,POSE1_TO_POSE2_PRESS,782.562667466,759.562667466,736,718,673.437332534,645,913.437332534,800,842,657.562667466,635,658,0.457619423643,0.00468733309586,0.079460289574,0.999999617459,0.000192087993732,-0.000850855156374,-6.50400280468e-05,1793255000947158528
+238,3.966666667,POSE1_TO_POSE2_PRESS,782.011847258,759.011847258,736.011847258,717.988152742,674,645,913.988152742,800,841.988152742,657,635,658,0.45762041825,0.00468910986245,0.0794606956651,0.999999617815,0.000192433910053,-0.00085033341641,-6.53626603201e-05,1793255000963825152
+239,3.983333333,POSE1_TO_POSE2_PRESS,782.586069329,759.586069329,736.586069329,717.413930671,674,645,913.413930671,800,841.413930671,657,635,658,0.457621704918,0.00468864485093,0.0794614061639,0.999999618776,0.000190391056549,-0.000849647606467,-6.55660199352e-05,1793255000980491776
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,759.834421784,736.834421784,717.165578216,673.834421784,645,913,800,841.165578216,657,635.165578216,658,0.45762244827,0.00468806505412,0.0794616546388,0.999999619066,0.000189345124619,-0.000849539050622,-6.55704943757e-05,1793255000997158400
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,759.241260456,736.241260456,717.758739544,673.241260456,645,913,800,841.758739544,657,635.758739544,658,0.457621788587,0.00468718884004,0.0794607100003,0.999999617634,0.000190873606536,-0.000850921174648,-6.50613750214e-05,1793255001013825280
+242,4.033333333,POSE1_TO_POSE2_PRESS,783,759.34261404,736,717.65738596,673,645,913,800,841.65738596,657,635.65738596,657.65738596,0.457622253675,0.00468759579012,0.0794606950446,0.999999617509,0.000192193936908,-0.000850784448605,-6.48782022136e-05,1793255001030491904
+243,4.050000000,POSE1_TO_POSE2_PRESS,783,759.920121533,736,717.079878467,673,645,913,800,841.079878467,657,635.079878467,657.079878467,0.457623489899,0.00468888246735,0.0794613174721,0.999999618281,0.000193371560176,-0.000849606411016,-6.49184957782e-05,1793255001047158528
+244,4.066666667,POSE1_TO_POSE2_PRESS,783,759.505322057,736,717,673,645,913.494677943,800,841.494677943,657,635,657.494677943,0.457624815556,0.00468817364063,0.0794624920961,0.999999619446,0.00019246458926,-0.000848462163623,-6.4632563559e-05,1793255001063825152
+245,4.083333333,POSE1_TO_POSE2_PRESS,782.929326647,759,736,717,673,645,914,800,842,657,635,658,0.457626034058,0.00468734049099,0.0794634997776,0.999999620507,0.000191313518572,-0.000847496598811,-6.43069772438e-05,1793255001080491776
+246,4.100000000,POSE1_TO_POSE2_PRESS,782.339275093,759,736,717,673,645,914,800,842,657,635,658,0.457626359581,0.00468794768342,0.0794626292021,0.999999620353,0.000190827645349,-0.000847804311698,-6.40748045456e-05,1793255001097158400
+247,4.116666667,POSE1_TO_POSE2_PRESS,782.246541663,759,736,717,673,645,914,800,842,657,635,657.753458337,0.45762547005,0.00468791858978,0.079461169591,0.999999619189,0.000189302110038,-0.000849512217052,-6.41495043125e-05,1793255001113825280
+248,4.133333333,POSE1_TO_POSE2_PRESS,782.82662925,759,736,717,673,645,914,800,842,657,635,657.17337075,0.457622936675,0.00468702866555,0.0794589130742,0.999999616642,0.000186370017047,-0.000853114441168,-6.46393714402e-05,1793255001130492160
+249,4.150000000,POSE1_TO_POSE2_PRESS,783,759,736,717,673,645,914,800,842,657,635,657.400576717,0.457623981768,0.00468653679342,0.0794598485662,0.999999618165,0.000185749205965,-0.00085147104071,-6.45248830834e-05,1793255001147158528
+250,4.166666667,POSE1_TO_POSE2_PRESS,783,759,736,717,673,645,914,800,842,657,635,657.971906807,0.457626552252,0.00468621459855,0.0794621447124,0.999999621417,0.000186113622525,-0.000847591593709,-6.41527767831e-05,1793255001163825152
+251,4.183333333,POSE1_TO_POSE2_PRESS,783,759.560522663,736,717.560522663,673,645,913.439477337,800,841.439477337,657,635,658,0.45762686113,0.00468685706352,0.079461971233,0.99999962084,0.000187102188901,-0.00084805680937,-6.41340760378e-05,1793255001180491776
+252,4.200000000,HOLD_POSE2,782,760,736,717,673,644,914,800,841,657,635,658,0.457624050308,0.00469026990519,0.0794587616472,0.999999614722,0.000194178262082,-0.000853665438516,-6.40726979421e-05,1793255001221507328
+253,4.216666667,HOLD_POSE2,782.575203899,760,736,717.575203899,673,644.575203899,914,800,841.575203899,657.575203899,635,658,0.457624318683,0.00468798046869,0.0794595287663,0.999999616447,0.000190313774028,-0.000852487762578,-6.44300396701e-05,1793255001238173952
+254,4.233333333,HOLD_POSE2,783,759.849544117,736.150455883,717.849544117,673,644.849544117,914,800,841.849544117,657.849544117,635,658,0.457624674821,0.00468607575815,0.0794600680328,0.999999617799,0.000187473094025,-0.00085152570065,-6.45007920029e-05,1793255001254841088
+255,4.250000000,HOLD_POSE2,783,759.274156194,736.725843806,717.274156194,673,644.274156194,914,800,841.274156194,657.274156194,635,658,0.457625278829,0.0046852576273,0.079459963776,0.999999618137,0.000187523950734,-0.000851172596404,-6.37621309665e-05,1793255001271508992
+256,4.266666667,HOLD_POSE2,783,759,737,717.307705795,673,644,914,800.307705795,841.307705795,657,635,658,0.457625882802,0.00468631553173,0.0794602370061,0.999999618438,0.000188228186413,-0.000850665929127,-6.37358097557e-05,1793255001288176128
+257,4.283333333,HOLD_POSE2,783,759,737,717.89545991,673,644,914,800.89545991,841.89545991,657,635,658,0.457626486743,0.0046890808481,0.0794608537935,0.999999618702,0.000189527073486,-0.000850019501523,-6.43578012752e-05,1793255001304842240
+258,4.300000000,HOLD_POSE2,782.522779544,759.477220456,736.522779544,718,673,644.477220456,914,800.522779544,842,657,635,658,0.457625755158,0.00468845441579,0.0794600144716,0.999999618009,0.000188455355692,-0.000851084548448,-6.4195834752e-05,1793255001321509120
+259,4.316666667,HOLD_POSE2,782.057041692,759.942958308,736.057041692,718,673,645,913.942958308,800,842,657.057041692,635.057041692,658,0.457625108414,0.00468722145487,0.0794592058138,0.999999617446,0.000187110449287,-0.000852065429164,-6.38919688309e-05,1793255001338176000
+260,4.333333333,HOLD_POSE2,782.631038835,759.368961165,736.631038835,718,673,645,913.368961165,800,842,657.631038835,635.631038835,658,0.457627849094,0.0046871417608,0.0794615300054,0.999999619963,0.000187937667737,-0.000848927898045,-6.38391834445e-05,1793255001354842112
+261,4.350000000,HOLD_POSE2,783,759.205228631,737,717.794771369,673,645,913.205228631,800,842,658,635.794771369,658,0.457629090992,0.00468709263101,0.079462627943,0.99999962113,0.00018808656087,-0.000847529046126,-6.37067199068e-05,1793255001371507968
+262,4.366666667,HOLD_POSE2,783,759.779765042,737,717.220234958,673,645,913.779765042,800,842,658,635.220234958,658,0.457627635843,0.00468709850147,0.0794615192435,0.999999619881,0.000187014811275,-0.00084925893812,-6.34308759854e-05,1793255001388174592
+263,4.383333333,HOLD_POSE2,783,760,736.634302518,717.365697482,673,645,914,800,841.634302518,658,635,658,0.457627024131,0.00468654114072,0.0794605644861,0.999999618997,0.000185671838682,-0.000850592716094,-6.34264881686e-05,1793255001404841216
+264,4.400000000,HOLD_POSE2,783,760,736.04128621,717.95871379,673,645,914,800,841.04128621,658,635,658,0.457626936701,0.00468563367349,0.0794597054197,0.999999618341,0.000184160272823,-0.000851680268385,-6.3590838383e-05,1793255001421507840
+265,4.416666667,HOLD_POSE2,783,760,736,718,673,645,914,800,841.538626566,658,635,658,0.457626764693,0.00468667937822,0.0794601449444,0.99999961895,0.000184211721967,-0.000850933118363,-6.38604675661e-05,1793255001438174464
+266,4.433333333,HOLD_POSE2,783,759.883381869,736,717.883381869,672.883381869,645,914,800,842,658,635,658,0.457626568747,0.00468756854387,0.0794605188943,0.999999619339,0.000184320913339,-0.000850432872846,-6.41250178668e-05,1793255001454841344
+267,4.450000000,HOLD_POSE2,783,759.309081898,736,717.309081898,672.309081898,645,914,800,842,658,635,658,0.457626303696,0.00468726974391,0.0794602541166,0.99999961849,0.000184197693146,-0.000851440450732,-6.43387171274e-05,1793255001471508480
+268,4.466666667,POSE2_TO_POSE3_RETREAT,783,760,736,717,672,645,914,800,842,657,635,658,0.457629119652,0.00468492700576,0.079461617689,0.999999621033,0.000184164276527,-0.000848550117375,-6.3092294997e-05,1793255001508810752
+269,4.483333333,POSE2_TO_POSE3_RETREAT,783,760,736,717.57938854,672.57938854,645,913.42061146,800,842,657,635,658,0.45763014404,0.00468553348883,0.0794622703868,0.999999621312,0.000184581084494,-0.000848093245789,-6.35866228758e-05,1793255001525477632
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783,760,736,717.842217567,673,645,913.157782433,800.157782433,842,657,635,658,0.457630597469,0.00468586305804,0.0794624583078,0.999999621343,0.000185074094326,-0.000847927184891,-6.38847773276e-05,1793255001542144512
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783,760,736,717.26645844,673,645,913.73354156,800.73354156,842,657,635,658,0.457629538389,0.00468545906323,0.0794614150029,0.999999620716,0.000185768968316,-0.000848531501731,-6.36632547661e-05,1793255001558810624
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783,759.693782801,736,717.306217199,673,645,913.693782801,800.693782801,842,657,635,658,0.457629242833,0.00468414926473,0.0794608630185,0.999999620817,0.000184820664404,-0.000848634874961,-6.34558889434e-05,1793255001575476992
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783,759.123763581,736,717.876236419,673,645,913.123763581,800.123763581,842,657,635,658,0.457629605044,0.00468205912849,0.0794607343001,0.999999621542,0.000182456784665,-0.000848306691927,-6.32607189751e-05,1793255001592143360
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783,759.466916906,736,718,672.533083094,645,913.466916906,800,841.533083094,657,635.466916906,658,0.457629704237,0.00468281847408,0.0794604973866,0.999999621234,0.000181896386054,-0.000848793965151,-6.31940807968e-05,1793255001608809984
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783,759.938723254,736,718,672.061276746,645,914,800,841.061276746,657,635.938723254,658,0.45762972225,0.00468440985821,0.0794603105621,0.999999620667,0.000182279952263,-0.00084937896869,-6.3207655073e-05,1793255001625476864
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783,759.361626727,736,718,672.638373273,645,914,800,841.638373273,657,635.361626727,658,0.457629670938,0.00468635285153,0.0794607979732,0.999999620304,0.000186399296053,-0.000848882893878,-6.35963778837e-05,1793255001642143488
+277,4.616666667,POSE2_TO_POSE3_RETREAT,783,759,736.214183519,717.785816481,672.785816481,645,914,800,842,657,635,658,0.457626506379,0.00468771020482,0.0794594200438,0.999999618064,0.000189003161939,-0.000850922141252,-6.38917253573e-05,1793255001658810112
+278,4.633333333,POSE2_TO_POSE3_RETREAT,783,759,736.787834919,717.212165081,672.212165081,645,914,800,842,657,635,658,0.457618116806,0.0046880846682,0.0794549114813,0.999999612667,0.000189063574799,-0.000857216463468,-6.40303593589e-05,1793255001675476480
+279,4.650000000,POSE2_TO_POSE3_RETREAT,783,759.373206131,737,717.373206131,672.373206131,645,914,800,842,657.373206131,635,658,0.45759522231,0.00468701932186,0.079443914408,0.999999598293,0.000187770924134,-0.000874125253757,-6.37264020429e-05,1793255001692143104
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783,759.965456042,737,717.965456042,672.965456042,645,914,800,842,657.965456042,635,658,0.45756381452,0.00468510891612,0.0794291090691,0.999999578225,0.000185684127417,-0.000897263934414,-6.31626770762e-05,1793255001708809728
+281,4.683333333,POSE2_TO_POSE3_RETREAT,782.454399738,759.454399738,736.454399738,718,673,645,913.454399738,800,842,658,635,658,0.457507999462,0.0046865404871,0.0794085610879,0.999999545673,0.000187257885021,-0.000932540979909,-6.28966691693e-05,1793255001725476352
+282,4.700000000,POSE2_TO_POSE3_RETREAT,782.123244567,759.123244567,736,718,672.876755433,645,913.123244567,800,841.876755433,658,635,658,0.457447884636,0.00468769386805,0.0793885141537,0.999999514972,0.00018875942474,-0.000964636277238,-6.24736737325e-05,1793255001742142976
+283,4.716666667,POSE2_TO_POSE3_RETREAT,782.69452681,759.69452681,736,718,672.30547319,645,913.69452681,800,841.30547319,658,635,658,0.457377634433,0.00468708341189,0.0793715817772,0.999999497635,0.00018917417527,-0.000982431591209,-6.14129357407e-05,1793255001758810112
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783,760,736,718,672.267113383,645,914,800,841.267113383,657.732886617,635,658,0.457300136201,0.00468648056714,0.0793588783389,0.999999481966,0.000189850758872,-0.000998209358701,-6.00194280926e-05,1793255001775476992
+285,4.750000000,POSE2_TO_POSE3_RETREAT,783,760,736,718,672.841198885,645,914,800,841.841198885,657.158801115,635,658,0.457214308391,0.00468588646961,0.0793510348831,0.999999468359,0.000190828246352,-0.00101166851993,-5.82434948782e-05,1793255001792143360
+286,4.766666667,POSE2_TO_POSE3_RETREAT,783,759.567892058,736,717.567892058,673,644.567892058,914,800,842,657.432107942,635,658,0.457117988216,0.00468539215275,0.0793511671314,0.999999466847,0.000193568958688,-0.00101277879986,-5.58160507318e-05,1793255001808809984
+287,4.783333333,POSE2_TO_POSE3_RETREAT,782.971631263,759.028368737,736,717.028368737,673,644.028368737,914,800,841.971631263,658,635,658,0.457016567369,0.00468498808953,0.0793544120614,0.999999470135,0.000197047159509,-0.00100900119911,-5.30984288312e-05,1793255001825476608
+288,4.800000000,POSE2_TO_POSE3_RETREAT,782.396223868,759.603776132,736,717.603776132,673,644.603776132,914,800,841.396223868,658,635,658,0.456894157088,0.00468558864757,0.0793588687914,0.999999476391,0.000201744957834,-0.00100202690237,-4.95893158858e-05,1793255001842143232
+289,4.816666667,POSE2_TO_POSE3_RETREAT,782.178734168,760,736,718,673,645,914,800,841.178734168,657.821265832,635,658,0.456762050661,0.00468505125726,0.0793630421796,0.999999481417,0.000205463299558,-0.000996418548295,-4.58374842918e-05,1793255001858809856
+290,4.833333333,POSE2_TO_POSE3_RETREAT,782.752698473,760,736,718,673,645,914,800,841.752698473,657.247301527,635,658,0.456608503419,0.00468199755181,0.0793665890209,0.999999483859,0.000207015794226,-0.000993830668175,-4.15489358461e-05,1793255001875476480
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783,759.662769042,736,718,673,645,914,800,842,657.337230958,635,658,0.456437857328,0.00467981462244,0.0793679035524,0.9999994856,0.000209020712977,-0.000991828362459,-3.7230559424e-05,1793255001892143360
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783,759.070235807,736,718,673,645,914,800,842,657.929764193,635,658,0.45625426646,0.00467829091787,0.0793675281036,0.999999486804,0.000211368141664,-0.000990269368312,-3.28896011402e-05,1793255001908809984
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,759,736.509189215,718,673,645,913.490810785,800,842,657.490810785,635,658,0.456034702463,0.004678915495,0.0793673654426,0.9999994869,0.000218900580465,-0.000988705493078,-2.72639152124e-05,1793255001925476608
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,759,736.91325699,718,673.08674301,645,913.08674301,800,842,657,635,658,0.455807286747,0.00467953822332,0.0793688150738,0.999999488754,0.000227145874266,-0.000985111240249,-2.1280309739e-05,1793255001942143232
+295,4.916666667,POSE2_TO_POSE3_RETREAT,783,759,736.336316129,718,673.663683871,645,913.663683871,800,842,657,635,658,0.455562836997,0.00467851794531,0.0793792143063,0.999999501678,0.000235479341517,-0.000970046726042,-1.42503566609e-05,1793255001958809856
+296,4.933333333,POSE2_TO_POSE3_RETREAT,783,759.238897398,736.238897398,718,674,645,913.761102602,800,841.761102602,657,635,658,0.455310212804,0.00467648220069,0.0793945936714,0.999999523726,0.000242856059699,-0.000945261539722,-6.9520670961e-06,1793255001975476736
+297,4.950000000,POSE2_TO_POSE3_RETREAT,783,759.811696632,736.811696632,718,674,645,913.188303368,800,841.188303368,657,635,658,0.45504616338,0.00467302715995,0.0794169336621,0.9999995578,0.000248895549283,-0.00090688997593,7.21270280659e-07,1793255001992143360
+298,4.966666667,POSE2_TO_POSE3_RETREAT,783,759.600532722,736.600532722,718,674.399467278,645,913.399467278,800,841,657.399467278,635,658,0.454744220454,0.00466979849706,0.0794293997299,0.999999576491,0.000254747897046,-0.000884338351675,8.13578276968e-06,1793255002008810240
+299,4.983333333,POSE2_TO_POSE3_RETREAT,783,759.005429979,736.005429979,718,674.994570021,645,913.994570021,800,841,657.994570021,635,658,0.454423719537,0.00466668070075,0.0794370301334,0.999999587904,0.000260508593694,-0.000869534400191,1.54235378998e-05,1793255002025476864
+300,5.000000000,POSE2_TO_POSE3_RETREAT,783,759.569621407,736,718,675,645,914,800,841,658,635,658,0.454030323774,0.00466347871217,0.0794338812754,0.999999585053,0.000264463851469,-0.00087145891383,2.26182732395e-05,1793255002042143488
+301,5.016666667,POSE2_TO_POSE3_RETREAT,783,759.855183126,736,717.855183126,675,645,914,800,841.144816874,657.855183126,635,658,0.453629686864,0.00466140443815,0.0794315932244,0.99999958581,0.000259355838229,-0.000872040300821,2.56741609097e-05,1793255002058810112
+302,5.033333333,POSE2_TO_POSE3_RETREAT,783,759.279008617,736,717.279008617,675,645,914,800,841.720991383,657.279008617,635,658,0.453209480648,0.00466269153205,0.0794321648708,0.99999959718,0.000227301104458,-0.000868162153154,1.64044527946e-05,1793255002075476736
+303,5.050000000,POSE2_TO_POSE3_RETREAT,782.705582417,759.294417583,736.294417583,717,675.294417583,645,913.705582417,800,842,657.294417583,635,658,0.452774718661,0.00465814307759,0.0794399935377,0.999999614756,0.00019623302482,-0.000855484387135,1.12739747229e-05,1793255002092143360
+304,5.066666667,POSE2_TO_POSE3_RETREAT,782.134736534,759.865263466,736.865263466,717,675.865263466,645,913.134736534,800,842,657.865263466,635,658,0.452326290228,0.00464811563425,0.0794546358122,0.999999637924,0.000166091309746,-0.000834544669816,1.00298134781e-05,1793255002108809984
+305,5.083333333,POSE2_TO_POSE3_RETREAT,782,760,736.544218274,717,676,645.455781726,913.455781726,800,841.544218274,657.544218274,635,658,0.451852224627,0.00464283309187,0.0794740157641,0.999999663236,0.000158280883322,-0.000805138199563,1.50717000731e-05,1793255002125476352
+306,5.100000000,POSE2_TO_POSE3_RETREAT,782.050565613,760,736,717.050565613,676.050565613,646,914,800,841,657,635,658,0.451366522478,0.00463934170506,0.0794955248658,0.99999968951,0.000158771990852,-0.000771560341644,2.15981887412e-05,1793255002142142976
+307,5.116666667,POSE2_TO_POSE3_RETREAT,782.626520902,760,736,717.626520902,676.626520902,646,914,800,841,657,635,658,0.450842210723,0.00463922935597,0.0795239480576,0.999999724106,0.000173832878117,-0.000721819657283,2.33713442908e-05,1793255002158810112
+308,5.133333333,POSE2_TO_POSE3_RETREAT,782.79875423,760,736,718,677.20124577,646,914,800,841,657.20124577,635,658,0.45031077098,0.00463667241229,0.0795547669505,0.999999756673,0.000198076848795,-0.000668416146585,2.52680409575e-05,1793255002175476992
+309,5.150000000,POSE2_TO_POSE3_RETREAT,782.226298978,760,736,718,677.773701022,646,914,800,841,657.773701022,635,658,0.449766183282,0.00462960627226,0.0795900048511,0.999999786014,0.000239259547978,-0.000608256343963,2.7392616274e-05,1793255002192143872
+310,5.166666667,POSE2_TO_POSE3_RETREAT,782.359112381,759.640887619,736,718,678.359112381,646,913.640887619,800,841,657.640887619,635,657.640887619,0.449169636241,0.00462542208555,0.0796053150814,0.999999797388,0.000236768153723,-0.00059026408712,2.74470832589e-05,1793255002208810240
+311,5.183333333,POSE2_TO_POSE3_RETREAT,782.952993745,759.047006255,736,718,678.952993745,646,913.047006255,800,841,657.047006255,635,657.047006255,0.448539120907,0.0046231219702,0.0796075976366,0.999999798593,0.000205724909136,-0.000599838780246,2.61482211237e-05,1793255002225476864
+312,5.200000000,POSE2_TO_POSE3_RETREAT,782.466044946,759.533955054,736.533955054,718,679,646,913.533955054,800,841,657,635,657.533955054,0.447829280761,0.00461609006525,0.0795712337963,0.999999768867,0.000189371882967,-0.000652322771134,2.96427800502e-05,1793255002242143488
+313,5.216666667,POSE2_TO_POSE3_RETREAT,782.112706456,760,736.887293544,717.887293544,679.112706456,646.112706456,914,800,841.112706456,657.112706456,635,658,0.447118133697,0.00460911707848,0.0795437935222,0.999999745781,0.000175919296157,-0.000690235040209,3.26446102164e-05,1793255002258809856
+314,5.233333333,POSE2_TO_POSE3_RETREAT,782.686955672,760,736.313044328,717.313044328,679.686955672,646.686955672,914,800,841.686955672,657.686955672,635,658,0.446429556438,0.00460405091264,0.0795664991948,0.999999771733,0.000169173453605,-0.000653371175458,3.19414349034e-05,1793255002275476480
+315,5.250000000,POSE2_TO_POSE3_RETREAT,783,759.738056846,736.261943154,717,680,647,914,800,841.738056846,658,635.261943154,658,0.445738745752,0.00459805856302,0.0796061605413,0.999999809375,0.000164306820278,-0.00059429117362,3.27315137996e-05,1793255002292143360
+316,5.266666667,POSE2_TO_POSE3_RETREAT,783,759.162184503,736.837815497,717,680,647,914,800,841.162184503,658,635.837815497,658,0.445045258295,0.00459095621569,0.0796661426391,0.999999856975,0.000161692348191,-0.000508585945325,3.53112024475e-05,1793255002308809984
+317,5.283333333,POSE2_TO_POSE3_RETREAT,782.57466591,759,736.57466591,717,680.85066818,647,914,800,841.42533409,657.57466591,635.57466591,658,0.444323273325,0.0045859085933,0.0797096318831,0.99999988524,0.000153077436599,-0.000452389688498,3.78181848305e-05,1793255002325476608
+318,5.300000000,POSE2_TO_POSE3_RETREAT,781.983034261,759,736,717,682,647,914,800.016965739,841.983034261,657.016965739,635,657.983034261,0.44358786656,0.00458196588064,0.079745474051,0.999999905286,0.000143077949239,-0.000409076199177,4.01783351197e-05,1793255002342142976
+319,5.316666667,POSE2_TO_POSE3_RETREAT,781.406340204,759,736,717,682,647,914,800.593659796,841.406340204,657.593659796,635,657.406340204,0.442778244442,0.00458789967701,0.0797423489865,0.999999901954,0.000165010107745,-0.00040911054754,3.86346529517e-05,1793255002358809856
+320,5.333333333,POSE2_TO_POSE3_RETREAT,781.169658005,759.169658005,736,717.169658005,682.169658005,647.169658005,914,801,841,658,635,657.169658005,0.441955175086,0.00458984872639,0.0797401259147,0.999999901697,0.000176189512048,-0.000405160978268,3.75138838379e-05,1793255002375476736
+321,5.350000000,POSE2_TO_POSE3_RETREAT,781.743996395,759.743996395,736,717.743996395,682.743996395,647.743996395,914,801,841,658,635,657.743996395,0.441100030464,0.00458229307243,0.0797400543405,0.999999909506,0.000161720678207,-0.000391708684545,3.74018772531e-05,1793255002392143360
+322,5.366666667,POSE2_TO_POSE3_RETREAT,782,760,736.327777287,718,683,648,914,801,841,657.672222713,635.327777287,658,0.440204677702,0.00457140338317,0.0797063878452,0.999999891348,0.000140786305092,-0.000442829572015,3.72166376846e-05,1793255002408809984
+323,5.383333333,POSE2_TO_POSE3_RETREAT,782,760,736.919151776,718,683,648,914,801,841,657.080848224,635.919151776,658,0.439276989753,0.00455783247624,0.0796457044471,0.999999843751,0.000114652370265,-0.000545879954017,3.69725041263e-05,1793255002425476608
+324,5.400000000,POSE2_TO_POSE3_RETREAT,782,760,737,718,683.499966294,648,913.500033706,801,841,657,635.500033706,658,0.438429835268,0.00454919138772,0.0796714676566,0.999999868638,0.000117196962126,-0.000497526426492,3.81733990372e-05,1793255002442143232
+325,5.416666667,POSE2_TO_POSE3_RETREAT,782,759.921519969,737,718,684,648,913,801,841,657,635,657.921519969,0.437595756642,0.00454114608807,0.0797174868486,0.999999904539,0.000121569427668,-0.000417804750495,3.97752540479e-05,1793255002458810112
+326,5.433333333,POSE2_TO_POSE3_RETREAT,782,759.346979003,737,718,684,648,913,801,841,657,635,657.346979003,0.436763716075,0.00453193200513,0.079805009267,0.999999950735,0.000108788796539,-0.000291362860398,4.24650656885e-05,1793255002475476480
+327,5.450000000,POSE2_TO_POSE3_RETREAT,782,759,736.773721467,718,684,648,913,801,840.773721467,657,635.226278533,657,0.435891794401,0.00452132284449,0.0798602670057,0.999999971871,9.54447534907e-05,-0.000212529719601,4.44851349338e-05,1793255002492143104
+328,5.466666667,POSE2_TO_POSE3_RETREAT,782,759,736.202420777,718,684,648,913,801,840.202420777,657,635.797579223,657,0.434959063185,0.00450858651329,0.0798663286223,0.999999974388,8.12416384137e-05,-0.000206288839362,4.54840039781e-05,1793255002508809984
+329,5.483333333,POSE2_TO_POSE3_RETREAT,781.614784639,759,736,717.614784639,684,648,913.385215361,801,840,657,636,657,0.434002064584,0.00449796778005,0.0798420984271,0.99999996753,7.16714901501e-05,-0.000240194380845,4.59268009845e-05,1793255002525476608
+330,5.500000000,POSE2_TO_POSE3_RETREAT,781.01818455,759,736,717.01818455,684,648,913.98181545,801,840,657,636,657,0.433031749452,0.00448851106735,0.079801245773,0.999999953003,6.46436566009e-05,-0.000296130041427,4.60644564641e-05,1793255002542143488
+331,5.516666667,POSE2_TO_POSE3_RETREAT,781.560348419,759.560348419,736,717,684,648,914,801,840,657,636,657,0.43197197636,0.00447666650834,0.0797317272902,0.999999903714,5.24181451216e-05,-0.000433036501994,4.80069398922e-05,1793255002558810112
+332,5.533333333,POSE2_TO_POSE3_RETREAT,782,760,736.137265092,717.137265092,684,648,914,801,840,657,635.862734908,657.137265092,0.430950501225,0.00446523260493,0.0796869965664,0.999999862327,4.04334056863e-05,-0.000520840293738,4.93648495228e-05,1793255002575476736
+333,5.550000000,POSE2_TO_POSE3_RETREAT,782,760,736.710849571,717.710849571,684,648,914,801,840,657,635.289150429,657.710849571,0.430059702187,0.00445534266128,0.0797239224138,0.999999899595,2.97334198805e-05,-0.00044447167281,4.86842376146e-05,1793255002592143104
+334,5.566666667,POSE2_TO_POSE3_RETREAT,782,759.707236955,736.707236955,718,684,648,913.707236955,801,840,657.292763045,635,658,0.429172905976,0.00444537681621,0.0797775201249,0.999999937006,1.92668401589e-05,-0.000350983323406,4.9270831105e-05,1793255002608809728
+335,5.583333333,POSE2_TO_POSE3_RETREAT,782,759.116856415,736.116856415,718,684,648,913.116856415,801,840,657.883143585,635,658,0.428290179021,0.00443533381176,0.079848066142,0.999999969829,9.0375373237e-06,-0.000240091377841,5.11456419718e-05,1793255002625476096
+336,5.600000000,POSE2_TO_POSE3_RETREAT,782,759,736.462489706,718,684,648,913.462489706,801,840,657.537510294,635,658,0.427333383474,0.00443532846414,0.0798398484402,0.999999966729,1.37371922172e-05,-0.00025198082545,5.34737003233e-05,1793255002642143232
+337,5.616666667,POSE2_TO_POSE3_RETREAT,781.960919164,759.039080836,737,718,684.039080836,648,913.960919164,801,840,657,635,657.960919164,0.426357975006,0.00443943032033,0.0798114118715,0.999999954546,2.39852118973e-05,-0.000295369438865,5.55815208262e-05,1793255002658810112
+338,5.633333333,POSE2_TO_POSE3_RETREAT,781.384767202,759.615232798,737,718,684.615232798,648,913.384767202,801,840,657,635,657.384767202,0.425377974041,0.00446593404819,0.0797722350399,0.999999933701,5.98520184586e-05,-0.000355237268388,5.3125563144e-05,1793255002675476736
+339,5.650000000,POSE2_TO_POSE3_RETREAT,781,760,737,717.808319983,684.808319983,648,913,801,840,657,635.191680017,657,0.424395109327,0.00448358818058,0.0797381287102,0.999999911125,8.58869458558e-05,-0.000409447407435,5.22096700395e-05,1793255002692143360
+340,5.666666667,POSE2_TO_POSE3_RETREAT,781,760,737,717.231279068,684.231279068,648,913,801,840,657,635.768720932,657,0.423406487046,0.00448345074963,0.0797142163062,0.999999891995,9.2155490998e-05,-0.000452283120562,5.43899820957e-05,1793255002708809728
+341,5.683333333,POSE2_TO_POSE3_RETREAT,781,759.645499024,737,717.354500976,684.354500976,648.354500976,913,801,840,657.354500976,635.645499024,657,0.422503154666,0.00447685526513,0.0797317884705,0.999999908038,8.32876297832e-05,-0.000417188073582,5.42253215426e-05,1793255002725476352
+342,5.700000000,POSE2_TO_POSE3_RETREAT,781,759.05387344,737,717.94612656,684.94612656,648.94612656,913,801,840,657.94612656,635.05387344,657,0.421656872498,0.00446594000856,0.079777109536,0.999999942117,6.42950722345e-05,-0.000329965376804,5.24921156191e-05,1793255002742142976
+343,5.716666667,POSE2_TO_POSE3_RETREAT,781.522883496,759.522883496,737,718,684.477116504,649,913,801,839.477116504,657.477116504,635,657,0.420821837698,0.00446242529588,0.0798280799308,0.999999967123,6.00683303232e-05,-0.000243507055764,5.33781266005e-05,1793255002758809856
+344,5.733333333,POSE2_TO_POSE3_RETREAT,781.901792642,760,737,718,684.098207358,648.901792642,913,801,839.098207358,657,635,657.098207358,0.419974618608,0.00446100700417,0.0798646690331,0.999999980023,5.86895424404e-05,-0.000183259580851,5.40902502831e-05,1793255002775476736
+345,5.750000000,POSE2_TO_POSE3_RETREAT,781.326194115,760,737,718,684.673805885,648.326194115,913,801,839.673805885,657,635,657.673805885,0.419062693676,0.0044661755113,0.0798285987248,0.999999965304,6.39639596603e-05,-0.000250052180411,5.26815591475e-05,1793255002792143104
+346,5.766666667,POSE2_TO_POSE3_RETREAT,781,759.750477098,737,718,684.750477098,648,913,801,840,657,635,657.750477098,0.418169971074,0.00447048588388,0.0798022794293,0.999999951733,7.09088914114e-05,-0.000297923152475,5.24092651891e-05,1793255002808809728
+347,5.783333333,POSE2_TO_POSE3_RETREAT,781,759.174605153,737,718,684.174605153,648,913,801,840,657,635,657.174605153,0.417302363118,0.00447367390859,0.0797887134098,0.999999943824,8.00386758525e-05,-0.000321046672372,5.36232565026e-05,1793255002825476352
+348,5.800000000,POSE2_TO_POSE3_RETREAT,781,759.414482302,737,718,684,648,913,800.585517698,840,657,635,657.414482302,0.416444590973,0.00447447742047,0.0797866922957,0.999999938739,8.11760350434e-05,-0.000336075991147,5.46434525525e-05,1793255002842142976
+349,5.816666667,POSE2_TO_POSE3_RETREAT,781,759.990980395,737,718,684,648,913.009019605,800,839.990980395,657,635,658,0.415592047119,0.00447417821201,0.0797893334239,0.999999934861,7.88744845102e-05,-0.000347809241672,5.55462086347e-05,1793255002858809600
+350,5.833333333,POSE2_TO_POSE3_RETREAT,781,759.415335632,737,718,684,648,913.584664368,800,839.415335632,657,635,658,0.414799087068,0.0044697870765,0.0797692741135,0.999999925559,7.90149943497e-05,-0.000373740120557,5.43687571876e-05,1793255002875476224
+351,5.850000000,POSE2_TO_POSE3_RETREAT,781,759.160059805,736.839940195,718,684,648,914,800.160059805,839.160059805,657,635,657.839940195,0.414029903226,0.00446674736872,0.0797601555487,0.999999922775,7.94511941665e-05,-0.000381185357686,5.32489859011e-05,1793255002892142848
+352,5.866666667,POSE2_TO_POSE3_RETREAT,781,759.734809403,736.265190597,718,684,648,914,800.734809403,839.734809403,657,635,657.265190597,0.413322319632,0.00446720899677,0.0797793827314,0.99999993733,8.06534802962e-05,-0.000340737208867,5.22786546144e-05,1793255002908809472
+353,5.883333333,POSE2_TO_POSE3_RETREAT,781,760,736.31676154,718,684,648.31676154,913.68323846,801,839.68323846,657.31676154,635,657,0.412598054994,0.00447027067547,0.0797868377111,0.999999941241,8.6429634056e-05,-0.00032756708211,5.24255443994e-05,1793255002925476096
+354,5.900000000,POSE2_TO_POSE3_RETREAT,781,760,736.904883856,718,684,648.904883856,913.095116144,801,839.095116144,657.904883856,635,657,0.411859500213,0.00447555974503,0.0797842077716,0.999999936905,9.61240926529e-05,-0.000337765278818,5.35295264223e-05,1793255002942142976
+355,5.916666667,POSE2_TO_POSE3_RETREAT,781,759.514435518,737,717.514435518,684,648.514435518,913,801,839.485564482,658,635,657.485564482,0.41115466522,0.004476434208,0.0797785837762,0.999999932087,9.34516463867e-05,-0.000352422133514,5.37725527948e-05,1793255002958809600
+356,5.933333333,POSE2_TO_POSE3_RETREAT,781,759.064502344,737,717.064502344,684.064502344,648.064502344,913,801,840,658,635.064502344,657.935497656,0.41046612369,0.00447684161781,0.0797750507837,0.999999928823,8.94278977906e-05,-0.000362564162107,5.38803204271e-05,1793255002975476224
+357,5.950000000,POSE2_TO_POSE3_RETREAT,781,759.641003111,737,717.641003111,684.641003111,648.641003111,913,801,840,658,635.641003111,657.358996889,0.40985527505,0.00448030234057,0.0797927006502,0.999999939684,9.36169105115e-05,-0.000330040896071,5.42329354534e-05,1793255002992142848
+358,5.966666667,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,649,913,801,840,657.784354469,635.784354469,657.215645531,0.409261139057,0.00448228423568,0.0798121761955,0.999999950024,9.72278004739e-05,-0.00029583807006,5.45741547147e-05,1793255003008809728
+359,5.983333333,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,649,913,801,840,657.212779367,635.212779367,657.787220633,0.408694587863,0.00448182527998,0.0798346650779,0.99999996,9.9884480697e-05,-0.000258863082124,5.48965649074e-05,1793255003025476608
+360,6.000000000,POSE2_TO_POSE3_RETREAT,781,760,737.373706985,718,685,649,913,801,840,657.373706985,635,658,0.408100808782,0.00448157029803,0.0798241812749,0.999999953975,0.000104290247605,-0.000279596085787,5.47721967323e-05,1793255003042143232
+361,6.016666667,POSE2_TO_POSE3_RETREAT,781,760,737.969036326,718,685,649,913,801,840,657.969036326,635,658,0.407490882481,0.00448143628016,0.0797941434262,0.999999936538,0.000109733289031,-0.000334552103943,5.43828720364e-05,1793255003058809856
+362,6.033333333,POSE2_TO_POSE3_RETREAT,781,759.454470665,738,718,685,648.454470665,913,801,840,657.454470665,635,657.454470665,0.406953805042,0.00447804890831,0.0797685165552,0.999999923442,9.73090276608e-05,-0.000375142216536,5.39909321558e-05,1793255003075476480
+363,6.050000000,POSE2_TO_POSE3_RETREAT,780.879039291,759.120960709,737.879039291,718,685,648.120960709,913,801,839.879039291,657.120960709,635,657.120960709,0.406440784497,0.00447614649916,0.0797519121047,0.999999915098,8.8542911317e-05,-0.000398879475025,5.34638782907e-05,1793255003092143360
+364,6.066666667,POSE2_TO_POSE3_RETREAT,780.303713636,759.696286364,737.303713636,718,685,648.696286364,913,801,839.303713636,657.696286364,635,657.696286364,0.406003115487,0.00448049253399,0.0797682895333,0.999999928281,9.72001228694e-05,-0.000362272976697,5.24298345976e-05,1793255003108809984
+365,6.083333333,POSE2_TO_POSE3_RETREAT,780.270251335,759.729748665,737,718,685,648.729748665,913,800.729748665,839,658,635,657.729748665,0.405585241089,0.00448544239702,0.079786640232,0.999999939146,0.000108199869814,-0.000327458798007,5.26383865409e-05,1793255003125476608
+366,6.100000000,POSE2_TO_POSE3_RETREAT,780.84269477,759.15730523,737,718,685,648.15730523,913,800.15730523,839,658,635,657.15730523,0.405189500836,0.0044910674539,0.079807197419,0.9999999477,0.000121819013828,-0.000294648773928,5.42363954705e-05,1793255003142142976
+367,6.116666667,POSE2_TO_POSE3_RETREAT,781,759,737,718,685,648,913,800,839.434596129,657.565403871,635,657.434596129,0.404792486218,0.00449161189082,0.0798185616322,0.99999995092,0.000124152325114,-0.000281978211003,5.68807480385e-05,1793255003158809856
+368,6.133333333,POSE2_TO_POSE3_RETREAT,781,759.032473795,737,718.032473795,685,648.032473795,913,800.032473795,839.967526205,657.032473795,635,658,0.404397319309,0.00449040768793,0.0798259494787,0.99999995224,0.000121580489131,-0.000277881840844,5.93223219215e-05,1793255003175476480
+369,6.150000000,POSE2_TO_POSE3_RETREAT,781,759.607035762,737,718.607035762,685,648.607035762,913,800.607035762,839.392964238,657.607035762,635,658,0.404041057093,0.00449215017819,0.0798251086066,0.99999995086,0.000108513858177,-0.000289525332027,5.17603605125e-05,1793255003192143360
+370,6.166666667,POSE2_TO_POSE3_RETREAT,781,759.817680851,737,718.817680851,685,648.817680851,912.817680851,800.817680851,839,658,635,657.817680851,0.403700303494,0.00449232136705,0.0798232422979,0.999999948997,0.000102232777242,-0.000298763598471,4.79017054389e-05,1793255003208809984
+371,6.183333333,POSE2_TO_POSE3_RETREAT,781,759.240836437,737,718.240836437,685,648.240836437,912.240836437,800.240836437,839,658,635,657.240836437,0.403393109452,0.00448909237472,0.0798191570195,0.999999946682,0.00011063513054,-0.00030279713368,5.20567346239e-05,1793255003225476352
+372,6.200000000,POSE2_TO_POSE3_RETREAT,780.657089104,759.342910896,737,718,685,648.342910896,912.342910896,800.342910896,839,657.657089104,634.657089104,657.342910896,0.403116095418,0.0044881202299,0.0798194974085,0.999999946456,0.000112464474554,-0.000302442378206,5.44843788186e-05,1793255003242143232
+373,6.216666667,POSE2_TO_POSE3_RETREAT,780.068393985,759.931606015,737,718,685,648.931606015,912.931606015,800.931606015,839,657.068393985,634.068393985,657.931606015,0.402860713122,0.00448876569886,0.0798230099306,0.999999947763,0.000109582560652,-0.00029894227951,5.56739059607e-05,1793255003258809856
+374,6.233333333,POSE2_TO_POSE3_RETREAT,780,760,737.512315414,718,685,648.487684586,912.487684586,800.487684586,839,657.512315414,634.512315414,658,0.40263135979,0.00448554060371,0.0798276807674,0.999999951199,9.65710684415e-05,-0.000292006826818,5.48398102466e-05,1793255003275476480
+375,6.250000000,POSE2_TO_POSE3_RETREAT,780,760,737.908600197,718,685,648,912.091399803,800,839.091399803,658,635,658,0.40241148671,0.0044807104456,0.0798316623561,0.999999954287,8.26065369889e-05,-0.00028572742999,5.44252749648e-05,1793255003292143360
+376,6.266666667,POSE2_TO_POSE3_RETREAT,780,760,737.332565941,718,685,648,912.667434059,800,839.667434059,658,635,658,0.402223739079,0.00447006744748,0.0798311819621,0.999999955139,7.06489513169e-05,-0.000285321111945,5.76458619755e-05,1793255003308809984
+377,6.283333333,POSE2_TO_POSE3_RETREAT,780,760,737,718,685,648,913,800,840,658,635.247815192,658,0.402052518422,0.00445864072533,0.0798325200466,0.999999956671,5.53809012528e-05,-0.00028280227974,6.01169295468e-05,1793255003325476608
+378,6.300000000,POSE2_TO_POSE3_RETREAT,780,760,737,718,685,648,913,800,840,658,635.834133911,658,0.401903872822,0.00444614347483,0.0798363420846,0.999999958997,3.55909181721e-05,-0.000277397855683,6.15641897308e-05,1793255003342142976
+379,6.316666667,POSE2_TO_POSE3_RETREAT,780,760,737,718,685,648.415176989,913,800,840,658,635.584823011,658,0.401767373766,0.0044495801408,0.0798373458021,0.999999958103,6.75058227585e-05,-0.000274666908853,6.16007873157e-05,1793255003358809600
+380,6.333333333,POSE2_TO_POSE3_RETREAT,780,760,737,718,685,648.994138845,913,800,840,658,635.005861155,658,0.401635666453,0.00445930264287,0.0798372377086,0.999999953694,0.000119818000043,-0.000272990632489,6.1080886676e-05,1793255003375476736
+381,6.350000000,POSE2_TO_POSE3_RETREAT,780.571316708,759.428683292,737,718,685,649,913,800,839.428683292,658,635,657.428683292,0.40151643742,0.00447241160567,0.0798304448475,0.999999948009,0.000137848099928,-0.000285555328206,5.86426316379e-05,1793255003392143360
+382,6.366666667,POSE2_TO_POSE3_RETREAT,780.851368373,759.148631627,737,718.148631627,685,649,912.851368373,800,839,658,635,657.148631627,0.401405380157,0.00448130658747,0.0798240688863,0.99999994376,0.000146150527424,-0.000296607184475,5.60765885831e-05,1793255003408809984
+383,6.383333333,POSE2_TO_POSE3_RETREAT,780.273605168,759.726394832,737,718.726394832,685,649,912.273605168,800,839,658,635,657.726394832,0.40131754812,0.0044779348997,0.0798190939934,0.999999944607,0.000127379338021,-0.000302870639869,5.31982392734e-05,1793255003425476608
+384,6.400000000,POSE2_TO_POSE3_RETREAT,780,759.690826947,737.309173053,719,685,648.690826947,912.309173053,800,839,658,635,658,0.401244168749,0.00447692036975,0.0798158581506,0.999999944648,0.000117298188518,-0.000306976273866,5.20567705588e-05,1793255003442142976
+385,6.416666667,POSE2_TO_POSE3_RETREAT,780,759.103537406,737.896462594,719,685,648.103537406,912.896462594,800,839,658,635,658,0.401183790257,0.00447802621974,0.0798141866691,0.999999944223,0.000115034158639,-0.000309140841326,5.24777117376e-05,1793255003458809600
+386,6.433333333,POSE2_TO_POSE3_RETREAT,780,759,737.523078361,719,685,648.476921639,913,800,839.476921639,658,635,657.523078361,0.401135094468,0.00447787719044,0.0798140412882,0.999999944237,0.00011306573195,-0.000309739399212,5.29404565272e-05,1793255003475476480
+387,6.450000000,POSE2_TO_POSE3_RETREAT,780.055637156,759,737.055637156,718.944362844,685,648.944362844,913,800.055637156,840,658,635,657.055637156,0.401090204455,0.00447730560593,0.0798141691222,0.999999944314,0.000111175386827,-0.00031009429146,5.34207524874e-05,1793255003492143360
+388,6.466666667,POSE2_TO_POSE3_RETREAT,780.631718899,759,737.631718899,718.368281101,685,648.368281101,913,800.631718899,840,658,635,657.631718899,0.401057524801,0.00447529371209,0.0798137972872,0.999999944101,0.000109423611359,-0.000311305166142,5.3981532347e-05,1793255003508809728
+389,6.483333333,POSE2_TO_POSE3_RETREAT,780.792781911,759.207218089,737.792781911,718,685,648,913,801,840,658,635,657.792781911,0.401030092005,0.00447462730509,0.07981396571,0.999999944359,0.000108810888683,-0.000310623462583,5.43693229018e-05,1793255003525476608
+390,6.500000000,POSE2_TO_POSE3_RETREAT,780.218315201,759.781684799,737.218315201,718,685,648,913,801,840,658,635,657.218315201,0.401011958116,0.00447634547853,0.0798150916213,0.999999945446,0.000110216887383,-0.000306587579065,5.44505278167e-05,1793255003542143232
+391,6.516666667,POSE2_TO_POSE3_RETREAT,780,760,737.366349791,718,685,648,913,800.633650209,840,657.633650209,635,657.366349791,0.400997782472,0.00447676816332,0.0798144350424,0.999999945632,0.000109296974477,-0.000306311250466,5.44478275441e-05,1793255003558810112
+392,6.533333333,POSE2_TO_POSE3_RETREAT,780,760,737.957266147,718,685,648,913,800.042733853,840,657.042733853,635,657.957266147,0.40098603317,0.00447639673422,0.0798126858255,0.999999945265,0.000106951314894,-0.000308339469072,5.43936947303e-05,1793255003575476992
+393,6.550000000,POSE2_TO_POSE3_RETREAT,780,759.463353718,737.463353718,718.536646282,685,648,913,800,839.463353718,657,635.536646282,657.463353718,0.400979818314,0.0044769796172,0.0798150192663,0.999999946122,0.000107316045898,-0.000305441847967,5.42625300097e-05,1793255003592143360
+394,6.566666667,POSE2_TO_POSE3_RETREAT,780,759.114377207,737,718.885622793,685,648.114377207,912.885622793,800,839,657.114377207,635.885622793,657,0.400974273821,0.00447778738194,0.0798169774309,0.999999946741,0.000108198513462,-0.000303126883696,5.4081113971e-05,1793255003608809984
+395,6.583333333,POSE2_TO_POSE3_RETREAT,780,759.689089862,737,718.310910138,685,648.689089862,912.310910138,800,839,657.689089862,635.310910138,657,0.400969690925,0.00447920081697,0.0798161442872,0.999999946051,0.000110314340743,-0.000304702422279,5.37216194838e-05,1793255003625476352
+396,6.600000000,POSE2_TO_POSE3_RETREAT,780.270217502,759.729782498,737,718.270217502,685,648.729782498,912.270217502,800,839.270217502,657.729782498,635,657,0.400967399778,0.00447920787619,0.0798165107235,0.999999946247,0.000110216546811,-0.000304140302743,5.34535086336e-05,1793255003642142976
+397,6.616666667,POSE2_TO_POSE3_RETREAT,780.858905738,759.141094262,737,718.858905738,685,648.141094262,912.858905738,800,839.858905738,657.141094262,635,657,0.40096780962,0.00447755742068,0.0798182909509,0.999999947483,0.00010750984157,-0.000301058799789,5.32930999156e-05,1793255003658809600
+398,6.633333333,POSE2_TO_POSE3_RETREAT,780.558675534,759,737.441324466,719,685.441324466,648,913,800,839.558675534,657.441324466,635,657.441324466,0.400969040652,0.00447685777419,0.0798198768967,0.99999994824,0.000106612215038,-0.000298850580162,5.33102636758e-05,1793255003675476480
+399,6.650000000,POSE2_TO_POSE3_RETREAT,780.021609967,759.021609967,737.978390033,718.978390033,685.978390033,648,912.978390033,800,839,657.978390033,635,658,0.400970401885,0.00447652034576,0.079821334017,0.999999948807,0.000106409979521,-0.000297008852446,5.33819371533e-05,1793255003692143104
+400,6.666666667,POSE2_TO_POSE3_RETREAT,780.597869323,759.597869323,737.402130677,718.402130677,685.402130677,648,912.402130677,800,839,657.402130677,635,658,0.400968460836,0.00447778696751,0.0798210565452,0.999999948332,0.000109419076177,-0.000297508108572,5.3415980182e-05,1793255003708809728
+401,6.683333333,POSE2_TO_POSE3_RETREAT,781,759.830035293,737,718.169964707,685,648.169964707,912.169964707,800,839.169964707,657,634.830035293,657.830035293,0.40096742016,0.00447876825405,0.0798211893271,0.999999948106,0.000111313112818,-0.000297560930868,5.34263830426e-05,1793255003725476608
+402,6.700000000,POSE2_TO_POSE3_RETREAT,781,759.267556167,737,718.732443833,685,648.732443833,912.732443833,800,839.732443833,657,634.267556167,657.267556167,0.400968458792,0.00447909059086,0.0798222695438,0.999999948475,0.000110632043296,-0.000296582764304,5.33821915864e-05,1793255003742143232
+403,6.716666667,POSE2_TO_POSE3_RETREAT,780.683531179,759.316468821,737,719,685,648.683531179,912.683531179,800,839.683531179,657.316468821,634.316468821,657.316468821,0.400969075713,0.00447899761138,0.0798225755398,0.999999948846,0.000109428049266,-0.000295811541416,5.31926976011e-05,1793255003758809856
+404,6.733333333,POSE2_TO_POSE3_RETREAT,780.079959667,759.920040333,737,719,685,648.079959667,912.079959667,800,839.079959667,657.920040333,634.920040333,657.920040333,0.400969310055,0.00447852785407,0.0798221791574,0.999999949218,0.000107749654566,-0.000295228059304,5.28713841648e-05,1793255003775476480
+405,6.750000000,POSE2_TO_POSE3_RETREAT,780,759.498343292,737,719,685,648,912.501656708,800,839,658,635,657.498343292,0.400968314367,0.00447764119999,0.0798227067951,0.999999949519,0.000105310774262,-0.00029507065206,5.29659638074e-05,1793255003792143104
+406,6.766666667,POSE2_TO_POSE3_RETREAT,780.079563485,759.079563485,737,718.920436515,685,648.079563485,912.920436515,800,839,657.920436515,635,657.079563485,0.400967227323,0.00447701081635,0.0798232329503,0.999999949701,0.000103647919269,-0.000295017226086,5.31121321723e-05,1793255003808809728
+407,6.783333333,POSE2_TO_POSE3_RETREAT,780.655244714,759.655244714,737,718.344755286,685,648.655244714,912.344755286,800,839,657.344755286,635,657.655244714,0.400966741878,0.00447837537937,0.0798228699996,0.999999949229,0.000107548109201,-0.000295206462379,5.31839643967e-05,1793255003825476352
+408,6.800000000,POSE2_TO_POSE3_RETREAT,780.764271455,759.764271455,737,718,685,649,912,800,839.235728545,657,635,657.764271455,0.40096651338,0.00447884242955,0.079822574968,0.999999949012,0.000108776291426,-0.000295497825201,5.31400196809e-05,1793255003842143232
+409,6.816666667,POSE2_TO_POSE3_RETREAT,780.176617609,759.176617609,737,718,685,649,912,800,839.823382391,657,635,657.176617609,0.400966668485,0.00447796955959,0.0798223813345,0.999999949189,0.000106015364132,-0.000295941655421,5.2923228558e-05,1793255003858810112
+410,6.833333333,POSE2_TO_POSE3_RETREAT,780,759,737,718.407087465,685,648.592912535,912,800,839.592912535,657.407087465,635,657.407087465,0.4009677146,0.00447778763596,0.0798231785038,0.99999994979,0.000105063562006,-0.000294303487283,5.25974834067e-05,1793255003875476736
+411,6.850000000,POSE2_TO_POSE3_RETREAT,780,759,737,718.98909576,685,648.01090424,912,800,839.01090424,657.98909576,635,657.98909576,0.400969143573,0.00447790260413,0.0798244014098,0.99999995057,0.000104889120453,-0.000291770708217,5.22249219673e-05,1793255003892143104
+412,6.866666667,POSE2_TO_POSE3_RETREAT,780.564093013,759,737,718.435906987,685,648.564093013,912.564093013,800,839,658,635,657.435906987,0.400967199618,0.00447832624593,0.0798234075476,0.999999949865,0.000106809861765,-0.000293444335814,5.24691921077e-05,1793255003908809984
+413,6.883333333,POSE2_TO_POSE3_RETREAT,781,759.138265265,737,718.138265265,685.138265265,649,913,800.138265265,839,657.861734735,635.138265265,657.138265265,0.400966215904,0.00447909552681,0.0798230091062,0.99999994945,0.00010890577327,-0.000294059753117,5.26086971213e-05,1793255003925476864
+414,6.900000000,POSE2_TO_POSE3_RETREAT,781,759.710269387,737,718.710269387,685.710269387,649,913,800.710269387,839,657.289730613,635.710269387,657.710269387,0.400968446495,0.00448093059107,0.0798246112779,0.99999995005,0.000111425702096,-0.000291103613588,5.2382607834e-05,1793255003942143488
+415,6.916666667,POSE2_TO_POSE3_RETREAT,781,759.70770256,737,718.70770256,685.70770256,649,913,801,839,657.29229744,635.70770256,658,0.400969164825,0.00448116693386,0.0798251003393,0.999999950365,0.000110900371543,-0.000290257678857,5.2160811848e-05,1793255003958810112
+416,6.933333333,POSE2_TO_POSE3_RETREAT,781,759.115385802,737,718.115385802,685.115385802,649,913,801,839,657.884614198,635.115385802,658,0.400968330944,0.00447976232023,0.0798244468841,0.999999950391,0.000107249332151,-0.000291577696247,5.19434225974e-05,1793255003975476736
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c498f744e6ff67a6bcf4c7f2e1b54c35ef6a4cbd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,418 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+1,0.016666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+2,0.033333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+3,0.050000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+4,0.066666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+5,0.083333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+6,0.100000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+7,0.116666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+8,0.133333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+9,0.150000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+10,0.166666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+11,0.183333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+12,0.200000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+13,0.216666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+14,0.233333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+15,0.250000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+16,0.266666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+17,0.283333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+18,0.300000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+19,0.316666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+20,0.333333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+21,0.350000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+22,0.366666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+23,0.383333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+24,0.400000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+25,0.416666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+26,0.433333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+27,0.450000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+28,0.466666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+29,0.483333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+30,0.500000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+31,0.516666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+32,0.533333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+33,0.550000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+35,0.583333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+36,0.600000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+37,0.616666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+38,0.633333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+39,0.650000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+40,0.666666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+41,0.683333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+42,0.700000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+43,0.716666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+44,0.733333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+45,0.750000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+48,0.800000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+62,1.033333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6d0e70accde2528a9f341486f72bb212c51ed492
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..61e479b282deca51d9b03e3b0622983420c504c9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_03/franka_data.csv
@@ -0,0 +1,420 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,780,759,737,719,685,648,912,800,839,658,635,658,0.400968128082,0.00447804665874,0.0798250609324,0.999999951254,0.000105839458845,-0.000289125496019,5.19260691481e-05,1793255004095538432
+1,0.016666667,BASELINE,780,759.614251245,737.614251245,718.385748755,685,648.614251245,912,800.614251245,839,658,635,657.385748755,0.400967251573,0.00447702375181,0.0798241792102,0.999999950472,0.000105779498239,-0.0002917258905,5.25593309514e-05,1793255004112205312
+2,0.033333333,BASELINE,780,760,737.785064435,718,685,649,912,800.785064435,839,657.785064435,635,657,0.400967547041,0.00447713964546,0.0798244520764,0.999999950295,0.00010630176993,-0.000292092734736,5.28388895913e-05,1793255004128871936
+3,0.050000000,BASELINE,780,760,737.207283164,718,685,649,912,800.207283164,839,657.207283164,635,657,0.400969820996,0.00447917801696,0.0798266740729,0.999999951139,0.000107806943113,-0.000288688988338,5.2521340663e-05,1793255004145538560
+4,0.066666667,BASELINE,780,759.621494982,737,718,685,648.621494982,912.378505018,800.378505018,839,657.378505018,635,657.378505018,0.400970250711,0.00447962134403,0.0798267078886,0.999999951105,0.000108553900874,-0.000288564518222,5.23079004592e-05,1793255004162205184
+5,0.083333333,BASELINE,780,759.031227198,737,718,685,648.031227198,912.968772802,800.968772802,839,657.968772802,635,657.968772802,0.400969648627,0.0044791722891,0.0798255174794,0.999999950583,0.000108876658631,-0.000290274709906,5.21527061381e-05,1793255004178871552
+6,0.100000000,BASELINE,780.548760587,759,737,718,685,648,913,800.451239413,839.548760587,657.451239413,635,658,0.400966667182,0.00447816428639,0.0798242872827,0.999999949974,0.000108125529204,-0.000292630832404,5.22255111604e-05,1793255004195538176
+7,0.116666667,BASELINE,780.872532488,759.127467512,737.127467512,718.127467512,685,648.127467512,913,800.127467512,840,657,634.872532488,658,0.400964494769,0.00447745309309,0.0798234573915,0.999999949528,0.000107712051261,-0.000294280709901,5.23469223657e-05,1793255004212205056
+8,0.133333333,BASELINE,780.296313313,759.703686687,737.703686687,718.703686687,685,648.703686687,913,800.703686687,840,657,634.296313313,658,0.400965638466,0.00447789674035,0.0798240446075,0.999999949692,0.000108698462494,-0.000293317216123,5.25946162014e-05,1793255004228871680
+9,0.150000000,BASELINE,780.276718195,760,737.723281805,719,685.276718195,648.723281805,913,800.723281805,840,657,634.276718195,658,0.400966963982,0.00447810369736,0.0798246690554,0.999999950095,0.000108684915019,-0.000291939096196,5.26132240959e-05,1793255004245538304
+10,0.166666667,BASELINE,780.846375145,760,737.153624855,719,685.846375145,648.153624855,913,800.153624855,840,657,634.846375145,658,0.400968481973,0.00447806008986,0.0798253329178,0.999999950752,0.00010761279358,-0.000290122045787,5.23893175624e-05,1793255004262205184
+11,0.183333333,BASELINE,780.564958395,759.564958395,737,719,685.564958395,648.435041605,913,800,839.564958395,657.435041605,635,658,0.400968322253,0.00447864823738,0.0798256205966,0.99999995079,0.00010731776696,-0.00029011145571,5.23203174922e-05,1793255004278871552
+12,0.200000000,BASELINE,780,759,737,718.970146725,685,649,912.970146725,800,839.029853275,657.970146725,635,657.970146725,0.400967540515,0.00447943648687,0.0798257158078,0.999999950587,0.000107432704244,-0.000290772248369,5.2305078289e-05,1793255004295538176
+13,0.216666667,BASELINE,780,759,737,718.391410475,685,649,912.391410475,800,839.608589525,657.391410475,635,657.391410475,0.400966712754,0.00447961466563,0.0798248263136,0.999999950117,0.000109809348263,-0.000291512569303,5.22265873624e-05,1793255004312205056
+14,0.233333333,BASELINE,780.185696643,759.185696643,737,718.185696643,685,648.814303357,912.185696643,800,839.814303357,657,635,657.185696643,0.400966000855,0.00447944572895,0.0798241816679,0.999999949841,0.00011036666483,-0.000292256420438,5.21922312238e-05,1793255004328871680
+15,0.250000000,BASELINE,780.759399857,759.759399857,737,718.759399857,685,648.240600143,912.759399857,800,839.240600143,657,635,657.759399857,0.400965531047,0.00447855150685,0.0798240486246,0.999999949971,0.000107122561434,-0.000293007647946,5.22500931501e-05,1793255004345538304
+16,0.266666667,BASELINE,781,759.657781189,737,718.657781189,685,648.342218811,912.657781189,800,839,657,635.342218811,657.657781189,0.400965405127,0.00447797773757,0.0798239488742,0.999999950081,0.000105581289643,-0.000293191325721,5.22464797393e-05,1793255004362204672
+17,0.283333333,BASELINE,781,759.068377978,737,718.068377978,685,648.931622022,912.068377978,800,839,657,635.931622022,657.068377978,0.400965527598,0.00447763543119,0.0798238731714,0.999999950183,0.000105269972086,-0.00029296506269,5.21984627335e-05,1793255004378871296
+18,0.300000000,BASELINE,781,759.513003209,737,718.513003209,685,648.486996791,912,800,839.513003209,657,635.486996791,657.513003209,0.400966873113,0.00447812991612,0.0798248568644,0.999999950702,0.000105901493955,-0.000290952732121,5.22304063963e-05,1793255004395538432
+19,0.316666667,BASELINE,780.907467593,759.907467593,737,718.907467593,685,648.092532407,912.092532407,800,840,657.092532407,635,658,0.400968250088,0.00447879438212,0.0798259682203,0.999999951215,0.000106795632943,-0.000288854092617,5.22268230573e-05,1793255004412204800
+20,0.333333333,BASELINE,780.332108567,759.332108567,737,718.332108567,685,648.667891433,912.667891433,800,840,657.667891433,635,658,0.400968953696,0.00447977277275,0.0798270202507,0.999999951436,0.000108414443629,-0.000287528174077,5.1983106753e-05,1793255004428871424
+21,0.350000000,BASELINE,780.241489407,759,737,718,685.241489407,649,913,800,840,658,635,657.758510593,0.40096934534,0.00448085040769,0.0798274038461,0.999999951395,0.000110289237241,-0.000286991179266,5.18005705393e-05,1793255004445538304
+22,0.366666667,BASELINE,780.812682978,759,737,718,685.812682978,649,913,800,840,658,635,657.187317022,0.400969311061,0.00448206354025,0.0798268748309,0.999999950997,0.000112513522806,-0.000287531297809,5.17015631877e-05,1793255004462204928
+23,0.383333333,BASELINE,780.598309285,759.401690715,737.401690715,718,685.598309285,648.598309285,913,800.401690715,840,657.598309285,635.401690715,657.401690715,0.400968813239,0.00448098566072,0.0798263982227,0.999999950923,0.00011164896971,-0.000288107754177,5.17996696253e-05,1793255004478871552
+24,0.400000000,BASELINE,780.000608865,759.999391135,737.999391135,718,685.000608865,648.000608865,913,800.999391135,840,657.000608865,635.999391135,657.999391135,0.400968089224,0.00447878985503,0.0798259471871,0.999999951003,0.000109277181693,-0.000288701942061,5.19939600434e-05,1793255004495538176
+25,0.416666667,BASELINE,780.576338758,759.423661242,737.423661242,718.576338758,685,648,912.423661242,800.423661242,839.423661242,657,636,657.423661242,0.400968221437,0.00447889885106,0.079826312535,0.999999951163,0.000108160709318,-0.000288597743146,5.18257852775e-05,1793255004512204800
+26,0.433333333,BASELINE,780.848080241,759,737,719,685.151919759,648,912.151919759,800.151919759,839.151919759,657.151919759,635.848080241,657.151919759,0.400968346698,0.0044792947431,0.0798265914674,0.999999951268,0.000107725514718,-0.000288415536947,5.1724778139e-05,1793255004528871424
+27,0.450000000,BASELINE,780.276218278,759,737,719,685.723781722,648,912.723781722,800.723781722,839.723781722,657.723781722,635.276218278,657.723781722,0.400968450328,0.00448047718706,0.0798266292262,0.999999951221,0.000109169994613,-0.000288019668691,5.18104598933e-05,1793255004545538304
+28,0.466666667,BASELINE,780.304867366,759,737.304867366,718.695132634,685.695132634,648.304867366,913,801,839.695132634,657.695132634,635,657.695132634,0.400968161617,0.00448058779247,0.0798261594986,0.999999950997,0.000109866932601,-0.000288527818397,5.18278736392e-05,1793255004562204928
+29,0.483333333,BASELINE,780.894570609,759,737.894570609,718.105429391,685.105429391,648.894570609,913,801,839.105429391,657.105429391,635,657.105429391,0.400967506344,0.00447969698506,0.0798252156293,0.999999950609,0.000109865446275,-0.000289880587056,5.17815049611e-05,1793255004578871552
+30,0.500000000,BASELINE,781,759.478620109,738,718,685,648.521379891,913,800.521379891,839,657.478620109,635,657,0.400966938702,0.0044783935603,0.0798250805143,0.99999995062,0.000108899001835,-0.000290155453073,5.20672278685e-05,1793255004595538176
+31,0.516666667,BASELINE,781,760,737.939297649,718.060702351,685,648.060702351,913,800,839,657.939297649,635,657.060702351,0.400966527275,0.00447714599425,0.0798251582594,0.999999950714,0.000107892348274,-0.000290151113256,5.2371668888e-05,1793255004612204800
+32,0.533333333,BASELINE,781,760,737.363464616,718.636535384,685,648.636535384,913,800,839,657.363464616,635,657.636535384,0.400967279616,0.00447713476217,0.0798255482047,0.999999950786,0.000108327225529,-0.00028976880091,5.22214185045e-05,1793255004628871424
+33,0.550000000,BASELINE,780.788757549,760,737.211242451,719,685,649,913,800,839.211242451,657,635,657.788757549,0.400967317602,0.00447748731582,0.0798256890764,0.999999950704,0.000108634549839,-0.000289968942399,5.20456337602e-05,1793255004645538304
+34,0.566666667,BASELINE,780.215977611,760,737.784022389,719,685,649,913,800,839.784022389,657,635,657.215977611,0.400966132983,0.00447846248192,0.0798254036632,0.999999950358,0.000108723569639,-0.000291165942724,5.18261474529e-05,1793255004662205184
+35,0.583333333,BASELINE,780.367579559,759.632420441,737.632420441,719,685.367579559,648.632420441,913,800,839.632420441,657.367579559,635,657.367579559,0.400966216706,0.00447877224967,0.079825584016,0.999999950469,0.000108597649879,-0.000290839039272,5.17811290438e-05,1793255004678871808
+36,0.600000000,BASELINE,780.957660402,759.042339598,737.042339598,719,685.957660402,648.042339598,913,800,839.042339598,657.957660402,635,657.957660402,0.400967068173,0.00447867924216,0.0798260463037,0.999999950856,0.000108341624067,-0.000289589694692,5.18417185839e-05,1793255004695538432
+37,0.616666667,BASELINE,781,759.539187389,737,719,685.460812611,648,913,800,839.539187389,658,635,657.460812611,0.400967824168,0.00447924842725,0.0798270798256,0.999999951181,0.000109327543031,-0.000288065047047,5.20002203254e-05,1793255004712205312
+38,0.633333333,BASELINE,781,759.881468912,737.118531088,719,685,648.118531088,912.881468912,800,839.881468912,658,635,657,0.40096863398,0.00447980941595,0.0798279658992,0.99999995151,0.000110357792676,-0.000286501486543,5.21433260168e-05,1793255004728871936
+39,0.650000000,BASELINE,781,759.307967432,737.692032568,719,685,648.692032568,912.307967432,800,839.307967432,658,635,657,0.400969678696,0.00448014246911,0.0798281165198,0.999999951881,0.000111189712856,-0.000284870245549,5.21982846148e-05,1793255004745538304
+40,0.666666667,BASELINE,780.727943322,759,737.727943322,719,685,649,912.272056678,800,839,657.727943322,635,657.272056678,0.40096983023,0.00448050455726,0.0798278256546,0.999999951878,0.000111169112805,-0.000284895287525,5.21483196494e-05,1793255004762204928
+41,0.683333333,BASELINE,780.140354275,759,737.140354275,719,685,649,912.859645725,800,839,657.140354275,635,657.859645725,0.400968945849,0.00448090032029,0.0798270227526,0.999999951443,0.000110159756497,-0.000286841292886,5.19766639326e-05,1793255004778871552
+42,0.700000000,BASELINE,780.44094716,759.44094716,737.44094716,718.55905284,685.44094716,649,912.55905284,800.44094716,839,657.44094716,635,658,0.400968450734,0.00447971070707,0.0798268991331,0.999999951324,0.0001098355161,-0.000287357140835,5.20941443646e-05,1793255004795538176
+43,0.716666667,BASELINE,781,760,737.979803112,718.020196888,686,648.979803112,912,801,839,658,635,658,0.400968116386,0.00447809483525,0.0798270027959,0.999999951315,0.000109725921703,-0.000287396032209,5.22945542576e-05,1793255004812205056
+44,0.733333333,BASELINE,781,760,737.402717195,718.597282805,686,648.402717195,912,801,839,658,635,658,0.400968846459,0.00447844422923,0.0798274953809,0.99999995154,0.000109606352412,-0.000286659162562,5.22796404529e-05,1793255004828871680
+45,0.750000000,BASELINE,780.826491011,759.826491011,737,719,686,648,912,800.826491011,839,658,635,657.826491011,0.400968905423,0.00447883187888,0.0798276124628,0.999999951559,0.000109691171644,-0.000286563246474,5.22635669809e-05,1793255004845538560
+46,0.766666667,BASELINE,780.25225052,759.25225052,737,719,686,648,912,800.25225052,839,658,635,657.25225052,0.40096741441,0.0044793078827,0.0798268622932,0.999999951101,0.000110248040904,-0.000287947658883,5.22448151762e-05,1793255004862205184
+47,0.783333333,BASELINE,780.331007838,759.331007838,737,718.668992162,685.668992162,648.331007838,912.331007838,800,839,658,635,657.331007838,0.400967171176,0.004479849847,0.0798262667162,0.999999950876,0.000110584313691,-0.000288631806734,5.20643790581e-05,1793255004878871552
+48,0.800000000,BASELINE,780.921330957,759.921330957,737,718.078669043,685.078669043,648.921330957,912.921330957,800,839,658,635,657.921330957,0.400967905468,0.00448044348554,0.0798257922487,0.999999950835,0.000110747768769,-0.000288767359567,5.175727762e-05,1793255004895538176
+49,0.816666667,BASELINE,780.497730073,759.497730073,737,718,685,649,913,800,839.502269927,658,635,658,0.400968610503,0.0044796430594,0.0798266542835,0.999999951232,0.000110148712462,-0.00028757804719,5.19846651109e-05,1793255004912204800
+50,0.833333333,BASELINE,780.081320063,759.081320063,737,718.081320063,685.081320063,648.918679937,913,800.081320063,839.918679937,658,635,658,0.400969167315,0.00447873244873,0.0798275011595,0.999999951638,0.000109191005197,-0.000286491436747,5.21843347757e-05,1793255004928871424
+51,0.850000000,BASELINE,780.65765566,759.65765566,737,718.65765566,685.65765566,648.34234434,913,800.65765566,839.34234434,658,635,658,0.400968849242,0.00447845587941,0.0798270048737,0.999999951702,0.00010676376548,-0.000287269993909,5.17150290568e-05,1793255004945538048
+52,0.866666667,BASELINE,781,760,737,719,686,648.232613897,912.767386103,800.767386103,839,658,635.232613897,657.767386103,0.400968517899,0.0044783835678,0.0798267853788,0.999999951703,0.000105788868346,-0.000287665060509,5.14990534874e-05,1793255004962204672
+53,0.883333333,BASELINE,781,760,737,719,686,648.805556933,912.194443067,800.194443067,839,658,635.805556933,657.194443067,0.400968167142,0.00447861009845,0.0798269708468,0.99999995162,0.000106938842265,-0.000287499055628,5.16537163014e-05,1793255004978871552
+54,0.900000000,BASELINE,780.608700005,759.608700005,737.391299995,719,686,648.608700005,912,800.391299995,839.391299995,658,635.608700005,657.391299995,0.400967764192,0.00447865593514,0.0798265787355,0.999999951401,0.000107553751324,-0.000288029382055,5.16595384517e-05,1793255004995538432
+55,0.916666667,BASELINE,780.016381331,759.016381331,737.983618669,719,686,648.016381331,912,800.983618669,839.983618669,658,635.016381331,657.983618669,0.400967334429,0.00447860894569,0.0798258899101,0.999999951112,0.000107893786766,-0.000288917427886,5.15888981539e-05,1793255005012205312
+56,0.933333333,BASELINE,780.557328295,759.557328295,737.442671705,719,686,648,912.557328295,800.442671705,839.442671705,658,635.557328295,657.442671705,0.400968462601,0.00447752155006,0.0798267125503,0.999999951667,0.000106971104577,-0.000287322631137,5.16538940311e-05,1793255005028871680
+57,0.950000000,BASELINE,781,760,737.132189429,719,686,648.132189429,912.867810571,800,839.132189429,657.867810571,635.867810571,657,0.400968788236,0.00447696525314,0.0798271049952,0.999999951933,0.000106219520229,-0.000286677252432,5.1657940826e-05,1793255005045538304
+58,0.966666667,BASELINE,781,760,737.712751547,719,686,648.712751547,912.287248453,800,839.712751547,657.287248453,635.287248453,657,0.400966241446,0.00447831076118,0.0798258924436,0.999999951138,0.000106170103154,-0.000289491733712,5.14421691591e-05,1793255005062204928
+59,0.983333333,BASELINE,780.70304933,759.70304933,737.70304933,718.70304933,686,648.70304933,912,800.29695067,840,657,635,657,0.400966059277,0.00447912670228,0.079826126662,0.999999951024,0.000107218188971,-0.000289505307037,5.14135277409e-05,1793255005078871296
+60,1.000000000,BASELINE,780.11528834,759.11528834,737.11528834,718.11528834,686,648.11528834,912,800.88471166,840,657,635,657,0.400968192832,0.004479424027,0.0798277777341,0.999999951572,0.000109341083493,-0.000286775889959,5.15681470635e-05,1793255005095537920
+61,1.016666667,BASELINE,780,759.463073512,737.463073512,718,685.536926488,648.463073512,912.463073512,800.536926488,839.536926488,657.463073512,635,657,0.400968249138,0.00447858418216,0.0798274401553,0.999999951708,0.000107474592763,-0.000286985807016,5.16940941052e-05,1793255005112204800
+62,1.033333333,BASELINE,780.039317,760,738,718.039317,685.039317,648.960683,913,800,839.039317,657.960683,635,657,0.400967875301,0.00447765326294,0.0798266970855,0.999999951729,0.00010500639244,-0.000287806679927,5.17953359154e-05,1793255005128871936
+63,1.050000000,BASELINE,780.617963272,760,738,718.617963272,685.617963272,648.382036728,913,800,839.617963272,657.382036728,635,657,0.400968553964,0.00447927937362,0.0798270481315,0.99999995164,0.000107637554862,-0.000287169760148,5.1653656881e-05,1793255005145538816
+64,1.066666667,BASELINE,780.805638268,759.805638268,737.805638268,718.805638268,685.805638268,648,913,800,839.805638268,657.194361732,635,657,0.400968658856,0.00448024672703,0.0798271960404,0.999999951525,0.000109197440427,-0.000286998770351,5.15480608489e-05,1793255005162205440
+65,1.083333333,BASELINE,780.233607623,759.233607623,737.233607623,718.233607623,685.233607623,648,913,800,839.233607623,657.766392377,635,657,0.400967648838,0.00447993403338,0.0798269492287,0.999999951373,0.000108675702243,-0.000287733140245,5.15125785673e-05,1793255005178871808
+66,1.100000000,BASELINE,780.353413021,759,737,718.353413021,685,648,912.646586979,800,839,657.646586979,635.353413021,657,0.400967729021,0.00447908255315,0.0798265900734,0.99999995126,0.000108006766919,-0.000288315996516,5.18425981712e-05,1793255005195538432
+67,1.116666667,BASELINE,780.950780979,759,737,718.950780979,685,648,912.049219021,800,839,657.049219021,635.950780979,657,0.400968561753,0.00447785915781,0.0798261533692,0.999999951175,0.00010723622396,-0.000288794265502,5.24249174501e-05,1793255005212205312
+68,1.133333333,BASELINE,780.471350894,759.528649106,737,719,685.528649106,648.528649106,912,800.528649106,839.528649106,657.528649106,635.471350894,657.528649106,0.400968815683,0.00447927947682,0.07982724425,0.999999951519,0.000109324417679,-0.000286883070957,5.20426687182e-05,1793255005228871424
+69,1.150000000,BASELINE,780,759.895771632,737,718.895771632,685.895771632,649,912.104228368,800.895771632,839.895771632,657.895771632,635,658,0.400968955765,0.00448068474708,0.0798281851243,0.999999951803,0.000111026639362,-0.000285314258492,5.16013011865e-05,1793255005245538048
+70,1.166666667,BASELINE,780,759.32261281,737,718.32261281,685.32261281,649,912.67738719,800.32261281,839.32261281,657.32261281,635,658,0.400968817461,0.00448095431115,0.0798278339985,0.999999951683,0.000109837481607,-0.00028625113559,5.12836178471e-05,1793255005262204928
+71,1.183333333,BASELINE,780.256821887,759,737,718,685.256821887,649,912.743178113,800,839,657,635,658,0.400968811171,0.004480741706,0.0798274159759,0.999999951621,0.000109152742109,-0.000286737587773,5.12444500633e-05,1793255005278871552
+72,1.200000000,BASELINE,780.844337728,759,737,718,685.844337728,649,912.155662272,800,839,657,635,658,0.40096897487,0.00447990824084,0.0798269118141,0.999999951635,0.000109117511218,-0.000286644055264,5.15639098094e-05,1793255005295538432
+73,1.216666667,BASELINE,780.571300365,759,737.428699635,718.428699635,686,649,912.428699635,800,839,657,635,657.571300365,0.400968878837,0.00447971263656,0.0798269560635,0.999999951606,0.000108741060732,-0.000286882597202,5.15993307109e-05,1793255005312204800
+74,1.233333333,BASELINE,780,759,737.988198472,718.988198472,685.988198472,649,912.988198472,800,839,657,635,657,0.400968706291,0.00447976959316,0.0798271931765,0.999999951563,0.000108268448806,-0.000287220702912,5.15291836394e-05,1793255005328871424
+75,1.250000000,BASELINE,780,759,737.410995984,718.410995984,685.410995984,649,912.410995984,800,839,657,635,657,0.400969353316,0.00448091135462,0.0798271997583,0.999999951666,0.000109081317806,-0.000286594256803,5.13064102408e-05,1793255005345538304
+76,1.266666667,BASELINE,780.164902414,759.164902414,737,718,685.164902414,648.835097586,912.164902414,800.164902414,839,657.164902414,635.164902414,657.164902414,0.400969660463,0.00448123346934,0.0798272063751,0.999999951745,0.000109161609598,-0.000286312440952,5.1176912841e-05,1793255005362204928
+77,1.283333333,BASELINE,780.73757602,759.73757602,737,718,685.73757602,648.26242398,912.73757602,800.73757602,839,657.73757602,635.73757602,657.73757602,0.400969127161,0.004479528759,0.0798272130784,0.999999951764,0.000107430382188,-0.000286882827894,5.12780686299e-05,1793255005378871552
+78,1.300000000,BASELINE,780.680642503,759.680642503,737,718,685.680642503,648.319357497,913,800.680642503,839.319357497,657.680642503,635.680642503,657.680642503,0.400969039104,0.00447899598785,0.0798272165083,0.999999951819,0.000107320948542,-0.00028672326447,5.13222092166e-05,1793255005395538432
+79,1.316666667,BASELINE,780.091157183,759.091157183,737,718,685.091157183,648.908842817,913,800.091157183,839.908842817,657.091157183,635.091157183,657.091157183,0.400969327656,0.00447945449894,0.0798272171695,0.999999951905,0.000108583305603,-0.00028594627414,5.13181236177e-05,1793255005412205056
+80,1.333333333,BASELINE,780,759.489912113,737,718.489912113,685,649,912.510087887,800.489912113,839.510087887,657.489912113,635,657,0.400969206759,0.00448016147528,0.0798272580503,0.999999951772,0.000108957386475,-0.000286272040297,5.13048730063e-05,1793255005428871680
+81,1.350000000,BASELINE,780,759.930953581,737,719,685.069046419,648.930953581,912,800.930953581,839,658,635,657.069046419,0.40096902754,0.0044807604792,0.0798273659856,0.999999951639,0.000109154943168,-0.000286662248637,5.13121188311e-05,1793255005445538304
+82,1.366666667,BASELINE,780,759.35472459,737,719,685.64527541,648.35472459,912,800.35472459,839,658,635,657.64527541,0.400968970092,0.00448023250799,0.0798279124281,0.999999951796,0.000109249402651,-0.000286044057347,5.14822367851e-05,1793255005462204928
+83,1.383333333,BASELINE,780.21975693,759,737,718.78024307,685.78024307,648,912.21975693,800.21975693,839,658,635,658,0.400969184116,0.00448061936969,0.0798280441885,0.999999951835,0.000110021029706,-0.000285613672236,5.14885296017e-05,1793255005478871552
+84,1.400000000,BASELINE,780.791440079,759,737,718.208559921,685.208559921,648,912.791440079,800.791440079,839,658,635,658,0.400969832883,0.00448247127583,0.0798275118629,0.999999951679,0.000111877095941,-0.000285484046228,5.12324673012e-05,1793255005495538176
+85,1.416666667,BASELINE,780.620587303,759,737.379412697,718,685,648,912.620587303,800.620587303,839.379412697,658,635,658,0.400969748292,0.00448133979234,0.0798273564089,0.999999951822,0.000109807064434,-0.000285764129295,5.13593929549e-05,1793255005512204544
+86,1.433333333,BASELINE,780.023258859,759,737.976741141,718,685,648,912.023258859,800.023258859,839.976741141,658,635,658,0.400969242497,0.00447849479842,0.0798274174112,0.999999952122,0.000105482077911,-0.000286279528843,5.17062878198e-05,1793255005528871168
+87,1.450000000,BASELINE,780,759.551655345,737.448344655,718.551655345,685.551655345,648.551655345,912.551655345,800,839.448344655,657.448344655,635.551655345,657.448344655,0.400968436011,0.00447942915725,0.0798272821762,0.999999951636,0.000107713474468,-0.000287163865796,5.16045563025e-05,1793255005545537792
+88,1.466666667,BASELINE,780.125771654,759.874228346,737,719,685.874228346,649,913,800,839.125771654,657,635.874228346,657.125771654,0.400967982623,0.00448027257215,0.0798272021987,0.999999951319,0.000109218373984,-0.000287729642478,5.14220405579e-05,1793255005562204672
+89,1.483333333,BASELINE,780.700281235,759.299718765,737,719,685.299718765,649,913,800,839.700281235,657,635.299718765,657.700281235,0.400968832507,0.00448024518487,0.0798273477408,0.99999995174,0.000107183460878,-0.00028710550307,5.10161478472e-05,1793255005578871552
+90,1.500000000,BASELINE,781,759,737.283303556,718.716696444,685.283303556,649,913,800.283303556,840,657.283303556,635,658,0.400968715808,0.0044794855483,0.0798270028205,0.999999951871,0.000105341701421,-0.00028735845717,5.08503765642e-05,1793255005595538176
+91,1.516666667,BASELINE,781,759,737.875610821,718.124389179,685.875610821,649,913,800.875610821,840,657.875610821,635,658,0.400967544843,0.00447792723573,0.0798261229452,0.999999951689,0.000103710617867,-0.000288568071194,5.09465095797e-05,1793255005612204800
+92,1.533333333,BASELINE,781,759.456899182,738,718.456899182,686,649,912.543100818,800.543100818,840,658,635,658,0.400967903038,0.00447824265239,0.0798262335345,0.999999951597,0.000105311813315,-0.000288251762543,5.12478267972e-05,1793255005628871680
+93,1.550000000,BASELINE,780.964940263,760,737.964940263,719,686,649,912,800,840,658,635,658,0.400968667316,0.00447901669275,0.0798266403302,0.999999951552,0.000107675422261,-0.000287476652942,5.15626161724e-05,1793255005645538304
+94,1.566666667,BASELINE,780.389839375,760,737.389839375,719,686,649,912,800,840,658,635,658,0.400969425111,0.00447918260658,0.0798275539885,0.999999951931,0.000108547348395,-0.000285882746823,5.12447380006e-05,1793255005662204928
+95,1.583333333,BASELINE,780,760,737.189411176,719,685.810588824,649,912,800.189411176,840,658,635,658,0.400969772555,0.00447931063655,0.0798281378404,0.999999952117,0.000109530787944,-0.000284876293298,5.11345352667e-05,1793255005678871296
+96,1.600000000,BASELINE,780,760,737.777393829,719,685.222606171,649,912,800.777393829,840,658,635,658,0.400969256511,0.00447935894884,0.0798280276921,0.9999999519,0.000110748881535,-0.00028510599594,5.14613368149e-05,1793255005695538176
+97,1.616666667,BASELINE,780,759.639899878,738,719,685,648.639899878,912.360100122,800.639899878,840,658,635,657.639899878,0.400968726392,0.00447949823928,0.079827943877,0.999999951793,0.000110018866303,-0.000285771717592,5.14186292618e-05,1793255005712204800
+98,1.633333333,BASELINE,780,759.06040825,738,719,685,648.06040825,912.93959175,800.06040825,840,658,635,657.06040825,0.400968187698,0.00447969295829,0.0798278761054,0.999999951749,0.000108101962958,-0.000286703084426,5.11507977494e-05,1793255005728871424
+99,1.650000000,BASELINE,780,759,738,719,685.516559691,648.516559691,913,800,839.483440309,657.483440309,635,657.516559691,0.400967970863,0.00448026009032,0.0798273735432,0.999999951577,0.000107804980586,-0.000287418673125,5.11322009433e-05,1793255005745538304
+100,1.666666667,BASELINE,780,759.093283316,737.906716684,719,686,649,913,800,839.093283316,657,635,658,0.400967657911,0.00448065946506,0.0798268104118,0.999999951411,0.000107591997756,-0.000288066509044,5.11752984068e-05,1793255005762205184
+101,1.683333333,BASELINE,780,759.670262969,737.329737031,719,686,649,913,800,839.670262969,657,635,658,0.400966652358,0.00447996425233,0.0798261955807,0.999999951358,0.000106837061393,-0.000288493237883,5.13878993715e-05,1793255005778871552
+102,1.700000000,BASELINE,780,759.747985522,737.252014478,718.747985522,686,648.747985522,913,800.252014478,839.747985522,657.252014478,635,658,0.400966152574,0.00447922606306,0.0798259851102,0.999999951364,0.000106255970566,-0.000288657813292,5.15572798176e-05,1793255005795538176
+103,1.716666667,BASELINE,780,759.15987004,737.84012996,718.15987004,686,648.15987004,913,800.84012996,839.15987004,657.84012996,635,658,0.400966327316,0.00447843055788,0.0798263139182,0.999999951449,0.000105906730208,-0.00028847276577,5.16690188772e-05,1793255005812204800
+104,1.733333333,BASELINE,780.421642551,759.421642551,738,718.421642551,686,648.421642551,913,800.578357449,839,658,635,657.578357449,0.40096820537,0.00447860575275,0.079827531095,0.999999952045,0.000106529388959,-0.000286173808765,5.16354665656e-05,1793255005828871424
+105,1.750000000,BASELINE,780.999316431,760,737.999316431,719,686,649,913,800,839,657.999316431,635,657.000683569,0.400970716097,0.00447914211939,0.0798290775751,0.999999952822,0.000107514127904,-0.000283089778101,5.1547814583e-05,1793255005845538304
+106,1.766666667,BASELINE,780.425862409,760,737.425862409,719,686,649,913,800,839,657.425862409,635,657.574137591,0.400970548091,0.00447866943858,0.0798286655271,0.999999952687,0.000107875898042,-0.000283423342047,5.15771739867e-05,1793255005862204928
+107,1.783333333,POSE1_TO_POSE2_PRESS,780,760,738,719,686,648,913,801,839,658,635,658,0.400967166946,0.00448110098371,0.0798263599495,0.999999951097,0.000110266155595,-0.000288202482512,5.08628450518e-05,1793255005904473600
+108,1.800000000,POSE1_TO_POSE2_PRESS,780,759.387083318,737.387083318,718.387083318,686,648,913,800.387083318,839,657.387083318,635,658,0.400967797554,0.00447950715931,0.0798275730933,0.999999951734,0.000108268790998,-0.000286692293371,5.11693658775e-05,1793255005921139968
+109,1.816666667,POSE1_TO_POSE2_PRESS,780,759.212548816,737,718.212548816,685.787451184,648.212548816,912.787451184,800.212548816,839,657.212548816,635,657.787451184,0.400967829229,0.00447854233125,0.0798277536605,0.999999951835,0.000107209034026,-0.000286701641322,5.1366856902e-05,1793255005937806592
+110,1.833333333,POSE1_TO_POSE2_PRESS,780,759.789411039,737,718.789411039,685.210588961,648.789411039,912.210588961,800.789411039,839,657.789411039,635,657.210588961,0.400966834321,0.00447865561669,0.0798261643685,0.999999951023,0.000107756357088,-0.000289315509465,5.13774684681e-05,1793255005954473216
+111,1.850000000,POSE1_TO_POSE2_PRESS,780,760,737,719,685.365454213,648.634545787,912.365454213,800.634545787,839.365454213,658,634.634545787,657.365454213,0.400967631984,0.00447972670293,0.0798266924137,0.999999951298,0.000108609763558,-0.000288051431694,5.13348416112e-05,1793255005971139840
+112,1.866666667,POSE1_TO_POSE2_PRESS,780,760,737,719,685.941026441,648.058973559,912.941026441,800.058973559,839.941026441,658,634.058973559,657.941026441,0.400969460287,0.00448134847704,0.0798284378226,0.999999952189,0.000109639152747,-0.000284557727545,5.12616053051e-05,1793255005987806720
+113,1.883333333,POSE1_TO_POSE2_PRESS,780.528442237,759.471557763,737,719,686,648,913,800,839.471557763,658,634.528442237,657.471557763,0.400969168766,0.0044808986644,0.0798276290627,0.99999995175,0.000110105233088,-0.00028589184986,5.13977824668e-05,1793255006004473088
+114,1.900000000,POSE1_TO_POSE2_PRESS,780.884573119,759.115426881,737.115426881,718.884573119,685.884573119,648.115426881,913,800,839.115426881,658,635,657.115426881,0.400968796808,0.00448075290413,0.0798268578039,0.999999951288,0.000110747833807,-0.000287240459966,5.14964671598e-05,1793255006021139712
+115,1.916666667,POSE1_TO_POSE2_PRESS,780.304762564,759.695237436,737.695237436,718.304762564,685.304762564,648.695237436,913,800,839.695237436,658,635,657.695237436,0.400969074819,0.00448278183344,0.0798274104878,0.999999951348,0.000112359323026,-0.000286430050782,5.13481340748e-05,1793255006037806336
+116,1.933333333,POSE1_TO_POSE2_PRESS,780,759.7269921,738,718.2730079,685.2730079,649,913,800,839.7269921,657.7269921,635,657.7269921,0.400971584458,0.00448287295878,0.079828802905,0.9999999519,0.000111414835434,-0.000284896061173,5.11965711417e-05,1793255006054473216
+117,1.950000000,POSE1_TO_POSE2_PRESS,780,759.151482165,738,718.848517835,685.848517835,649,913,800,839.151482165,657.151482165,635,657.151482165,0.400976566818,0.00448081693132,0.0798311257751,0.999999952984,0.000107638238528,-0.000282560319901,5.1041429436e-05,1793255006071139840
+118,1.966666667,POSE1_TO_POSE2_PRESS,780.418663162,759.418663162,738,718.581336838,685.581336838,649,913,800,839,657.418663162,635,657.418663162,0.400997890291,0.00448018875628,0.0798405944056,0.999999957494,0.000107843344384,-0.000266029928578,5.10955524112e-05,1793255006087806464
+119,1.983333333,POSE1_TO_POSE2_PRESS,780.986892051,759.986892051,738,718.013107949,685.013107949,649,913,800,839,657.986892051,635,657.986892051,0.401025051561,0.00448007067561,0.0798526158304,0.999999962823,0.000109470897157,-0.000244428555417,5.12244343172e-05,1793255006104473344
+120,2.000000000,POSE1_TO_POSE2_PRESS,780.41536688,760,737.41536688,718.58463312,685,648.41536688,912.41536688,800.58463312,839,657.41536688,635.58463312,657.41536688,0.401077970124,0.00448131933614,0.079871128068,0.999999970979,0.000109477423688,-0.000208619120273,5.03409007352e-05,1793255006121139968
+121,2.016666667,POSE1_TO_POSE2_PRESS,780.176520024,759.823479976,737,718.823479976,685,648.176520024,912,800.823479976,839,657,636,657.176520024,0.401136519232,0.0044820108587,0.0798889875163,0.999999977435,0.000108788352035,-0.000175661407281,4.93689931071e-05,1793255006137806592
+122,2.033333333,POSE1_TO_POSE2_PRESS,780.753543519,759.246456481,737,718.246456481,685,648.753543519,912,800.246456481,839,657,636,657.753543519,0.401206463467,0.00448136507738,0.0799050181217,0.999999981913,0.000106607894893,-0.000149935106763,4.82508147555e-05,1793255006154472960
+123,2.050000000,POSE1_TO_POSE2_PRESS,781,759,737,718.330702265,685,649,912,800.330702265,839.330702265,657.330702265,635.669297735,657.669297735,0.401284347687,0.00448152312239,0.0799174857595,0.999999984639,0.000105868376373,-0.000131716701825,4.65291901382e-05,1793255006171139584
+124,2.066666667,POSE1_TO_POSE2_PRESS,781,759,737,718.907961815,685,649,912,800.907961815,839.907961815,657.907961815,635.092038185,657.092038185,0.401368151612,0.00448228046554,0.079927297002,0.999999986285,0.000106203159432,-0.000119095860204,4.43576622013e-05,1793255006187806464
+125,2.083333333,POSE1_TO_POSE2_PRESS,780.506455853,759.493544147,737.493544147,718.506455853,685.493544147,648.506455853,912.493544147,800.506455853,840,658,635,657,0.401463061996,0.00448328856288,0.0799311275953,0.99999998746,0.000103385706599,-0.000112607559382,4.13672158448e-05,1793255006204473344
+126,2.100000000,POSE1_TO_POSE2_PRESS,780,760,737.92035834,718.07964166,686,648.07964166,913,800.07964166,839.92035834,657.92035834,635,657.07964166,0.401565184563,0.00448458200396,0.0799341965995,0.999999988552,0.0001002973312,-0.000106713154762,3.80668663462e-05,1793255006221139712
+127,2.116666667,POSE1_TO_POSE2_PRESS,780,760,737.340934745,718.659065255,686,648.659065255,913,800.659065255,839.340934745,657.340934745,635,657.659065255,0.40169934597,0.00448736760545,0.0799396053032,0.999999989774,9.92610224769e-05,-9.72459121934e-05,3.37965412684e-05,1793255006237806336
+128,2.133333333,POSE1_TO_POSE2_PRESS,780.236962381,760,737.236962381,719,685.763037619,649,913,800.763037619,839,657,635,657.763037619,0.401842429376,0.00449017640946,0.0799451113114,0.999999991043,9.73394207158e-05,-8.71759201289e-05,2.89839675456e-05,1793255006254473216
+129,2.150000000,POSE1_TO_POSE2_PRESS,780.812677276,760,737.812677276,719,685.187322724,649,913,800.187322724,839,657,635,657.187322724,0.401998267324,0.00449301838269,0.0799507564221,0.999999992387,9.41522373877e-05,-7.62442608505e-05,2.33962159048e-05,1793255006271139840
+130,2.166666667,POSE1_TO_POSE2_PRESS,781,759.612802631,737.612802631,719,685,648.612802631,913,800,839.387197369,657.387197369,635,657,0.402175856561,0.00449467442939,0.079957836042,0.999999993909,8.82057784479e-05,-6.39451420032e-05,1.76737828702e-05,1793255006287806720
+131,2.183333333,POSE1_TO_POSE2_PRESS,781,759.038858744,737.038858744,719,685,648.038858744,913,800,839.961141256,657.961141256,635,657,0.402363936528,0.00449575850022,0.0799656075308,0.999999995355,8.09285118407e-05,-5.0986492091e-05,1.18863920731e-05,1793255006304473088
+132,2.200000000,POSE1_TO_POSE2_PRESS,781,759,737,718.448128986,685.551871014,648.551871014,913,800,840,658,635,657.551871014,0.402569860239,0.00450019246898,0.0799623599611,0.999999995442,7.58620434026e-05,-5.78081730493e-05,4.42985663264e-06,1793255006321139968
+133,2.216666667,POSE1_TO_POSE2_PRESS,781,759.140352464,737.140352464,718,686,649,913,800,840,657.859647536,635,658,0.402784244957,0.00450457601808,0.0799577274773,0.99999999528,7.04537491714e-05,-6.68199201706e-05,-3.2618358348e-06,1793255006337806592
+134,2.233333333,POSE1_TO_POSE2_PRESS,781,759.7180302,737.7180302,718,686,649,913,800,840,657.2819698,635,658,0.403020955717,0.00450804444306,0.0799512731452,0.999999994865,6.34800919762e-05,-7.81797757135e-05,-1.13085599491e-05,1793255006354473216
+135,2.250000000,POSE1_TO_POSE2_PRESS,781,760,737.707054607,718,685.707054607,648.707054607,913,800.292945393,840,657,635,658,0.403281208857,0.0045123961302,0.0799480123451,0.999999994585,5.83938411537e-05,-8.3938894301e-05,-1.93472769743e-05,1793255006371139584
+136,2.266666667,POSE1_TO_POSE2_PRESS,781,760,737.134773648,718,685.134773648,648.134773648,913,800.865226352,840,657,635,658,0.403563910616,0.00451759004419,0.0799477967103,0.999999994549,5.51073109157e-05,-8.43574775298e-05,-2.73783584268e-05,1793255006387806464
+137,2.283333333,POSE1_TO_POSE2_PRESS,781,760,737,718,685.439171686,648,913,801,840,657,635,657.560828314,0.403884582328,0.00452375812985,0.0799493841944,0.999999990829,0.000104637709801,-8.37053019867e-05,-1.96373278263e-05,1793255006404473088
+138,2.300000000,POSE1_TO_POSE2_PRESS,780.985799308,760,737.014200692,718,685.985799308,648.014200692,913,801,840,657.014200692,635.014200692,657.014200692,0.404218259504,0.00453033469117,0.0799515848411,0.999999982312,0.000168853128302,-8.25040414381e-05,-7.55146298606e-06,1793255006421140224
+139,2.316666667,POSE1_TO_POSE2_PRESS,780.387276178,760,737.612723822,718,685.387276178,648.612723822,913,801,840,657.612723822,635.612723822,657.612723822,0.404605793211,0.0045413709486,0.0799561602666,0.999999983164,0.000167842577938,-7.22816676403e-05,-1.66050020464e-05,1793255006437806848
+140,2.333333333,POSE1_TO_POSE2_PRESS,780.202843767,760,737.797156233,718.202843767,685.202843767,649,913,801,839.797156233,658,636,658,0.405005430963,0.00454933835152,0.079958976999,0.999999988307,0.000136805651839,-6.41517184133e-05,-2.35487693819e-05,1793255006454473472
+141,2.350000000,POSE1_TO_POSE2_PRESS,780.777558206,760,737.222441794,718.777558206,685.777558206,649,913,801,839.222441794,658,636,658,0.40542725885,0.00455167966473,0.0799585695432,0.999999996568,5.07217859998e-05,-5.98577830042e-05,-2.6624720312e-05,1793255006471140352
+142,2.366666667,POSE1_TO_POSE2_PRESS,781,760,737.35173672,718.64826328,686,648.64826328,913,801,839.35173672,658,636,658,0.405864217446,0.00456046644999,0.0799536101364,0.99999999645,4.12809355593e-05,-6.70790092518e-05,-2.995464384e-05,1793255006487806976
+143,2.383333333,POSE1_TO_POSE2_PRESS,781,760,737.925576881,718.074423119,686,648.074423119,913,801,839.925576881,658,636,658,0.406310730339,0.0045733232158,0.0799457764094,0.999999992895,8.02361539533e-05,-8.15714607437e-05,-3.34449382022e-05,1793255006504473344
+144,2.400000000,POSE1_TO_POSE2_PRESS,781,760,737.482261743,718,685.482261743,648.517738257,913,801,840,657.482261743,636,658,0.406800238663,0.0045810571725,0.079937629498,0.999999988294,0.000114116181278,-9.74194644161e-05,-2.99771699712e-05,1793255006521139968
+145,2.416666667,POSE1_TO_POSE2_PRESS,781,760,737.108938283,718,685,649,913,801,840,657.108938283,635.891061717,658,0.407301577666,0.00458896328807,0.0799303415158,0.999999983177,0.000142626915605,-0.000112112923846,-2.7097616216e-05,1793255006537806848
+146,2.433333333,POSE1_TO_POSE2_PRESS,781,760,737.684331788,718,685,649,913,801,840,657.684331788,635.315668212,658,0.407826139337,0.00460087531393,0.0799269311559,0.999999980735,0.000151385629566,-0.000120997878112,-3.11764840231e-05,1793255006554473216
+147,2.450000000,POSE1_TO_POSE2_PRESS,781,760,738,718,685,649,913,801,840,658,635.259685944,658,0.408374191857,0.00461120281342,0.0799226003437,0.999999978452,0.000157687703163,-0.000130615803953,-3.41995724578e-05,1793255006571139840
+148,2.466666667,POSE1_TO_POSE2_PRESS,781,760,738,718,685,649,913,801,840,658,635.834992241,658,0.408950794948,0.00461960449071,0.079917150821,0.999999976435,0.000161003993919,-0.000141124577438,-3.59394742966e-05,1793255006587806464
+149,2.483333333,POSE1_TO_POSE2_PRESS,781,760,737.589728109,718,685,649,913,801,840,657.589728109,635.589728109,657.589728109,0.409592124517,0.0046263448217,0.0799376853209,0.999999979878,0.000165217158379,-0.000107297689581,-3.78832900066e-05,1793255006604473344
+150,2.500000000,POSE1_TO_POSE2_PRESS,781,760,737.014459188,718,685,649,913,801,840,657.014459188,635.014459188,657.014459188,0.410259484803,0.00463241701703,0.0799686696877,0.999999983241,0.00016979101367,-5.56405462985e-05,-3.99091126274e-05,1793255006621140480
+151,2.516666667,POSE1_TO_POSE2_PRESS,781,760,737.579772893,718,685,649,913,801,840,657.579772893,635,657,0.410969577042,0.00462982867282,0.0799927085219,0.999999983672,0.000175371925114,-1.59259194543e-05,-4.05953057994e-05,1793255006637807104
+152,2.533333333,POSE1_TO_POSE2_PRESS,781,760,738,718,685,649,913,801,840,657.831284991,635,657,0.411667578848,0.00462269302399,0.0800014334831,0.99999998489,0.000168770968256,-2.78931081977e-06,-4.15881151448e-05,1793255006654473728
+153,2.550000000,POSE1_TO_POSE2_PRESS,781,760,738,718,685,649,913,801,840,657.256260038,635,657,0.412333810328,0.00460514402054,0.0799737098807,0.999999988844,0.000132770350578,-5.29180105953e-05,-4.3402516091e-05,1793255006671140096
+154,2.566666667,POSE1_TO_POSE2_PRESS,781,760,737.681898611,718,685,648.681898611,913,801,839.681898611,657,635,657.318101389,0.413031117759,0.00458836283716,0.0799447905161,0.999999988676,0.000110530201491,-9.28996013962e-05,-4.24465097044e-05,1793255006687806720
+155,2.583333333,POSE1_TO_POSE2_PRESS,781,760,737.108070542,718,685,648.108070542,913,801,839.108070542,657,635,657.891929458,0.413753407705,0.00457219891445,0.0799149098566,0.999999986516,9.93523045474e-05,-0.000124723778121,-3.92633297975e-05,1793255006704473088
+156,2.600000000,POSE1_TO_POSE2_PRESS,781,760,737.478941218,718,685,648.478941218,913,800.521058782,839.478941218,657.478941218,635,658,0.414524991352,0.00456771000442,0.0799235226632,0.999999989088,9.46675154464e-05,-0.000105918607107,-4.053537778e-05,1793255006721139712
+157,2.616666667,POSE1_TO_POSE2_PRESS,781,760,738,718,685.067236804,649,913,800.067236804,840,657.932763196,635,658,0.415311963295,0.00456739907318,0.0799402437582,0.99999999162,9.35944035089e-05,-7.8703989122e-05,-4.24928883903e-05,1793255006737806592
+158,2.633333333,POSE1_TO_POSE2_PRESS,781,760,738,718,685.6421294,649,913,800.6421294,840,657.3578706,635,658,0.41612876365,0.00457817952028,0.0799507478329,0.999999990308,0.000108415129221,-7.6693429196e-05,-4.18207046959e-05,1793255006754473728
+159,2.650000000,POSE1_TO_POSE2_PRESS,781,760,738,718,685.781144271,649,913,801,840,657,635.218855729,657.781144271,0.416957207072,0.00458617745155,0.0799559626047,0.999999989488,0.000118501940485,-7.21419594484e-05,-4.21616552385e-05,1793255006771140608
+160,2.666666667,POSE1_TO_POSE2_PRESS,781,760,738,718,685.201394141,649,913,801,840,657,635.798605859,657.201394141,0.417804849934,0.00458958699702,0.0799524552837,0.99999998972,0.000120782497768,-6.34005144119e-05,-4.41732702219e-05,1793255006787806976
+161,2.683333333,POSE1_TO_POSE2_PRESS,781,760,737.624712966,718,685.375287034,649,913.375287034,801,840,657,635.624712966,657,0.418698295213,0.00459069484343,0.0799713213515,0.999999992765,0.000108943084048,-2.16085785689e-05,-4.62057696802e-05,1793255006804473344
+162,2.700000000,POSE1_TO_POSE2_PRESS,781,760,737.049665376,718,685.950334624,649,913.950334624,801,840,657,635.049665376,657,0.419616120514,0.00459057752432,0.080002096492,0.99999999411,8.95877873332e-05,3.77757167006e-05,-4.82493854696e-05,1793255006821139712
+163,2.716666667,POSE1_TO_POSE2_PRESS,781.540410775,760,737.540410775,718,686,649,913.459589225,801,840,657.540410775,635.540410775,657.540410775,0.420471171245,0.00458747359389,0.0799867390876,0.999999993855,9.92853596371e-05,1.01996313836e-05,-4.82620292098e-05,1793255006837806336
+164,2.733333333,POSE1_TO_POSE2_PRESS,782,760,738,718,685.870984644,649,913,801,840,657.870984644,635.870984644,657.870984644,0.421342577904,0.00458441456908,0.0799728315323,0.99999999301,0.000106812605471,-1.54724977175e-05,-4.82928472484e-05,1793255006854473216
+165,2.750000000,POSE1_TO_POSE2_PRESS,782,760,738,718,685.292457299,649,913,801,840,657.292457299,635.292457299,657.292457299,0.422291647058,0.0045824956911,0.0799791699815,0.999999994055,9.72090375171e-05,-5.86914562771e-06,-4.90559202377e-05,1793255006871139840
+166,2.766666667,POSE1_TO_POSE2_PRESS,781.716738225,760,737.716738225,718,685.283261775,649,913,801,840.283261775,657,635.283261775,657.283261775,0.423232315799,0.00458579176791,0.0799923067653,0.999999993692,0.000100716869915,1.18654532647e-05,-4.82734628683e-05,1793255006887806464
+167,2.783333333,POSE1_TO_POSE2_PRESS,781.143890052,760,737.143890052,718,685.856109948,649,913,801,840.856109948,657,635.856109948,657.856109948,0.424164396681,0.0045944192379,0.0800123936765,0.999999991309,0.000117628850609,3.79128532459e-05,-4.59109668599e-05,1793255006904473344
+168,2.800000000,POSE1_TO_POSE2_PRESS,781.431586754,760,737,718,686,649,913.431586754,801,841,657.431586754,636,658,0.425049118434,0.00460061590429,0.079976260347,0.999999990053,0.000128183916346,-3.696582547e-05,-4.5778606673e-05,1793255006921139968
+169,2.816666667,POSE1_TO_POSE2_PRESS,782,760,737.008228661,718,686,649,913.991771339,801,841,658,636,658,0.42591943256,0.00460589680577,0.0799219081994,0.999999979275,0.000136309296468,-0.000143922053114,-4.64316626791e-05,1793255006937806592
+170,2.833333333,POSE1_TO_POSE2_PRESS,782,760,737.605144315,718,686,649,913.394855685,801,841,658,636,658,0.426895527851,0.00460399685357,0.0799133237698,0.999999983522,0.000123164436243,-0.000123737839718,-4.97559299954e-05,1793255006954473216
+171,2.850000000,POSE1_TO_POSE2_PRESS,781.80619395,760,738,718,686,649,913,801,840.80619395,657.80619395,636,658,0.427866475928,0.00460124100484,0.0799105550622,0.999999985819,0.000114878790319,-0.00011182448821,-5.1575852717e-05,1793255006971139840
+172,2.866666667,POSE1_TO_POSE2_PRESS,781.233661651,760,738,718,686,649,913,801,840.233661651,657.233661651,636,658,0.428827365516,0.00459681260534,0.0799191511532,0.999999985252,0.000116088782858,-0.000116073649481,-5.04560590788e-05,1793255006987806464
+173,2.883333333,POSE1_TO_POSE2_PRESS,781.340287666,760,738,718,686,649,913.340287666,801,840.340287666,657,636,658,0.429814671211,0.00459414605068,0.0799495891727,0.999999989765,0.000109080703742,-7.77735595269e-05,-5.02251639027e-05,1793255007004473088
+174,2.900000000,POSE1_TO_POSE2_PRESS,781.915214035,760,738,718,686,649,913.915214035,801,840.915214035,657,636,658,0.430820191575,0.00459269434184,0.0799950878664,0.999999994021,9.6406013597e-05,-1.01344651626e-05,-5.06071911314e-05,1793255007021139712
+175,2.916666667,POSE1_TO_POSE2_PRESS,782,760.507012065,738,718,686,649,913.492987935,801,840.492987935,657,635.492987935,658,0.43179220331,0.00459480059236,0.0800254734884,0.999999992941,0.000101690942401,3.57167703917e-05,-5.00126301336e-05,1793255007037806592
+176,2.933333333,POSE1_TO_POSE2_PRESS,782,760.901433043,738,718,685.901433043,649,913,801,840.098566957,657.098566957,635.098566957,658,0.432742020133,0.00459822471163,0.080035593945,0.999999991497,0.00010922610195,5.11331515113e-05,-4.96113935752e-05,1793255007054473472
+177,2.950000000,POSE1_TO_POSE2_PRESS,782,760.325200047,738,718,685.325200047,649,913,801,840.674799953,657.674799953,635.674799953,658,0.433612367787,0.00460505274645,0.0799601764295,0.999999990397,0.000112610672706,-6.26764129386e-05,-5.09656964061e-05,1793255007071140352
+178,2.966666667,POSE1_TO_POSE2_PRESS,782,760,738,718,685.250134054,648.749865946,913,801,841,657.749865946,635.749865946,657.749865946,0.43452788822,0.00460743424999,0.0799157215856,0.999999984662,0.000110986105068,-0.000124761337082,-5.28405774647e-05,1793255007087806720
+179,2.983333333,POSE1_TO_POSE2_PRESS,782,760,738,718,685.824303763,648.175696237,913,801,841,657.175696237,635.175696237,657.175696237,0.435501927756,0.00460405550453,0.0799113772615,0.999999985994,0.000102872461182,-0.000119839697414,-5.53898413897e-05,1793255007104473088
+180,3.000000000,POSE1_TO_POSE2_PRESS,782,760,738,718,685.600941278,648.399058722,913,801,841,657,635.399058722,657.399058722,0.436455527129,0.0046013320545,0.0799384947008,0.999999989884,9.88394662778e-05,-8.60755972873e-05,-5.52524334265e-05,1793255007121139712
+181,3.016666667,POSE1_TO_POSE2_PRESS,782,760,738,718,685.025928302,648.974071698,913,801,841,657,635.974071698,657.974071698,0.437400113901,0.00459889753962,0.0799794843623,0.999999993096,9.66057245378e-05,-3.95941869827e-05,-5.39304092114e-05,1793255007137806336
+182,3.033333333,POSE1_TO_POSE2_PRESS,782,760,737.432172034,717.432172034,685,649,913.567827966,801.567827966,841,657,636,658,0.438341508714,0.00459980363826,0.0800125451238,0.999999993469,9.9156790679e-05,1.82168725942e-05,-5.38356648654e-05,1793255007154473216
+183,3.050000000,POSE1_TO_POSE2_PRESS,782,760,737.156769189,717.156769189,685,648.843230811,913.843230811,801.843230811,841.156769189,657,636,658,0.43925699976,0.0046024914908,0.080027243767,0.999999992167,0.000103477186927,4.54435671944e-05,-5.37897009559e-05,1793255007171139840
+184,3.066666667,POSE1_TO_POSE2_PRESS,782,760,737.730547936,717.730547936,685,648.269452064,913.269452064,801.269452064,841.730547936,657,636,658,0.440103987093,0.00460949923817,0.0799940947017,0.999999992245,0.000111903027351,-1.01079410493e-05,-5.37193372514e-05,1793255007187806720
+185,3.083333333,POSE1_TO_POSE2_PRESS,782,760,738,717.693878405,685,648,913,801.306121595,841.693878405,657.306121595,636,657.693878405,0.440889018775,0.0046193208246,0.0799114333368,0.999999981045,0.000122078337878,-0.000141323688742,-5.50883223078e-05,1793255007204473344
+186,3.100000000,POSE1_TO_POSE2_PRESS,782,760,738,717.116715555,685,648,913,801.883284445,841.116715555,657.883284445,636,657.116715555,0.441619194634,0.00463163379476,0.0797849335901,0.999999931741,0.000133802632246,-0.000339532843814,-5.77317108508e-05,1793255007221139712
+187,3.116666667,POSE1_TO_POSE2_PRESS,782,760,737.545615787,717.454384213,684.545615787,648.454384213,913,801.545615787,841,657.545615787,636,657.454384213,0.442426183433,0.00463413414608,0.0797580149463,0.999999920249,0.000139352298474,-0.000369695543179,-5.83729904881e-05,1793255007237806336
+188,3.133333333,POSE1_TO_POSE2_PRESS,782,760,737.025267026,718,684,648.974732974,913,801,841,657.025267026,636,658,0.443253609047,0.00463426693727,0.0797590842084,0.999999925384,0.000143005950395,-0.0003540646362,-5.84845070729e-05,1793255007254473216
+189,3.150000000,POSE1_TO_POSE2_PRESS,782,760,737.626222451,718,684,648.373777549,913,801,841,657.626222451,636,658,0.444103043754,0.0046371286298,0.0798227140557,0.999999953364,0.000139121405196,-0.000265599754545,-5.8088782265e-05,1793255007271139840
+190,3.166666667,POSE1_TO_POSE2_PRESS,782,760,737.782721115,717.782721115,683.782721115,648,913,801,841.217278885,657.782721115,635.782721115,658,0.444925514233,0.00463863627919,0.0798672460372,0.999999967745,0.000137777047167,-0.000205617002236,-5.69940594465e-05,1793255007287806208
+191,3.183333333,POSE1_TO_POSE2_PRESS,782,760,737.207951478,717.207951478,683.207951478,648,913,801,841.792048522,657.207951478,635.207951478,658,0.44570362038,0.00463791611061,0.0798803561519,0.999999970088,0.000140612080964,-0.000192496122106,-5.47492699443e-05,1793255007304473088
+192,3.200000000,POSE1_TO_POSE2_PRESS,782,760,737,717.365872713,683,648,913,801,841.634127287,657.365872713,635.365872713,658,0.446450784435,0.00463974239649,0.0798671805465,0.999999966905,0.000143487236065,-0.000206095940672,-5.59043872874e-05,1793255007321139968
+193,3.216666667,POSE1_TO_POSE2_PRESS,782,760,737,717.93916089,683,648,913,801,841.06083911,657.93916089,635.93916089,658,0.447180407184,0.00464301228291,0.0798391034059,0.99999995997,0.000146385135918,-0.000234843886382,-5.89869325838e-05,1793255007337806848
+194,3.233333333,POSE1_TO_POSE2_PRESS,782,760,737,717.467769241,682.467769241,648,913.532230759,801,841,658,635.467769241,658.532230759,0.447814812332,0.00464169963741,0.0797877452193,0.999999941212,0.000137908301589,-0.000307949815812,-6.10338340089e-05,1793255007354473472
+195,3.250000000,POSE1_TO_POSE2_PRESS,782,760,737,717.122876976,681.877123024,647.877123024,913.877123024,801,841.122876976,658,635.122876976,658.877123024,0.448425875618,0.00463951409743,0.079733235841,0.999999913738,0.000128929367675,-0.000389859407345,-6.25322430814e-05,1793255007371139840
+196,3.266666667,POSE1_TO_POSE2_PRESS,782,760,737,717.696035566,681.303964434,647.303964434,913.303964434,801,841.696035566,658,635.696035566,658.303964434,0.448992827882,0.00463612350437,0.0796773075242,0.999999872994,0.00012305915049,-0.000484731706618,-6.24712712157e-05,1793255007387806464
+197,3.283333333,POSE1_TO_POSE2_PRESS,782.270468457,760,737,718,681,647,913,801,842,658,635.729531543,658,0.449591528841,0.00463763181807,0.0796500465034,0.999999851219,0.000128051112425,-0.000526525366442,-6.27347457877e-05,1793255007404473344
+198,3.300000000,POSE1_TO_POSE2_PRESS,782.846340203,760,737,718,681,647,913,801,842,658,635.153659797,658,0.450226079251,0.00464467180195,0.0796551555698,0.999999858208,0.000145308259082,-0.000508384525892,-6.33645741141e-05,1793255007421139968
+199,3.316666667,POSE1_TO_POSE2_PRESS,782.578510054,760,737,718,680.578510054,647,913.421489946,801,842,657.578510054,635,658,0.450858966872,0.00464825801144,0.0796886877648,0.999999881194,0.000145217714956,-0.000461101465357,-6.25258312091e-05,1793255007437806336
+200,3.333333333,POSE1_TO_POSE2_PRESS,782.00362303,760,737,718,680.00362303,647,913.99637697,801,842,657.00362303,635,658,0.45149124939,0.00465058725462,0.0797325642754,0.999999907205,0.000138813652112,-0.00040321238059,-6.11526162703e-05,1793255007454473216
+201,3.350000000,POSE1_TO_POSE2_PRESS,782,760,737,717.409715777,679.409715777,647,914,801,842,657.590284223,635,658,0.451977830407,0.00465451164056,0.0797105024195,0.999999889832,0.000135850279347,-0.000444868830346,-6.30219829405e-05,1793255007471139840
+202,3.366666667,POSE1_TO_POSE2_PRESS,782,760,737,717,679,646.821345823,914,801,841.821345823,657.821345823,635.178654177,658,0.45244613671,0.00465787107324,0.0796786310775,0.999999864396,0.000137975460632,-0.000498043472628,-6.42216838836e-05,1793255007487806464
+203,3.383333333,POSE1_TO_POSE2_PRESS,782,760,737,717,679,646.24555302,914,801,841.24555302,657.24555302,635.75444698,658,0.452875873533,0.00465995215733,0.0796258833842,0.99999982095,0.000151363715596,-0.000575419031039,-6.38870396558e-05,1793255007504473344
+204,3.400000000,POSE1_TO_POSE2_PRESS,782,760,737,717.330272359,678.669727641,646,914,801,841.330272359,657.330272359,635.669727641,658,0.453302339194,0.00466211022535,0.0795874908652,0.999999784605,0.00016254071801,-0.000632759611317,-6.31362771556e-05,1793255007521140224
+205,3.416666667,POSE1_TO_POSE2_PRESS,782,760,737,717.906121925,678.093878075,646,914,801,841.906121925,657.906121925,635.093878075,658,0.453726372525,0.0046643255354,0.0795597722781,0.999999755319,0.000172073521663,-0.000675202986173,-6.20761060229e-05,1793255007537806848
+206,3.433333333,POSE1_TO_POSE2_PRESS,782.496746904,760,737,717.503253096,677.503253096,645.503253096,913.503253096,801,842,657.503253096,635,658,0.454124820085,0.00466911513215,0.0795420374985,0.999999735265,0.000178809405592,-0.000702404094273,-6.42303268895e-05,1793255007554473472
+207,3.450000000,POSE1_TO_POSE2_PRESS,782.911911214,760,736.911911214,717.088088786,677,645.088088786,913.088088786,801,842,657.088088786,635,658,0.454513278309,0.00467348276636,0.0795296245142,0.999999720914,0.000184822320768,-0.000720834299746,-6.64073529141e-05,1793255007571140096
+208,3.466666667,POSE1_TO_POSE2_PRESS,782.332619774,760,736.332619774,717.667380226,677,645.667380226,913.667380226,801,842,657.667380226,635,658,0.454873823317,0.00467270142659,0.0795360433034,0.999999729992,0.000189841627867,-0.000706911128625,-6.52202893058e-05,1793255007587806720
+209,3.483333333,POSE1_TO_POSE2_PRESS,782.242540009,760,736,718,676.757459991,646,914,800.757459991,842,658,635,658,0.455215078472,0.00467348430783,0.0795372296947,0.999999729293,0.000195573581399,-0.000706402528841,-6.45076399324e-05,1793255007604473600
+210,3.500000000,POSE1_TO_POSE2_PRESS,782.812128489,760,736,718,676.187871511,646,914,800.187871511,842,658,635,658,0.45553032256,0.00467637643327,0.079531360558,0.999999715393,0.000202266489077,-0.000723982554287,-6.44347055247e-05,1793255007621140480
+211,3.516666667,POSE1_TO_POSE2_PRESS,783,759.602728331,736.397271669,718,676,646,914,800.397271669,842,657.602728331,635,658,0.455816552153,0.00467904008191,0.0795233814587,0.999999706339,0.000187697410797,-0.000740170894652,-6.51064429178e-05,1793255007637807104
+212,3.533333333,POSE1_TO_POSE2_PRESS,783,759.009929464,736.990070536,718,676,646,914,800.990070536,842,657.009929464,635,658,0.456088501564,0.00468159128022,0.0795143638878,0.999999699061,0.000162663714334,-0.00075567428349,-6.6144689134e-05,1793255007654473472
+213,3.550000000,POSE1_TO_POSE2_PRESS,783,759.568091499,737,718,676,646,914,801,842,657,635,658,0.456305663056,0.0046833677338,0.0794924235641,0.999999673307,0.000139944157364,-0.000793185759051,-6.82441465113e-05,1793255007671140352
+214,3.566666667,POSE1_TO_POSE2_PRESS,783,759.854733059,737,717.854733059,675.854733059,646,913.854733059,801,842,657.145266941,635,658,0.456516480404,0.00468560914067,0.0794732223478,0.999999648625,0.00012489638958,-0.000825958346397,-7.03061779568e-05,1793255007687807232
+215,3.583333333,POSE1_TO_POSE2_PRESS,783,759.279315696,737,717.279315696,675.279315696,646,913.279315696,801,842,657.720684304,635,658,0.45671127585,0.00468926640375,0.0794627837795,0.999999632801,0.000132448843378,-0.000843588436612,-7.22038566178e-05,1793255007704473600
+216,3.600000000,POSE1_TO_POSE2_PRESS,783,759.302714281,737,717,675,646,913.302714281,800.697285719,842,657.697285719,635,658,0.456900938555,0.00469827696551,0.079462664323,0.999999630322,0.000147092715268,-0.00084379556169,-7.56929841466e-05,1793255007721140224
+217,3.616666667,POSE1_TO_POSE2_PRESS,783,759.890981969,737,717,675,646,913.890981969,800.109018031,842,657.109018031,635,658,0.457085759485,0.00471233734718,0.0794722789886,0.999999640127,0.0001684259922,-0.000827567428348,-8.06833411571e-05,1793255007737806848
+218,3.633333333,POSE1_TO_POSE2_PRESS,783,760,737,717.471584845,674.528415155,645.528415155,914,800,842,657,635,658,0.457246956958,0.0047163220781,0.0794784153008,0.999999642405,0.00020120285043,-0.000818084611234,-7.37898292691e-05,1793255007754473472
+219,3.650000000,POSE1_TO_POSE2_PRESS,783,760,736.949730304,717.949730304,674,645,914,800,842,657.050269696,635,658,0.4573991472,0.00471583644256,0.0794828894118,0.999999641846,0.000231093657412,-0.000811590174405,-6.50048949527e-05,1793255007771139840
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,760,736.372872928,717.372872928,674,645,914,800,842,657.627127072,635,658,0.457513276142,0.00469253159632,0.0794782400251,0.999999640735,0.000203483753465,-0.00082032654531,-6.47245905646e-05,1793255007787806720
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,760,736.20325191,717.20325191,674,645,914,800.20325191,842,658,635,658,0.457616312818,0.00467895729853,0.0794730257884,0.999999636295,0.000185572590711,-0.000829871650749,-6.54614714129e-05,1793255007804473600
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,760,736.778037642,717.778037642,674,645,914,800.778037642,842,658,635,658,0.457699073401,0.0046831699351,0.0794667790362,0.999999626947,0.000185390221015,-0.000840895080472,-6.80577135853e-05,1793255007821139968
+223,3.716666667,POSE1_TO_POSE2_PRESS,783,759.637511552,737,718,674,645,914,801,842,657.637511552,635,658,0.457772485052,0.0046879146933,0.0794630956895,0.999999619974,0.000189278773659,-0.000848167724341,-6.95470717991e-05,1793255007837806592
+224,3.733333333,POSE1_TO_POSE2_PRESS,783,759.046980358,737,718,674,645,914,801,842,657.046980358,635,658,0.457840015266,0.00469299421149,0.0794610249896,0.999999614498,0.00019572835771,-0.000853080736843,-7.03400857127e-05,1793255007854473216
+225,3.750000000,POSE1_TO_POSE2_PRESS,783,759,736.466976051,718.533023949,673.466976051,645,913.466976051,800.466976051,842,657.533023949,635.533023949,658,0.457897348366,0.00468935149113,0.0794604470008,0.999999616069,0.000189007379758,-0.000852758808939,-7.02882898647e-05,1793255007871140096
+226,3.766666667,POSE1_TO_POSE2_PRESS,783,759,736,718.888821454,673,645,913.111178546,800,842,657.888821454,636,658,0.457950083058,0.00468687200665,0.0794600164439,0.999999617362,0.000183737115114,-0.000852394247078,-7.02835601391e-05,1793255007887806720
+227,3.783333333,POSE1_TO_POSE2_PRESS,783,759,736,718.314581161,673,645,913.685418839,800,842,657.314581161,636,658,0.457987336165,0.00469237737564,0.0794596625788,0.999999615154,0.00018925041973,-0.000853736655473,-7.07789877098e-05,1793255007904473344
+228,3.800000000,POSE1_TO_POSE2_PRESS,783,759.260823272,736,718,673,644.739176728,914,800,842,657,635.739176728,658,0.458018003762,0.00469414143377,0.0794581275745,0.999999612754,0.000191589632048,-0.000856020935941,-7.07991411423e-05,1793255007921140224
+229,3.816666667,POSE1_TO_POSE2_PRESS,783,759.837638044,736,718,673,644.162361956,914,800,842,657,635.162361956,658,0.458040692906,0.00469137283456,0.0794551616014,0.999999610143,0.000190083381251,-0.000859446309193,-7.02434924457e-05,1793255007937806848
+230,3.833333333,POSE1_TO_POSE2_PRESS,783,760,736,718,673,644.424234107,913.575765893,800.424234107,842,657,635,658,0.458056992287,0.00469009513344,0.0794534353482,0.999999608666,0.000186304696431,-0.000862001925841,-7.00826129044e-05,1793255007954473472
+231,3.850000000,POSE1_TO_POSE2_PRESS,783,760,736.014397642,718,673,645,913.014397642,800.985602358,842,657,635,658,0.458070638321,0.00468953733863,0.0794521462152,0.99999960752,0.000181940689183,-0.000864259174544,-7.00910772325e-05,1793255007971140352
+232,3.866666667,POSE1_TO_POSE2_PRESS,783,760,736.594180908,718,673,645,913.594180908,800.405819092,842,657,635,658,0.458078387798,0.00469431415298,0.0794489509438,0.99999960267,0.000189550048914,-0.00086817984822,-7.06765253825e-05,1793255007987806720
+233,3.883333333,POSE1_TO_POSE2_PRESS,783,760,736.827186371,718,673,644.827186371,913.827186371,800,841.827186371,657,635,658,0.458084447585,0.00469648094053,0.0794462075949,0.999999598666,0.000193649446588,-0.000871863325427,-7.08613028433e-05,1793255008004473344
+234,3.900000000,POSE1_TO_POSE2_PRESS,783,760,736.251237691,718,673,644.251237691,913.251237691,800,841.251237691,657,635,658,0.458086565703,0.0046925591261,0.0794445184794,0.999999596769,0.000189560896769,-0.000874993476559,-7.01114062673e-05,1793255008021139968
+235,3.916666667,POSE1_TO_POSE2_PRESS,783,759.676689587,736,718,672.676689587,644.323310413,913,800,841.323310413,657,635,658,0.458089878693,0.00469222904631,0.0794441476651,0.999999596681,0.000187815640523,-0.000875491286115,-6.98493682237e-05,1793255008037806592
+236,3.933333333,POSE1_TO_POSE2_PRESS,783,759.103225087,736,718,672.103225087,644.896774913,913,800,841.896774913,657,635,658,0.458094116187,0.00469467798916,0.0794447968561,0.999999598006,0.000187883454015,-0.000873952381521,-6.99647995578e-05,1793255008054473216
+237,3.950000000,POSE1_TO_POSE2_PRESS,783,759,736.486142028,718,672.486142028,645,913.486142028,800,842,657,635,658,0.458097285625,0.00469594525505,0.0794456364108,0.999999599013,0.000189540620807,-0.000872470738738,-6.9590434317e-05,1793255008071139840
+238,3.966666667,POSE1_TO_POSE2_PRESS,783,759.076062343,737,718,672.923937657,645,914,800.076062343,842,657.076062343,635,658,0.458099921726,0.00469653906874,0.0794463361376,0.999999599775,0.000190872506413,-0.000871337977087,-6.91898914575e-05,1793255008087806720
+239,3.983333333,POSE1_TO_POSE2_PRESS,783,759.646874696,737,718,672.353125304,645,914,800.646874696,842,657.646874696,635,658,0.458100613742,0.00469443964746,0.0794458545404,0.999999599425,0.000187819233882,-0.000872392762362,-6.93184308557e-05,1793255008104473344
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,759.775696168,736.775696168,718,672,645,914,800.775696168,842,657.775696168,635,658,0.458100221694,0.00469357553081,0.0794450741364,0.999999598189,0.000186806360845,-0.000874028894332,-6.92743624081e-05,1793255008121139968
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,759.187533525,736.187533525,718,672,645,914,800.187533525,842,657.187533525,635,658,0.458098071108,0.00469471528766,0.0794438090176,0.999999595522,0.000189103361603,-0.000876608069058,-6.89502947884e-05,1793255008137806848
+242,4.033333333,POSE1_TO_POSE2_PRESS,783,759.394586912,736.394586912,718,672,645,914,800,842,657,635,658,0.45809805192,0.00469395661894,0.0794431657504,0.999999595442,0.000187266783697,-0.000877117127194,-6.86528423821e-05,1793255008154473472
+243,4.050000000,POSE1_TO_POSE2_PRESS,783,759.973878991,736.973878991,718,672,645,914,800,842,657,635,658,0.458099030434,0.00469230930183,0.0794428135705,0.999999596564,0.000183495287677,-0.000876657168746,-6.83678485005e-05,1793255008171140096
+244,4.066666667,POSE1_TO_POSE2_PRESS,783,760,737,718,672,645,913.447814812,800.552185188,842,657,635,658,0.458100733396,0.0046928735699,0.0794438863421,0.999999597746,0.000185845388268,-0.00087483129741,-6.81118315749e-05,1793255008187806720
+245,4.083333333,POSE1_TO_POSE2_PRESS,783,759.869289289,736.869289289,718,672,645,913.130710711,801,842,657,635,658,0.458102295093,0.00469321391322,0.0794448144154,0.999999598736,0.000187594516968,-0.00087334058112,-6.79129698709e-05,1793255008204473088
+246,4.100000000,POSE1_TO_POSE2_PRESS,783,759.289851136,736.289851136,718,672,645,913.710148864,801,842,657,635,658,0.458103254389,0.00469242701331,0.0794450147468,0.999999599084,0.000186288165692,-0.000873221870445,-6.79056236691e-05,1793255008221139968
+247,4.116666667,POSE1_TO_POSE2_PRESS,782.712803865,759,736.287196135,717.712803865,672.287196135,645,914,800.712803865,842,657,635,658,0.458102973053,0.00469206418046,0.0794443688907,0.999999598416,0.000183899511417,-0.0008744686439,-6.82200231507e-05,1793255008237806848
+248,4.133333333,POSE1_TO_POSE2_PRESS,782.138149587,759,736.861850413,717.138149587,672.861850413,645,914,800.138149587,842,657,635,658,0.458101449953,0.00469212580145,0.0794428760752,0.999999596716,0.000180427566604,-0.000877082147185,-6.88564618411e-05,1793255008254473472
+249,4.150000000,POSE1_TO_POSE2_PRESS,782.44967687,759.44967687,736.55032313,717.44967687,672.55032313,645,914,800,841.55032313,657,635,658,0.4581018408,0.00469223328089,0.0794430417754,0.999999596653,0.000181576659866,-0.000876951123888,-6.84081454299e-05,1793255008271140096
+250,4.166666667,POSE1_TO_POSE2_PRESS,783,760,736.040713434,718,672,644.959286566,913.959286566,800,841.040713434,657.040713434,635,658,0.458102839276,0.00469238372146,0.0794437196238,0.999999597139,0.00018401135147,-0.000875945993976,-6.76791718459e-05,1793255008287806720
+251,4.183333333,POSE1_TO_POSE2_PRESS,783,760,736.619089082,718,672,644.380910918,913.380910918,800,841.619089082,657.619089082,635,658,0.458103862617,0.00469290983853,0.079444229015,0.999999598058,0.000184109686119,-0.00087486836182,-6.77776535671e-05,1793255008304473344
+252,4.200000000,HOLD_POSE2,783,760,736,718,672,645,914,800,841,658,635,658,0.458102318253,0.00469483168945,0.0794437349569,0.999999597491,0.000182645966555,-0.000875804594914,-6.8010823234e-05,1793255008344535552
+253,4.216666667,HOLD_POSE2,783,760,736,718,672,645,914,800,841.590072674,658,635,658,0.458102692984,0.00469332962136,0.0794430478386,0.999999597261,0.000180764351572,-0.000876446543806,-6.81507248827e-05,1793255008361202176
+254,4.233333333,HOLD_POSE2,783,760,736.176963817,718,672,645,913.823036183,800,842,658,635,658,0.458103473225,0.00469229961394,0.079443104498,0.9999995976,0.000180046574607,-0.000876206980418,-6.81426954241e-05,1793255008377868800
+255,4.250000000,HOLD_POSE2,783,760,736.756615384,718,672,645,913.243384616,800,842,658,635,658,0.458105176221,0.00469234379782,0.0794448536511,0.999999599239,0.000181977153975,-0.000873961503167,-6.77980432551e-05,1793255008394535424
+256,4.266666667,HOLD_POSE2,783,760,736.665270763,718,672,645,913.334729237,800,842,657.665270763,635.334729237,658,0.458105369509,0.00469281658441,0.0794451771596,0.999999598752,0.000183646040759,-0.000874172841447,-6.7767039073e-05,1793255008411201792
+257,4.283333333,HOLD_POSE2,783,760,736.088269916,718,672,645,913.911730084,800,842,657.088269916,635.911730084,658,0.458104470094,0.0046935995867,0.0794444688095,0.999999596724,0.000185125518565,-0.000876162383222,-6.79630482535e-05,1793255008427868672
+258,4.300000000,HOLD_POSE2,782.514262915,759.514262915,736,718,672,645,914,800,842,657,635.514262915,658,0.458105584931,0.00469241301015,0.0794449763294,0.999999598465,0.000182782317129,-0.000874684973503,-6.77239064115e-05,1793255008444535296
+259,4.316666667,HOLD_POSE2,782.061054573,759,736.061054573,718,672,645,914,800,842,657,635,658,0.458106938276,0.00469128934168,0.079445642183,0.999999600659,0.00018014763684,-0.000872739343224,-6.74906927811e-05,1793255008461201920
+260,4.333333333,HOLD_POSE2,782.652452361,759,736.652452361,718,672,645,914,800,842,657,635,658,0.458107203325,0.00469380209244,0.0794457758636,0.999999600975,0.000180978274659,-0.00087216570173,-6.79916609687e-05,1793255008477868544
+261,4.350000000,HOLD_POSE2,783,759.238556585,736.761443415,718,672,645,914,800,842,657,635,658,0.458107150858,0.00469507980554,0.0794454575584,0.999999600829,0.000181223271944,-0.000872257731852,-6.83148440277e-05,1793255008494535168
+262,4.366666667,HOLD_POSE2,783,759.817116102,736.182883898,718,672,645,914,800,842,657,635,658,0.45810664585,0.00469459728017,0.0794444950601,0.999999600022,0.000180633584594,-0.000873298510941,-6.83846386704e-05,1793255008511202048
+263,4.383333333,HOLD_POSE2,782.607252437,759.607252437,736,718,672,645,913.607252437,800,842,657,635,658,0.458107733906,0.0046938290081,0.0794448897262,0.999999600414,0.000181975271057,-0.000872595178956,-6.806982061e-05,1793255008527868416
+264,4.400000000,HOLD_POSE2,782.032974292,759.032974292,736,718,672,645,913.032974292,800,842,657,635,658,0.458109558285,0.00469292866194,0.0794459116829,0.999999601355,0.000184209651513,-0.000871085707117,-6.75772319617e-05,1793255008544535040
+265,4.416666667,HOLD_POSE2,782.555187528,759.555187528,736,718,672,645,913,800,842,657.555187528,635,658,0.458108541062,0.00469316580323,0.0794456906553,0.999999600739,0.000182416173935,-0.000872173252253,-6.75223972528e-05,1793255008561201664
+266,4.433333333,HOLD_POSE2,782.858183295,760,736.141816705,718,672,645,913,800,842,658,635,658,0.458107646815,0.00469347052953,0.0794453652855,0.999999600184,0.000181085097844,-0.000873082007017,-6.75787840734e-05,1793255008577868544
+267,4.450000000,HOLD_POSE2,782.278890813,760,736.721109187,718,672,645,913,800,842,658,635,658,0.458107665903,0.00469376999122,0.0794449516161,0.999999600122,0.000181937330201,-0.00087295121214,-6.78960063071e-05,1793255008594535424
+268,4.466666667,HOLD_POSE2,782.298342216,760,736.701657784,718,672,645,913,800,841.701657784,657.701657784,635,658,0.4581078768,0.00469442955455,0.0794447063694,0.999999599974,0.000183279251094,-0.000872831453405,-6.80177093089e-05,1793255008611202048
+269,4.483333333,HOLD_POSE2,782.873663229,760,736.126336771,718,672,645,913,800,841.126336771,657.126336771,635,658,0.458108265772,0.00469542343367,0.0794446174851,0.999999599742,0.000185075795298,-0.000872721940554,-6.79578936235e-05,1793255008627868672
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783,760,737,718,672,645,913,800,842,658,635,658,0.458106601615,0.00469440417317,0.0794436668855,0.999999599101,0.000182936174558,-0.000873898408226,-6.8070597016e-05,1793255008660465152
+271,4.516666667,POSE2_TO_POSE3_RETREAT,782.409426035,760,736.409426035,718,672,644.409426035,913,800,842,657.409426035,635,658,0.458107976818,0.00469496572761,0.0794447204073,0.999999600162,0.000184045503544,-0.000872441105559,-6.81895468876e-05,1793255008677131520
+272,4.533333333,POSE2_TO_POSE3_RETREAT,782.17770371,759.82229629,736.17770371,718,672,644,913.17770371,800.17770371,841.82229629,657.17770371,635,658,0.458108921284,0.00469496244338,0.0794454414315,0.999999600967,0.000184306085282,-0.000871471174542,-6.80848601076e-05,1793255008693798144
+273,4.550000000,POSE2_TO_POSE3_RETREAT,782.757049031,759.242950969,736.757049031,718,672,644,913.757049031,800.757049031,841.242950969,657.757049031,635,658,0.458108892209,0.00469368252462,0.079445410953,0.999999601198,0.000182648349324,-0.000871602788813,-6.74747152234e-05,1793255008710464768
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783,759.333080141,736.666919859,718,672,644.333080141,914,800.666919859,841.333080141,658,635,658,0.458108541763,0.00469249842189,0.0794451768537,0.999999600882,0.000182045901959,-0.000872120891436,-6.70784334722e-05,1793255008727131392
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783,759.906717627,736.093282373,718,672,644.906717627,914,800.093282373,841.906717627,658,635,658,0.458107959216,0.00469138351954,0.0794447956953,0.999999600174,0.00018220560587,-0.00087291812391,-6.68366081212e-05,1793255008743798016
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783,760,736.482905754,718,672,645,913.517094246,800.482905754,842,657.517094246,635,658,0.458109466056,0.00469142679217,0.079446005291,0.999999601722,0.000181605470462,-0.000871243110197,-6.71577788097e-05,1793255008760464640
+277,4.616666667,POSE2_TO_POSE3_RETREAT,783,760,737,718,672,644.938930477,913.061069523,801,841.938930477,657,635.061069523,658,0.458111042765,0.00469175579588,0.0794472864451,0.999999603438,0.000181046861325,-0.000869360499541,-6.75103965191e-05,1793255008777131264
+278,4.633333333,POSE2_TO_POSE3_RETREAT,783,760,737,718,672,644.347920973,913.652079027,801,841.347920973,657,635.652079027,658,0.458109704831,0.00469261257207,0.0794465078946,0.999999602844,0.000182129048104,-0.000869842548092,-6.71871660643e-05,1793255008793798144
+279,4.650000000,POSE2_TO_POSE3_RETREAT,783,759.762070073,736.762070073,718,672,644.237929927,913.762070073,801,841.237929927,657.237929927,635.762070073,658,0.458101800633,0.0046930479035,0.0794423635537,0.999999597914,0.000182383163349,-0.000875454325911,-6.69933397383e-05,1793255008810464768
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783,759.183602485,736.183602485,718,672,644.816397515,913.183602485,801,841.816397515,657.816397515,635.183602485,658,0.458084498456,0.00469288004124,0.0794334019191,0.99999958666,0.000181452099515,-0.000888408038374,-6.69847233381e-05,1793255008827131392
+281,4.683333333,POSE2_TO_POSE3_RETREAT,783,759.391852206,736,718,672,645,913.391852206,800.608147794,842,657.608147794,635,658,0.458050075794,0.00469303447042,0.0794182807654,0.999999563923,0.000182682676807,-0.000913418891425,-6.66819981204e-05,1793255008843798272
+282,4.700000000,POSE2_TO_POSE3_RETREAT,783,759.965906026,736,718,672,645,913.965906026,800.034093974,842,657.034093974,635,658,0.458007692527,0.00469333875714,0.0794002955865,0.999999535106,0.000184918363701,-0.000944036017995,-6.62425195048e-05,1793255008860464896
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783,760,736.554398802,718,671.445601198,645,913.445601198,800,842,657.554398802,635,658,0.457947873552,0.00469343414794,0.079382481085,0.999999507918,0.00018562227547,-0.000972300596819,-6.58819461455e-05,1793255008877131776
+284,4.733333333,POSE2_TO_POSE3_RETREAT,782.858643802,760,736.858643802,718,671.141356198,645,913.141356198,800,842,657.858643802,635,658,0.457884649391,0.00469366804618,0.0793666030046,0.999999484614,0.000186711719468,-0.000995812290232,-6.5331789738e-05,1793255008893798400
+285,4.750000000,POSE2_TO_POSE3_RETREAT,782.279268998,760,736.279268998,718,671.720731002,645,913.720731002,800,842,657.279268998,635,658,0.457814285015,0.00469437200745,0.0793566918888,0.999999474955,0.000189295509137,-0.00100505657924,-6.41787365408e-05,1793255008910465024
+286,4.766666667,POSE2_TO_POSE3_RETREAT,782.29822716,759.70177284,736,718,672,645,914,800,841.70177284,657,635,658,0.457734604025,0.00469416307531,0.0793524303686,0.999999470045,0.00019078830746,-0.00100976818446,-6.22657074851e-05,1793255008927131648
+287,4.783333333,POSE2_TO_POSE3_RETREAT,782.873975075,759.126024925,736,718,672,645,914,800,841.126024925,657,635,658,0.457646253293,0.00469310463342,0.079353426184,0.999999469615,0.000191265863628,-0.00101026181714,-5.96454690274e-05,1793255008943798272
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783,759.457943023,736,717.542056977,672,644.542056977,914,800,841.457943023,657,635,658,0.457543880664,0.00469356188052,0.0793552227263,0.99999946947,0.000194519046024,-0.00100993556208,-5.70288928621e-05,1793255008960465152
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783,760,736,717.043703459,672,644.043703459,914,800,841.956296541,657,635,658,0.457435344326,0.00469420657237,0.0793572629037,0.999999469804,0.000198440645781,-0.00100898992031,-5.43365732269e-05,1793255008977131520
+290,4.833333333,POSE2_TO_POSE3_RETREAT,783,760,736,717.623199318,672,644.623199318,914,800,841.376800682,657,635,658,0.457299415067,0.00469194211043,0.0793595390711,0.999999475237,0.000201021148389,-0.00100326750605,-5.07030772102e-05,1793255008993798144
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783,759.797427575,736,718,672,645,913.797427575,800,841.202572425,657.202572425,635,658,0.457152288411,0.00469029539185,0.0793602213036,0.999999477295,0.000203578919116,-0.00100088290748,-4.68897260639e-05,1793255009010464768
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783,759.218282725,736,718,672,645,913.218282725,800,841.781717275,657.781717275,635,658,0.456984346347,0.00468979702883,0.0793579404871,0.999999473135,0.000206094432091,-0.00100470314898,-4.27420332618e-05,1793255009027131392
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,759.357254214,736,718,672.357254214,644.642745786,913.357254214,800,841.642745786,657.642745786,635,658,0.456798714419,0.00468769436696,0.0793599118948,0.99999947415,0.000208631638695,-0.00100336934138,-3.77217156782e-05,1793255009043798016
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,759.93060881,736,718,672.93060881,644.06939119,913.93060881,800,841.06939119,657.06939119,635,658,0.45660238201,0.00468462127676,0.0793644554405,0.999999478265,0.000211181967846,-0.00099891788866,-3.21735535402e-05,1793255009060464640
+295,4.916666667,POSE2_TO_POSE3_RETREAT,782.482312155,760,736,718,673,644,914,800,841.517687845,657.517687845,635,658,0.456377928321,0.00468345955534,0.0793686129784,0.999999482219,0.000215391126747,-0.000994226562025,-2.61075045951e-05,1793255009077131520
+296,4.933333333,POSE2_TO_POSE3_RETREAT,782,759.895333458,736,718,673,644.104666542,914,800,842,657.895333458,635,658,0.456141250319,0.00468230288337,0.0793715687585,0.999999485356,0.000220514883701,-0.000990085042221,-1.98348027898e-05,1793255009093798144
+297,4.950000000,POSE2_TO_POSE3_RETREAT,782,759.317353862,736,718,673,644.682646138,914,800,842,657.317353862,635,658,0.455866802411,0.00467997892617,0.0793693304137,0.99999948511,0.000228741675257,-0.000988579163234,-1.29500567725e-05,1793255009110464768
+298,4.966666667,POSE2_TO_POSE3_RETREAT,782.259688278,759.259688278,736,717.740311722,673,645,914,800,841.740311722,657,635,658,0.455587486265,0.00467855592274,0.0793765384388,0.999999497587,0.00023849979471,-0.000973607493681,-5.58606196933e-06,1793255009127131392
+299,4.983333333,POSE2_TO_POSE3_RETREAT,782.835588883,759.835588883,736,717.164411117,673,645,914,800,841.164411117,657,635,658,0.455302242273,0.00467822997586,0.0793952489415,0.999999524809,0.000250122551969,-0.000942239053545,2.36149505084e-06,1793255009143798016
+300,5.000000000,POSE2_TO_POSE3_RETREAT,782.589459893,760,736,717.410540107,673.410540107,645,913.589459893,800,841.410540107,657,635.410540107,658,0.454988650131,0.00467588500595,0.0794123798402,0.999999551937,0.00025690402678,-0.000911061968239,9.6003524295e-06,1793255009160464896
+301,5.016666667,POSE2_TO_POSE3_RETREAT,782.014888008,760,736,717.985111992,673.985111992,645,913.014888008,800,841.985111992,657,635.985111992,658,0.454663731459,0.00467273333306,0.0794288796058,0.99999957844,0.000261751161123,-0.0008799613392,1.65560478444e-05,1793255009177131520
+302,5.033333333,POSE2_TO_POSE3_RETREAT,782,759.422776831,736,718,674,645,913.577223169,800,841.422776831,657,635.422776831,658,0.454286199261,0.00467148087918,0.0794363418251,0.999999588812,0.000265700204577,-0.000866754633413,2.27199924442e-05,1793255009193798144
+303,5.050000000,POSE2_TO_POSE3_RETREAT,782.164480706,759.164480706,736,718,674.164480706,645,914,800,841,657,635,658,0.453887567759,0.00467023664999,0.0794415364101,0.999999599919,0.000250874196257,-0.000858343289093,2.16998292718e-05,1793255009210464768
+304,5.066666667,POSE2_TO_POSE3_RETREAT,782.738491722,759.738491722,736,718,674.738491722,645,914,800,841,657,635,658,0.453439887145,0.00466888711089,0.079441683523,0.999999611677,0.000189360831738,-0.000860686475753,2.84483961012e-06,1793255009227131392
+305,5.083333333,POSE2_TO_POSE3_RETREAT,782.68663529,760,736.31336471,718,675,645,913.68663529,800,841,657.31336471,635,658,0.452978572346,0.00466303434943,0.079444989466,0.999999622936,0.000164089679626,-0.000852762173657,1.60718185544e-07,1793255009243798272
+306,5.100000000,POSE2_TO_POSE3_RETREAT,782.111040923,760,736.888959077,718,675,645,913.111040923,800,841,657.888959077,635,658,0.452505848149,0.00465341320417,0.0794509387791,0.99999963598,0.000169146706079,-0.000836245840356,1.10086902739e-05,1793255009260465152
+307,5.116666667,POSE2_TO_POSE3_RETREAT,782.478283822,760,736.521716178,718,675,645,913,800,841,657.521716178,635,658,0.452015956532,0.00465084430819,0.0794687702736,0.999999657786,0.000169820463352,-0.000809501193294,1.72459818699e-05,1793255009277131776
+308,5.133333333,POSE2_TO_POSE3_RETREAT,782.930715463,760,736,717.930715463,675.138569073,645,913,800,841,657,635,658,0.45151685817,0.00464959549257,0.0794900861408,0.999999680546,0.0001781497679,-0.000778903505275,2.18862525897e-05,1793255009293798400
+309,5.150000000,POSE2_TO_POSE3_RETREAT,782.351533501,760,736,717.351533501,676.296932999,645,913,800,841,657,635,658,0.450980202253,0.00464565606,0.0795161430463,0.999999696076,0.000250530506743,-0.000737942232316,2.28840103483e-05,1793255009310465024
+310,5.166666667,POSE2_TO_POSE3_RETREAT,782,760,736,717.225711807,677,645.225711807,913,800,841,657.225711807,635.225711807,658,0.450430213788,0.00464055917439,0.0795463472311,0.999999723322,0.000284284493088,-0.000686972343031,2.46356423762e-05,1793255009327131392
+311,5.183333333,POSE2_TO_POSE3_RETREAT,782,760,736,717.799966509,677,645.799966509,913,800,841,657.799966509,635.799966509,658,0.449859637313,0.00463367495662,0.0795829556199,0.999999773698,0.000258391263827,-0.000620547211334,2.75514028352e-05,1793255009343798272
+312,5.200000000,POSE2_TO_POSE3_RETREAT,782.37697225,759.62302775,736.37697225,717.62302775,677.753944499,646,913,800,841,657.62302775,635.62302775,658,0.449240732995,0.00463021441976,0.0796033437999,0.999999798111,0.000227812165458,-0.000592573333937,2.71299171341e-05,1793255009360465152
+313,5.216666667,POSE2_TO_POSE3_RETREAT,782.955448491,759.044551509,736.955448491,717.044551509,678.910896982,646,913,800,841,657.044551509,635.044551509,658,0.448595995883,0.00462858395252,0.0796150617471,0.999999809528,0.000194728317921,-0.000585152911718,2.49245641875e-05,1793255009377132288
+314,5.233333333,POSE2_TO_POSE3_RETREAT,783,759.542995663,736.457004337,717,679,646,913,800,841,657,635,658,0.447891759797,0.00462094061808,0.07958008814,0.999999779656,0.000183427338259,-0.000637320127424,2.94348131033e-05,1793255009393798656
+315,5.250000000,POSE2_TO_POSE3_RETREAT,782.87053001,760,736,717.12946999,679.12946999,646.12946999,913,800,841,657,635,658,0.447184001048,0.00461325056035,0.0795523587902,0.999999755253,0.000172615906116,-0.00067720139608,3.30973837867e-05,1793255009410465024
+316,5.266666667,POSE2_TO_POSE3_RETREAT,782.290424433,760,736,717.709575567,679.709575567,646.709575567,913,800,841,657,635,658,0.446481261593,0.00460714418458,0.0795634044843,0.999999771306,0.000157182047207,-0.000657014039692,3.18591094405e-05,1793255009427131648
+317,5.283333333,POSE2_TO_POSE3_RETREAT,782,760,736.285703659,718,680.285703659,647,913.285703659,800,841,657,635,658,0.445771706083,0.00460083989243,0.0796015098178,0.999999807437,0.000155892422079,-0.000599795309271,3.27042115836e-05,1793255009443798272
+318,5.300000000,POSE2_TO_POSE3_RETREAT,782,760,736.857844128,718,680.857844128,647,913.857844128,800,841,657,635,658,0.445055316942,0.00459433717528,0.0796667442306,0.999999857381,0.000168783323833,-0.000505450171212,3.56380360758e-05,1793255009460464896
+319,5.316666667,POSE2_TO_POSE3_RETREAT,782.431051113,760,737,718,681,647,913.568948887,800.431051113,841,657,635.431051113,657.568948887,0.444309746573,0.00458508359904,0.0797118056552,0.999999887656,0.000153103763209,-0.000446918058591,3.88869179435e-05,1793255009477131264
+320,5.333333333,POSE2_TO_POSE3_RETREAT,782.990420713,759.995210356,736.995210356,717.995210356,681.004789644,647,913,801,841,657,635.995210356,657.004789644,0.443554150011,0.0045749280232,0.0797498767882,0.999999910654,0.000128290913648,-0.000400563107104,4.22330059989e-05,1793255009493798144
+321,5.350000000,POSE2_TO_POSE3_RETREAT,781.798771405,759.399385702,736.399385702,717.399385702,681.600614298,647,913,801,841,657,635.399385702,657.600614298,0.442751819514,0.00456569210787,0.0797483418626,0.999999910583,0.000142015599129,-0.000395808944994,4.4721014778e-05,1793255009510464768
+322,5.366666667,POSE2_TO_POSE3_RETREAT,781.19081778,759.19081778,736,717.19081778,682,647.19081778,913,801,841,657,635,658,0.441930486943,0.00455592590814,0.0797462146994,0.999999911834,0.000144181282193,-0.000391687336563,4.61053345756e-05,1793255009527131392
+323,5.383333333,POSE2_TO_POSE3_RETREAT,781.769592662,759.769592662,736,717.769592662,682,647.769592662,913,801,841,657,635,658,0.44107052076,0.00454508157256,0.0797428834409,0.999999915828,0.000122846025092,-0.000388851791466,4.52457125014e-05,1793255009543798272
+324,5.400000000,POSE2_TO_POSE3_RETREAT,782,760,736.345674908,718,682.345674908,648,913,801,841,657,635,658,0.4401448997,0.00453484065773,0.0797046245679,0.999999894128,0.000100318283866,-0.000446847422175,4.48108773782e-05,1793255009560464896
+325,5.416666667,POSE2_TO_POSE3_RETREAT,782,760,736.919976245,718,682.919976245,648,913,801,841,657,635,658,0.439175855101,0.00452499884067,0.0796432648695,0.999999847484,7.70018438615e-05,-0.000545076269104,4.465699239e-05,1793255009577131520
+326,5.433333333,POSE2_TO_POSE3_RETREAT,782,760,737,718,683.506436624,648,913,801,841,657.506436624,635,658,0.43833306315,0.00451482350552,0.0796737690807,0.999999875706,8.26594102084e-05,-0.000489522822909,4.60770257495e-05,1793255009593798144
+327,5.450000000,POSE2_TO_POSE3_RETREAT,782.093408793,760,736.906591207,718,684,648,913,801,841,657.906591207,635,658,0.437508378832,0.00450491335726,0.0797256315141,0.999999914175,8.87716589653e-05,-0.00040182600279,4.80088212224e-05,1793255009610464768
+328,5.466666667,POSE2_TO_POSE3_RETREAT,782.672801544,760,736.327198456,718,684,648,913,801,841,657.327198456,635,658,0.436671558189,0.00449666384995,0.0798112360188,0.999999957825,7.28438405566e-05,-0.000276430227532,5.12774361602e-05,1793255009627131392
+329,5.483333333,POSE2_TO_POSE3_RETREAT,782.74885104,760,736,718,683.74885104,648,913,801,840.74885104,657.25114896,635,658,0.435791778227,0.00448644033762,0.0798614770321,0.999999975688,5.84260734732e-05,-0.000205804758929,5.34283129402e-05,1793255009643798016
+330,5.500000000,POSE2_TO_POSE3_RETREAT,782.171859767,760,736,718,683.171859767,648,913,801,840.171859767,657.828140233,635,658,0.434856262448,0.00447365573708,0.0798658372307,0.999999976211,4.59674558563e-05,-0.000206238633519,5.4129030163e-05,1793255009660464896
+331,5.516666667,POSE2_TO_POSE3_RETREAT,781.598104033,760,736.401895967,717.598104033,683.401895967,648,913,800.598104033,840,657.598104033,635,658,0.433872081546,0.00446271353042,0.0798359830966,0.999999966725,3.42160665035e-05,-0.000249993938929,5.36908347913e-05,1793255009677131776
+332,5.533333333,POSE2_TO_POSE3_RETREAT,781.025720874,760,736.974279126,717.025720874,683.974279126,648,913,800.025720874,840,657.025720874,635,658,0.432867256601,0.00445255288142,0.0797916149933,0.999999949637,2.27646891565e-05,-0.00031212650959,5.27695041896e-05,1793255009693798656
+333,5.550000000,POSE2_TO_POSE3_RETREAT,781.566074028,760,736.433925972,717.566074028,684,648,913,800.566074028,840,657,635,657.433925972,0.431809635982,0.00444299598151,0.0797214565842,0.999999896401,1.63264734583e-05,-0.000451539289671,5.51652631782e-05,1793255009710465024
+334,5.566666667,POSE2_TO_POSE3_RETREAT,782,760,736.154964873,718,684,648,913,801,840,657.154964873,635,657.154964873,0.430798740016,0.0044320431885,0.0796822528552,0.999999858229,7.14733480563e-06,-0.000529382696237,5.69549657809e-05,1793255009727131648
+335,5.583333333,POSE2_TO_POSE3_RETREAT,782,760,736.733423372,718,684,648,913,801,840,657.733423372,635,657.733423372,0.429922323506,0.00441719801743,0.079730959372,0.99999990631,-1.01668989325e-05,-0.000429030250878,5.66618995391e-05,1793255009743798016
+336,5.600000000,POSE2_TO_POSE3_RETREAT,782,759.68921338,737,718,684,648,912.68921338,801,840.31078662,657.68921338,635.31078662,657.68921338,0.42903640228,0.00440538782032,0.079787539975,0.999999943555,-2.18230732776e-05,-0.000330327805689,5.74246651649e-05,1793255009760464896
+337,5.616666667,POSE2_TO_POSE3_RETREAT,782,759.112786312,737,718,684,648,912.112786312,801,840.887213688,657.112786312,635.887213688,657.112786312,0.428142357077,0.00439617172485,0.0798508508387,0.999999970691,-2.86431007762e-05,-0.000233035679901,5.90898880469e-05,1793255009777131520
+338,5.633333333,POSE2_TO_POSE3_RETREAT,782,759.457018683,737,718,684,648,912.457018683,800.542981317,840.542981317,657.457018683,636,657.457018683,0.427169670791,0.00439551120085,0.0798353386649,0.999999965027,-2.89746367988e-05,-0.000255945847355,5.9978718674e-05,1793255009793798144
+339,5.650000000,POSE2_TO_POSE3_RETREAT,781.973461205,760,736.973461205,718,684,648,913,800.026538795,840,657.973461205,636,658,0.426178363966,0.00439805009249,0.0798007944915,0.999999950421,-2.61006494671e-05,-0.000307905166165,6.05827012183e-05,1793255009810465024
+340,5.666666667,POSE2_TO_POSE3_RETREAT,781.37538497,760,736.37538497,718,684,648,913,800.62461503,840,657.37538497,636,658,0.425198039293,0.00442466975566,0.0797693229682,0.999999934907,1.18148242819e-05,-0.000355739553877,5.91196417231e-05,1793255009827131648
+341,5.683333333,POSE2_TO_POSE3_RETREAT,781,759.784686786,736.215313214,717.784686786,684,648,913,801,840,657,636,657.784686786,0.424218796288,0.00444780946373,0.0797405223573,0.999999916539,4.47933488198e-05,-0.000401963804124,5.77932917109e-05,1793255009843798272
+342,5.700000000,POSE2_TO_POSE3_RETREAT,781,759.2064255,736.7935745,717.2064255,684,648,913,801,840,657,636,657.2064255,0.423241376465,0.00446508310329,0.0797162240312,0.999999896758,6.94497883428e-05,-0.000445473895011,5.66973894025e-05,1793255009860465152
+343,5.716666667,POSE2_TO_POSE3_RETREAT,781,759.368443189,736.631556811,717.368443189,684,648,913,801,839.631556811,657,635.631556811,657,0.422355909588,0.0044712818337,0.0797380772493,0.999999914854,7.67326050889e-05,-0.000401728086757,5.49347016742e-05,1793255009877131520
+344,5.733333333,POSE2_TO_POSE3_RETREAT,781,759.941428437,736.058571563,717.941428437,684,648,913,801,839.058571563,657,635.058571563,657,0.421521490654,0.00447133230252,0.0797855516018,0.999999947932,7.43704144298e-05,-0.000309541966291,5.28018462649e-05,1793255009893798144
+345,5.750000000,POSE2_TO_POSE3_RETREAT,781.530090422,759.469909578,736.530090422,717.469909578,684,648,913,801,839.530090422,657,635,657.530090422,0.420677757434,0.00446794085193,0.0798355501008,0.999999970273,6.8957263173e-05,-0.000227643171015,5.36492523426e-05,1793255009910464768
+346,5.766666667,POSE2_TO_POSE3_RETREAT,781.881593604,759,737,717,684.118406396,648,913,801,840,657,635,657.881593604,0.419815399903,0.00446453141554,0.0798671546074,0.999999980489,6.34464090463e-05,-0.00017901675203,5.43012518081e-05,1793255009927131392
+347,5.783333333,POSE2_TO_POSE3_RETREAT,781.301585167,759,737,717,684.698414833,648,913,801,840,657,635,657.301585167,0.418884570792,0.00446257966618,0.0798259305339,0.999999964218,5.89089303319e-05,-0.000255534860339,5.28685857751e-05,1793255009943798016
+348,5.800000000,POSE2_TO_POSE3_RETREAT,781,759,737,717.274883038,684.725116962,648.274883038,913,801,839.725116962,657,635.274883038,657.274883038,0.41799403208,0.00446383359711,0.0798004590775,0.999999950755,6.15579489909e-05,-0.000303214795386,5.25427103544e-05,1793255009960464896
+349,5.816666667,POSE2_TO_POSE3_RETREAT,781,759,737,717.847516461,684.152483539,648.847516461,913,801,839.152483539,657,635.847516461,657.847516461,0.417147135561,0.00446855988702,0.0797920506913,0.999999944892,7.19913058039e-05,-0.000319657523829,5.34156990975e-05,1793255009977131520
+350,5.833333333,POSE2_TO_POSE3_RETREAT,781,759,736.577224758,718,684,648.577224758,913,801,839.422775242,657,635.577224758,658,0.416300304748,0.00447187039557,0.0797886136848,0.999999939966,7.39889972604e-05,-0.000334146968491,5.42142481586e-05,1793255009993798400
+351,5.850000000,POSE2_TO_POSE3_RETREAT,781,759,736.001013118,718,684,648.001013118,913,801,839.998986882,657,635.001013118,658,0.415453497711,0.00447466707973,0.0797869809237,0.999999935302,7.29251618749e-05,-0.000347927515752,5.4985781143e-05,1793255010010465024
+352,5.866666667,POSE2_TO_POSE3_RETREAT,781,759.591807797,736.591807797,718,684,648,913,801,840,657,635,657.408192203,0.414661046209,0.00447166928476,0.079770847218,0.999999927537,8.22709933386e-05,-0.000367703612103,5.43253673547e-05,1793255010027131648
+353,5.883333333,POSE2_TO_POSE3_RETREAT,781,760,737,718,684,648.180309723,913,801,840,657,635,657,0.413892710349,0.00446926275736,0.079766154631,0.999999926927,8.67918561965e-05,-0.0003684730437,5.32993817144e-05,1793255010043798272
+354,5.900000000,POSE2_TO_POSE3_RETREAT,781,760,737,718,684,648.759199828,913,801,840,657,635,657,0.413177471101,0.00446818580594,0.0797868094577,0.999999941895,8.06064441476e-05,-0.000327204297748,5.14708629862e-05,1793255010060464896
+355,5.916666667,POSE2_TO_POSE3_RETREAT,781,760,737,718,684,649,913,801,840,657.334208512,635,657.334208512,0.412458845802,0.00446771728027,0.0797925593648,0.99999994479,7.9249265795e-05,-0.000318516713183,5.18387551221e-05,1793255010077131520
+356,5.933333333,POSE2_TO_POSE3_RETREAT,781,760,737,718,684,649,913,801,840,657.906452669,635,657.906452669,0.411737808875,0.00446768209796,0.0797876934365,0.999999939791,8.13309342131e-05,-0.000333034637671,5.37710123339e-05,1793255010093798400
+357,5.950000000,POSE2_TO_POSE3_RETREAT,781,760,737,718,684.494083494,648.505916506,912.505916506,801,840,657.505916506,635,657.505916506,0.411031128897,0.00447070916304,0.0797787768054,0.999999933023,8.50560816542e-05,-0.000351820436671,5.42452641697e-05,1793255010110465024
+358,5.966666667,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,648,912,800.916871202,840,657,635,657,0.410341432609,0.00447441159919,0.0797735396626,0.999999928657,8.86750249543e-05,-0.000363141290568,5.432020919e-05,1793255010127131648
+359,5.983333333,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,648,912,800.337334962,840,657,635,657,0.409736401149,0.0044785735109,0.0797950017802,0.999999941749,8.97418838073e-05,-0.000324904423545,5.37121157276e-05,1793255010143798272
+360,6.000000000,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,648,912.241180191,800.241180191,840,657,635,657.241180191,0.409142840844,0.00448082673922,0.0798165360675,0.999999952406,9.21557440275e-05,-0.000289479954013,5.38122165425e-05,1793255010160465152
+361,6.016666667,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,648,912.818273135,800.818273135,840,657,635,657.818273135,0.408565257471,0.00448042157684,0.07983817087,0.999999960567,9.64456909014e-05,-0.000257972560035,5.48986815915e-05,1793255010177131776
+362,6.033333333,POSE2_TO_POSE3_RETREAT,780.608298902,759.608298902,737,718,685,648,912.608298902,801,839.608298902,657,635,657.608298902,0.407983928175,0.00447993261604,0.0798227480127,0.999999952235,0.00010264103022,-0.000286336488245,5.48368903495e-05,1793255010193798400
+363,6.050000000,POSE2_TO_POSE3_RETREAT,780.036555468,759.036555468,737,718,685,648,912.036555468,801,839.036555468,657,635,657.036555468,0.407400877043,0.00447940513793,0.0797902918949,0.999999933953,0.000109712168352,-0.000342219796307,5.42473120817e-05,1793255010210465024
+364,6.066666667,POSE2_TO_POSE3_RETREAT,780.554863158,759,737,718,685,648,912,800.445136842,839,657.554863158,635,657,0.406860357328,0.00447665807936,0.0797656775142,0.99999992218,9.35149624647e-05,-0.000379549422196,5.32603389161e-05,1793255010227131648
+365,6.083333333,POSE2_TO_POSE3_RETREAT,780.856309714,759,737,718,684.856309714,648,912,800,839.143690286,658,635,657.143690286,0.406349734314,0.00447579874634,0.0797525638815,0.999999916757,8.41924570258e-05,-0.000395786979471,5.24504480054e-05,1793255010243798016
+366,6.100000000,POSE2_TO_POSE3_RETREAT,780.279348861,759,737,718,684.279348861,648,912,800,839.720651139,658,635,657.720651139,0.40592049929,0.00448108862729,0.0797725134829,0.999999931557,0.000100391583381,-0.000352246720136,5.22563611336e-05,1793255010260464896
+367,6.116666667,POSE2_TO_POSE3_RETREAT,780,759.29706068,737,718,684.29706068,648,912,800,839.70293932,657.70293932,635,658,0.405505491132,0.00448639118099,0.0797922095263,0.999999942092,0.000113377025322,-0.000316441466973,5.31565680247e-05,1793255010277131520
+368,6.133333333,POSE2_TO_POSE3_RETREAT,780,759.872952708,737,718,684.872952708,648,912,800,839.127047292,657.127047292,635,658,0.405103836823,0.00449170562945,0.0798116675701,0.999999949434,0.00012334599191,-0.000287896558907,5.50839166424e-05,1793255010293797888
+369,6.150000000,POSE2_TO_POSE3_RETREAT,780,759.540660073,737,718,685,648,912,800,839,657.459339927,635,657.540660073,0.404721252069,0.00448928676578,0.0798202352008,0.999999951372,0.000123203198147,-0.000280536547189,5.80970292218e-05,1793255010310464768
+370,6.166666667,POSE2_TO_POSE3_RETREAT,780,759,737,718,685,648,912,800,839,657.952048374,635,657,0.404345011808,0.00448536382176,0.0798249861194,0.999999951718,0.000119298069163,-0.00028049168032,6.04693894087e-05,1793255010327131392
+371,6.183333333,POSE2_TO_POSE3_RETREAT,780,759,737,718,685,648,912,800,839,657.37172145,635,657,0.403979282985,0.00448904447589,0.0798215863956,0.999999949539,0.000105399043816,-0.000295087197335,5.23158181235e-05,1793255010343798016
+372,6.200000000,POSE2_TO_POSE3_RETREAT,780,759.206560612,737,718.206560612,684.793439388,648,912,800,839,657,635,657,0.403638366517,0.00449082519287,0.0798200498571,0.99999994787,9.97428264292e-05,-0.000303221439313,4.86709458353e-05,1793255010360464640
+373,6.216666667,POSE2_TO_POSE3_RETREAT,780,759.781198802,737,718.781198802,684.218801198,648,912,800,839,657,635,657,0.403341664091,0.004489220345,0.0798218333941,0.999999947724,0.000108774758361,-0.000299842107963,5.30602828693e-05,1793255010377131264
+374,6.233333333,POSE2_TO_POSE3_RETREAT,780.355930027,759.644069973,737.355930027,718.644069973,684.355930027,648,912,800,839.355930027,657,635,657,0.403068744907,0.00448634013025,0.0798232939521,0.999999948327,0.000105561615932,-0.000298612877759,5.50763897696e-05,1793255010393798144
+375,6.250000000,POSE2_TO_POSE3_RETREAT,780.930718515,759.069281485,737.930718515,718.069281485,684.930718515,648,912,800,839.930718515,657,635,657,0.402810449813,0.0044826757027,0.0798245559131,0.999999949345,9.48190783753e-05,-0.00029870572681,5.56332173083e-05,1793255010410465024
+376,6.266666667,POSE2_TO_POSE3_RETREAT,781,759,737.479729357,718.520270643,685,648,912.520270643,800,839.479729357,657,635,657.520270643,0.402590824615,0.00447023914021,0.0798264361044,0.999999952303,7.47049291392e-05,-0.000294248520439,5.68503687803e-05,1793255010427131648
+377,6.283333333,POSE2_TO_POSE3_RETREAT,780.891067046,759,737,718.891067046,685,648,912.891067046,800,839.108932954,657,635,657.891067046,0.402381187302,0.00445715013849,0.0798281079578,0.999999954799,5.40118106669e-05,-0.000290005948316,5.81462400473e-05,1793255010443798272
+378,6.300000000,POSE2_TO_POSE3_RETREAT,780.314899927,759,737,718.314899927,685,648,912.314899927,800,839.685100073,657,635,657.314899927,0.402191657828,0.00444641938177,0.079828522785,0.999999955712,3.63444630527e-05,-0.000289358724883,5.93915856415e-05,1793255010460464896
+379,6.316666667,POSE2_TO_POSE3_RETREAT,780,759,737,718.260819666,685,648,912,800,839.739180334,657,635,657.260819666,0.402021020162,0.0044438288521,0.0798306828965,0.999999956962,3.04926036737e-05,-0.000285476305491,6.04145178422e-05,1793255010477131520
+380,6.333333333,POSE2_TO_POSE3_RETREAT,780,759,737,718.835999828,685,648,912,800,839.164000172,657,635,657.835999828,0.401873152409,0.00445104956878,0.0798349465627,0.999999958816,3.88817066346e-05,-0.000277694572058,6.1169379761e-05,1793255010493797888
+381,6.350000000,POSE2_TO_POSE3_RETREAT,780.421998366,759.421998366,737,718.578001634,685,648,912,800,839,657.421998366,635,657.578001634,0.401740292477,0.00445936354345,0.0798360119717,0.999999958555,5.63584333134e-05,-0.000275551862078,6.15226078252e-05,1793255010510464512
+382,6.366666667,POSE2_TO_POSE3_RETREAT,781,759.987962525,737,718,685,648.012037475,912,800,839,657.987962525,635,657,0.401613716941,0.00446818506357,0.0798357033087,0.999999957,7.80695532514e-05,-0.000275875597646,6.16257554432e-05,1793255010527131392
+383,6.383333333,POSE2_TO_POSE3_RETREAT,781,759.410803326,737,718,685,648.589196674,912,800,839,657.410803326,635,657,0.401501154413,0.00448036314181,0.0798307732457,0.999999949089,0.000128407567715,-0.000286401214707,5.75089548939e-05,1793255010543798272
+384,6.400000000,POSE2_TO_POSE3_RETREAT,780.833749076,759.166250924,737,718.166250924,685,648.833749076,912,800,839,657,635,657,0.401396398311,0.00448816425485,0.0798262357258,0.999999942598,0.000158161792232,-0.000294802144868,5.36645140585e-05,1793255010560464896
+385,6.416666667,POSE2_TO_POSE3_RETREAT,780.256954071,759.743045929,737,718.743045929,685,648.256954071,912,800,839,657,635,657,0.401310919605,0.00448515678165,0.0798226675622,0.99999994494,0.000137085897958,-0.000297956321432,5.04926458483e-05,1793255010577131520
+386,6.433333333,POSE2_TO_POSE3_RETREAT,780.318920107,760,737,719,685,648,912,800,839,657,635,657,0.401236921954,0.00448158405102,0.0798180799004,0.999999944903,0.000125202821637,-0.000303395332999,4.96901739338e-05,1793255010593798400
+387,6.450000000,POSE2_TO_POSE3_RETREAT,780.894054574,760,737,719,685,648,912,800,839,657,635,657,0.401172147956,0.004477557203,0.0798126731927,0.999999943167,0.00012070507848,-0.000310669938034,5.0791229687e-05,1793255010610465024
+388,6.466666667,POSE2_TO_POSE3_RETREAT,780.517442601,759.517442601,737,719,685,648,912,800,839.482557399,657.482557399,635,657.482557399,0.401123857175,0.00447912106936,0.0798116370919,0.999999942334,0.000121567498999,-0.000312903482979,5.14344991263e-05,1793255010627131392
+389,6.483333333,POSE2_TO_POSE3_RETREAT,780,759.07248573,737.07248573,719,685,648,912,800,839.92751427,658,635,657.92751427,0.401081130932,0.00448142319327,0.0798117658662,0.99999994191,0.000122797452876,-0.000313691760988,5.19405555174e-05,1793255010643798016
+390,6.500000000,POSE2_TO_POSE3_RETREAT,780,759.651286213,737.651286213,719,685,648,912,800,839.348713787,658,635,657.348713787,0.401051274859,0.00448006407471,0.0798131377548,0.999999942882,0.00011814028321,-0.000312335857948,5.22102219609e-05,1793255010660464896
+391,6.516666667,POSE2_TO_POSE3_RETREAT,780.226950551,759.773049449,737.773049449,719,685,648,912,800.226950551,839.226950551,657.773049449,635,657,0.401026529121,0.00447988541302,0.0798143116757,0.999999943801,0.000116510582193,-0.000309961008641,5.24116728083e-05,1793255010677131520
+392,6.533333333,POSE2_TO_POSE3_RETREAT,780.797861789,759.202138211,737.202138211,719,685,648,912,800.797861789,839.797861789,657.202138211,635,657,0.401009528487,0.0044814958229,0.0798151855614,0.999999944654,0.000119469238657,-0.000306041869461,5.25097377564e-05,1793255010693798400
+393,6.550000000,POSE2_TO_POSE3_RETREAT,780.617575708,759,737.382424292,719,685,648,912,800.617575708,839.617575708,657,635,657,0.400996824272,0.00448100278586,0.0798159156302,0.999999945098,0.000119373737169,-0.000304559447005,5.2883417784e-05,1793255010710465024
+394,6.566666667,POSE2_TO_POSE3_RETREAT,780.025530459,759,737.974469541,719,685,648,912,800.025530459,839.025530459,657,635,657,0.400986475086,0.0044793567714,0.0798165668674,0.999999945325,0.000117604138178,-0.00030441267962,5.34081726705e-05,1793255010727131648
+395,6.583333333,POSE2_TO_POSE3_RETREAT,780,759.557149008,737.442850992,718.442850992,685,648,912.557149008,800,839,657,635,657,0.400979065795,0.00447906845604,0.0798162220115,0.999999945451,0.000115835897643,-0.000304693299817,5.33034909556e-05,1793255010743798016
+396,6.600000000,POSE2_TO_POSE3_RETREAT,780.138139555,759.861860445,737,718.138139555,685,648,912.861860445,800.138139555,839.138139555,657.138139555,635,657.138139555,0.400973715583,0.00447906319203,0.0798167790229,0.99999994587,0.000114765045548,-0.000303754918121,5.31282447171e-05,1793255010760464640
+397,6.616666667,POSE2_TO_POSE3_RETREAT,780.715105621,759.284894379,737,718.715105621,685,648,912.284894379,800.715105621,839.715105621,657.715105621,635,657.715105621,0.400974485551,0.00447976272591,0.0798203435877,0.999999947222,0.000115909386048,-0.000298882960659,5.28189471491e-05,1793255010777131264
+398,6.633333333,POSE2_TO_POSE3_RETREAT,781,759.289308241,737.289308241,719,685,648,912,800.710691759,839.710691759,658,635.289308241,658,0.400974333072,0.00447907335141,0.0798220623105,0.999999948114,0.000115228454564,-0.000296167056786,5.27301415329e-05,1793255010793797888
+399,6.650000000,POSE2_TO_POSE3_RETREAT,781,759.860815391,737.860815391,719,685,648,912,800.139184609,839.139184609,658,635.860815391,658,0.400973280815,0.00447702919903,0.0798219805505,0.999999948569,0.000112767104655,-0.00029555422403,5.2856409562e-05,1793255010810464512
+400,6.666666667,POSE2_TO_POSE3_RETREAT,781,760,737.553566089,718.553566089,685,648,912,800.446433911,839.446433911,658,635.553566089,657.553566089,0.40097139252,0.00447721266946,0.0798212121487,0.999999948241,0.00011208921907,-0.000296940214287,5.27233596549e-05,1793255010827131136
+401,6.683333333,POSE2_TO_POSE3_RETREAT,781,759.964013892,737.035986108,718,685,648.035986108,912,801,839.964013892,657.964013892,635,657,0.400969476643,0.00447813285167,0.0798204051001,0.999999947747,0.000112088099896,-0.000298634666497,5.25225990448e-05,1793255010843797760
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,781,759.195210068,737.804789932,718,685,648.804789932,912,801,839.195210068,657,635,657,0.400971354492,0.00447981434763,0.0798232056162,0.999999948869,0.000114096455433,-0.000294060671206,5.26585554081e-05,1793255010877131776
+404,6.733333333,POSE2_TO_POSE3_RETREAT,781,759.771281383,737.228718617,718,685,648.228718617,912,801,839.771281383,657,635,657,0.400968374552,0.00447881699408,0.079821899867,0.999999948148,0.000112421681019,-0.000297100971144,5.28741132021e-05,1793255010893799936
+405,6.750000000,POSE2_TO_POSE3_RETREAT,780.656701994,759.656701994,737,718.343298006,685,648,912,800.656701994,839.656701994,657.343298006,635,657,0.400967779052,0.00447878451029,0.0798213939764,0.999999948039,0.000112255902806,-0.000297587475745,5.25514959737e-05,1793255010910466304
+406,6.766666667,POSE2_TO_POSE3_RETREAT,780.087355256,759.087355256,737,718.912644744,685,648,912,800.087355256,839.087355256,657.912644744,635,657,0.400968753616,0.00447938735674,0.0798214147622,0.999999948336,0.0001130837415,-0.000296392402731,5.18745108697e-05,1793255010927131648
+407,6.783333333,POSE2_TO_POSE3_RETREAT,780,759.507429819,737.507429819,719,685,648,912,800,839,657.492570181,635,657,0.400969742762,0.00447862402337,0.0798230391714,0.999999948957,0.000112982872117,-0.000294255779265,5.22993516996e-05,1793255010943798016
+408,6.800000000,POSE2_TO_POSE3_RETREAT,780.102419974,759.897580026,737.897580026,719,685,648,912,800,839,657.102419974,635,657.102419974,0.400970423115,0.0044780475642,0.0798245084976,0.999999949486,0.000112695549154,-0.000292488703258,5.27035637457e-05,1793255010960464896
+409,6.816666667,POSE2_TO_POSE3_RETREAT,780.677097079,759.322902921,737.322902921,719,685,648,912,800,839,657.677097079,635,657.677097079,0.400969667438,0.00447947447825,0.0798239226115,0.999999949348,0.000112324600393,-0.00029321244767,5.20918751708e-05,1793255010977131520
+410,6.833333333,POSE2_TO_POSE3_RETREAT,780.747228993,759.252771007,737,718.747228993,685.252771007,648,912,800,839,657.747228993,635,657.747228993,0.400969060075,0.00448084524833,0.0798234869598,0.999999949153,0.000113720247934,-0.000293394161843,5.17889606978e-05,1793255010993798144
+411,6.850000000,POSE2_TO_POSE3_RETREAT,780.170276548,759.829723452,737,718.170276548,685.829723452,648,912,800,839,657.170276548,635,657.170276548,0.400968642927,0.00448214401339,0.0798232439851,0.999999948875,0.000117381573492,-0.000292880716711,5.18820521268e-05,1793255011010465024
+412,6.866666667,POSE2_TO_POSE3_RETREAT,780.416046551,760,737,718.416046551,685.583953449,648,912,800.416046551,839,657,635,657,0.400968674175,0.00448224563919,0.0798234597587,0.999999948954,0.000117127465452,-0.000292712639122,5.18885304758e-05,1793255011027131648
+413,6.883333333,POSE2_TO_POSE3_RETREAT,781,760,737.006166608,719,685.006166608,648,912,801,839,657.006166608,635,657.006166608,0.400968895187,0.00448183491864,0.0798238641568,0.999999949183,0.000115230979445,-0.000292686986559,5.18621492386e-05,1793255011043798272
+414,6.900000000,POSE2_TO_POSE3_RETREAT,781,760,737.584545708,719,685.584545708,648,912,801,839,657.584545708,635,657.584545708,0.400969303586,0.0044803941878,0.0798239479601,0.999999949483,0.000113058619701,-0.000292458907052,5.21517804255e-05,1793255011060467968
+415,6.916666667,POSE2_TO_POSE3_RETREAT,781,759.838563002,737.838563002,719,685.838563002,648,912,800.838563002,839,657.838563002,635,657.838563002,0.40096935912,0.00447947267862,0.079823981273,0.999999949702,0.000111353836561,-0.000292339801773,5.22937638625e-05,1793255011077135616
+416,6.933333333,POSE2_TO_POSE3_RETREAT,781,759.265465626,737.265465626,719,685.265465626,648,912,800.265465626,839,657.265465626,635,657.265465626,0.400968514857,0.00447987517198,0.0798238858365,0.999999949724,0.000110841362404,-0.000292498578113,5.20592491498e-05,1793255011093799168
+417,6.950000000,POSE2_TO_POSE3_RETREAT,781,759.309042476,737,718.690957524,685,648,912,800.309042476,839,657.309042476,635,657.309042476,0.400968974297,0.004480296966,0.0798244099714,0.999999949884,0.000111878333124,-0.000291584955439,5.18897400998e-05,1793255011110464512
+418,6.966666667,POSE2_TO_POSE3_RETREAT,781,759.884767912,737,718.115232088,685,648,912,800.884767912,839,657.884767912,635,657.884767912,0.400970558744,0.00448073541516,0.0798254687549,0.999999950156,0.000114252371032,-0.000289745924225,5.17763265949e-05,1793255011127131136
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..42aa83e3efb968a6e5ed44c631baf4b8dfbe87d4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,420 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+2,0.033333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+3,0.050000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+4,0.066666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+5,0.083333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+6,0.100000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+7,0.116666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+8,0.133333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+9,0.150000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+10,0.166666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+11,0.183333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+12,0.200000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+13,0.216666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+14,0.233333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+15,0.250000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+16,0.266666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+17,0.283333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+18,0.300000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+19,0.316666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+21,0.350000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+24,0.400000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+29,0.483333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c98438020cefc9f5280f179ea131ef325dcebe6c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56fe9a71efdbd3b4ba04c454312ee39b52e68aaccff28ed0a2d9631f05ba0b91
+size 26574644
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e1027dc7def0057fd75ae2ee91248ed065d66981
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_04/franka_data.csv
@@ -0,0 +1,420 @@
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+5,0.083333333,BASELINE,780.966725735,759,737,718.033274265,685,648.033274265,912,800.033274265,839,658,635.966725735,657,0.400970118518,0.00447971403642,0.0798258750449,0.999999950624,0.000112606412188,-0.000288770356083,5.17978478806e-05,1793255011330484736
+6,0.100000000,BASELINE,781,759.557265215,737,718,685,648,912,800.557265215,839,657.442734785,635.442734785,657.557265215,0.40096931086,0.00448003567482,0.0798253659467,0.999999950146,0.000113992922471,-0.000289851470004,5.19580412732e-05,1793255011347151360
+7,0.116666667,BASELINE,781,760,737.145447272,718.145447272,685,648,912,800.854552728,839.145447272,657,635,657.854552728,0.400969051876,0.00448008762718,0.0798252916168,0.999999949915,0.00011499719299,-0.00029022927468,5.20782377765e-05,1793255011363818240
+8,0.133333333,BASELINE,781,760,737.723790933,718.723790933,685,648,912,800.276209067,839.723790933,657,635,657.276209067,0.40097070426,0.00447924884106,0.0798266511209,0.999999950565,0.000114557937184,-0.000288164569096,5.20325582127e-05,1793255011380484864
+9,0.150000000,BASELINE,781,760,738,719,685,648,912,800,840,657,635,657,0.400971029257,0.00447918476371,0.0798271115034,0.999999950847,0.000113420857596,-0.000287673296197,5.18256141034e-05,1793255011397151488
+10,0.166666667,BASELINE,781,760,738,719,685,648,912,800,840,657,635,657,0.400970140765,0.00447982891899,0.0798267499161,0.999999950792,0.000111645833102,-0.000288620443015,5.14712432362e-05,1793255011413818112
+11,0.183333333,BASELINE,780.552556481,759.552556481,737.552556481,719,685,648,912,800,839.552556481,657,635,657.447443519,0.400970509838,0.00448103482942,0.0798268714787,0.999999950815,0.000113828978353,-0.000287706402303,5.13681889988e-05,1793255011430485504
+12,0.200000000,BASELINE,780,759.022883631,737.022883631,719,685,648,912,800.022883631,839,657.022883631,635.022883631,657.977116369,0.400971190654,0.0044822850632,0.0798271126826,0.999999950842,0.000116937867892,-0.000286364630422,5.13506742313e-05,1793255011447153152
+13,0.216666667,BASELINE,780,759.618107495,737.618107495,719,685,648,912,800.618107495,839,657.618107495,635.618107495,657.381892505,0.400970726599,0.00448064952903,0.0798269108058,0.9999999507,0.000115056077384,-0.000287558802391,5.16856041473e-05,1793255011463818752
+14,0.233333333,BASELINE,780.206117857,760,738,719,685,648,912,800.793882143,839,657.793882143,635.793882143,657,0.400970273876,0.00448010763413,0.0798266461809,0.999999950615,0.000113918284524,-0.000288296325086,5.1738676208e-05,1793255011480484864
+15,0.250000000,BASELINE,780.781215153,760,738,719,685,648,912,800.218784847,839,657.218784847,635.218784847,657,0.400969841437,0.0044815235043,0.0798262692281,0.99999995064,0.000114112349922,-0.000288216382703,5.12871838266e-05,1793255011497151488
+16,0.266666667,BASELINE,781,760,737.648071987,719,685,648,912,800,839,657.351928013,635.351928013,657.351928013,0.400969370403,0.00448104020789,0.0798259861578,0.999999950678,0.0001132254143,-0.0002884303521,5.13035141858e-05,1793255011513818112
+17,0.283333333,BASELINE,781,760,737.080051315,719,685,648,912,800,839,657.919948685,635.919948685,657.919948685,0.40096887567,0.00447939077531,0.0798257607336,0.999999950723,0.000111674716832,-0.000288824790734,5.1607099509e-05,1793255011530484736
+18,0.300000000,BASELINE,780.485740644,759.485740644,737,718.485740644,685,648,912,800.514259356,839,657.485740644,635.485740644,658,0.400968762011,0.00448097223188,0.0798250461061,0.999999950405,0.000113052034111,-0.000289444530318,5.12972503439e-05,1793255011547151360
+19,0.316666667,BASELINE,780,759,737,718.104601072,685,648,912,800.895398928,839,657,635,658,0.40096902198,0.00448277372113,0.079824749537,0.999999950199,0.000114837387838,-0.000289508338151,5.09748872175e-05,1793255011563818240
+20,0.333333333,BASELINE,780,759,737,718.65930567,685,648,912,800.34069433,839,657,635,658,0.400970620678,0.00448324128971,0.0798265972293,0.999999950743,0.000116311613772,-0.00028702090122,5.10317083131e-05,1793255011580484608
+21,0.350000000,BASELINE,780.230180579,759.230180579,737,718.769819421,685,648,912,800,839.230180579,657,635,658,0.400971251759,0.00448312269884,0.0798274978605,0.999999951002,0.000116744742745,-0.000285927854253,5.11023536473e-05,1793255011597151488
+22,0.366666667,BASELINE,780.826797809,759.826797809,737,718.173202191,685,648,912,800,839.826797809,657,635,658,0.400970342442,0.00448207096962,0.0798268908152,0.999999950817,0.000115520494198,-0.000287054610741,5.1195006514e-05,1793255011613818368
+23,0.383333333,BASELINE,780.611083134,760,737,718.388916866,685.388916866,648,912,800,840,657,635,658,0.400971013448,0.00448131706924,0.0798274584014,0.999999951113,0.000114859035853,-0.000286265008789,5.13274874081e-05,1793255011630484736
+24,0.400000000,BASELINE,780.063075856,760,737,718.936924144,685.936924144,648,912,800,840,657,635,658,0.400972330902,0.00448068499868,0.0798285064826,0.999999951604,0.000114427792476,-0.000284691500963,5.14762603706e-05,1793255011647151360
+25,0.416666667,BASELINE,780.555627609,760,737,719,685.444372391,648,912,800.555627609,839.444372391,657.555627609,635,658,0.400971759555,0.00448137135248,0.0798278401445,0.999999951291,0.000114981546724,-0.000285581932987,5.13904769644e-05,1793255011663817984
+26,0.433333333,BASELINE,780.832704203,759.832704203,737,719,685,648,912,801,839,658,635,658,0.400971127824,0.00448166521907,0.0798273066713,0.999999951072,0.000115309676693,-0.000286237347117,5.12669860052e-05,1793255011680484608
+27,0.450000000,BASELINE,780.260335595,759.260335595,737,719,685,648,912,801,839,658,635,658,0.400970944748,0.00448059353022,0.0798276348461,0.999999951337,0.00011478128607,-0.000285547714686,5.11260655415e-05,1793255011697151488
+28,0.466666667,BASELINE,780.315208211,759.315208211,737.315208211,719,685,648,912,801,839.315208211,657.684791789,635,658,0.400971035036,0.00448091032813,0.0798278767308,0.999999951382,0.000115119997987,-0.000285268108005,5.10498367581e-05,1793255011713818112
+29,0.483333333,BASELINE,780.893401114,759.893401114,737.893401114,719,685,648,912,801,839.893401114,657.106598886,635,658,0.400971353397,0.00448238556915,0.0798280466219,0.999999951242,0.000116182151417,-0.000285330594281,5.10275815825e-05,1793255011730484736
+30,0.500000000,BASELINE,781,759.517645551,737.517645551,718.517645551,685,648,912,801,839.517645551,657.482354449,635,658,0.400969913928,0.00448149291947,0.0798273455942,0.999999950945,0.000114826146667,-0.000286889330946,5.11874973172e-05,1793255011747151360
+31,0.516666667,BASELINE,780.927925055,759,737,718.072074945,685.072074945,648,912,800.927925055,839.072074945,658,635,658,0.400968417058,0.004480391465,0.0798266202425,0.999999950658,0.000113145790437,-0.000288523863049,5.13451939739e-05,1793255011763818240
+32,0.533333333,BASELINE,780.349893476,759,737,718.650106524,685.650106524,648,912,800.349893476,839.650106524,658,635,658,0.400969306511,0.00448158152071,0.0798271060854,0.999999950739,0.000113025584726,-0.000288316267433,5.11982500893e-05,1793255011780485120
+33,0.550000000,BASELINE,780,759,737,719,685.773560215,648,912,800.226439785,839.773560215,658,635,657.773560215,0.400970400734,0.00448163333984,0.079827439066,0.999999951027,0.000112564219818,-0.000287530970945,5.10034720727e-05,1793255011797151744
+34,0.566666667,BASELINE,780,759,737,719,685.199831702,648,912,800.800168298,839.199831702,658,635,657.199831702,0.400971809012,0.00447993945532,0.0798275376028,0.99999995163,0.00011157962203,-0.000285859659669,5.07353312776e-05,1793255011813818368
+35,0.583333333,BASELINE,780.374944992,759.374944992,737,718.625055008,685,648.374944992,912,800.625055008,839,657.625055008,635.374944992,657.374944992,0.400971872868,0.00447980343507,0.0798277119545,0.99999995182,0.000111463192455,-0.000285215564913,5.08698116142e-05,1793255011830484736
+36,0.600000000,BASELINE,780.950281947,759.950281947,737,718.049718053,685,648.950281947,912,800.049718053,839,657.049718053,635.950281947,657.950281947,0.40097121819,0.00448050002607,0.0798279268259,0.999999951791,0.000111810761339,-0.000285120473029,5.12194755949e-05,1793255011847151360
+37,0.616666667,BASELINE,780.458625151,760,737,718,685.541374849,648.458625151,912,800.541374849,839,657.541374849,635.458625151,657.458625151,0.400970929564,0.00448188261535,0.0798278528957,0.999999951349,0.000114425328329,-0.000285627788174,5.12439036389e-05,1793255011863818240
+38,0.633333333,BASELINE,780.130561892,760,737,718,686,648,912,801,839,657.869438108,635,657,0.400970804133,0.00448318565991,0.0798276779759,0.999999950953,0.000116784993388,-0.000286065291948,5.11965900841e-05,1793255011880485120
+39,0.650000000,BASELINE,780.708121678,760,737,718,686,648,912,801,839,657.291878322,635,657,0.400971118881,0.00448399421717,0.0798272508292,0.999999950874,0.000117537817325,-0.0002860687021,5.10089833995e-05,1793255011897151488
+40,0.666666667,BASELINE,780.714639733,760,737,718,685.714639733,648,912.285360267,800.714639733,839.285360267,657.285360267,635.285360267,657.285360267,0.400971178639,0.00448373823014,0.0798272662355,0.999999951002,0.000116918605872,-0.000285885931126,5.09421224865e-05,1793255011913818112
+41,0.683333333,BASELINE,780.137729342,760,737,718,685.137729342,648,912.862270658,800.137729342,839.862270658,657.862270658,635.862270658,657.862270658,0.400970977876,0.00448239460732,0.0798277337945,0.99999995134,0.000114897597652,-0.000285512940501,5.0998626498e-05,1793255011930484736
+42,0.700000000,BASELINE,780.447588764,759.552411236,737,718,685,648,912.552411236,800,840,657.552411236,635.552411236,657.552411236,0.400971329385,0.0044809158244,0.0798280853973,0.999999951678,0.000112720641558,-0.000285218769967,5.08682920917e-05,1793255011947151104
+43,0.716666667,BASELINE,781,759.034959927,737.034959927,718.034959927,685,648,912.034959927,800.034959927,839.965040073,657.034959927,635,657.034959927,0.400971783658,0.00447952529736,0.0798283347915,0.999999951955,0.000110801833272,-0.000285029939507,5.07122165261e-05,1793255011963817984
+44,0.733333333,BASELINE,781,759.613260343,737.613260343,718.613260343,685,648,912.613260343,800.613260343,839.386739657,657.613260343,635,657.613260343,0.400971143285,0.0044801651945,0.079827560846,0.999999951312,0.000113655196237,-0.000286094116095,5.10667249121e-05,1793255011980484608
+45,0.750000000,BASELINE,780.809208315,760,737.809208315,719,685,648,912.809208315,800.809208315,839.190791685,657.809208315,635,658,0.400970936354,0.00448085993845,0.0798272884099,0.99999995102,0.000115309424701,-0.000286425890347,5.12212731334e-05,1793255011997151488
+46,0.766666667,BASELINE,780.233229718,760,737.233229718,719,685,648,912.233229718,800.233229718,839.766770282,657.233229718,635,658,0.400971604493,0.00448166541185,0.0798280284649,0.999999951449,0.0001145427354,-0.000285279026691,5.0972124274e-05,1793255012013818112
+47,0.783333333,BASELINE,780.342223225,760,737.342223225,719,685.342223225,648,912,800,839.657776775,657,635,657.657776775,0.400971839735,0.00448152257095,0.0798282458968,0.999999951725,0.000113265874203,-0.000284826660921,5.09447629471e-05,1793255012030484992
+48,0.800000000,BASELINE,780.917318537,760,737.917318537,719,685.917318537,648,912,800,839.082681463,657,635,657.082681463,0.400971780404,0.00448073443223,0.0798281077004,0.999999951895,0.000111641857081,-0.00028484687889,5.10683209995e-05,1793255012047151616
+49,0.816666667,BASELINE,780.490979833,760,737.490979833,719,685.490979833,648,912,800.509020167,839,657.509020167,635,657.509020167,0.400972131614,0.00448180892342,0.0798276162227,0.999999951527,0.00011344812739,-0.000285416581364,5.11146394407e-05,1793255012063817984
+50,0.833333333,BASELINE,780.100046984,760,737,719,685,648,912,801,839,658,635,658,0.400972182035,0.00448269375752,0.0798272195533,0.999999951167,0.000114987494626,-0.0002860568979,5.11332392105e-05,1793255012080484608
+51,0.850000000,BASELINE,780.674647057,760,737,719,685,648,912,801,839,658,635,658,0.400970478752,0.00448119549897,0.0798275539596,0.999999951296,0.000112528807163,-0.000286594521401,5.10818784697e-05,1793255012097151232
+52,0.866666667,BASELINE,780.751468902,760,737,719,685,648,912,800.751468902,839,658,635,658,0.400970348691,0.00448081315429,0.0798282022422,0.999999951543,0.000112137410138,-0.000285910665366,5.0936466075e-05,1793255012113818112
+53,0.883333333,BASELINE,780.178519562,760,737,719,685,648,912,800.178519562,839,658,635,658,0.400972272224,0.00448188745967,0.0798292602407,0.999999951944,0.00011444453563,-0.000283632359969,5.06682840487e-05,1793255012130484992
+54,0.900000000,BASELINE,780.409015011,759.590984989,737.409015011,719,685,648.409015011,912,800,839,658,635,658,0.400973054508,0.00448140892671,0.0798294997308,0.999999952173,0.000113890035541,-0.000283035386415,5.07286041681e-05,1793255012147151872
+55,0.916666667,BASELINE,780.99693431,759.00306569,737.99693431,719,685,648.99693431,912,800,839,658,635,657.99693431,0.400973307477,0.00448022653803,0.0798293604607,0.999999952321,0.000112043225177,-0.000283213293802,5.09353120557e-05,1793255012163818496
+56,0.933333333,BASELINE,780.418859968,759.581140032,737.418859968,719,685,648.418859968,912,800,839,658,635,657.418859968,0.400971162872,0.00447884934846,0.0798276640335,0.999999951685,0.000110733986732,-0.000285999709094,5.07119700135e-05,1793255012180485376
+57,0.950000000,BASELINE,780.157677149,760,737,718.842322851,685,648,912,800,839.157677149,657.842322851,635,657,0.400969445945,0.0044784428914,0.0798264952607,0.999999951141,0.000110501118201,-0.000287999141151,5.06394473765e-05,1793255012197152000
+58,0.966666667,BASELINE,780.730170051,760,737,718.269829949,685,648,912,800,839.730170051,657.269829949,635,657,0.400968854149,0.00448059022972,0.0798267146371,0.999999950854,0.000113099955053,-0.000287928183706,5.0963699235e-05,1793255012213818368
+59,0.983333333,BASELINE,781,759.696303524,737,718.303696476,685,648,912,800,840,657.303696476,635.303696476,657.303696476,0.400969189878,0.00448088309425,0.0798271970029,0.999999950982,0.000113723784366,-0.000287197473187,5.11982341463e-05,1793255012230484992
+60,1.000000000,BASELINE,781,759.12185563,737,718.87814437,685,648,912,800,840,657.87814437,635.87814437,657.87814437,0.400970352515,0.00447952265894,0.079827913829,0.99999995148,0.000112586855664,-0.000285878579736,5.13527846604e-05,1793255012247151360
+61,1.016666667,BASELINE,781,759,737,719,685,648,912,800,840,658,635.530515286,658,0.400970526095,0.00448058495218,0.0798279517789,0.999999951349,0.000113875874122,-0.000285841572903,5.12757335775e-05,1793255012263818240
+62,1.033333333,BASELINE,780.936915654,759.063084346,737,718.936915654,685,648,912,800,839.936915654,658,635,657.936915654,0.400970549859,0.00448209309534,0.0798279084294,0.999999951154,0.000115380301666,-0.000285951892346,5.110376898e-05,1793255012280484864
+63,1.050000000,BASELINE,780.361889927,759.638110073,737,718.361889927,685,648,912,800,839.361889927,658,635,657.361889927,0.400971518844,0.00448192590856,0.0798286886146,0.999999951836,0.000113332296126,-0.000284456962709,5.0667595997e-05,1793255012297151744
+64,1.066666667,BASELINE,780.213475603,759.786524397,737.213475603,718.213475603,685,648,912,800,839,658,635.213475603,657.213475603,0.400971784667,0.00448193420365,0.0798288831962,0.999999951988,0.000112836605314,-0.000284136597633,5.05726056826e-05,1793255012313818624
+65,1.083333333,BASELINE,780.789418059,759.210581941,737.789418059,718.789418059,685,648,912,800,839,658,635.789418059,657.789418059,0.400970856568,0.00448224045486,0.0798280834633,0.999999951243,0.000114976638,-0.000285810562287,5.10569200408e-05,1793255012330484992
+66,1.100000000,BASELINE,780.625516428,759,737.625516428,719,685,648,912,800,839,658,635.625516428,658,0.400970445091,0.00448250759866,0.0798278063307,0.999999951034,0.000115567434428,-0.000286313538831,5.09944588048e-05,1793255012347151616
+67,1.116666667,BASELINE,780.035192703,759,737.035192703,719,685,648,912,800,839,658,635.035192703,658,0.40097033138,0.00448275220222,0.0798278304081,0.999999951137,0.000115265301377,-0.000286141595848,5.06168538789e-05,1793255012363817984
+68,1.133333333,BASELINE,780.545007317,759.545007317,737.545007317,719,685,648,912,800,839,657.454992683,635.545007317,657.454992683,0.40096982333,0.00448160436781,0.0798276260982,0.99999995098,0.000115702811501,-0.000286430963342,5.10989747163e-05,1793255012380484608
+69,1.150000000,BASELINE,781,759.876660748,737.876660748,719,685,648,912,800.123339252,839,657,635.876660748,657.123339252,0.400969253587,0.00448094182367,0.0798273773129,0.999999950814,0.000115966810647,-0.000286850936586,5.13873640165e-05,1793255012397151232
+70,1.166666667,BASELINE,781,759.30280814,737.30280814,719,685,648,912,800.69719186,839,657,635.30280814,657.69719186,0.400968549815,0.00448237430128,0.079827018961,0.999999950681,0.000115425765537,-0.00028764114395,5.07690443853e-05,1793255012413817856
+71,1.183333333,BASELINE,781,759.27021781,737,719,685,648,912,800.72978219,839,657.27021781,635,658,0.4009684545,0.00448246464233,0.079827121273,0.999999950697,0.000114776219985,-0.000287871825063,5.06269928717e-05,1793255012430484736
+72,1.200000000,BASELINE,781,759.842320297,737,719,685,648,912,800.157679703,839,657.842320297,635,658,0.400969038946,0.00448105556181,0.0798277382344,0.999999950878,0.000114005458737,-0.000287477409055,5.10170233326e-05,1793255012447151616
+73,1.216666667,BASELINE,780.568552243,759.568552243,737,718.568552243,685,648,912,800,839,658,635,657.568552243,0.400969510074,0.00448081472199,0.0798275905947,0.999999951099,0.000112776686094,-0.000287198411525,5.09923054479e-05,1793255012463818240
+74,1.233333333,BASELINE,780.026224666,759,737,718.026224666,685.026224666,648,912.026224666,800,839.026224666,658,635,657.026224666,0.400970021984,0.00448100246126,0.0798272438618,0.999999951359,0.000111503599758,-0.000286820034379,5.08205654795e-05,1793255012480484864
+75,1.250000000,BASELINE,780.603596216,759,737,718.603596216,685.603596216,648,912.603596216,800,839.603596216,658,635,657.603596216,0.400972297114,0.00448085575783,0.0798288269004,0.999999952159,0.00011296159992,-0.000283430137845,5.08754128821e-05,1793255012497151744
+76,1.266666667,BASELINE,781,759.180844249,737,718.819155751,686,648,912.819155751,800,839.819155751,657.819155751,635,657.819155751,0.400973404568,0.00448061584569,0.0798294521438,0.999999952481,0.000114015041848,-0.000281855108663,5.09543502605e-05,1793255012513818368
+77,1.283333333,BASELINE,781,759.757821685,737,718.242178315,686,648,912.242178315,800,839.242178315,657.242178315,635,657.242178315,0.400971954266,0.00448017176305,0.0798279793689,0.999999951776,0.000114182312616,-0.000284255485003,5.10860559103e-05,1793255012530484992
+78,1.300000000,BASELINE,780.659178511,760,737,718.340821489,686,648,912,800.340821489,839,657,635.340821489,657.340821489,0.400971091025,0.00448013795692,0.0798276082661,0.99999995153,0.000113534634941,-0.000285370786644,5.11119749689e-05,1793255012547151616
+79,1.316666667,BASELINE,780.071822429,760,737,718.928177571,686,648,912,800.928177571,839,657,635.928177571,657.928177571,0.400970652438,0.00448040092598,0.0798280340624,0.99999995162,0.000112297461029,-0.000285556524238,5.10613728659e-05,1793255012563818240
+80,1.333333333,BASELINE,780.508208621,759.491791379,737.508208621,719,685.491791379,648,912,801,839,657,636,657.491791379,0.400969787953,0.00448078306622,0.0798274447574,0.999999951212,0.000113361578255,-0.000286538486284,5.11918214291e-05,1793255012580485120
+81,1.350000000,BASELINE,781,759.086976058,738,719,685.086976058,648.086976058,912,801,839,657.086976058,635.913023942,657.086976058,0.400968960004,0.0044811048634,0.0798268486652,0.999999950802,0.000114580027884,-0.000287459935721,5.13341927062e-05,1793255012597152000
+82,1.366666667,BASELINE,781,759.664372451,738,719,685.664372451,648.664372451,912,801,839,657.664372451,635.335627549,657.664372451,0.400968672624,0.00448099279756,0.0798270117116,0.999999950779,0.000114860919721,-0.000287414709119,5.1401567255e-05,1793255012613818624
+83,1.383333333,BASELINE,781,760,738,719,685.772254767,649,912,801,839.227745233,658,635.227745233,657.772254767,0.400969057422,0.00448111314495,0.0798274324133,0.999999950972,0.000114705635831,-0.00028684621465,5.11707948619e-05,1793255012630484992
+84,1.400000000,BASELINE,781,760,738,719,685.228349719,649,912,801,839.771650281,658,635.771650281,657.228349719,0.400970375347,0.00448155613232,0.0798282107962,0.999999951462,0.000113944845402,-0.000285551310802,5.05261298121e-05,1793255012647151360
+85,1.416666667,BASELINE,781,760,737.636903513,719,685,649,912,800.636903513,839.636903513,657.636903513,635.636903513,657.363096487,0.400970490078,0.00448109168316,0.0798282376468,0.999999951421,0.000113142800044,-0.000285981019385,5.07140709776e-05,1793255012663817984
+86,1.433333333,BASELINE,781,760,737.011054472,719,685,649,912,800.011054472,839.011054472,657.011054472,635.011054472,657.988945528,0.400969734123,0.00447997057305,0.0798277206556,0.999999950993,0.000112310900857,-0.000287658733292,5.15045225819e-05,1793255012680484864
+87,1.450000000,BASELINE,781,759.43033244,737.56966756,718.43033244,685.56966756,648.43033244,912,800.56966756,839,657.56966756,635,657.43033244,0.400969762691,0.00447943056687,0.0798279765732,0.999999951383,0.00011153186489,-0.000286629092997,5.13595871549e-05,1793255012697151488
+88,1.466666667,BASELINE,780.851936786,759.148063214,737.851936786,718.148063214,686,648,912,801,839.148063214,658,635,657.148063214,0.400969786025,0.004479654707,0.0798281729299,0.999999951578,0.000111914911398,-0.000285833471052,5.11664949081e-05,1793255012713818112
+89,1.483333333,BASELINE,780.277899669,759.722100331,737.277899669,718.722100331,686,648,912,801,839.722100331,658,635,657.722100331,0.400969753717,0.00448204721504,0.0798281579485,0.999999951164,0.000115638503513,-0.000285851165564,5.08832445076e-05,1793255012730484736
+90,1.500000000,BASELINE,780.296251273,759.703748727,737,719,686,648,912,801,840,657.703748727,635,657.703748727,0.400969852209,0.00448253848867,0.079828254307,0.999999951168,0.000116318671545,-0.000285609832601,5.06062713885e-05,1793255012747151616
+91,1.516666667,BASELINE,780.870508997,759.129491003,737,719,686,648,912,801,840,657.129491003,635,657.129491003,0.400970073446,0.00448124561647,0.0798284551483,0.999999951571,0.000114142846482,-0.000285125424535,5.03351889767e-05,1793255012763818496
+92,1.533333333,BASELINE,781,759.459670245,737.459670245,719,685.540329755,648,912,801,840,657.459670245,635.459670245,657.459670245,0.40097069103,0.00448128420086,0.0798284551623,0.999999951827,0.000113591008532,-0.000284439280312,5.03688612846e-05,1793255012780484864
+93,1.550000000,BASELINE,780.948658443,760,737.948658443,719,685,648.051341557,912,800.948658443,839.948658443,658,635.948658443,657.948658443,0.400971220472,0.00448163822494,0.0798283611985,0.999999951969,0.000113546383876,-0.000283931921778,5.0509541864e-05,1793255012797151488
+94,1.566666667,BASELINE,780.375574256,760,737.375574256,719,685,648.624425744,912,800.375574256,839.375574256,658,635.375574256,657.375574256,0.400969681536,0.0044812584833,0.0798279063935,0.999999951375,0.000113851336303,-0.000285838285968,5.08359960412e-05,1793255012813818112
+95,1.583333333,BASELINE,780.197845233,759.802154767,737,719,685,648.802154767,912,800.197845233,839,658,635,657.197845233,0.400968498689,0.00448134238164,0.0798273526727,0.999999950881,0.000114080236422,-0.000287443183588,5.09953502628e-05,1793255012830484992
+96,1.600000000,BASELINE,780.771902414,759.228097586,737,719,685,648.228097586,912,800.771902414,839,658,635,657.771902414,0.400967992959,0.00448230791299,0.0798266108589,0.999999950582,0.00011416451958,-0.000288474828784,5.08369561735e-05,1793255012847151872
+97,1.616666667,BASELINE,780.642724617,759,737,718.642724617,685,648,912,800.642724617,839.357275383,658,635,658,0.40096859587,0.00448205257687,0.0798270121962,0.99999995094,0.000113221729585,-0.000287632706792,5.06863374835e-05,1793255012863818496
+98,1.633333333,BASELINE,780.049890973,759,737,718.049890973,685,648,912,800.049890973,839.950109027,658,635,658,0.400969929727,0.00448099230019,0.0798281672342,0.999999951724,0.000111601771283,-0.000285555175415,5.05408452671e-05,1793255012880485376
+99,1.650000000,BASELINE,780.532094392,759,737,718,685,648,912,800,839.467905608,657.467905608,635,657.467905608,0.400969440266,0.00448008146378,0.0798279551957,0.999999951401,0.000113064352488,-0.000286036148824,5.09715616177e-05,1793255012897151744
+100,1.666666667,BASELINE,780.888340378,759,737,718,685,648.111659622,912,800.111659622,839,657.111659622,635,657,0.400969099852,0.00447937559994,0.0798277265236,0.999999951138,0.000114060601506,-0.000286501021829,5.13009987872e-05,1793255012913818368
+101,1.683333333,BASELINE,780.314664331,759,737,718,685,648.685335669,912,800.685335669,839,657.685335669,635,657,0.400970069403,0.00447946103618,0.0798279488094,0.999999951556,0.000111955269928,-0.000285926493897,5.09922877408e-05,1793255012930484992
+102,1.700000000,BASELINE,780,759.260131756,737,718.260131756,685.260131756,648.739868244,912,801,839.260131756,657.739868244,635,657,0.400970457284,0.00447988541269,0.0798278822199,0.999999951678,0.000111027425244,-0.000285898658232,5.0784652443e-05,1793255012947151616
+103,1.716666667,BASELINE,780,759.836288499,737,718.836288499,685.836288499,648.163711501,912,801,839.836288499,657.163711501,635,657,0.400970138514,0.0044807215559,0.0798274646858,0.999999951444,0.000111530068418,-0.000286534979955,5.06998105648e-05,1793255012963818240
+104,1.733333333,BASELINE,780,760,737.424558412,719,685.575441588,648,912,800.575441588,839.575441588,657.424558412,635,657,0.400971661131,0.00448158778859,0.0798285071396,0.999999952106,0.000112227242112,-0.00028395336186,5.06228500077e-05,1793255012980485120
+105,1.750000000,BASELINE,780,759.982894509,737.982894509,718.982894509,685,648.017105491,912,800,839,657.982894509,635,657,0.400973780483,0.00448240934049,0.0798300499002,0.999999953047,0.000113057094578,-0.000280298446737,5.0560133239e-05,1793255012997151744
+106,1.766666667,BASELINE,780,759.407671353,737.407671353,718.407671353,685,648.592328647,912,800,839,657.407671353,635,657,0.400971522312,0.00448138335694,0.0798290083631,0.999999951884,0.000115696621996,-0.000283299546077,5.08600918181e-05,1793255013013818624
+107,1.783333333,POSE1_TO_POSE2_PRESS,780,760,737,718,685,648,912,800,840,658,635,658,0.400972165698,0.00448187267694,0.0798296685544,0.999999951966,0.000114138943039,-0.000283598764762,5.11098993271e-05,1793255013054737152
+108,1.800000000,POSE1_TO_POSE2_PRESS,780.595794984,760,737,718.595794984,685,648,912,800,839.404205016,657.404205016,635.595794984,657.404205016,0.400971485053,0.00448256953256,0.0798291331993,0.999999951777,0.000114613438511,-0.00028409280257,5.10021882795e-05,1793255013071404544
+109,1.816666667,POSE1_TO_POSE2_PRESS,781,760,737,719,685,648,912,800,839.186211629,657,635.813788371,657,0.40097091666,0.00448234730918,0.0798286279124,0.999999951607,0.000114558416628,-0.000284712780144,5.09974334428e-05,1793255013088071680
+110,1.833333333,POSE1_TO_POSE2_PRESS,781,760,737,719,685,648,912,800,839.765281485,657,635.234718515,657,0.400970585089,0.00448018606769,0.0798281860615,0.999999951477,0.000113386250589,-0.000285598458046,5.12098894808e-05,1793255013104738048
+111,1.850000000,POSE1_TO_POSE2_PRESS,781,760,737,719,685.339403644,648,912,800,839.660596356,657.339403644,635,657,0.400970609978,0.0044801386695,0.0798280936856,0.99999995149,0.000112783054675,-0.000285808820604,5.11219146169e-05,1793255013121404160
+112,1.866666667,POSE1_TO_POSE2_PRESS,781,760,737,719,685.910153294,648,912,800,839.089846706,657.910153294,635,657,0.400970877839,0.00448153211985,0.0798282395205,0.999999951601,0.000112567683086,-0.000285558871294,5.08291585297e-05,1793255013138070272
+113,1.883333333,POSE1_TO_POSE2_PRESS,780.510877415,759.510877415,737,718.510877415,685.510877415,648,912,800,839,658,635,657.489122585,0.400969982425,0.00448065966869,0.0798281347514,0.999999951524,0.000112471045538,-0.000285780676105,5.13039171101e-05,1793255013154737152
+114,1.900000000,POSE1_TO_POSE2_PRESS,780,759,737,718.070848023,685,648,912,800.070848023,839,657.929151977,635,657.929151977,0.400969136184,0.00447974454839,0.0798280697755,0.999999951438,0.000112682189146,-0.000285914756253,5.17693130983e-05,1793255013171404032
+115,1.916666667,POSE1_TO_POSE2_PRESS,780,759,737,718.661528467,685,648,912,800.661528467,839,657.338471533,635,657.338471533,0.40097024538,0.00448162249486,0.0798286403073,0.999999951539,0.000114988849088,-0.000284758485334,5.11138887951e-05,1793255013188070656
+116,1.933333333,POSE1_TO_POSE2_PRESS,780,759.246661648,737.246661648,718.753338352,685.246661648,648.246661648,912,800.753338352,839,657,635,657.246661648,0.400972831718,0.00448251962167,0.0798298827701,0.999999951971,0.000115994389996,-0.000282902573662,5.06821424687e-05,1793255013204737280
+117,1.950000000,POSE1_TO_POSE2_PRESS,780,759.824350196,737.824350196,718.175649804,685.824350196,648.824350196,912,800.175649804,839,657,635,657.824350196,0.400977400422,0.00448210046061,0.0798320269833,0.99999995285,0.000115253792211,-0.000280107724424,5.05505783595e-05,1793255013221403648
+118,1.966666667,POSE1_TO_POSE2_PRESS,780.400111944,760,737.599888056,718,686,648.599888056,912,800,839,657.400111944,635,658,0.400994171,0.00448192147389,0.0798393279667,0.999999956195,0.000114835919929,-0.000268049907411,5.07046395378e-05,1793255013238070272
+119,1.983333333,POSE1_TO_POSE2_PRESS,780.975031927,760,737.024968073,718,686,648.024968073,912,800,839,657.975031927,635,658,0.401016272551,0.00448184741878,0.079848881932,0.9999999604,0.000114559045629,-0.000251945119593,5.09834897616e-05,1793255013254736896
+120,2.000000000,POSE1_TO_POSE2_PRESS,781,759.436344432,737,718.563655568,686,648,912,800.563655568,839,658,635,657.436344432,0.401065616268,0.00448207354515,0.0798664569008,0.999999968532,0.000112101226054,-0.000218774912136,5.00642087904e-05,1793255013271403776
+121,2.016666667,POSE1_TO_POSE2_PRESS,781,759,737.150190283,718.849809717,685.849809717,648,912,800.849809717,839.150190283,657.849809717,635.150190283,657.150190283,0.401122316373,0.0044826822254,0.0798849631318,0.999999975579,0.00011074147306,-0.000184870677832,4.89982602988e-05,1793255013288070400
+122,2.033333333,POSE1_TO_POSE2_PRESS,781,759,737.728988354,718.271011646,685.271011646,648,912,800.271011646,839.728988354,657.271011646,635.728988354,657.728988354,0.401196480335,0.00448434373239,0.0799050877513,0.999999981089,0.000112797912017,-0.000151082730376,4.76689896262e-05,1793255013304737280
+123,2.050000000,POSE1_TO_POSE2_PRESS,781,759.306685522,737.693314478,718.306685522,685.306685522,648,912,800,839.693314478,657,635.693314478,657.693314478,0.40127345171,0.00448525056673,0.0799190158576,0.999999984087,0.000112826800597,-0.000130256030945,4.61456696751e-05,1793255013321403904
+124,2.066666667,POSE1_TO_POSE2_PRESS,781,759.883413289,737.116586711,718.883413289,685.883413289,648,912,800,839.116586711,657,635.116586711,657.116586711,0.40135289506,0.00448549289781,0.0799274878189,0.999999985542,0.000111070393713,-0.000120841951017,4.44514858755e-05,1793255013338070528
+125,2.083333333,POSE1_TO_POSE2_PRESS,781,759.540191116,737,718.540191116,685.540191116,648,912,800.459808884,839,657,635,657.459808884,0.401448247187,0.00448549590513,0.079931373828,0.999999986877,0.000108326937117,-0.000113193920268,4.12236114537e-05,1793255013354737408
+126,2.100000000,POSE1_TO_POSE2_PRESS,780.96310057,759.03689943,737,718.03689943,685.03689943,648,912,801,839,657.03689943,635,657.96310057,0.401549280258,0.00448563281695,0.0799341533884,0.999999988096,0.000105561829317,-0.000106071998328,3.75884401979e-05,1793255013371403520
+127,2.116666667,POSE1_TO_POSE2_PRESS,780.374358012,759.625641988,737,718.625641988,685.625641988,648,912,801,839,657.625641988,635,657.374358012,0.401674991272,0.00448867917367,0.0799377629937,0.99999998878,0.000106213105196,-0.000100126191802,3.36735577914e-05,1793255013388070144
+128,2.133333333,POSE1_TO_POSE2_PRESS,780.210884672,759.789115328,737,719,686,648,912,800.789115328,839,658,635,657.210884672,0.401811805832,0.00449091819168,0.0799424195291,0.99999998992,0.000104186490931,-9.19016182084e-05,2.93143867423e-05,1793255013404737024
+129,2.150000000,POSE1_TO_POSE2_PRESS,780.790015819,759.209984181,737,719,686,648,912,800.209984181,839,658,635,657.790015819,0.401968009373,0.00449174743586,0.0799489042117,0.99999999178,9.74837491517e-05,-7.96978658628e-05,2.41793999924e-05,1793255013421403904
+130,2.166666667,POSE1_TO_POSE2_PRESS,780.635048095,759,737,718.635048095,685.635048095,648,912,800,839,658,635,657.635048095,0.402138400963,0.00449453705358,0.0799544760152,0.999999993068,9.2459026121e-05,-7.05362275344e-05,1.84427478965e-05,1793255013438070528
+131,2.183333333,POSE1_TO_POSE2_PRESS,780.062498257,759,737,718.062498257,685.062498257,648,912,800,839,658,635,657.062498257,0.402316863247,0.00449844180323,0.0799595285404,0.999999994026,8.8388820628e-05,-6.31050532875e-05,1.23638461596e-05,1793255013454737152
+132,2.200000000,POSE1_TO_POSE2_PRESS,780,759.511560665,737.511560665,718,685,648,912,800.511560665,839,657.488439335,635,657,0.402519814288,0.00450126965069,0.0799599920225,0.999999994591,8.23386973254e-05,-6.32913465605e-05,5.61684803249e-06,1793255013471403776
+133,2.216666667,POSE1_TO_POSE2_PRESS,780.088689087,760,737.911310913,718,685.088689087,648,912,800.911310913,839,657,635,657.088689087,0.402730567441,0.00450416743671,0.0799591254568,0.999999994947,7.60683337103e-05,-6.57075688599e-05,-1.34940815367e-06,1793255013488070400
+134,2.233333333,POSE1_TO_POSE2_PRESS,780.682238165,760,737.317761835,718,685.682238165,648,912,800.317761835,839,657,635,657.682238165,0.402968652656,0.00450821450415,0.0799538885682,0.999999994663,6.99252817859e-05,-7.55042859568e-05,-9.09777871294e-06,1793255013504737024
+135,2.250000000,POSE1_TO_POSE2_PRESS,781,759.73490398,737,718,685.73490398,648.26509602,912,800.26509602,839.26509602,657,635,658,0.403225212317,0.00451249435709,0.0799501772799,0.999999994509,6.36833039636e-05,-8.14034952063e-05,-1.73344811385e-05,1793255013521403648
+136,2.266666667,POSE1_TO_POSE2_PRESS,781,759.16436458,737,718,685.16436458,648.83563542,912,800.83563542,839.83563542,657,635,658,0.403503058203,0.00451704242502,0.079948223787,0.999999994586,5.73273441906e-05,-8.28119990506e-05,-2.61338386102e-05,1793255013538070272
+137,2.283333333,POSE1_TO_POSE2_PRESS,781,759.414168709,737,718.414168709,685,648.585831291,912,801,839.585831291,657,635,658,0.403819102324,0.0045209008062,0.0799512544373,0.999999993171,7.91489260586e-05,-8.22110421669e-05,-2.51832947504e-05,1793255013554736896
+138,2.300000000,POSE1_TO_POSE2_PRESS,781,759.995936827,737,718.995936827,685,648.004063173,912,801,839.004063173,657,635,658,0.40415060391,0.00452448009546,0.0799563019939,0.999999990216,0.000112372961274,-8.07969275755e-05,-2.02873108523e-05,1793255013571403520
+139,2.316666667,POSE1_TO_POSE2_PRESS,781,760,737,718.413664206,685,648.586335794,912,801,839,657.586335794,635.586335794,657.413664206,0.404530047893,0.00453776452216,0.0799590245871,0.99999998655,0.000146190347201,-7.16578535981e-05,-1.98564422899e-05,1793255013588070144
+140,2.333333333,POSE1_TO_POSE2_PRESS,781,760,737.172988858,718,685,649,912,800.827011142,839.172988858,658,635.827011142,657.172988858,0.404921073482,0.00454854492846,0.0799607269769,0.999999987237,0.000144992938842,-6.37879992056e-05,-2.08300643713e-05,1793255013604737280
+141,2.350000000,POSE1_TO_POSE2_PRESS,781,760,737.750735179,718,685,649,912,800.249264821,839.750735179,658,635.249264821,657.750735179,0.405338408573,0.00455330674092,0.0799600805662,0.999999996032,6.18585228485e-05,-5.90149776394e-05,-2.50164186101e-05,1793255013621403904
+142,2.366666667,POSE1_TO_POSE2_PRESS,780.672536849,760,737.672536849,718,685,648.672536849,912,800.327463151,839.672536849,657.672536849,635,657.672536849,0.40577082743,0.00455967090576,0.0799545008572,0.999999996392,4.42639189334e-05,-6.67565826336e-05,-2.82849425714e-05,1793255013638070272
+143,2.383333333,POSE1_TO_POSE2_PRESS,780.09658158,760,737.09658158,718,685,648.09658158,912,800.90341842,839.09658158,657.09658158,635,657.09658158,0.406214692494,0.00456725100007,0.0799451775643,0.999999993078,7.6403533288e-05,-8.39947857198e-05,-3.08569807734e-05,1793255013654736896
+144,2.400000000,POSE1_TO_POSE2_PRESS,780.467831186,760,737,718,685,648,912,801,839,657.467831186,635,657.467831186,0.406676732236,0.00457623107941,0.0799356404394,0.999999988619,0.000106315807099,-0.000102486052688,-3.09250079553e-05,1793255013671403776
+145,2.416666667,POSE1_TO_POSE2_PRESS,781,760,737.032161019,718,685,648.032161019,912,801,839.032161019,657.967838981,635,657.967838981,0.407146479442,0.00458560794136,0.0799263912795,0.999999983183,0.000134701945027,-0.000120645599811,-3.05749330354e-05,1793255013688070400
+146,2.433333333,POSE1_TO_POSE2_PRESS,781,760,737.636381183,718,685,648.636381183,912,801,839.636381183,657.363618817,635,657.363618817,0.407688189942,0.00459702540108,0.0799230305523,0.999999980893,0.000143924325402,-0.000128414153651,-3.17615477033e-05,1793255013704737024
+147,2.450000000,POSE1_TO_POSE2_PRESS,781,760,737.76987711,718,685,648.76987711,912,800.76987711,840,657,635,657.23012289,0.408243175557,0.00460780447334,0.0799191298437,0.999999978444,0.00015322893747,-0.00013610541081,-3.32766977594e-05,1793255013721403904
+148,2.466666667,POSE1_TO_POSE2_PRESS,781,760,737.191971441,718,685,648.191971441,912,800.191971441,840,657,635,657.808028559,0.408818223709,0.00461761875534,0.0799144130657,0.999999975827,0.000162657825057,-0.00014367984969,-3.52883605012e-05,1793255013738070784
+149,2.483333333,POSE1_TO_POSE2_PRESS,781,760,737,718,685.385921109,648,912,800.385921109,839.614078891,657.385921109,635.385921109,657.614078891,0.409455887151,0.00462432320059,0.0799336749402,0.999999979389,0.000164769104763,-0.000112561417838,-3.74626606508e-05,1793255013754737664
+150,2.500000000,POSE1_TO_POSE2_PRESS,781,760,737,718,685.963807116,648,912,800.963807116,839.036192884,657.963807116,635.963807116,657.036192884,0.410124696676,0.0046294807504,0.0799648642773,0.999999983953,0.000163240458968,-6.21963758245e-05,-3.97178597705e-05,1793255013771404288
+151,2.516666667,POSE1_TO_POSE2_PRESS,781,760,737,718,685.448735264,648.551264736,912.551264736,801,839.551264736,657.448735264,636,657,0.410809075384,0.00463196810454,0.0799944149514,0.999999983349,0.000177411461469,-1.61881797149e-05,-3.95711108191e-05,1793255013788070656
+152,2.533333333,POSE1_TO_POSE2_PRESS,781,759.862762779,737.137237221,718,685,649,913,801,840,657,635.862762779,657,0.411494227331,0.00462911425083,0.0800098622525,0.99999998314,0.000179134917483,6.45729666015e-06,-3.98722644636e-05,1793255013804737280
+153,2.550000000,POSE1_TO_POSE2_PRESS,781,759.283631652,737.716368348,718,685,649,913,801,840,657,635.283631652,657,0.412178519392,0.00460963655361,0.0799802502467,0.999999988652,0.000137400591606,-4.51861799407e-05,-4.21323811204e-05,1793255013821403904
+154,2.566666667,POSE1_TO_POSE2_PRESS,781,759.293736585,737.706263415,718,685,649,912.706263415,801,840,657.293736585,635.293736585,657,0.412877439307,0.00458826193507,0.0799482651212,0.999999989147,0.000108352069653,-9.06053249761e-05,-4.19079951179e-05,1793255013838070528
+155,2.583333333,POSE1_TO_POSE2_PRESS,781,759.869412803,737.130587197,718,685,649,912.130587197,801,840,657.869412803,635.869412803,657,0.413590399677,0.00456506657645,0.079914002181,0.999999986587,9.14798638612e-05,-0.000130050124152,-3.92988885792e-05,1793255013854736896
+156,2.600000000,POSE1_TO_POSE2_PRESS,781,760,737,718,685,648.555018768,912.444981232,801,840,657.555018768,635.555018768,657,0.414367605461,0.00456243692678,0.0799187177985,0.999999988575,8.89498688303e-05,-0.000115344602238,-4.04282434432e-05,1793255013871403520
+157,2.616666667,POSE1_TO_POSE2_PRESS,781,760,737.021047765,718,685,648.021047765,912.978952235,801,840,657,635.021047765,657.021047765,0.415163408354,0.00456615308349,0.0799349074051,0.999999991303,9.1082688764e-05,-8.5352504441e-05,-4.25750037201e-05,1793255013888070400
+158,2.633333333,POSE1_TO_POSE2_PRESS,781,760,737.611444597,718,685,648.611444597,912.388555403,801,840,657,635.611444597,657.611444597,0.415952389995,0.00457830668341,0.0799521208557,0.999999990962,0.000105519959557,-7.16147522727e-05,-4.25728081429e-05,1793255013904737024
+159,2.650000000,POSE1_TO_POSE2_PRESS,781.198670759,760,737.801329241,717.801329241,685,648.801329241,912.198670759,801,840,657,636,657.801329241,0.416764341748,0.00458724033121,0.0799590498106,0.999999990087,0.000116594659785,-6.62621311089e-05,-4.29141286239e-05,1793255013921403392
+160,2.666666667,POSE1_TO_POSE2_PRESS,781.77979318,760,737.22020682,717.22020682,685,648.22020682,912.77979318,801,840,657,636,657.22020682,0.417620512127,0.00458997540108,0.0799461805696,0.999999988723,0.000121196233984,-7.7051329073e-05,-4.39167356103e-05,1793255013938070016
+161,2.683333333,POSE1_TO_POSE2_PRESS,782,760.354934132,737.354934132,717.354934132,685,648,913,801,840,657.354934132,636,657.354934132,0.41851184352,0.00459132179364,0.0799615334058,0.999999991744,0.00011256946259,-4.17807247762e-05,-4.57597938162e-05,1793255013954736640
+162,2.700000000,POSE1_TO_POSE2_PRESS,782,760.926425566,737.926425566,717.926425566,685,648,913,801,840,657.926425566,636,657.926425566,0.419424627804,0.00459182090717,0.079994105485,0.999999994014,9.58716301885e-05,2.15925211617e-05,-4.81156395056e-05,1793255013971403264
+163,2.716666667,POSE1_TO_POSE2_PRESS,782,760.489596916,737.489596916,718,685,648.510403084,913,801,840,657.489596916,636,658,0.420274421495,0.00458760551652,0.0799860597573,0.999999994023,9.76658424878e-05,6.86665064142e-06,-4.86622207031e-05,1793255013988070144
+164,2.733333333,POSE1_TO_POSE2_PRESS,781.904383918,760,737,718,685,648.904383918,912.904383918,801,840,657,636,657.904383918,0.421130026741,0.00458352185147,0.079974572973,0.99999999363,0.000100648088175,-1.46318005769e-05,-4.89419266694e-05,1793255014004736768
+165,2.750000000,POSE1_TO_POSE2_PRESS,781.322272364,760,737,718,685,648.322272364,912.322272364,801,840,657,636,657.322272364,0.422062558951,0.00458365290002,0.079976115625,0.999999994132,9.57722409293e-05,-1.18721798231e-05,-4.92240226965e-05,1793255014021403392
+166,2.766666667,POSE1_TO_POSE2_PRESS,781,760,737.259257904,718,685,648,912.259257904,801.259257904,840.259257904,657.259257904,636,657.259257904,0.423014556085,0.00458763954451,0.0799881471007,0.999999993514,0.000103229004815,4.33259194896e-06,-4.79286274933e-05,1793255014038070016
+167,2.783333333,POSE1_TO_POSE2_PRESS,781,760,737.840067295,718,685,648,912.840067295,801.840067295,840.840067295,657.840067295,636,657.840067295,0.423990695233,0.00459640819408,0.0800131876185,0.999999990374,0.000125981615774,3.72130690204e-05,-4.46767069621e-05,1793255014054736640
+168,2.800000000,POSE1_TO_POSE2_PRESS,781,760,737.584840005,718,685,648.415159995,913,801.584840005,840.584840005,658,636,657.584840005,0.424884766484,0.00460165797876,0.0799841397787,0.999999989694,0.000133873484547,-2.78457238622e-05,-4.37506675582e-05,1793255014071403264
+169,2.816666667,POSE1_TO_POSE2_PRESS,781,760,737.011919677,718,685,648.988080323,913,801.011919677,840.011919677,658,636,657.011919677,0.425747651968,0.00460557059819,0.079934538422,0.999999981315,0.000136118285404,-0.000130121331409,-4.37084601963e-05,1793255014088069888
+170,2.833333333,POSE1_TO_POSE2_PRESS,781.560020107,760,737,718,685,649,913,801,840.560020107,657.439979893,636,657.560020107,0.426719555769,0.00460367756127,0.0799220166907,0.999999983688,0.000126537609743,-0.000119724757899,-4.77350383292e-05,1793255014104736768
+171,2.850000000,POSE1_TO_POSE2_PRESS,781.862402199,760,737.137597801,718,685,649,913,801,841,657,636,658,0.427684914593,0.00460071175826,0.079913309439,0.999999985465,0.000117969594137,-0.000112069259706,-5.09249387651e-05,1793255014121403392
+172,2.866666667,POSE1_TO_POSE2_PRESS,781.265954212,760,737.734045788,718,685,649,913,801,841,657,636,658,0.42862072338,0.00459457993081,0.0799146951943,0.999999984858,0.000113616392124,-0.000121537685967,-5.10364656657e-05,1793255014138070016
+173,2.883333333,POSE1_TO_POSE2_PRESS,781.319074734,760,738,718,685,649,913,801,841,657.319074734,636,657.680925266,0.429608502246,0.00459191548671,0.0799378671459,0.999999988475,0.000107248535806,-9.46859533096e-05,-5.08192733813e-05,1793255014154736640
+174,2.900000000,POSE1_TO_POSE2_PRESS,781.894914546,760,738,718,685,649,913,801,841,657.894914546,636,657.105085454,0.430638102306,0.00459204130759,0.0799785708349,0.999999993062,9.92594515026e-05,-3.86067460554e-05,-5.0337554829e-05,1793255014171403520
+175,2.916666667,POSE1_TO_POSE2_PRESS,781.522657922,760,738,717.522657922,685.477342078,648.522657922,913,801,841,658,636,657.477342078,0.431615661398,0.00459503912373,0.0800133457795,0.999999993196,0.000104124183748,1.6391635122e-05,-4.99700748568e-05,1793255014188069888
+176,2.933333333,POSE1_TO_POSE2_PRESS,781.061034744,760,738,717.061034744,685.938965256,648.061034744,913,801.061034744,841,658,636,658,0.432572010804,0.00459909630837,0.0800358148777,0.999999991141,0.000111284933552,5.34204690506e-05,-4.98051668302e-05,1793255014204736512
+177,2.950000000,POSE1_TO_POSE2_PRESS,781.642973798,760,738,717.642973798,685.357026202,648.642973798,913,801.642973798,841,658,636,658,0.433446490223,0.00460672314768,0.079964554192,0.999999990393,0.000113552721976,-6.08536641343e-05,-5.11514791849e-05,1793255014221403392
+178,2.966666667,POSE1_TO_POSE2_PRESS,781.776274984,760,738,718,685,648.776274984,913,802,841,657.776274984,636,658,0.43435753517,0.00461075899226,0.0799165091508,0.999999983438,0.000113576677885,-0.000131934676268,-5.30837575815e-05,1793255014238070016
+179,2.983333333,POSE1_TO_POSE2_PRESS,781.197409247,760,738,718,685,648.197409247,913,802,841,657.197409247,636,658,0.435326624312,0.00460909449893,0.0799053165745,0.999999983342,0.000110038780005,-0.000134451018014,-5.5946198576e-05,1793255014254736640
+180,3.000000000,POSE1_TO_POSE2_PRESS,781.377769192,760,737.622230808,718,685,648.377769192,913,802,841,657,636,657.622230808,0.436299498464,0.00460515263177,0.0799295254243,0.999999987694,0.000105721797456,-0.000101832721813,-5.5361264936e-05,1793255014271403264
+181,3.016666667,POSE1_TO_POSE2_PRESS,781.951039366,760,737.048960634,718,685,648.951039366,913,802,841,657,636,657.048960634,0.437274331357,0.00460003219104,0.0799720550212,0.999999992193,0.000101001627387,-5.10317454777e-05,-5.29922651187e-05,1793255014288069888
+182,3.033333333,POSE1_TO_POSE2_PRESS,782,760.539228467,737.539228467,718,685,648.460771533,913,801.460771533,841,657,636,657.539228467,0.438224519563,0.00459849836275,0.0800072905487,0.999999993686,9.87404678744e-05,7.94955677425e-06,-5.30634048214e-05,1793255014304736768
+183,3.050000000,POSE1_TO_POSE2_PRESS,781.873128026,760.873128026,738,718,685,648,913,801.126871974,841,657,636,657.873128026,0.439153565705,0.00459933092651,0.0800283711878,0.999999992658,9.96789709997e-05,4.36739748141e-05,-5.32986765668e-05,1793255014321403392
+184,3.066666667,POSE1_TO_POSE2_PRESS,781.292419651,760.292419651,738,718,685,648,913,801.707580349,841,657,636,657.292419651,0.440015216296,0.00460743030428,0.080001254557,0.999999992371,0.000111241658044,-6.52681869472e-06,-5.33059751922e-05,1793255014338070016
+185,3.083333333,POSE1_TO_POSE2_PRESS,781,760,737.714864135,718,684.714864135,648,913,801.714864135,841,657,636,657,0.440809573489,0.00461841600173,0.0799268185745,0.999999983204,0.000122226120262,-0.000125085624054,-5.48365920871e-05,1793255014354736640
+186,3.100000000,POSE1_TO_POSE2_PRESS,781,760,737.14050669,718,684.14050669,648,913,801.14050669,841,657,636,657,0.441535672984,0.00463232937645,0.0798043852024,0.99999994055,0.000132624068619,-0.000312981938762,-5.79123535678e-05,1793255014371403264
+187,3.116666667,POSE1_TO_POSE2_PRESS,781,760,737,718,684,648,913,801,841.434430131,657,635.565569869,657,0.442361606005,0.00463557615614,0.0797664385245,0.999999923308,0.000140374830178,-0.000360881610013,-5.86819267558e-05,1793255014388070144
+188,3.133333333,POSE1_TO_POSE2_PRESS,781.009817325,760,737,718,683.990182675,648,913,801,841.990182675,657,635,657.009817325,0.443219739683,0.00463539411325,0.0797570742869,0.999999921983,0.000147044767025,-0.000361889157078,-5.87136261271e-05,1793255014404737024
+189,3.150000000,POSE1_TO_POSE2_PRESS,781.600754004,760,737,718,683.399245996,648,913,801,841.399245996,657,635,657.600754004,0.444070092507,0.00463673070902,0.0798199626481,0.999999951661,0.000140484442533,-0.000270976469694,-5.92784643644e-05,1793255014421403392
+190,3.166666667,POSE1_TO_POSE2_PRESS,782,760,737,718,683,648,913,801,841,657,635,658,0.444900123519,0.00463822657184,0.079866667147,0.999999967523,0.000137587175492,-0.000206377267725,-5.85932907713e-05,1793255014438070016
+191,3.183333333,POSE1_TO_POSE2_PRESS,782,760,737,718,683,648,913,801,841,657,635,658,0.445687829187,0.00464005415027,0.0798796645214,0.999999969021,0.000142319186761,-0.000196582784936,-5.53046407794e-05,1793255014454736640
+192,3.200000000,POSE1_TO_POSE2_PRESS,782,760,737,718,682.657624917,647.657624917,913.342375083,801,841,657,635,658,0.44643999816,0.00464146242747,0.0798704593015,0.999999966071,0.000148277976262,-0.000206884692726,-5.54175122972e-05,1793255014471403520
+193,3.216666667,POSE1_TO_POSE2_PRESS,782,760,737,718,682.086558653,647.086558653,913.913441347,801,841,657,635,658,0.447168430168,0.00464259063015,0.0798464237449,0.999999959718,0.000155056198187,-0.0002306100875,-5.78024476128e-05,1793255014488070144
+194,3.233333333,POSE1_TO_POSE2_PRESS,782,760,737,718,682,647,913.510528453,801,841.489471547,657.489471547,635.489471547,658,0.447836811107,0.00464270178835,0.0797922606149,0.999999941358,0.000137734896279,-0.000307574764632,-6.09245743157e-05,1793255014504737280
+195,3.250000000,POSE1_TO_POSE2_PRESS,782,760,737,718,682,647,913,801,842,657.931728055,636,658,0.448485592372,0.00464221867291,0.0797331778829,0.999999913018,0.000119335993879,-0.000394545256581,-6.36889969038e-05,1793255014521404160
+196,3.266666667,POSE1_TO_POSE2_PRESS,782,760,737,718,682,647,913,801,842,657.338444472,636,658,0.449066152691,0.00463856284759,0.0796776538847,0.99999987236,0.000125759262963,-0.000485318216646,-6.26898919173e-05,1793255014538070528
+197,3.283333333,POSE1_TO_POSE2_PRESS,782,760,737,717.752721889,681.505443777,647,913.247278111,801,842,657.247278111,635.752721889,658,0.449672794674,0.00463860396695,0.0796492511097,0.999999848327,0.000136047783972,-0.000530045568262,-6.23560318775e-05,1793255014554736896
+198,3.300000000,POSE1_TO_POSE2_PRESS,782,760,737,717.177040898,680.354081797,647,913.822959102,801,842,657.822959102,635.177040898,658,0.45031407491,0.00464355489148,0.0796568672481,0.999999854647,0.000151469634357,-0.000513621081232,-6.29056649309e-05,1793255014571403520
+199,3.316666667,POSE1_TO_POSE2_PRESS,782.396734837,760,737,717.396734837,680,646.603265163,913.603265163,801,842,657.603265163,635.396734837,658,0.450948869271,0.00464761612471,0.0796866372379,0.999999876529,0.000148729849373,-0.000470032084042,-6.23741948754e-05,1793255014588070144
+200,3.333333333,POSE1_TO_POSE2_PRESS,782.969664476,760,737,717.969664476,680,646.030335524,913.030335524,801,842,657.030335524,635.969664476,658,0.45158078323,0.00465128223558,0.079726246025,0.999999902751,0.000137924260587,-0.000414378992477,-6.13625935722e-05,1793255014604737280
+201,3.350000000,POSE1_TO_POSE2_PRESS,782.438388601,760,737,718,679.438388601,646,913,801,841.438388601,657.561611399,635.438388601,658,0.452098330034,0.00465430987397,0.079705525433,0.999999885265,0.000132250889839,-0.000455970895218,-6.37967805381e-05,1793255014621404160
+202,3.366666667,POSE1_TO_POSE2_PRESS,782.151217328,760,737,718,678.848782672,646,913,801,841.151217328,657.848782672,635,657.848782672,0.452595942392,0.00465755909425,0.0796744008833,0.999999859437,0.000133628183074,-0.000508919814071,-6.53404086321e-05,1793255014638070784
+203,3.383333333,POSE1_TO_POSE2_PRESS,782.73117163,760,737,718,678.26882837,646,913,801,841.73117163,657.26882837,635,657.26882837,0.453055164705,0.00466153775878,0.0796233416525,0.999999818658,0.000154182254226,-0.000578653949452,-6.38128885298e-05,1793255014654737408
+204,3.400000000,POSE1_TO_POSE2_PRESS,782.691814888,759.691814888,737,718,678,646,913,801,842,657,635.308185112,657.308185112,0.453492806321,0.00466527967777,0.0795808200475,0.999999777935,0.000169277761442,-0.00064147929197,-6.30866016309e-05,1793255014671403776
+205,3.416666667,POSE1_TO_POSE2_PRESS,782.117342456,759.117342456,737,718,678,646,913,801,842,657,635.882657544,657.882657544,0.453911801109,0.00466881703655,0.0795456753803,0.999999738038,0.000179656795831,-0.000698335088807,-6.30526203536e-05,1793255014688070400
+206,3.433333333,POSE1_TO_POSE2_PRESS,782,759.456860874,737,718,677.543139126,646,913,801,842,657.456860874,635.543139126,658,0.454330064484,0.00467090627466,0.0795337157413,0.999999724986,0.000181333403436,-0.000716193982209,-6.49040724775e-05,1793255014704737280
+207,3.450000000,POSE1_TO_POSE2_PRESS,782,760,737,718,676.968022965,646,913,801,842,657.968022965,635.031977035,658,0.454746143655,0.00467268421129,0.0795281017066,0.999999719599,0.00018146131875,-0.000723448696454,-6.70519870518e-05,1793255014721403904
+208,3.466666667,POSE1_TO_POSE2_PRESS,782,760,737,718,676.375700347,646,913,801,842,657.375700347,635.624299653,658,0.455127238261,0.00467552094903,0.0795293945084,0.999999719675,0.000193595674082,-0.000720296034587,-6.59139758215e-05,1793255014738070272
+209,3.483333333,POSE1_TO_POSE2_PRESS,782,760,737,718,676,645.788735212,913,801,841.788735212,657,635.788735212,658,0.455487297943,0.00467830447138,0.0795293317584,0.999999716791,0.000201777004683,-0.000722119466208,-6.5178074964e-05,1793255014754737152
+210,3.500000000,POSE1_TO_POSE2_PRESS,782,760,737,718,676,645.211061921,913,801,841.211061921,657,635.211061921,658,0.455810875521,0.00468099569896,0.079526917998,0.999999708921,0.000203102379105,-0.000732573219365,-6.51395770553e-05,1793255014771403776
+211,3.516666667,POSE1_TO_POSE2_PRESS,782,760,737,718,676,645.365343798,913.365343798,801,841.365343798,657,635.365343798,658,0.456095258179,0.00468312234781,0.0795126424612,0.999999692211,0.000175517184977,-0.000761878017333,-6.56762864057e-05,1793255014788070400
+212,3.533333333,POSE1_TO_POSE2_PRESS,782,760,737,718,676,645.941019817,913.941019817,801,841.941019817,657,635.941019817,658,0.456357075944,0.00468492396308,0.0794915379762,0.999999667537,0.000131287875669,-0.000802035556533,-6.6544148361e-05,1793255014804737280
+213,3.550000000,POSE1_TO_POSE2_PRESS,782.528167788,760,737,718,675.471832212,645.471832212,913.471832212,801,842,657,635.471832212,658,0.456599552551,0.00468851769865,0.0794724148212,0.999999644846,0.000127849618296,-0.000830129561671,-6.96163871502e-05,1793255014821403648
+214,3.566666667,POSE1_TO_POSE2_PRESS,782.884626358,760,736.884626358,718,675,645,913,800.884626358,841.884626358,657,635,658,0.45683823993,0.00469198307003,0.0794586468941,0.999999628202,0.000131355844229,-0.000849190671681,-7.22316946078e-05,1793255014838070272
+215,3.583333333,POSE1_TO_POSE2_PRESS,782.302484041,760,736.302484041,718,675,645,913,800.302484041,841.302484041,657,635,658,0.457070529255,0.00469410149319,0.0794656296739,0.999999636507,0.000144119616541,-0.000837278385538,-7.19803799181e-05,1793255014854737152
+216,3.600000000,POSE1_TO_POSE2_PRESS,782.275510948,759.724489052,736.275510948,718,674.724489052,645,913,800,841.275510948,657,635.275510948,658,0.457281978558,0.0047041291688,0.0794710302785,0.99999963874,0.000174680803195,-0.000828969539414,-6.94002665434e-05,1793255014871404032
+217,3.616666667,POSE1_TO_POSE2_PRESS,782.84902007,759.15097993,736.84902007,718,674.15097993,645,913,800,841.84902007,657,635.84902007,658,0.45747088686,0.00472271165051,0.0794747195702,0.999999632786,0.00022449202948,-0.000824558245734,-6.43012776573e-05,1793255014888070656
+218,3.633333333,POSE1_TO_POSE2_PRESS,782.576534967,759,737,718,674,645,913,800.423465033,841.576534967,657,635.576534967,658,0.457633793406,0.00472699410992,0.0794766538303,0.999999630228,0.000236447386424,-0.00082419619066,-6.58627237884e-05,1793255014904737280
+219,3.650000000,POSE1_TO_POSE2_PRESS,782.001755618,759,737,718,674,645,913,800.998244382,841.001755618,657,635.001755618,658,0.457787408892,0.00472616682449,0.0794779609751,0.999999629436,0.000234875923126,-0.000825281027198,-6.98041048678e-05,1793255014921404160
+220,3.666666667,POSE1_TO_POSE2_PRESS,782,759,736.407839033,717.407839033,673.407839033,645,913,801,841.592160967,657,635,658,0.457912359409,0.0046992612876,0.0794724727853,0.999999628221,0.000203867130014,-0.000835002301529,-6.90450367391e-05,1793255014938070784
+221,3.683333333,POSE1_TO_POSE2_PRESS,782,759.180513976,736,717,673,645,913,800.819486024,841.819486024,657.180513976,635,658,0.458028642015,0.00468276223879,0.0794672948196,0.999999624949,0.000183756234206,-0.000843517208747,-6.9378746997e-05,1793255014954737152
+222,3.700000000,POSE1_TO_POSE2_PRESS,782,759.756548213,736,717,673,645,913,800.243451787,841.243451787,657.756548213,635,658,0.458126124959,0.00468923968668,0.0794628421968,0.999999619097,0.000187721101534,-0.000849330895246,-7.21383745307e-05,1793255014971403520
+223,3.716666667,POSE1_TO_POSE2_PRESS,782,759.668178458,736.331821542,717.331821542,672.668178458,645,913,800,841.331821542,657.668178458,635,658,0.458210691236,0.00469537693115,0.0794586858846,0.999999612744,0.000192570554212,-0.000855562318069,-7.37661778972e-05,1793255014988070400
+224,3.733333333,POSE1_TO_POSE2_PRESS,782,759.093462057,736.906537943,717.906537943,672.093462057,645,913,800,841.906537943,657.093462057,635,658,0.458285802463,0.00470126514588,0.0794547464726,0.999999605997,0.000198067527742,-0.000862099526338,-7.45654811751e-05,1793255015004737024
+225,3.750000000,POSE1_TO_POSE2_PRESS,782.495058754,759,736.504941246,718,672,645,913,800,841.504941246,657,635,658,0.458348977185,0.00469689407088,0.0794520666067,0.999999605173,0.000194022269535,-0.000863992513448,-7.4344274312e-05,1793255015021403648
+226,3.766666667,POSE1_TO_POSE2_PRESS,782.916342591,759.083657409,736.083657409,718,672.083657409,645,913,800,841.083657409,657,635,658,0.45840662446,0.00469219979065,0.0794491438408,0.999999604225,0.00018929998946,-0.000866154270383,-7.41061794648e-05,1793255015038070528
+227,3.783333333,POSE1_TO_POSE2_PRESS,782.342981092,759.657018908,736.657018908,718,672.657018908,645,913,800,841.657018908,657,635,658,0.458445485435,0.00469727648614,0.0794433673426,0.999999595903,0.000191462391699,-0.000875168944343,-7.49293592967e-05,1793255015054737408
+228,3.800000000,POSE1_TO_POSE2_PRESS,782,760,736.767941805,718,672.767941805,645,913.232058195,800,841.767941805,657,635,658,0.45847990122,0.00469906205702,0.0794399303345,0.999999590414,0.000190894988676,-0.000881538946483,-7.49659292388e-05,1793255015071404288
+229,3.816666667,POSE1_TO_POSE2_PRESS,782,760,736.190404729,718,672.190404729,645,913.809595271,800,841.190404729,657,635,658,0.458507699183,0.00469594793403,0.0794399762651,0.999999589224,0.000186263561572,-0.000883971667424,-7.38314260613e-05,1793255015088070656
+230,3.833333333,POSE1_TO_POSE2_PRESS,782.385206746,760,736,718,672.385206746,644.614793254,913.614793254,800,841.385206746,657.385206746,635,658,0.458529908904,0.00469613709776,0.0794394378384,0.999999588766,0.000185265146234,-0.000884708544141,-7.37208934299e-05,1793255015104737024
+231,3.850000000,POSE1_TO_POSE2_PRESS,782.959871129,760,736,718,672.959871129,644.040128871,913.040128871,800,841.959871129,657.959871129,635,658,0.458549370138,0.00469795092913,0.0794386120052,0.999999588677,0.000186053568445,-0.00088461134755,-7.41139839966e-05,1793255015121403648
+232,3.866666667,POSE1_TO_POSE2_PRESS,782.472295663,760,736,718,672.472295663,644.527704337,913,800,842,657.472295663,635,658,0.458562328577,0.00470148187113,0.0794389132198,0.999999588264,0.00019115976082,-0.000883972656337,-7.43175204296e-05,1793255015138070016
+233,3.883333333,POSE1_TO_POSE2_PRESS,782.100979141,759.899020859,736.100979141,718,672,645,913,800.100979141,842,657,635.100979141,658,0.458573790607,0.0047037482062,0.0794393123322,0.999999588138,0.000194556102841,-0.000883374079144,-7.43089879112e-05,1793255015154736896
+234,3.900000000,POSE1_TO_POSE2_PRESS,782.703848694,759.296151306,736.703848694,718,672,645,913,800.703848694,842,657,635.703848694,658,0.458580241494,0.00469908844035,0.0794397774869,0.999999589669,0.000187842999058,-0.000883176925209,-7.33171499934e-05,1793255015171403520
+235,3.916666667,POSE1_TO_POSE2_PRESS,783,759.290672868,736.709327132,718,672,645,913,800.709327132,842,657,635.709327132,658,0.458583389614,0.00469833920553,0.0794386746723,0.999999588438,0.000185284841438,-0.000885127527912,-7.30903077324e-05,1793255015188070400
+236,3.933333333,POSE1_TO_POSE2_PRESS,783,759.86200452,736.13799548,718,672,645,913,800.13799548,842,657,635.13799548,658,0.458583348752,0.00470136577798,0.0794360579073,0.99999958456,0.00018673848553,-0.000889151894051,-7.36021058505e-05,1793255015204737280
+237,3.950000000,POSE1_TO_POSE2_PRESS,783,760,736,718,671.549853283,644.549853283,913,800,841.549853283,657,635,658,0.458584436218,0.00470255052464,0.0794347703524,0.99999958248,0.000190351119921,-0.000890764593176,-7.3112152827e-05,1793255015221403648
+238,3.966666667,POSE1_TO_POSE2_PRESS,783,760,736,718,671.042753337,644,913,800,841.042753337,657,635,658,0.458585766695,0.00470289992238,0.079433829053,0.999999581037,0.00019384028527,-0.000891691743202,-7.2373916895e-05,1793255015238070272
+239,3.983333333,POSE1_TO_POSE2_PRESS,783,760,736,718,671.624161347,644,913,800,841.624161347,657,635,658,0.458585631845,0.00470011438969,0.0794319172416,0.999999580553,0.000187111596062,-0.000893657615109,-7.2526737868e-05,1793255015254736896
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,760,736.202488166,718,672,644.202488166,913.202488166,800.202488166,842,657,635.202488166,658,0.458586515027,0.00469891787991,0.0794312901668,0.999999580692,0.000183301446574,-0.000894301617042,-7.2397933878e-05,1793255015271403520
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,760,736.775181666,718,672,644.775181666,913.775181666,800.775181666,842,657,635.775181666,658,0.458589259457,0.00470062655122,0.0794330119523,0.999999582041,0.000184827209229,-0.00089252886871,-7.17542402179e-05,1793255015288070400
+242,4.033333333,POSE1_TO_POSE2_PRESS,783,760,736.650526471,717.650526471,672,645,913.650526471,800.650526471,842,657.349473529,635.650526471,658,0.458589710309,0.00470111093593,0.0794334232845,0.99999958245,0.000185245338219,-0.00089199683,-7.15884555382e-05,1793255015304737024
+243,4.050000000,POSE1_TO_POSE2_PRESS,783,760,736.07520167,717.07520167,672,645,913.07520167,800.07520167,842,657.92479833,635.07520167,658,0.45858867891,0.00470080411132,0.0794329877211,0.999999582255,0.000184947646206,-0.000892266614168,-7.17315250362e-05,1793255015321403648
+244,4.066666667,POSE1_TO_POSE2_PRESS,782.486612434,760,736.513387566,717.513387566,672,645,913.513387566,800,842,657.486612434,635.513387566,658,0.458589689183,0.00470133178818,0.0794329306994,0.999999582258,0.000184854118272,-0.000892245330096,-7.21914215853e-05,1793255015338070272
+245,4.083333333,POSE1_TO_POSE2_PRESS,782.102242388,760,736.897757612,718,672,645,914,800,842,657,635.897757612,658,0.458590609958,0.00470142111285,0.0794328093336,0.999999582126,0.000184565776622,-0.000892430840832,-7.24666492215e-05,1793255015354737152
+246,4.100000000,POSE1_TO_POSE2_PRESS,782.683005149,760,736.316994851,718,672,645,914,800,842,657,635.316994851,658,0.458589675025,0.00469887155503,0.0794321204221,0.999999581218,0.000183221976259,-0.000893789043892,-7.16546113716e-05,1793255015371403776
+247,4.116666667,POSE1_TO_POSE2_PRESS,783,759.739562897,736,718,671.739562897,644.739562897,914,800,842,657.260437103,635,658,0.458589885793,0.00469793614921,0.0794321253925,0.999999581233,0.000183036694818,-0.00089384755229,-7.11908689135e-05,1793255015388070400
+248,4.133333333,POSE1_TO_POSE2_PRESS,783,759.166133813,736,718,671.166133813,644.166133813,914,800,842,657.833866187,635,658,0.458591473459,0.00469894062269,0.0794329642668,0.999999582357,0.000184243715324,-0.00089234409446,-7.11457059717e-05,1793255015404736768
+249,4.150000000,POSE1_TO_POSE2_PRESS,782.591494431,759.408505569,736,718,671.408505569,644.408505569,913.591494431,800,841.591494431,657.591494431,635,658,0.458591937927,0.00469972222811,0.0794331221204,0.999999582593,0.000185074692974,-0.00089190901476,-7.1130911158e-05,1793255015421403648
+250,4.166666667,POSE1_TO_POSE2_PRESS,782.016361408,759.983638592,736,718,671.983638592,644.983638592,913.016361408,800,841.016361408,657.016361408,635,658,0.458591944248,0.00470041292665,0.0794330021888,0.999999582467,0.00018575228448,-0.000891909721445,-7.112850336e-05,1793255015438070528
+251,4.183333333,POSE1_TO_POSE2_PRESS,782.576809063,759.423190937,736,718,672,645,913,800,841.576809063,657,635.576809063,658,0.458591176274,0.00470119201226,0.0794317758034,0.999999581234,0.000184719171199,-0.000893512274982,-7.10320598564e-05,1793255015454736896
+252,4.200000000,HOLD_POSE2,782,759,737,718,671,644,914,800,842,657,635,658,0.458592916844,0.00469898074838,0.0794337785022,0.999999582556,0.000183299411427,-0.000892357449894,-7.06203628157e-05,1793255015495661824
+253,4.216666667,HOLD_POSE2,782.576143956,759.576143956,736.423856044,718,671.576143956,644.576143956,913.423856044,800,841.423856044,657,635,658,0.458592532161,0.00470094655897,0.0794323870049,0.999999581017,0.000185350190378,-0.000893643029637,-7.08010866893e-05,1793255015512328704
+254,4.233333333,HOLD_POSE2,783,759.843138253,736,718,671.843138253,644.843138253,913,800.156861747,841.156861747,657,635,658,0.458592636408,0.00470193510102,0.0794317589741,0.999999580411,0.000186469818085,-0.00089408027905,-7.08968164484e-05,1793255015528995584
+255,4.250000000,HOLD_POSE2,783,759.249690176,736,718,671.249690176,644.249690176,913,800.750309824,841.750309824,657,635,658,0.458594101469,0.00470020365542,0.0794332558651,0.999999582413,0.000184997814386,-0.000892156408666,-7.07559859075e-05,1793255015545661952
+256,4.266666667,HOLD_POSE2,782.664766702,759.335233298,736,718,671,644.335233298,913,800.664766702,841.664766702,657.335233298,635,658,0.458594355882,0.00469979663774,0.0794335908518,0.999999582765,0.000185066561686,-0.000891754953973,-7.06572808547e-05,1793255015562328576
+257,4.283333333,HOLD_POSE2,782.08603515,759.91396485,736,718,671,644.91396485,913,800.08603515,841.08603515,657.91396485,635,658,0.458593730937,0.00470035162449,0.0794330818838,0.999999581921,0.000186254440681,-0.000892459313069,-7.05891738531e-05,1793255015578995456
+258,4.300000000,HOLD_POSE2,782,759.512589129,736,717.512589129,671.487410871,645,913,800,841.487410871,657.512589129,635,658,0.458592874769,0.00470127808869,0.0794323658935,0.999999580764,0.00018778373026,-0.000893435235502,-7.05897390103e-05,1793255015595661824
+259,4.316666667,HOLD_POSE2,782.06021154,759,736,717.06021154,671.93978846,645,913,800.06021154,842,657,635,658,0.45859225566,0.00470215475664,0.0794318469592,0.999999579839,0.000188963064342,-0.000894218551243,-7.06187558857e-05,1793255015612328448
+260,4.333333333,HOLD_POSE2,782.635386522,759,736,717.635386522,671.364613478,645,913,800.635386522,842,657,635,658,0.458594009334,0.00470205075244,0.0794333225401,0.999999581398,0.00018663949682,-0.000892949016109,-7.07885490617e-05,1793255015628995328
+261,4.350000000,HOLD_POSE2,783,759,736,718,671,644.782364236,913,800.782364236,842,657,635,658,0.458595336822,0.00470169889568,0.0794338921665,0.999999582551,0.000184897135817,-0.000892014517181,-7.08525079186e-05,1793255015645661952
+262,4.366666667,HOLD_POSE2,783,759,736,718,671,644.187865091,913,800.187865091,842,657,635,658,0.45859592632,0.00470091785141,0.0794328930198,0.999999583012,0.000184161206394,-0.000891660175235,-7.07332014794e-05,1793255015662328576
+263,4.383333333,HOLD_POSE2,783,759.394755655,736,717.605244345,671,644,913.394755655,800,841.605244345,657.394755655,635,658,0.458595167695,0.00469980860056,0.0794326335227,0.999999582474,0.000183524504081,-0.000892421653181,-7.03845377107e-05,1793255015678995200
+264,4.400000000,HOLD_POSE2,783,759.971888627,736,717.028111373,671,644,913.971888627,800,841.028111373,657.971888627,635,658,0.458593786237,0.00469854771804,0.0794327157441,0.999999581474,0.000182933644681,-0.00089369864046,-6.99299107267e-05,1793255015695662080
+265,4.416666667,HOLD_POSE2,783,760,736,717.546211723,671.546211723,644.546211723,914,800,841.546211723,657.453788277,635,658,0.458593665115,0.00469964626902,0.0794324684219,0.999999581926,0.000182890672998,-0.000893169914592,-7.03295958894e-05,1793255015712328448
+266,4.433333333,HOLD_POSE2,783,759.876253767,736.123746233,718,671.876253767,644.876253767,914,800,842,657.123746233,635,658,0.458593856238,0.00470041926947,0.0794323940026,0.99999958247,0.000182816625714,-0.000892554392922,-7.06053676256e-05,1793255015728995072
+267,4.450000000,HOLD_POSE2,783,759.286072042,736.713927958,718,671.286072042,644.286072042,914,800,842,657.713927958,635,658,0.458594981055,0.0046995098104,0.0794330349053,0.999999583079,0.000182519704374,-0.00089196021105,-7.02491934776e-05,1793255015745661696
+268,4.466666667,HOLD_POSE2,783,759.298415929,736.701584071,718,671,644.298415929,914,800,842,657.701584071,635,658,0.458595528013,0.00469926838791,0.0794327986581,0.999999582903,0.000183125112644,-0.00089205491582,-6.99800869678e-05,1793255015762328832
+269,4.483333333,HOLD_POSE2,783,759.877547826,736.122452174,718,671,644.877547826,914,800,842,657.122452174,635,658,0.458595531385,0.00469965537873,0.0794317372872,0.999999581986,0.000184579330609,-0.000892797647293,-6.97928838696e-05,1793255015778995712
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783,760,736,718,672,645,914,800,842,657,635,658,0.458594836906,0.00470024486849,0.0794322940661,0.99999958155,0.000187953352396,-0.000892636399327,-6.90866064161e-05,1793255015811505664
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783,760,736,718,672,645,913.414319344,800,841.414319344,657,635,658,0.45859511292,0.00470207057028,0.0794324623859,0.99999958192,0.000186937489745,-0.000892362784126,-7.0018412731e-05,1793255015828172288
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783,760,736,718,671.830011691,644.830011691,913.169988309,800,841.169988309,657,635,658,0.458595733568,0.00470238611831,0.0794330117306,0.999999582795,0.000185434664366,-0.000891655681385,-7.05277150701e-05,1793255015844839168
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783,760,736,718,671.249023583,644.249023583,913.750976417,800,841.750976417,657,635,658,0.45859718748,0.00469905039862,0.0794344823219,0.999999584888,0.000182754454381,-0.000889900487145,-7.00154823557e-05,1793255015861505792
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783.329748284,760,736,718,671,644.329748284,913.670251716,800,841.670251716,657,635,658,0.458596805436,0.00469718716492,0.0794339863212,0.999999584679,0.000180956371907,-0.000890545876863,-6.94564207661e-05,1793255015878172416
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783.9068576,760,736,718,671,644.9068576,913.0931424,800,841.0931424,657,635,658,0.458595046146,0.00469642851839,0.0794320150792,0.999999582744,0.000179820018502,-0.000892992067337,-6.88622304757e-05,1793255015894839040
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783.516533365,760,736,717.516533365,671,644.516533365,913.483466635,800,841.483466635,657,635,658,0.458594923634,0.00469836691316,0.0794313761426,0.999999582065,0.000181655691375,-0.000893337870539,-6.94155342867e-05,1793255015911505664
+277,4.616666667,POSE2_TO_POSE3_RETREAT,783,760,736.061139711,717,671,644.061139711,914,800,842,657,635,658,0.458595204984,0.00470057157713,0.0794311137081,0.999999581756,0.000184021241775,-0.000893148056842,-7.00816619945e-05,1793255015928172288
+278,4.633333333,POSE2_TO_POSE3_RETREAT,783,760,736.648805333,717,671,644.648805333,914,800,842,657,635,658,0.458596251532,0.00470059922696,0.0794318854862,0.999999582583,0.000186024171887,-0.000891826779875,-6.98175518623e-05,1793255015944838912
+279,4.650000000,POSE2_TO_POSE3_RETREAT,782.767012542,759.767012542,736.767012542,717.232987458,671,644.767012542,913.767012542,800,842,657,635,658,0.458593181861,0.0047004497335,0.0794306653373,0.999999580894,0.000186812438903,-0.000893569080926,-6.96291810352e-05,1793255015961505280
+280,4.666666667,POSE2_TO_POSE3_RETREAT,782.188003983,759.188003983,736.188003983,717.811996017,671,644.188003983,913.188003983,800,842,657,635,658,0.458583998991,0.00470003715586,0.0794264868797,0.999999575446,0.000185796749999,-0.000899861252051,-6.95532943872e-05,1793255015978172160
+281,4.683333333,POSE2_TO_POSE3_RETREAT,782.389933313,759,736.389933313,718,671,644,913,800,842,657,635,658,0.458556416676,0.00469956471456,0.0794136779191,0.999999557283,0.00018406909483,-0.000920168006258,-6.95974977926e-05,1793255015994838784
+282,4.700000000,POSE2_TO_POSE3_RETREAT,782.967355572,759,736.967355572,718,671,644,913,800,842,657,635,658,0.458519987483,0.00469906348941,0.0793967192128,0.999999532403,0.000181999109631,-0.000947213295812,-6.96994432217e-05,1793255016011505408
+283,4.716666667,POSE2_TO_POSE3_RETREAT,782.457407453,759.542592547,736.457407453,718,671,644.542592547,913,800,842,657,635,658,0.458464647635,0.0047002962135,0.0793779054071,0.999999501933,0.000185573225774,-0.000978228679411,-6.90337774491e-05,1793255016028172032
+284,4.733333333,POSE2_TO_POSE3_RETREAT,782,760,736.120502809,718,671.120502809,645,913,800.120502809,842,657.120502809,635,658,0.458405311609,0.00470133052172,0.0793599314181,0.999999474181,0.000188547351264,-0.00100569319151,-6.83237589729e-05,1793255016044838656
+285,4.750000000,POSE2_TO_POSE3_RETREAT,782,760,736.709311234,718,671.709311234,645,913,800.709311234,842,657.709311234,635,658,0.458334849181,0.00470118994165,0.0793456531774,0.999999461462,0.000187875390031,-0.00101843356173,-6.76201312662e-05,1793255016061505536
+286,4.766666667,POSE2_TO_POSE3_RETREAT,782.294178642,760,737,717.705821358,671.705821358,645,913,800.705821358,842,657.705821358,635.294178642,658,0.458255561117,0.00470102650977,0.0793363402582,0.999999448955,0.000189531349685,-0.00103044372435,-6.59849132179e-05,1793255016078172160
+287,4.783333333,POSE2_TO_POSE3_RETREAT,782.875203234,760,737,717.124796766,671.124796766,645,913,800.124796766,842,657.124796766,635.875203234,658,0.45816766741,0.0047008407957,0.0793318688959,0.999999436662,0.00019345720454,-0.00104174187975,-6.34413256804e-05,1793255016094839040
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783,760,736.549631942,717.450368058,671.450368058,645,913.450368058,800,841.549631942,657,635.549631942,658,0.458069078676,0.00470029368293,0.0793343233934,0.999999439792,0.00019593234855,-0.00103843657305,-6.0622855443e-05,1793255016111505664
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783,759.976013623,736.023986377,718,671.976013623,645,914,800,841,657.023986377,635,658.023986377,0.457966792152,0.00469966531781,0.0793388842192,0.999999447267,0.000198065709236,-0.00103097202976,-5.77244191926e-05,1793255016128172288
+290,4.833333333,POSE2_TO_POSE3_RETREAT,783,759.401100219,736.598899781,718,671.401100219,645,914,800,841,657.598899781,635,658.598899781,0.457846767883,0.00469944130533,0.0793483103222,0.999999458288,0.000201463357368,-0.00101972692216,-5.47163203564e-05,1793255016144839168
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783,759.179353434,736.820646566,718,671.179353434,644.820646566,914,800,841.179353434,657.820646566,635.179353434,658.820646566,0.457714013225,0.00469880709031,0.0793551522839,0.999999465937,0.000204816985141,-0.00101169771062,-5.14172578924e-05,1793255016161505792
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783,759.772591967,736.227408033,718,671.772591967,644.227408033,914,800,841.772591967,657.227408033,635.772591967,658.227408033,0.457551881289,0.00469722627107,0.0793560309483,0.999999466077,0.000208069028887,-0.00101108966611,-4.74467534066e-05,1793255016178172416
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,760,736,718,672,644,914,800,842,657,635.645427374,658,0.457375687625,0.00469584339668,0.0793574147088,0.999999468542,0.000211273035904,-0.00100820112802,-4.25366862639e-05,1793255016194839040
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,760,736,718,672,644,914,800,842,657,635.070444794,658,0.457190752873,0.00469458356888,0.0793591124478,0.999999472417,0.000214447182571,-0.0010038949861,-3.70425664217e-05,1793255016211505664
+295,4.916666667,POSE2_TO_POSE3_RETREAT,783,760,736,718,672,644,914,800,841.495278863,657,635,658,0.456968665197,0.00469284830582,0.0793588625147,0.99999946799,0.000219040864011,-0.00100751041891,-3.10434242253e-05,1793255016228172288
+296,4.933333333,POSE2_TO_POSE3_RETREAT,782.917632661,760,736,718,672,644.082367339,914,800,841,657.082367339,635,658,0.456737353102,0.0046913113359,0.0793588453437,0.999999463586,0.000224400652745,-0.00101086563261,-2.49514823717e-05,1793255016244838912
+297,4.950000000,POSE2_TO_POSE3_RETREAT,782.324772769,760,736,718,672,644.675227231,914,800,841,657.675227231,635,658,0.456481020337,0.00469141475321,0.0793619561842,0.999999466845,0.00023328020043,-0.00100575317483,-1.87214072742e-05,1793255016261505536
+298,4.966666667,POSE2_TO_POSE3_RETREAT,782,760,736,718,672.261106053,645,914,800.261106053,841,657.738893947,635,658,0.456204557228,0.00469064215168,0.0793650727989,0.999999472136,0.000241835100574,-0.00099855165466,-1.17621771859e-05,1793255016278172160
+299,4.983333333,POSE2_TO_POSE3_RETREAT,782,760,736,718,672.838527657,645,914,800.838527657,841,657.161472343,635,658,0.455903707335,0.00468880830175,0.0793681964087,0.999999479861,0.000249996707621,-0.000988819351151,-3.91961649954e-06,1793255016294838784
+300,5.000000000,POSE2_TO_POSE3_RETREAT,782.413843712,760,736,718,673,645,914,801,841.413843712,657.413843712,635,658,0.455589473822,0.00468571925633,0.0793773963199,0.999999495354,0.000256281906068,-0.000971391118255,3.30447385864e-06,1793255016311505408
+301,5.016666667,POSE2_TO_POSE3_RETREAT,782.988342377,760,736,718,673,645,914,801,841.988342377,657.988342377,635,658,0.455270044768,0.00468214294157,0.0793889550634,0.99999951349,0.000261838678683,-0.000950975310139,1.02884726218e-05,1793255016328172288
+302,5.033333333,POSE2_TO_POSE3_RETREAT,782.422065846,760,736,718,673.577934154,645,914,800.422065846,841.422065846,658,635,658,0.454933429497,0.00468027270342,0.0794125344832,0.999999552398,0.000268593026618,-0.000907071563948,1.67885335303e-05,1793255016344838912
+303,5.050000000,POSE2_TO_POSE3_RETREAT,782,760,736,718,674,645,914,800,841.164937485,657.835062515,635,658,0.454573835989,0.00467811165491,0.0794321578765,0.999999584875,0.000266243915129,-0.000871174950581,2.04401618971e-05,1793255016361505536
+304,5.066666667,POSE2_TO_POSE3_RETREAT,782,760,736,718,674,645,914,800,841.744645403,657.255354597,635,658,0.45415735401,0.00467513044111,0.079441206898,0.999999603916,0.000240939840374,-0.000856637357633,1.69540049591e-05,1793255016378172160
+305,5.083333333,POSE2_TO_POSE3_RETREAT,782,759.679163448,736,718,674.320836552,645,914,800,841.679163448,657.320836552,635,658,0.453706849298,0.0046707182696,0.0794458764701,0.999999616449,0.000212004836388,-0.000849702541615,1.26830285087e-05,1793255016394838784
+306,5.100000000,POSE2_TO_POSE3_RETREAT,782,759.105740894,736,718,674.894259106,645,914,800,841.105740894,657.894259106,635,658,0.453229559359,0.00466517954321,0.07944709822,0.999999623541,0.000180211296561,-0.000848753185858,7.79418435728e-06,1793255016411505664
+307,5.116666667,POSE2_TO_POSE3_RETREAT,782.46785246,759,736,718,675,645,914,800,841,657.53214754,635,658,0.452729063954,0.00466157389377,0.0794519466054,0.999999631474,0.000176947110344,-0.000839990589942,1.25788899168e-05,1793255016428172544
+308,5.133333333,POSE2_TO_POSE3_RETREAT,782.956983146,759.043016854,736,718,675.043016854,645,913.956983146,800,841,657.043016854,635,658,0.452221976396,0.00465847681865,0.0794586665037,0.999999640691,0.000180543829919,-0.000828042516416,1.91840132446e-05,1793255016444839168
+309,5.150000000,POSE2_TO_POSE3_RETREAT,782.362160905,759.637839095,736,718,675.637839095,645,913.362160905,800,841,657.637839095,635,658,0.451697628907,0.00465629709264,0.0794788752727,0.999999663524,0.000189406774221,-0.000797892808342,2.10848314726e-05,1793255016461506048
+310,5.166666667,POSE2_TO_POSE3_RETREAT,782.225574729,760,736,718,676,645.225574729,913,800,841,657.774425271,635,658,0.451162468311,0.00465230553938,0.0795042152701,0.999999690512,0.000214388377146,-0.000756631852599,2.28487248929e-05,1793255016478172672
+311,5.183333333,POSE2_TO_POSE3_RETREAT,782.802279307,760,736,718,676,645.802279307,913,800,841,657.197720693,635,658,0.450610476053,0.00464549369413,0.0795375425417,0.999999721078,0.000264460299102,-0.000698075117206,2.43994808404e-05,1793255016494839552
+312,5.200000000,POSE2_TO_POSE3_RETREAT,782.623071681,759.623071681,736,718,676.753856637,646,913,800,841.376928319,657,635.376928319,658,0.450024317737,0.00463957778721,0.0795751256407,0.999999762055,0.000266686570078,-0.000635603477741,2.78734958983e-05,1793255016511506176
+313,5.216666667,POSE2_TO_POSE3_RETREAT,782.049495103,759.049495103,736,718,677.901009793,646,913,800,841.950504897,657,635.950504897,658,0.449420334574,0.00463412930281,0.0796149290575,0.999999806649,0.000243951159252,-0.000571089384171,3.23508993961e-05,1793255016528172800
+314,5.233333333,POSE2_TO_POSE3_RETREAT,782,759,736,718,678,646,913,800,841.45971007,657,635.45971007,658,0.448742690763,0.00463159464276,0.0796086799015,0.999999803415,0.000212121791696,-0.000589371084461,2.85502277672e-05,1793255016544839680
+315,5.250000000,POSE2_TO_POSE3_RETREAT,782,759.128732265,736,718,678.128732265,646,913,800,841,657,635,658,0.448047010897,0.00462847834057,0.0795934101829,0.999999790868,0.000185191565304,-0.000619097218452,2.62232232601e-05,1793255016561506304
+316,5.266666667,POSE2_TO_POSE3_RETREAT,782,759.707137258,736,718,678.707137258,646,913,800,841,657,635,658,0.44731262982,0.0046223690645,0.0795618232783,0.999999764805,0.000178374491986,-0.000661486007412,3.17747399078e-05,1793255016578172672
+317,5.283333333,POSE2_TO_POSE3_RETREAT,782,759.714666702,736,718,679.285333298,646.285333298,913.285333298,800.285333298,841,657,635,658,0.446589131077,0.00461498460363,0.0795621967687,0.999999766456,0.000181323379097,-0.00065802566313,3.48198624661e-05,1793255016594839040
+318,5.300000000,POSE2_TO_POSE3_RETREAT,782,759.136684902,736,718,679.863315098,646.863315098,913.863315098,800.863315098,841,657,635,658,0.445876793574,0.00460629226479,0.0795953500319,0.99999979595,0.000194288599523,-0.000607540737886,3.52943341637e-05,1793255016611505920
+319,5.316666667,POSE2_TO_POSE3_RETREAT,782.437764854,759.437764854,736.437764854,718,680.437764854,647,914,801,841,657,635.437764854,658,0.445135170546,0.00459804243642,0.0796525432203,0.999999843043,0.000183750188294,-0.000527969838567,3.73732779274e-05,1793255016628172544
+320,5.333333333,POSE2_TO_POSE3_RETREAT,782.98887515,760,737,718,681,647.01112485,913.98887515,801,841,657,636,658,0.4443837415,0.00458990834,0.0797163233907,0.999999888383,0.000165799333784,-0.00044062260965,3.99550655252e-05,1793255016644839168
+321,5.350000000,POSE2_TO_POSE3_RETREAT,782.415299164,760,737,718,681,647.584700836,913.415299164,801,841,657,636,658,0.443595135815,0.00458069587361,0.0797366736684,0.999999902763,0.000141146696645,-0.000415593272643,4.28343260554e-05,1793255016661505536
+322,5.366666667,POSE2_TO_POSE3_RETREAT,782,760,736.835387975,717.835387975,681.164612025,647.835387975,913.164612025,801,840.835387975,657,635.835387975,658,0.442798994441,0.00457116202777,0.0797520391207,0.999999913199,0.000130598875764,-0.000393082500261,4.50708791648e-05,1793255016678172160
+323,5.383333333,POSE2_TO_POSE3_RETREAT,782,760,736.238854019,717.238854019,681.761145981,647.238854019,913.761145981,801,840.238854019,657,635.238854019,658,0.441983080379,0.00456078492191,0.0797543249958,0.999999915493,0.000157060379027,-0.000377180137563,4.56210460928e-05,1793255016694838784
+324,5.400000000,POSE2_TO_POSE3_RETREAT,782,760,736.343931608,717.343931608,682.343931608,647,913.656068392,801,840.343931608,657,635.343931608,658,0.441107090381,0.00455041437538,0.0797365216335,0.999999908391,0.000143360254141,-0.000400747926069,4.5462679974e-05,1793255016711505408
+325,5.416666667,POSE2_TO_POSE3_RETREAT,782,760,736.917536257,717.917536257,682.917536257,647,913.082463743,801,840.917536257,657,635.917536257,658,0.44019098249,0.00454004820951,0.0797053029404,0.999999892154,0.000102840716505,-0.000450673366066,4.48311645787e-05,1793255016728172288
+326,5.433333333,POSE2_TO_POSE3_RETREAT,782,760,737,718,683,647.492956595,913.492956595,801,841,657.492956595,635.507043405,658,0.439250294227,0.00452990708308,0.0796729384972,0.999999871701,9.69547024269e-05,-0.000495053792276,4.60350541307e-05,1793255016744838912
+327,5.450000000,POSE2_TO_POSE3_RETREAT,782,760,737,718,683,648,913.929186775,801,841,658,635.070813225,657.929186775,0.438320099353,0.00451948981978,0.0796538895407,0.999999859617,9.52474686941e-05,-0.000519076245205,4.74736707681e-05,1793255016761505792
+328,5.466666667,POSE2_TO_POSE3_RETREAT,782,760,737,718,683,648,913.335595143,801,841,658,635.664404857,657.335595143,0.437497840707,0.004506755037,0.0797345623411,0.999999915641,8.14604636093e-05,-0.000399679263029,4.83701025712e-05,1793255016778172160
+329,5.483333333,POSE2_TO_POSE3_RETREAT,782.250360077,760,737,718,683.250360077,648,913,801,840.749639923,657.749639923,635.749639923,657.250360077,0.436657198885,0.00449652006803,0.0798068712438,0.999999954206,7.07255391195e-05,-0.000289950826862,5.01423297639e-05,1793255016794838784
+330,5.500000000,POSE2_TO_POSE3_RETREAT,782.82638213,760,737,718,683.82638213,648,913,801,840.17361787,657.17361787,635.17361787,657.82638213,0.435792644585,0.00448953679108,0.0798683006137,0.999999977961,6.39606816654e-05,-0.000192798974703,5.30537696679e-05,1793255016811505408
+331,5.516666667,POSE2_TO_POSE3_RETREAT,782.599174291,760,736.599174291,718,684,648,913,801,840,657,635,658,0.434859264896,0.00447806578704,0.0798693502406,0.999999979291,5.21380792472e-05,-0.000189143418851,5.40743814922e-05,1793255016828172288
+332,5.533333333,POSE2_TO_POSE3_RETREAT,782.025411782,760,736.025411782,718,684,648,913,801,840,657,635,658,0.433896190449,0.00446465854741,0.0798443489411,0.999999972301,3.81333063358e-05,-0.000225826974096,5.42791928509e-05,1793255016844838912
+333,5.550000000,POSE2_TO_POSE3_RETREAT,781.438768533,760,736,718,684,648,913,801,840,657,635,657.438768533,0.432855156157,0.0044557963325,0.0797864535578,0.999999942862,3.16650236351e-05,-0.00033200889419,5.51693011836e-05,1793255016861505792
+334,5.566666667,POSE2_TO_POSE3_RETREAT,781.147757207,760,736,717.852242793,684,648,913,801,840,657,635,657.147757207,0.431814580351,0.00444691620307,0.0797326433779,0.999999904953,2.38026641344e-05,-0.00043177727616,5.56446513236e-05,1793255016878172416
+335,5.583333333,POSE2_TO_POSE3_RETREAT,781.732171611,760,736,717.267828389,684,648,913,801,840,657,635,657.732171611,0.430786036298,0.0044373606819,0.0796954108482,0.999999871898,1.07883439216e-05,-0.000503074206206,5.48004423255e-05,1793255016894839040
+336,5.600000000,POSE2_TO_POSE3_RETREAT,781.689245444,760,736,717.310754556,684,648.310754556,913,801,840,657.310754556,635.310754556,657.689245444,0.429856407128,0.00442478842479,0.0797205279942,0.999999893789,-4.07329784424e-06,-0.000457567289663,5.5106573948e-05,1793255016911505920
+337,5.616666667,POSE2_TO_POSE3_RETREAT,781.11559588,760,736,717.88440412,684,648.88440412,913,801,840,657.88440412,635.88440412,657.11559588,0.429010458938,0.00440966404204,0.0797983922962,0.999999949139,-2.04977530551e-05,-0.00031324556678,5.63858806763e-05,1793255016928173056
+338,5.633333333,POSE2_TO_POSE3_RETREAT,781.460420619,760,736,717.539579381,684,648.539579381,913,801,840,658,635.539579381,657.460420619,0.428091903659,0.00440230193083,0.0798350047424,0.99999996567,-2.04922415925e-05,-0.000254643785927,5.82853296155e-05,1793255016944839680
+339,5.650000000,POSE2_TO_POSE3_RETREAT,781.961998224,760,736.038001776,717.038001776,684.038001776,648.038001776,913,801,840,658,635,658,0.427150579782,0.00439732960379,0.0798563296398,0.999999972744,-1.6864186198e-05,-0.000224950481761,6.02030049643e-05,1793255016961506048
+340,5.666666667,POSE2_TO_POSE3_RETREAT,781.370324045,760,736.629675955,717.629675955,684.629675955,648.629675955,913,801,840,658,635,658,0.426144491337,0.00439863494534,0.0798065968958,0.999999952596,-2.08673440037e-05,-0.000301264788544,6.01060636911e-05,1793255016978172672
+341,5.683333333,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,648.783563656,913,801,840,658,635,658,0.425139289566,0.00441147697377,0.0797646483399,0.999999931501,-4.05489678693e-06,-0.000365223477415,5.99463642559e-05,1793255016994839296
+342,5.700000000,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,648.205024061,913,801,840,658,635,658,0.42413557106,0.00444362015924,0.0797357229115,0.999999913646,4.75825614804e-05,-0.000408510931587,5.96816691694e-05,1793255017011505664
+343,5.716666667,POSE2_TO_POSE3_RETREAT,781.370566609,759.629433391,737,718,684.629433391,648,913,801,840,658,635,658,0.423192922653,0.00446185392635,0.0797250166884,0.999999906372,6.59503503838e-05,-0.000423878751186,5.68707154107e-05,1793255017028172288
+344,5.733333333,POSE2_TO_POSE3_RETREAT,781.944538568,759.055461432,737,718,684.055461432,648,913,801,840,658,635,658,0.422283795904,0.00447245276154,0.0797243110546,0.999999906577,6.60562945777e-05,-0.000423921380604,5.26621111823e-05,1793255017044839168
+345,5.750000000,POSE2_TO_POSE3_RETREAT,782,759,737,718,684,648.521077563,913,801,840,658,635,658,0.4214563141,0.00447134290606,0.0797899243999,0.999999947496,7.13995110659e-05,-0.00031154632675,5.33852712654e-05,1793255017061505792
+346,5.766666667,POSE2_TO_POSE3_RETREAT,782,759.100426278,737,718,684.100426278,648.899573722,912.899573722,801,840,658,635,658,0.420625112582,0.00446866530662,0.0798506224421,0.999999974098,7.50154916275e-05,-0.000207864345301,5.4490370217e-05,1793255017078172416
+347,5.783333333,POSE2_TO_POSE3_RETREAT,782,759.692177897,737,718,684.692177897,648.307822103,912.307822103,801,840,658,635,658,0.419732987514,0.00446444490172,0.0798525677761,0.999999975096,6.74404573847e-05,-0.00020554115136,5.48832503018e-05,1793255017094839040
+348,5.800000000,POSE2_TO_POSE3_RETREAT,781.723989761,760,737,718,685,648,912.276010239,801,840,657.723989761,635,658,0.418831350886,0.00446281439405,0.0798337855724,0.999999967741,6.35388006438e-05,-0.000239797842703,5.45612368498e-05,1793255017111505920
+349,5.816666667,POSE2_TO_POSE3_RETREAT,781.148743139,760,737,718,685,648,912.851256861,801,840,657.148743139,635,658,0.417919402361,0.00446399172264,0.0797925316173,0.999999947339,6.36196348184e-05,-0.000313712600585,5.34641716253e-05,1793255017128172544
+350,5.833333333,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,648.425025188,913,801,840,657.425025188,635,658,0.417072444874,0.00446662882179,0.07979213754,0.999999943413,6.40377985731e-05,-0.000325983363737,5.29950371223e-05,1793255017144839168
+351,5.850000000,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,648.998278006,913,801,840,657.998278006,635,658,0.416248152952,0.00446977501635,0.0798059933508,0.999999946357,6.45736061718e-05,-0.000316755776389,5.27448935689e-05,1793255017161505536
+352,5.866666667,POSE2_TO_POSE3_RETREAT,781,759.41134826,737,718,685,649,913,801,840,657.41134826,635,658,0.415396019621,0.00447271094674,0.0797776458649,0.999999930622,6.90221108977e-05,-0.000362078335595,5.37706840805e-05,1793255017178172416
+353,5.883333333,POSE2_TO_POSE3_RETREAT,781,759.175757636,737,718,685,649,913,801,839.824242364,657,635.175757636,658,0.414578537748,0.00447431120778,0.0797605440851,0.999999921051,7.64325170431e-05,-0.000386164044772,5.41637832371e-05,1793255017194839040
+354,5.900000000,POSE2_TO_POSE3_RETREAT,781,759.755238782,737,718,685,649,913,801,839.244761218,657,635.755238782,658,0.413840844413,0.00447284482965,0.0797695662969,0.999999929291,9.06194710409e-05,-0.00036109019113,5.30947305599e-05,1793255017211505408
+355,5.916666667,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,649,913,801,839.331551912,657.331551912,636,658,0.413118242824,0.00447080788404,0.0797819678167,0.999999937953,9.14657332434e-05,-0.000336067056448,5.27830386642e-05,1793255017228172288
+356,5.933333333,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,649,913,801,839.905548423,657.905548423,636,658,0.412406676994,0.00446835371575,0.0797968404271,0.999999946801,8.25567238507e-05,-0.000311081011059,5.30251606448e-05,1793255017244839424
+357,5.950000000,POSE2_TO_POSE3_RETREAT,781,759.518154165,737,718,685,648.518154165,913,801,839.518154165,658,635.518154165,658,0.411688160198,0.00446839854105,0.079789065149,0.999999940296,8.34612799749e-05,-0.000330932626254,5.40880256239e-05,1793255017261506048
+358,5.966666667,POSE2_TO_POSE3_RETREAT,781,759,737,718,685,648.06011466,913,801,839.06011466,658,635,658,0.410973892234,0.00446942029541,0.0797783064691,0.999999931266,8.64339161761e-05,-0.0003563033994,5.51749855103e-05,1793255017278172160
+359,5.983333333,POSE2_TO_POSE3_RETREAT,781,759,737,718,685,648.6518088,913,801,839.6518088,658,635,658,0.410309301982,0.00447472835783,0.0797806115993,0.999999932293,9.06020222562e-05,-0.000352386020911,5.50455416727e-05,1793255017294838784
+360,6.000000000,POSE2_TO_POSE3_RETREAT,780.762156926,759,737,717.762156926,685,648.762156926,912.762156926,800.762156926,839.762156926,658,635,658,0.409680753649,0.00447897551732,0.0797940537361,0.999999940297,9.24125906641e-05,-0.000328472189096,5.45086295429e-05,1793255017311505664
+361,6.016666667,POSE2_TO_POSE3_RETREAT,780.184215892,759,737,717.184215892,685,648.184215892,912.184215892,800.184215892,839.184215892,658,635,658,0.409103742646,0.00448170566385,0.0798234209661,0.999999956369,9.08520544811e-05,-0.000275964911475,5.33890678763e-05,1793255017328172544
+362,6.033333333,POSE2_TO_POSE3_RETREAT,780,759,737,717.390148333,685,648,912,800,839.390148333,658,635,657.609851667,0.408522910856,0.00448082317583,0.0798298922653,0.999999957965,9.55002589247e-05,-0.000268324041142,5.43320371618e-05,1793255017344839168
+363,6.050000000,POSE2_TO_POSE3_RETREAT,780,759,737,717.962839094,685,648,912,800,839.962839094,658,635,657.037160906,0.407940291347,0.00447825041023,0.0798256510292,0.999999953438,0.000103053406071,-0.000281675240892,5.62400224408e-05,1793255017361505792
+364,6.066666667,POSE2_TO_POSE3_RETREAT,780.536743126,759.536743126,737.536743126,718,685,648,912.536743126,800,839.463256874,657.463256874,635,657,0.407366534135,0.00447689437668,0.0797875650642,0.99999993323,9.63419103663e-05,-0.000348321749466,5.41326908716e-05,1793255017378172416
+365,6.083333333,POSE2_TO_POSE3_RETREAT,781,759.884538587,737.884538587,718,685,648,913,800,839.115461413,657.115461413,635,657,0.40681043695,0.00447639438425,0.0797554474068,0.999999913682,8.98114721981e-05,-0.000402294336378,5.22360324452e-05,1793255017394839040
+366,6.100000000,POSE2_TO_POSE3_RETREAT,781,759.28603137,737.28603137,718,685,648,913,800,839.71396863,657.71396863,635,657,0.406325649527,0.00447912251275,0.0797581241069,0.999999919556,8.81796007256e-05,-0.000387772296486,5.23864143721e-05,1793255017411505664
+367,6.116666667,POSE2_TO_POSE3_RETREAT,780.700373699,759.299626301,737.299626301,718,685,648,912.700373699,800,840,657.700373699,635.299626301,657.299626301,0.405879560084,0.00448286742469,0.0797714560734,0.999999929564,9.87277902942e-05,-0.000358200399937,5.30732358682e-05,1793255017428172288
+368,6.133333333,POSE2_TO_POSE3_RETREAT,780.126478167,759.873521833,737.873521833,718,685,648,912.126478167,800,840,657.126478167,635.873521833,657.873521833,0.40546889368,0.00448754307057,0.0797945415618,0.999999941711,0.00012042525463,-0.000314852301111,5.42510985008e-05,1793255017444838912
+369,6.150000000,POSE2_TO_POSE3_RETREAT,780.446921698,759.553078302,737.553078302,718,685,648,912,800,839.553078302,657.446921698,635.553078302,657.553078302,0.40507483241,0.00448949309996,0.0798104144533,0.999999947221,0.000126856938135,-0.000293752755726,5.63388147198e-05,1793255017461505536
+370,6.166666667,POSE2_TO_POSE3_RETREAT,781,759.020983072,737,718,685,648,912,800,839.020983072,657.979016928,635,657,0.404686253144,0.00449067756063,0.0798238439582,0.999999950935,0.00012863149971,-0.000279576325718,5.84894643633e-05,1793255017478172416
+371,6.183333333,POSE2_TO_POSE3_RETREAT,781,759.617013459,737,718,685,648,912,800,839.617013459,657.382986541,635,657,0.404319268631,0.00449199691362,0.0798261881948,0.999999951165,0.000121041259078,-0.000282768915495,5.53161283107e-05,1793255017494839040
+372,6.200000000,POSE2_TO_POSE3_RETREAT,780.795185213,759.795185213,737,718,685,648,912,800.204814787,840,657,635,657,0.403962371347,0.00449238289747,0.0798260833084,0.999999950136,0.000114974678226,-0.000289272963425,5.31961759794e-05,1793255017511505920
+373,6.216666667,POSE2_TO_POSE3_RETREAT,780.222177237,759.222177237,737,718,685,648,912,800.777822763,840,657,635,657,0.403623607799,0.0044910909742,0.0798215756615,0.999999946844,0.000111647163883,-0.000301729981303,5.29698798098e-05,1793255017528172288
+374,6.233333333,POSE2_TO_POSE3_RETREAT,780.353721241,759.353721241,737,718,685,648,912,800.646278759,839.646278759,657.353721241,635,657.353721241,0.403325178126,0.00448731110957,0.0798230742456,0.999999947706,0.000107034659739,-0.000300298345982,5.43427938642e-05,1793255017544838912
+375,6.250000000,POSE2_TO_POSE3_RETREAT,780.931450299,759.931450299,737,718,685,648,912,800.068549701,839.068549701,657.931450299,635,657.931450299,0.403052291425,0.00448195565861,0.0798283765101,0.999999951158,0.000101608385193,-0.000290071178769,5.67284703454e-05,1793255017561505792
+376,6.266666667,POSE2_TO_POSE3_RETREAT,781,760,737,718.520833898,685,648.520833898,912,800.520833898,839,658,635,657.479166102,0.402808874196,0.00446843041168,0.0798301016995,0.999999952904,7.66532555004e-05,-0.000291408754799,5.82822625262e-05,1793255017578172416
+377,6.283333333,POSE2_TO_POSE3_RETREAT,781,759.891155568,737,719,685,648.891155568,912,801,839,657.891155568,635,657,0.402575705265,0.00445493378537,0.0798305174606,0.999999953623,5.13425646307e-05,-0.000294252299881,5.94479001908e-05,1793255017594838784
+378,6.300000000,POSE2_TO_POSE3_RETREAT,781,759.315755945,737,719,685,648.315755945,912,801,839,657.315755945,635,657,0.402369458907,0.00444627441267,0.0798273846733,0.999999953526,3.57773698488e-05,-0.000296877379723,5.94297960711e-05,1793255017611505408
+379,6.316666667,POSE2_TO_POSE3_RETREAT,781,759,737,719,685,648,912,800.739877205,839.260122795,657,635,657.260122795,0.40218041809,0.00444270775495,0.0798274899523,0.999999954535,2.8058142799e-05,-0.00029422810812,5.97707349592e-05,1793255017628172288
+380,6.333333333,POSE2_TO_POSE3_RETREAT,781,759,737,719,685,648,912,800.163415839,839.836584161,657,635,657.836584161,0.402012301159,0.00444533441191,0.0798315330842,0.999999957061,2.98804958016e-05,-0.000285164631905,6.05483105338e-05,1793255017644838912
+381,6.350000000,POSE2_TO_POSE3_RETREAT,780.57760461,759,737,719,685,648,912,800.42239539,840,657.42239539,635,658,0.401865338424,0.00444801064349,0.079833663576,0.999999957899,3.617151336e-05,-0.000281225242227,6.169499009e-05,1793255017661505536
+382,6.366666667,POSE2_TO_POSE3_RETREAT,780,759.011706463,737,718.988293537,685,648,912,801,840,657.988293537,635.011706463,657.988293537,0.40172711647,0.00445088929798,0.0798349601258,0.999999957939,4.55532453871e-05,-0.000279437147656,6.29463711423e-05,1793255017678172160
+383,6.383333333,POSE2_TO_POSE3_RETREAT,780,759.591349084,737,718.408650916,685,648,912,801,840,657.408650916,635.591349084,657.408650916,0.401606913358,0.00446263690666,0.079832509791,0.99999995074,0.000119107787696,-0.000283665851589,6.21926645248e-05,1793255017694839040
+384,6.400000000,POSE2_TO_POSE3_RETREAT,780.170193298,759.829806702,737,718.170193298,685,648,912,800.829806702,839.829806702,657.170193298,635.829806702,657.170193298,0.401492488322,0.00447484585676,0.0798298083295,0.99999994288,0.000165563013065,-0.000288694922216,5.90188336938e-05,1793255017711505664
+385,6.416666667,POSE2_TO_POSE3_RETREAT,780.747129325,759.252870675,737,718.747129325,685,648,912,800.252870675,839.252870675,657.747129325,635.252870675,657.747129325,0.401391872253,0.00448815735897,0.0798265067042,0.999999944205,0.000147253927073,-0.000295636781151,5.00611805267e-05,1793255017728172544
+386,6.433333333,POSE2_TO_POSE3_RETREAT,781,759.319950344,737,719,685,648,912,800.319950344,839,657.680049656,635,658,0.401305512614,0.00448928300118,0.0798226786663,0.999999944712,0.000133508633792,-0.000300863886935,4.72488534377e-05,1793255017744839168
+387,6.450000000,POSE2_TO_POSE3_RETREAT,781,759.889560452,737,719,685,648,912,800.889560452,839,657.110439548,635,658,0.401230277369,0.00448089992266,0.0798184398642,0.999999944746,0.00012332450183,-0.000304752958176,4.92317715451e-05,1793255017761505536
+388,6.466666667,POSE2_TO_POSE3_RETREAT,780.520167067,760,737.479832933,719,685,648,912,800.520167067,839,657,635,658,0.401174605918,0.00448092648677,0.07981715478,0.999999944564,0.000122459751113,-0.000305533070059,5.0243835931e-05,1793255017778172160
+389,6.483333333,POSE2_TO_POSE3_RETREAT,780.072919647,759.927080353,737.927080353,718.927080353,685,648,912,800.072919647,839,657,635,658,0.401125053029,0.00448275715379,0.0798166975681,0.999999944302,0.000123572884619,-0.000305817374852,5.10008361591e-05,1793255017794838784
+390,6.500000000,POSE2_TO_POSE3_RETREAT,780.651072171,759.348927829,737.348927829,718.348927829,685,648,912,800.651072171,839,657,635,658,0.40108529085,0.00448307335258,0.0798170540895,0.999999943736,0.000122859562463,-0.00030784740738,5.16084919954e-05,1793255017811505664
+391,6.516666667,POSE2_TO_POSE3_RETREAT,781,759,737.227961259,718,685,648,912,801,839,657.227961259,635,658,0.40105189059,0.00448274389685,0.0798172508306,0.999999943667,0.000121489215343,-0.000308535987607,5.20814491304e-05,1793255017828172544
+392,6.533333333,POSE2_TO_POSE3_RETREAT,781,759,737.802927103,718,685,648,912,801,839,657.802927103,635,658,0.4010281745,0.00448143162025,0.079817204353,0.999999944355,0.000119118739233,-0.000307182597516,5.23493667107e-05,1793255017844839424
+393,6.550000000,POSE2_TO_POSE3_RETREAT,780.623376462,759.376623538,737.623376462,718.376623538,685,648,912,800.623376462,839,657.623376462,635,658,0.40100986302,0.00448175431275,0.079816676869,0.999999944487,0.000118878949429,-0.000306821856527,5.2478272544e-05,1793255017861505792
+394,6.566666667,POSE2_TO_POSE3_RETREAT,780.050342047,759.949657953,737.050342047,718.949657953,685,648,912,800.050342047,839,657.050342047,635,658,0.400994370069,0.00448292964907,0.0798158985381,0.999999944332,0.000119750322234,-0.000306978786574,5.25346831149e-05,1793255017878172416
+395,6.583333333,POSE2_TO_POSE3_RETREAT,780.542563351,760,737,719,685,648,912,800.542563351,839.542563351,657.542563351,635,658,0.400985826054,0.00448111737919,0.0798169735051,0.999999944939,0.000116987763375,-0.000306040549736,5.26733914322e-05,1793255017894838784
+396,6.600000000,POSE2_TO_POSE3_RETREAT,781,759.867188502,737.132811498,719,685,648,912,800.867188502,839.867188502,657.867188502,635.132811498,658,0.400978423038,0.00447981207795,0.0798180004568,0.999999945404,0.00011541156848,-0.000305079945129,5.28922828543e-05,1793255017911505664
+397,6.616666667,POSE2_TO_POSE3_RETREAT,781,759.292160613,737.707839387,719,685,648,912,800.292160613,839.292160613,657.292160613,635.707839387,658,0.40097259071,0.00448115289962,0.079818273202,0.999999945174,0.000118950917685,-0.000304396071637,5.33517643053e-05,1793255017928172288
+398,6.633333333,POSE2_TO_POSE3_RETREAT,780.714894941,759.285105059,738,718.714894941,685,648,912,800,839.285105059,657.285105059,635.714894941,658,0.400969417064,0.00448145306648,0.0798188599406,0.999999945444,0.000119458872594,-0.000303329661716,5.32228138873e-05,1793255017944838912
+399,6.650000000,POSE2_TO_POSE3_RETREAT,780.135317896,759.864682104,738,718.135317896,685,648,912,800,839.864682104,657.864682104,635.135317896,658,0.400968989449,0.0044806783887,0.0798197709889,0.999999946235,0.000116835839303,-0.000301868147318,5.24860991402e-05,1793255017961505536
+400,6.666666667,POSE2_TO_POSE3_RETREAT,780,759.563867284,737.563867284,718.436132716,685,648,912,800,840,657.563867284,635,657.563867284,0.400970031436,0.00448057049736,0.0798216924488,0.999999947049,0.000117230491265,-0.000299023149392,5.23780991596e-05,1793255017978172416
+401,6.683333333,POSE2_TO_POSE3_RETREAT,780,759,737.005370162,719,685,648,912,800,840,657,635.005370162,657.005370162,0.400971494478,0.00448067582307,0.0798239048375,0.999999947852,0.000118543704445,-0.000295790294401,5.24602389404e-05,1793255017994839040
+402,6.700000000,POSE2_TO_POSE3_RETREAT,780,759,737.603542304,719,685,648,912,800,840,657,635.603542304,657.603542304,0.400970024137,0.00448189817523,0.0798242588831,0.999999947568,0.000119790436181,-0.000296259978315,5.2392043326e-05,1793255018011505664
+403,6.716666667,POSE2_TO_POSE3_RETREAT,780,759.193530012,738,719,685,648,912,800.193530012,839.806469988,657,635.806469988,658,0.400969251214,0.00448251778395,0.0798246887778,0.999999947603,0.000120194057007,-0.000295977304645,5.23880704556e-05,1793255018028172544
+404,6.733333333,POSE2_TO_POSE3_RETREAT,780,759.76743167,738,719,685,648,912,800.76743167,839.23256833,657,635.23256833,658,0.400969849022,0.00448195273646,0.0798252677491,0.999999948266,0.000118940593763,-0.000294215917174,5.25103235461e-05,1793255018044839168
+405,6.750000000,POSE2_TO_POSE3_RETREAT,780.341264606,759.658735394,738,719,685.341264606,648,912.341264606,801,839,657.341264606,635,657.658735394,0.400970842387,0.00448133538223,0.0798263295017,0.999999948898,0.000117954249336,-0.000292450767696,5.25720187792e-05,1793255018061505536
+406,6.766666667,POSE2_TO_POSE3_RETREAT,780.915050696,759.084949304,738,719,685.915050696,648,912.915050696,801,839,657.915050696,635,657.084949304,0.400972105266,0.00448068238868,0.0798277201985,0.999999949507,0.000117149907025,-0.000290683055034,5.25924527613e-05,1793255018078172160
+407,6.783333333,POSE2_TO_POSE3_RETREAT,780.493826834,759,737.493826834,718.493826834,685.493826834,648,912.493826834,800.493826834,839,658,635,657,0.400970878227,0.00448134960947,0.0798269669106,0.999999949554,0.000116567755811,-0.000290855434191,5.2035833583e-05,1793255018094838784
+408,6.800000000,POSE2_TO_POSE3_RETREAT,780.09748393,759,737,718,685,648,912,800,839,657.90251607,635,657,0.400969296478,0.00448218074968,0.0798258613563,0.999999949395,0.000116147444864,-0.000291669077606,5.14741553573e-05,1793255018111505664
+409,6.816666667,POSE2_TO_POSE3_RETREAT,780.674889745,759,737,718,685,648,912,800,839,657.325110255,635,657,0.400968098645,0.00448268940077,0.0798248558007,0.999999948701,0.000116333797476,-0.000293979920694,5.13812555056e-05,1793255018128172544
+410,6.833333333,POSE2_TO_POSE3_RETREAT,780.748121149,759,737,718,685,648,912,800,839,657,635,657,0.400968499598,0.00448278851225,0.0798253491317,0.999999948625,0.000117304963322,-0.000293840688934,5.1460520271e-05,1793255018144839168
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d37061c934fd721e96b372ca9b505660bf682abe
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,420 @@
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+347,5.783333333,pose2_to_pose3_retreat,0.591120831461,0.0101818280578,1.07002042425,0.561691979181,0.018856066143,1.06969213844
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+349,5.816666667,pose2_to_pose3_retreat,0.589672623662,0.0101817411021,1.07002047643,0.560243771562,0.0188559795685,1.06969218444
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+355,5.916666667,pose2_to_pose3_retreat,0.585677476881,0.0101818350713,1.07002053728,0.556248624466,0.0188560723195,1.06969224131
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+357,5.950000000,pose2_to_pose3_retreat,0.584498345287,0.0101818038153,1.07002061035,0.55506949312,0.0188560420374,1.06969231791
+358,5.966666667,pose2_to_pose3_retreat,0.583930524792,0.010181825513,1.07002054586,0.554501671586,0.0188560599463,1.06969224649
+359,5.983333333,pose2_to_pose3_retreat,0.583384869793,0.0101818528428,1.07002054363,0.553956015376,0.0188560831727,1.06969224442
+360,6.000000000,pose2_to_pose3_retreat,0.582861916345,0.0101818548249,1.07002067755,0.553433064907,0.0188560955602,1.06969238619
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+362,6.033333333,pose2_to_pose3_retreat,0.581874962446,0.0101817814643,1.07002077521,0.552446111229,0.0188560227211,1.06969247777
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+368,6.133333333,pose2_to_pose3_retreat,0.579369676493,0.0101818116025,1.07002048511,0.549940823853,0.0188560480896,1.06969218928
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+371,6.183333333,pose2_to_pose3_retreat,0.578418573227,0.0101818985337,1.0700205325,0.548989718936,0.0188561293618,1.06969223525
+372,6.200000000,pose2_to_pose3_retreat,0.578130256916,0.010181791265,1.07002052509,0.548701404179,0.018856027339,1.06969222715
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+374,6.233333333,pose2_to_pose3_retreat,0.577612473759,0.0101817821698,1.07002045015,0.548183620902,0.0188560181545,1.06969216067
+375,6.250000000,pose2_to_pose3_retreat,0.577384336238,0.0101817280702,1.07002059311,0.547955483545,0.0188559644227,1.06969229864
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+377,6.283333333,pose2_to_pose3_retreat,0.57698996267,0.0101816910277,1.070020525,0.547561110685,0.0188559296703,1.06969222772
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+379,6.316666667,pose2_to_pose3_retreat,0.576664222728,0.010181771605,1.07002036978,0.547235371318,0.0188560126419,1.06969208432
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+384,6.400000000,pose2_to_pose3_retreat,0.576095127045,0.0101818681658,1.07002048032,0.546666274103,0.0188561040101,1.06969219521
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+386,6.433333333,pose2_to_pose3_retreat,0.575944237972,0.0101817376812,1.07002061173,0.546515387906,0.0188559831752,1.06969232405
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+389,6.483333333,pose2_to_pose3_retreat,0.575794670272,0.0101817902762,1.07002032823,0.546365818223,0.0188560289864,1.06969203906
+390,6.500000000,pose2_to_pose3_retreat,0.575762443407,0.0101818157963,1.07002042127,0.546333591689,0.0188560556403,1.06969213233
+391,6.516666667,pose2_to_pose3_retreat,0.575736391764,0.0101818036817,1.07002054362,0.546307540116,0.0188560435464,1.069692249
+392,6.533333333,pose2_to_pose3_retreat,0.575715963042,0.0101817014565,1.07002062423,0.546287110553,0.0188559381636,1.0696923215
+393,6.550000000,pose2_to_pose3_retreat,0.575700465737,0.0101815175299,1.07002031842,0.54627161551,0.0188557620909,1.06969202055
+394,6.566666667,pose2_to_pose3_retreat,0.575689248747,0.0101817633421,1.07002055328,0.546260395063,0.0188559962987,1.06969225871
+395,6.583333333,pose2_to_pose3_retreat,0.575680949168,0.0101817342389,1.0700205014,0.546252096773,0.0188559715751,1.06969220712
+396,6.600000000,pose2_to_pose3_retreat,0.575675104869,0.0101817537245,1.07002048636,0.546246252858,0.0188559924554,1.06969219451
+397,6.616666667,pose2_to_pose3_retreat,0.575671587304,0.0101818973394,1.07002060583,0.546242733296,0.0188561294585,1.06969231831
+398,6.633333333,pose2_to_pose3_retreat,0.575669580481,0.0101817866807,1.0700205266,0.54624072797,0.0188560238337,1.06969223783
+399,6.650000000,pose2_to_pose3_retreat,0.575668714679,0.0101817526315,1.07002050088,0.546239862683,0.0188559915024,1.06969221136
+400,6.666666667,pose2_to_pose3_retreat,0.57566841447,0.0101817604891,1.07002050413,0.546239562463,0.0188559993039,1.06969221404
+401,6.683333333,pose2_to_pose3_retreat,0.57566839507,0.0101817609969,1.07002050434,0.546239543063,0.0188559998081,1.06969221421
+402,6.700000000,pose2_to_pose3_retreat,0.575668294527,0.0101817636285,1.07002050542,0.546239442516,0.0188560024209,1.06969221511
+403,6.716666667,pose2_to_pose3_retreat,0.575668199671,0.0101817661112,1.07002050645,0.546239347656,0.0188560048859,1.06969221595
+404,6.733333333,pose2_to_pose3_retreat,0.575668128228,0.0101817679812,1.07002050722,0.546239276211,0.0188560067425,1.06969221659
+405,6.750000000,pose2_to_pose3_retreat,0.575668028325,0.010181770596,1.0700205083,0.546239176305,0.0188560093387,1.06969221748
+406,6.766666667,pose2_to_pose3_retreat,0.575668023031,0.0101817707346,1.07002050836,0.54623917101,0.0188560094762,1.06969221753
+407,6.783333333,pose2_to_pose3_retreat,0.575667818291,0.0101817760934,1.07002051057,0.546238966264,0.0188560147968,1.06969221935
+408,6.800000000,pose2_to_pose3_retreat,0.575667544257,0.0101817832659,1.07002051353,0.54623869222,0.0188560219181,1.0696922218
+409,6.816666667,pose2_to_pose3_retreat,0.575667410385,0.0101817867699,1.07002051497,0.546238558344,0.018856025397,1.06969222299
+410,6.833333333,pose2_to_pose3_retreat,0.575667372969,0.0101817877435,1.07002051149,0.546238520886,0.0188560262238,1.06969221935
+411,6.850000000,pose2_to_pose3_retreat,0.575667330018,0.0101817888556,1.0700205038,0.546238477849,0.0188560270342,1.06969221139
+412,6.866666667,pose2_to_pose3_retreat,0.575667095476,0.0101817949286,1.07002046179,0.546238242838,0.0188560314598,1.06969216791
+413,6.883333333,pose2_to_pose3_retreat,0.575666798526,0.0101818037163,1.07002041287,0.546237945256,0.0188560380246,1.06969211692
+414,6.900000000,pose2_to_pose3_retreat,0.575666797302,0.0101818055495,1.07002041964,0.546237943967,0.0188560396244,1.06969212336
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+417,6.950000000,pose2_to_pose3_retreat,0.575666773093,0.0101818418112,1.0700205537,0.546237918473,0.0188560712696,1.06969225067
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4e9ae5b040ff9959e1ed58f98d6ddabe06f7d529
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ce25ceb84ea1d8c0542b9d73edd2987197124bdebe1d0be160cd310aae44b1a
+size 26567316
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b3ab5f1e21adad63782ac7e91fc0007f1fa86369
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_05/franka_data.csv
@@ -0,0 +1,420 @@
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+14,0.233333333,BASELINE,780.116483246,759,738,719,685.116483246,648,912,800.883516754,839,657,635,657.116483246,0.400969274617,0.00448466734512,0.0798288224674,0.999999950209,0.000119146122241,-0.000287710887462,5.108242341e-05,1793255018658151424
+15,0.250000000,BASELINE,780.69590746,759,738,719,685.69590746,648,912,800.30409254,839,657,635,657.69590746,0.400970627004,0.00448463346121,0.0798300115224,0.99999995079,0.000118369199554,-0.000285978043502,5.12427957182e-05,1793255018674818304
+16,0.266666667,BASELINE,780.727398898,759,737.727398898,719,685.727398898,648,912,800.272601102,839.272601102,657.272601102,635,658,0.400971873106,0.004484439282,0.0798309479079,0.999999951282,0.000118038419888,-0.000284400693503,5.11847006345e-05,1793255018691484928
+17,0.283333333,BASELINE,780.153721093,759,737.153721093,719,685.153721093,648,912,800.846278907,839.846278907,657.846278907,635,658,0.400973001818,0.00448406806325,0.0798316052301,0.999999951677,0.000118200386884,-0.000282995080293,5.08853172945e-05,1793255018708151552
+18,0.300000000,BASELINE,780.437067566,759.437067566,737,718.562932434,685,648.437067566,912,800.562932434,839.562932434,658,635,658,0.400972576576,0.00448371690119,0.079831422788,0.999999951572,0.000118103926887,-0.000283389109936,5.0966608908e-05,1793255018724818176
+19,0.316666667,BASELINE,781,760,737.032778199,718.032778199,685,648.967221801,912,800,839,658,635.032778199,657.967221801,0.400971660463,0.00448333130701,0.0798309709888,0.999999951317,0.000117828849409,-0.000284363694058,5.11752113391e-05,1793255018741484800
+20,0.333333333,BASELINE,781,760,737.606359282,718.606359282,685,648.393640718,912,800,839,658,635.606359282,657.393640718,0.40097203025,0.00448225649474,0.0798311466528,0.999999951601,0.000116167491846,-0.000284048275875,5.11853067003e-05,1793255018758151424
+21,0.350000000,BASELINE,780.819250847,759.819250847,737.819250847,719,685,648,912,800,839,657.819250847,635.819250847,657.180749153,0.400972326602,0.00448161493506,0.0798312881484,0.999999951818,0.00011492193184,-0.000283794628638,5.11620323597e-05,1793255018774818048
+22,0.366666667,BASELINE,780.243091734,759.243091734,737.243091734,719,685,648,912,800,839,657.243091734,635.243091734,657.756908266,0.400972462305,0.00448192116632,0.0798313548964,0.999999951895,0.000114585977947,-0.000283676112627,5.10657578841e-05,1793255018791484672
+23,0.383333333,BASELINE,780.342181285,759,737,719,685,648,912,800.342181285,839,657,635,658,0.40097252091,0.00448158898134,0.0798317651675,0.999999952107,0.000114019406503,-0.000283150319501,5.10961022811e-05,1793255018808151296
+24,0.400000000,BASELINE,780.934106219,759,737,719,685,648,912,800.934106219,839,657,635,658,0.400972523245,0.00448079084336,0.0798324261616,0.999999952417,0.000113284517026,-0.000282327272021,5.12188604283e-05,1793255018824818432
+25,0.416666667,BASELINE,780.486468679,759,737,719,685,648,912,801,839,657,635,657.486468679,0.400970690419,0.00448132698541,0.079830246571,0.999999951527,0.000113953367642,-0.000285206106454,5.11663207703e-05,1793255018841484800
+26,0.433333333,BASELINE,780.090720609,759,737,719,685,648,912,800.909279391,839,657,635,657,0.400969064668,0.00448182153838,0.0798283048061,0.999999950694,0.000114735387065,-0.000287810879738,5.11165583168e-05,1793255018858151424
+27,0.450000000,BASELINE,780.664343677,759,737,719,685,648,912,800.335656323,839,657,635,657,0.400969764836,0.0044812050353,0.0798295230399,0.999999951018,0.000115183806064,-0.00028648847416,5.1198464903e-05,1793255018874818048
+28,0.466666667,BASELINE,780.754920644,759,737,718.754920644,685,648.245079356,912,800.245079356,839,657.245079356,635.245079356,657.245079356,0.400970037341,0.00448085976039,0.079830070734,0.999999951157,0.000115491905032,-0.000285863645541,5.12846761249e-05,1793255018891484672
+29,0.483333333,BASELINE,780.164152535,759,737,718.164152535,685,648.835847465,912,800.835847465,839,657.835847465,635.835847465,657.835847465,0.400969706619,0.00448089705762,0.0798296726201,0.999999951037,0.000115602080096,-0.000286222761603,5.13769591068e-05,1793255018908151296
+30,0.500000000,BASELINE,780.418472851,759,737,718.418472851,685,648.581527149,912,800.581527149,839,657.581527149,635.581527149,658,0.400970527486,0.00448079267968,0.0798304142936,0.999999951483,0.000114224849703,-0.000285230580248,5.12814927151e-05,1793255018924817920
+31,0.516666667,BASELINE,780.997965078,759,737,718.997965078,685,648.002034922,912,800.002034922,839,657.002034922,635.002034922,658,0.400971791458,0.00448063378817,0.0798315945327,0.999999952143,0.000112275297595,-0.000283718448626,5.11137843897e-05,1793255018941484544
+32,0.533333333,BASELINE,780.429191979,759.570808021,737,719,685.570808021,648.570808021,912,800,839,657,635,657.429191979,0.400970690561,0.00448297025183,0.0798304593863,0.999999951176,0.000117239614252,-0.000285113320863,5.11201531262e-05,1793255018958151424
+33,0.550000000,BASELINE,780.144398407,760,737,719,685.855601593,648.855601593,912,800,839,657,635,657.144398407,0.400970147952,0.00448427971245,0.0798298125934,0.99999995059,0.000120328093747,-0.000285885153137,5.11059461583e-05,1793255018974818304
+34,0.566666667,BASELINE,780.720292241,760,737,719,685.279707759,648.279707759,912,800,839,657,635,657.720292241,0.400971298534,0.00448249397607,0.0798306494941,0.999999951221,0.000117738337171,-0.000284764587764,5.10284212011e-05,1793255018991484928
+35,0.583333333,BASELINE,780.695097552,759.695097552,737.304902448,719,685.304902448,648,912,800.304902448,839,657,635,657.695097552,0.400971812165,0.00448229665229,0.0798311139936,0.999999951413,0.00011807071629,-0.000283935707725,5.11352339026e-05,1793255019008151296
+36,0.600000000,BASELINE,780.102255839,759.102255839,737.897744161,719,685.897744161,648,912,800.897744161,839,657,635,657.102255839,0.400971724284,0.00448359936992,0.0798312268102,0.999999951185,0.000121162658421,-0.000283382285036,5.14161286683e-05,1793255019024817920
+37,0.616666667,BASELINE,780.477478626,759,738,719,685.522521374,648,912,801,839.477478626,657.477478626,635,657.477478626,0.400971386481,0.00448370605921,0.0798313641149,0.999999951245,0.000120240552684,-0.000283538387269,5.15499113232e-05,1793255019041484544
+38,0.633333333,BASELINE,781,759.05442904,737.94557096,719,685.05442904,648,912,801,839.94557096,657.94557096,635,658,0.400970886701,0.00448354801808,0.0798313481956,0.999999951306,0.000118557001166,-0.000284017312821,5.16345925788e-05,1793255019058151168
+39,0.650000000,BASELINE,781,759.63088085,737.36911915,719,685.63088085,648,912,801,839.36911915,657.36911915,635,658,0.400969333045,0.00448324194272,0.0798298137693,0.99999995081,0.000117594941836,-0.000286173997971,5.15424379382e-05,1793255019074817792
+40,0.666666667,BASELINE,780.788760612,760,737,719,685.788760612,648,912,801,839.211239388,657,635,657.788760612,0.400968845426,0.00448292549652,0.0798292258083,0.999999950722,0.000116668006663,-0.000286887172083,5.13747072888e-05,1793255019091484416
+41,0.683333333,BASELINE,780.201446871,760,737,719,685.201446871,648,912,801,839.798553129,657,635,657.201446871,0.400970255699,0.0044825905869,0.0798303228614,0.999999951369,0.000115803603896,-0.000285030430088,5.10724269341e-05,1793255019108151296
+42,0.700000000,BASELINE,780.380838625,760,737,719,685,648,912,800.619161375,839.619161375,657,635,657.380838625,0.40097185674,0.004482505428,0.0798311723647,0.999999951921,0.000116257939704,-0.000282915961841,5.0997231759e-05,1793255019124818176
+43,0.716666667,BASELINE,780.960499042,760,737,719,685,648,912,800.039500958,839.039500958,657,635,657.960499042,0.400973557373,0.00448255065475,0.0798318926312,0.999999952419,0.00011740074028,-0.000280666944286,5.10405893849e-05,1793255019141484800
+44,0.733333333,BASELINE,781,760,737,719,685.515404937,648,912,800.515404937,839.515404937,657.515404937,635,657.484595063,0.400971199334,0.00448279494978,0.0798307803626,0.999999951651,0.000116945327831,-0.000283601403988,5.09046591179e-05,1793255019158151424
+45,0.750000000,BASELINE,780.925535539,759.925535539,737,719,686,648,912,801,839.925535539,658,635,657,0.400968911697,0.0044829876154,0.079829745525,0.999999950901,0.000116535724681,-0.000286423328718,5.0793328517e-05,1793255019174818048
+46,0.766666667,BASELINE,780.324285836,759.324285836,737,719,686,648,912,801,839.324285836,658,635,657,0.400969221799,0.00448271205351,0.0798302064896,0.999999950994,0.000117276999672,-0.000285767559946,5.09487753812e-05,1793255019191484416
+47,0.783333333,BASELINE,780.271389746,759,737.271389746,719,685.728610254,648,912,801,839,658,635,657,0.400969534869,0.00448258107012,0.0798305731932,0.999999951167,0.00011704436799,-0.000285238151565,5.10516526754e-05,1793255019208151040
+48,0.800000000,BASELINE,780.860538891,759,737.860538891,719,685.139461109,648,912,801,839,658,635,657,0.400969851415,0.00448261936788,0.0798308295304,0.999999951433,0.000115671428028,-0.00028485669343,5.10929783828e-05,1793255019224817920
+49,0.816666667,BASELINE,781,759,737.558540715,719,685,648,912,800.558540715,839,658,635,657.441459285,0.400971011023,0.00448317379543,0.0798317028182,0.999999951658,0.000117097112506,-0.000283453860591,5.12460587501e-05,1793255019241484544
+50,0.833333333,BASELINE,780.98030555,759,737,719,685,648,912,800.01969445,839,658,635,657.98030555,0.400972321663,0.00448384039832,0.0798326802006,0.999999951839,0.000119278162606,-0.00028186987713,5.14256270016e-05,1793255019258151424
+51,0.850000000,BASELINE,780.405823183,759,737,719,685,648,912,800.594176817,839,658,635,657.405823183,0.400970521659,0.00448315791759,0.0798312000725,0.999999951326,0.000118288209457,-0.000284105903216,5.13750365774e-05,1793255019274818048
+52,0.866666667,BASELINE,780,759,737,719,685,648,912,800.830372673,839,658,635,657,0.40096907118,0.00448246529078,0.0798300621322,0.999999950985,0.00011692460322,-0.000285876961652,5.13031376889e-05,1793255019291484672
+53,0.883333333,BASELINE,780,759,737,719,685,648,912,800.252592678,839,658,635,657,0.400968461717,0.00448174825079,0.079829747555,0.999999951067,0.00011466192313,-0.000286529227423,5.11799669556e-05,1793255019308151296
+54,0.900000000,BASELINE,780,759,737,719,685.332290485,648,912,800,839,658,635,657,0.400968803248,0.00448163607875,0.0798298987412,0.999999951239,0.000114670608125,-0.000285950551849,5.10351923768e-05,1793255019324817920
+55,0.916666667,BASELINE,780,759,737,719,685.922691082,648,912,800,839,658,635,657,0.400969883474,0.00448199374426,0.0798304117139,0.99999995148,0.000116443599823,-0.000284415729674,5.0873636791e-05,1793255019341484544
+56,0.933333333,BASELINE,780,759,737.503238432,719,686,648,912,800,839,658,635.503238432,657.503238432,0.40096996675,0.0044820173193,0.0798304466223,0.99999995175,0.000114674544896,-0.000284194580063,5.08250642269e-05,1793255019358151168
+57,0.950000000,BASELINE,780.081418548,759.081418548,737.918581452,719,686,648,912,800,839,658,635.918581452,657.918581452,0.400970000797,0.00448216534323,0.0798305018116,0.999999951968,0.00011305231526,-0.000284085320636,5.07882819224e-05,1793255019374817792
+58,0.966666667,BASELINE,780.654271033,759.654271033,737.345728967,719,686,648,912,800,839,658,635.345728967,657.345728967,0.400970644368,0.00448336836464,0.0798311141874,0.999999951865,0.000115537605277,-0.000283456705919,5.07199125809e-05,1793255019391484672
+59,0.983333333,BASELINE,780.766363109,760,737,719,686,648,912.233636891,800,839,657.766363109,635,657,0.400970679436,0.00448304620615,0.0798312940839,0.999999951863,0.000115827132737,-0.000283335258161,5.07804099333e-05,1793255019408151296
+60,1.000000000,BASELINE,780.177082461,760,737,719,686,648,912.822917539,800,839,657.177082461,635,657,0.400969788235,0.00448040240801,0.0798308156572,0.999999952015,0.000112774255,-0.0002839858235,5.10370690846e-05,1793255019424817920
+61,1.016666667,BASELINE,780.405321454,760,737,719,686,648.405321454,912.594678546,800,839,657.405321454,635,657,0.40097020533,0.00448131042846,0.0798310305734,0.999999951962,0.000114304140842,-0.000283563076809,5.10179376079e-05,1793255019441484800
+62,1.033333333,BASELINE,780.984771056,760,737,719,686,648.984771056,912.015228944,800,839,657.984771056,635,657,0.400971184475,0.00448374432829,0.0798315433532,0.999999951813,0.000117802805276,-0.000282679229802,5.08803250667e-05,1793255019458151424
+63,1.050000000,BASELINE,780.438224521,759.438224521,737.561775479,718.438224521,686,648.438224521,912,800.561775479,839,658,635,657,0.400971250044,0.00448196387964,0.0798315512616,0.999999952057,0.000116177722821,-0.000282453717496,5.10708522039e-05,1793255019474818048
+64,1.066666667,BASELINE,780.137601775,759,738,718.137601775,686,648,912,800.862398225,839,657.862398225,635,657,0.400971157573,0.00448061968275,0.0798315662849,0.99999995224,0.000114639608774,-0.000282419995321,5.11607356344e-05,1793255019491484416
+65,1.083333333,BASELINE,780.709914609,759,738,718.709914609,686,648,912,800.290085391,839,657.290085391,635,657,0.400970643723,0.00448101304951,0.0798316468358,0.999999952201,0.000113813148234,-0.00028293603953,5.09046852522e-05,1793255019508151040
+66,1.100000000,BASELINE,781,759.2921365,737.7078635,719,685.7078635,648.2921365,912,800,839,657.2921365,635.2921365,657.2921365,0.400970042416,0.00448173118568,0.0798312308138,0.999999951897,0.000114186665112,-0.000283892970521,5.07181073511e-05,1793255019524817920
+67,1.116666667,BASELINE,781,759.884543305,737.115456695,719,685.115456695,648.884543305,912,800,839,657.884543305,635.884543305,657.884543305,0.400969351215,0.00448278313359,0.0798303043932,0.999999951317,0.000115793569805,-0.000285303063643,5.06029362328e-05,1793255019541484544
+68,1.133333333,BASELINE,781,760,737,719,685.466583363,648.533416637,912,800.466583363,839,657.533416637,635.533416637,658,0.400969529155,0.00448254685704,0.0798304658506,0.999999951336,0.000116546574743,-0.000284904140043,5.07322735825e-05,1793255019558151168
+69,1.150000000,BASELINE,781,760,737,719,686,648.044942374,912,800.955057626,839,657,635,658,0.400969976314,0.00448211803792,0.0798309101629,0.999999951522,0.000117093879845,-0.000283999915806,5.08884373671e-05,1793255019574818048
+70,1.166666667,BASELINE,781,760,737,719,686,648.60974929,912,800.39025071,839,657,635,658,0.400971103918,0.00448306922432,0.0798315801439,0.999999951944,0.000117652823013,-0.000282316206011,5.06702530706e-05,1793255019591484928
+71,1.183333333,BASELINE,781,759.821501759,737,719,685.821501759,649,912,800.178498241,839,657.178498241,635,657.821501759,0.400971346066,0.00448364789954,0.0798316731814,0.999999951991,0.000117915780818,-0.000282058451571,5.05718623585e-05,1793255019608151552
+72,1.200000000,BASELINE,781,759.243939591,737,719,685.243939591,649,912,800.756060409,839,657.756060409,635,657.243939591,0.400969608622,0.0044833937613,0.0798304763617,0.999999951198,0.000117517011873,-0.000284988668514,5.07412910395e-05,1793255019624817920
+73,1.216666667,BASELINE,781,759,737,718.653692767,685.346307233,648.653692767,912,800.653692767,839,658,635,657,0.400969551313,0.00448319529601,0.0798302906902,0.999999951188,0.000116950398531,-0.000285255421046,5.0760696784e-05,1793255019641484800
+74,1.233333333,BASELINE,781,759,737,718.054171156,685.945828844,648.054171156,912,800.054171156,839,658,635,657,0.400970722493,0.0044830375379,0.0798308443544,0.999999951751,0.00011626106004,-0.00028357469031,5.06704081176e-05,1793255019658151424
+75,1.250000000,BASELINE,780.475914674,759,737,718.524085326,685.475914674,648.524085326,912,800.524085326,839,657.475914674,635,657,0.400971184025,0.00448390724495,0.0798308230448,0.999999951846,0.000116566968965,-0.000283189671681,5.0228711964e-05,1793255019674818304
+76,1.266666667,BASELINE,780,759,737,718.900216988,685,648.900216988,912,800.900216988,839,657.099783012,635.099783012,657,0.400971518365,0.00448435350151,0.0798308523361,0.999999951926,0.000116808124162,-0.000282855170216,4.99591172247e-05,1793255019691484928
+77,1.283333333,BASELINE,780,759,737,718.32663928,685,648.32663928,912,800.32663928,839,657.67336072,635.67336072,657,0.400971583477,0.00448230449834,0.079831393083,0.999999952152,0.000116272397337,-0.000282149405589,5.06724467525e-05,1793255019708151808
+78,1.300000000,BASELINE,780,759.253419926,737,718.253419926,685.253419926,648,912,800,839,657.746580074,635.746580074,657.253419926,0.40097158255,0.0044815829109,0.0798316882738,0.999999952248,0.000116055815512,-0.000281826089074,5.1082406022e-05,1793255019724818432
+79,1.316666667,BASELINE,780,759.842052524,737,718.842052524,685.842052524,648,912,800,839,657.157947476,635.157947476,657.842052524,0.400971494271,0.00448261717045,0.079831658654,0.999999952172,0.000116261384622,-0.000282008658064,5.10910804716e-05,1793255019741484800
+80,1.333333333,BASELINE,780,759.573802373,737,718.573802373,686,648,912,800.426197627,839,657,635,658,0.400971299854,0.00448264503095,0.0798317927691,0.999999952309,0.00011558878888,-0.00028183800115,5.08837842917e-05,1793255019758151424
+81,1.350000000,BASELINE,780,759.008584078,737,718.008584078,685.991415922,648,912,801,839.008584078,657,635,658,0.400971072685,0.00448231778814,0.0798319810911,0.999999952515,0.000114624167953,-0.000281550866305,5.06008270097e-05,1793255019774818048
+82,1.366666667,BASELINE,780,759.583516754,737,718.583516754,685.416483246,648,912,801,839.583516754,657,635,658,0.400971252809,0.00448291282371,0.079831784075,0.999999952238,0.000115640761257,-0.000282125553359,5.05516245591e-05,1793255019791484928
+83,1.383333333,BASELINE,780.158166409,759.841833591,737,719,685,648,912,800.841833591,839.841833591,657,635,657.841833591,0.400971710571,0.00448318494184,0.0798318954591,0.999999952204,0.000116253778493,-0.000281991396276,5.05780846746e-05,1793255019808151296
+84,1.400000000,BASELINE,780.732072272,759.267927728,737,719,685,648,912,800.267927728,839.267927728,657,635,657.267927728,0.400972898103,0.0044826082736,0.0798328174711,0.999999952806,0.000115805998687,-0.000279994046776,5.08034233778e-05,1793255019824817920
+85,1.416666667,BASELINE,780.682435849,759,737,719,685,648,912,800,839,657.317564151,635,657,0.400972515289,0.00448179349935,0.0798324324474,0.9999999529,0.000114018843504,-0.000280421462443,5.06353161311e-05,1793255019841484800
+86,1.433333333,BASELINE,780.086798786,759,737,719,685,648,912,800,839,657.913201214,635,657,0.400970757413,0.00448077022923,0.0798309029267,0.99999995254,0.000111058873313,-0.000282972107526,5.01226905718e-05,1793255019858151424
+87,1.450000000,BASELINE,780,759,737,719,685.492756635,648,912,800,839,657.507243365,635.492756635,657.492756635,0.400970784538,0.00448122598676,0.0798311242844,0.999999952536,0.000112509257504,-0.000282384565078,5.02932423553e-05,1793255019874818304
+88,1.466666667,BASELINE,780.069300835,759,737,719,686,648,912,800,839,657,635.930699165,657.930699165,0.400971006643,0.00448187523091,0.0798315750781,0.999999952544,0.000114582948579,-0.00028146873415,5.05729875452e-05,1793255019891484672
+89,1.483333333,BASELINE,780.643891147,759,737,719,686,648,912,800,839,657,635.356108853,657.356108853,0.400970430289,0.00448209568213,0.079831521078,0.999999952235,0.000115715913184,-0.000282062414806,5.0799181949e-05,1793255019908151296
+90,1.500000000,BASELINE,780.782858047,759,737,719,686,648,912,800,839.217141953,657,635,657.217141953,0.400970493854,0.00448243911636,0.0798317016378,0.999999952137,0.000116436533453,-0.00028210201081,5.08607298216e-05,1793255019924818176
+91,1.516666667,BASELINE,780.211790594,759,737,719,686,648,912,800,839.788209406,657,635,657.788209406,0.40097160044,0.00448298300386,0.0798322645133,0.999999952385,0.000116485062504,-0.000281238489305,5.06539158697e-05,1793255019941485056
+92,1.533333333,BASELINE,780,759,737,718.624075065,686,648,912,800,839.624075065,657,635,658,0.40097136909,0.00448282127352,0.0798318858463,0.999999952321,0.00011578839654,-0.00028176193378,5.06047178942e-05,1793255019958151936
+93,1.550000000,BASELINE,780,759,737,718.026545581,686,648,912,800,839.026545581,657,635,658,0.400970349038,0.00448224358752,0.0798309521481,0.999999952071,0.000114652444466,-0.000283102982807,5.06484331749e-05,1793255019974818304
+94,1.566666667,BASELINE,780.547999502,759.547999502,737,718.547999502,685.452000498,648,912,800,839,657,635,657.452000498,0.400971211832,0.00448218348619,0.0798317217594,0.999999952461,0.000116111183384,-0.000281120626364,5.0666756537e-05,1793255019991484928
+95,1.583333333,BASELINE,781,760,737,719,685.122424052,648,912,800.122424052,839,657,635,657,0.400971762838,0.00448211823134,0.0798322304214,0.999999952662,0.000117370173237,-0.000279868715422,5.07357252225e-05,1793255020008151808
+96,1.600000000,BASELINE,781,760,737,719,685.700376309,648,912,800.700376309,839,657,635,657,0.400970828005,0.0044819442646,0.0798314734634,0.999999952067,0.000117437064996,-0.000281909632305,5.09975328306e-05,1793255020024818432
+97,1.616666667,BASELINE,780.715032152,759.715032152,737.284967848,718.715032152,685.715032152,648,912,801,839,657,635,657.284967848,0.400971187715,0.00448196302383,0.0798317378074,0.999999952102,0.000116977280046,-0.000281976070202,5.10031856533e-05,1793255020041485056
+98,1.633333333,BASELINE,780.123293391,759.123293391,737.876706609,718.123293391,685.123293391,648,912,801,839,657,635,657.876706609,0.400972941016,0.00448218925462,0.0798331015939,0.999999952814,0.000115950522026,-0.00027991696039,5.07330851147e-05,1793255020058151424
+99,1.650000000,BASELINE,780.456069222,759,737.543930778,718,685.456069222,648,912.456069222,801,839,657.456069222,635,658,0.400972400715,0.00448252657713,0.0798325682864,0.999999952564,0.000116051243774,-0.000280795918308,5.05795663051e-05,1793255020074818304
+100,1.666666667,BASELINE,780.968011372,759.031988628,737.031988628,718.031988628,686,648,912.968011372,800.968011372,839.031988628,658,635.031988628,657.968011372,0.400971344758,0.00448293578814,0.0798316241069,0.999999952087,0.000116538881935,-0.000282305955839,5.04735636482e-05,1793255020091484928
+101,1.683333333,BASELINE,780.395233674,759.604766326,737.604766326,718.604766326,686,648,912.395233674,800.395233674,839.604766326,658,635.604766326,657.395233674,0.400971776715,0.00448406601718,0.0798321750193,0.999999952094,0.000118550856468,-0.000281411824616,5.06521204827e-05,1793255020108151552
+102,1.700000000,BASELINE,780.183817729,760,738,719,686,648.183817729,912,800,840,657.816182271,635.816182271,657.183817729,0.400971969115,0.00448485358734,0.0798323396872,0.999999952055,0.000119819508874,-0.00028098630561,5.07959257115e-05,1793255020124818432
+103,1.716666667,BASELINE,780.77683505,760,738,719,686,648.77683505,912,800,840,657.22316495,635.22316495,657.77683505,0.400971628234,0.00448487835894,0.0798316445304,0.999999951924,0.000119433439716,-0.00028160397189,5.08623698105e-05,1793255020141485056
+104,1.733333333,BASELINE,781,760,738,719,686,648.638871058,912,800.361128942,839.638871058,657.361128942,635.361128942,658,0.400971632221,0.00448344348868,0.0798319593838,0.999999952117,0.000118152048221,-0.000281449214224,5.09204834704e-05,1793255020158151680
+105,1.750000000,BASELINE,781,760,738,719,686,648.059840733,912,800.940159267,839.059840733,657.940159267,635.940159267,658,0.400971844296,0.00448112788598,0.0798328836665,0.999999952502,0.000116330428666,-0.000280828384182,5.09735706376e-05,1793255020174818304
+106,1.766666667,POSE1_TO_POSE2_PRESS,781,760,737,719,686,648,912,801,839,657,635,658,0.400972520639,0.00448404044722,0.0798317962934,0.999999952105,0.000117914821358,-0.000281659798182,5.05257563014e-05,1793255020205832448
+107,1.783333333,POSE1_TO_POSE2_PRESS,780.423848078,759.423848078,737,719,686,648,912,800.423848078,839.576151922,657,635,658,0.400972872789,0.00448450141394,0.0798325916822,0.999999952348,0.000118386788972,-0.00028055634646,5.07635432425e-05,1793255020222499328
+108,1.800000000,POSE1_TO_POSE2_PRESS,780.15775476,759,737,719,685.84224524,648.15775476,912.15775476,800.15775476,840,657,635,657.84224524,0.40097231307,0.0044846363639,0.0798327112599,0.999999952282,0.000118809404173,-0.000280585103429,5.09246315704e-05,1793255020239165952
+109,1.816666667,POSE1_TO_POSE2_PRESS,780.754527148,759,737,719,685.245472852,648.754527148,912.754527148,800.754527148,840,657,635,657.245472852,0.4009692157,0.00448386403799,0.0798309501147,0.999999951353,0.000119094676057,-0.00028376469738,5.08722744556e-05,1793255020255832576
+110,1.833333333,POSE1_TO_POSE2_PRESS,780.658973089,759.341026911,737.341026911,719,685.341026911,648.658973089,912.658973089,800.658973089,839.658973089,657.341026911,635,657.341026911,0.40096871648,0.00448357151857,0.0798305061738,0.999999951246,0.000118364710707,-0.000284486674752,5.06461910504e-05,1793255020272499200
+111,1.850000000,POSE1_TO_POSE2_PRESS,780.079651425,759.920348575,737.920348575,719,685.920348575,648.079651425,912.079651425,800.079651425,839.079651425,657.920348575,635,657.920348575,0.400970032734,0.00448361426708,0.0798309826381,0.999999951716,0.000116925341775,-0.0002834913765,5.02987152823e-05,1793255020289166080
+112,1.866666667,POSE1_TO_POSE2_PRESS,780,759.503904052,738,718.503904052,685.503904052,648,912,800,839,657.503904052,635,658,0.400971867355,0.00448368655069,0.0798319609423,0.999999952409,0.000116506487233,-0.000281201887377,5.03278157418e-05,1793255020305833216
+113,1.883333333,POSE1_TO_POSE2_PRESS,780.072686279,759,738,718.072686279,685.072686279,648,912,800.072686279,839,657,635,657.927313721,0.400973463264,0.00448361704022,0.0798328837016,0.999999953015,0.000116174949215,-0.0002791605663,5.04305373487e-05,1793255020322500096
+114,1.900000000,POSE1_TO_POSE2_PRESS,780.659264611,759,738,718.659264611,685.659264611,648,912,800.659264611,839,657,635,657.340735389,0.400972787272,0.00448251175896,0.0798328481769,0.999999952777,0.000115310604508,-0.00028033236547,5.06293536344e-05,1793255020339166208
+115,1.916666667,POSE1_TO_POSE2_PRESS,780.756996127,759,738,719,686,648,912,801,839.243003873,657.243003873,635.243003873,657.243003873,0.400973672408,0.00448242692022,0.0798334469596,0.999999952825,0.000115508727008,-0.000280046314085,5.08072756995e-05,1793255020355832576
+116,1.933333333,POSE1_TO_POSE2_PRESS,780.177191831,759,738,719,686,648,912,801,839.822808169,657.822808169,635.822808169,657.822808169,0.40097672125,0.00448375640254,0.0798349248848,0.999999953267,0.000117179416255,-0.000277739699395,5.09562386112e-05,1793255020372499200
+117,1.950000000,POSE1_TO_POSE2_PRESS,780.401110096,759,737.598889904,718.598889904,686,648,912,800.598889904,839.598889904,657.598889904,635.598889904,658,0.400990270113,0.00448374281341,0.0798407717794,0.999999955865,0.000117492304607,-0.000268127588786,5.07254117659e-05,1793255020389165824
+118,1.966666667,POSE1_TO_POSE2_PRESS,780.978750872,759,737.021249128,718.021249128,686,648,912,800.021249128,839.021249128,657.021249128,635.021249128,658,0.401008440091,0.00448313813154,0.0798485414808,0.999999959276,0.000117207617713,-0.000255300290458,5.0327437441e-05,1793255020405832448
+119,1.983333333,POSE1_TO_POSE2_PRESS,781,759,737,718,685.44601042,648,912,800,839.55398958,657.55398958,635,657.44601042,0.401054035589,0.00448338236293,0.0798656514937,0.999999966959,0.000116866864255,-0.000223499221242,4.9713967529e-05,1793255020422499328
+120,2.000000000,POSE1_TO_POSE2_PRESS,781,759,737,718.132158707,685.132158707,648,912,800.132158707,839.867841293,657.867841293,635.132158707,657,0.401105325389,0.00448364828256,0.0798830512611,0.999999973824,0.000116333394222,-0.000190854010442,4.89224440141e-05,1793255020439165952
+121,2.016666667,POSE1_TO_POSE2_PRESS,781,759,737,718.720765881,685.720765881,648,912,800.720765881,839.279234119,657.279234119,635.720765881,657,0.401172664601,0.00448387713423,0.0799002197645,0.999999979791,0.000115141717117,-0.000157796011156,4.75443852704e-05,1793255020455832576
+122,2.033333333,POSE1_TO_POSE2_PRESS,781,759,737,718.695651759,686,648,912,801,839,657,635.695651759,657,0.401245490734,0.00448459442334,0.0799136148492,0.999999983037,0.000114577393349,-0.000136699995985,4.59492390591e-05,1793255020472499200
+123,2.050000000,POSE1_TO_POSE2_PRESS,781,759,737,718.116604731,686,648,912,801,839,657,635.116604731,657,0.401323269252,0.00448575256656,0.0799236041187,0.999999984472,0.00011457930661,-0.000126400636412,4.41581540474e-05,1793255020489165824
+124,2.066666667,POSE1_TO_POSE2_PRESS,781,759,737,718.461082596,685.538917404,648,912,800.538917404,839.461082596,657.461082596,635,657.461082596,0.401416852794,0.00448775395777,0.07992963248,0.99999998609,0.000113401822136,-0.000115177013656,4.11674790023e-05,1793255020505832448
+125,2.083333333,POSE1_TO_POSE2_PRESS,781,759,737.037961739,718.962038261,685.037961739,648.037961739,912,800,840,658,635,657.962038261,0.401515827814,0.00448983820382,0.0799345197978,0.999999987608,0.000111778825871,-0.000104192896175,3.78581544692e-05,1793255020522499072
+126,2.100000000,POSE1_TO_POSE2_PRESS,781,759,737.608314915,718.391685085,685.608314915,648.608314915,912,800,840,658,635,657.391685085,0.401634524609,0.00449010250158,0.0799374114234,0.999999988587,0.000108078435586,-9.98361304262e-05,3.4322011066e-05,1793255020539165696
+127,2.116666667,POSE1_TO_POSE2_PRESS,781,759,737.81409589,718.18590411,686,648.81409589,912,800.18590411,839.81409589,658,635,657.18590411,0.401763725735,0.00449128709511,0.0799415960496,0.999999989693,0.0001054103589,-9.26288941997e-05,3.03777893653e-05,1793255020555832576
+128,2.133333333,POSE1_TO_POSE2_PRESS,781,759,737.220643608,718.779356392,686,648.220643608,912,800.779356392,839.220643608,658,635,657.779356392,0.401915954962,0.00449448920643,0.0799486152553,0.999999991027,0.000105005371547,-7.9172716392e-05,2.55389587314e-05,1793255020572499200
+129,2.150000000,POSE1_TO_POSE2_PRESS,781,759.363265833,737,718.636734167,685.636734167,648,912,801,839,657.636734167,635,657.636734167,0.402082011579,0.00449632975705,0.079953798908,0.999999992352,9.95425990761e-05,-7.05885959024e-05,2.01194395751e-05,1793255020589166080
+130,2.166666667,POSE1_TO_POSE2_PRESS,781,759.941527479,737,718.058472521,685.058472521,648,912,801,839,657.058472521,635,657.058472521,0.402256251836,0.00449736447978,0.0799578962049,0.999999993643,9.10864191747e-05,-6.48879600863e-05,1.43562443606e-05,1793255020605832448
+131,2.183333333,POSE1_TO_POSE2_PRESS,781,760,737,718.515832313,685.515832313,648,912,801,839,657,635.515832313,657,0.402454220276,0.00450138675472,0.0799590705297,0.999999994438,8.5494768112e-05,-6.13027765725e-05,7.4828079411e-06,1793255020622499072
+132,2.200000000,POSE1_TO_POSE2_PRESS,780.908390062,760,737.091609938,718.908390062,686,648.091609938,912,801,839,657.091609938,636,657.091609938,0.402658999116,0.00450560396963,0.0799590092638,0.999999994985,7.99626461044e-05,-6.03041562609e-05,3.24347390267e-07,1793255020639165696
+133,2.216666667,POSE1_TO_POSE2_PRESS,780.322259152,760,737.677740848,718.322259152,686,648.677740848,912,801,839,657.677740848,636,657.677740848,0.402886132438,0.00450905930672,0.0799540531089,0.999999994714,7.30123847164e-05,-7.19834938683e-05,-7.69851607378e-06,1793255020655832320
+134,2.233333333,POSE1_TO_POSE2_PRESS,780,760,737.737718843,718,685.737718843,648.737718843,912,801,839,657.737718843,635.737718843,657.737718843,0.403133095358,0.00451349608519,0.0799500863041,0.999999994382,6.70756447294e-05,-8.05337215734e-05,-1.58617187534e-05,1793255020672499200
+135,2.250000000,POSE1_TO_POSE2_PRESS,780,760,737.155121123,718,685.155121123,648.155121123,912,801,839,657.155121123,635.155121123,657.155121123,0.40340427559,0.00451913147005,0.0799473277649,0.999999994127,6.23766902009e-05,-8.52624551399e-05,-2.41963132685e-05,1793255020689165824
+136,2.266666667,POSE1_TO_POSE2_PRESS,780.422962396,759.577037604,737,718.422962396,685,648,912,800.577037604,839,657,635,657.422962396,0.403716512873,0.00452354008291,0.0799508698397,0.999999994282,6.35659827948e-05,-8.03452274409e-05,-3.06612751126e-05,1793255020705832448
+137,2.283333333,POSE1_TO_POSE2_PRESS,780.999407806,759.000592194,737,718.999407806,685,648,912,800.000592194,839,657,635,657.999407806,0.404043648779,0.0045275035292,0.0799566982578,0.999999994512,6.68919806108e-05,-7.19277092344e-05,-3.64477914517e-05,1793255020722499328
+138,2.300000000,POSE1_TO_POSE2_PRESS,781,759.575996898,737,718.424003102,685,648,912,800,839,657,635,657.424003102,0.404400590237,0.00453779768606,0.0799573717959,0.99999998856,0.000131923455775,-6.97664566939e-05,-2.46817346425e-05,1793255020739165952
+139,2.316666667,POSE1_TO_POSE2_PRESS,780.844254846,759.844254846,737,718,685,648,912,800.155745154,839,657,635.155745154,657,0.404768908429,0.00454642772919,0.079958256761,0.999999985882,0.0001534065076,-6.62558671955e-05,-1.76731263618e-05,1793255020755832320
+140,2.333333333,POSE1_TO_POSE2_PRESS,780.255728483,759.255728483,737,718,685,648,912,800.744271517,839,657,635.744271517,657,0.405168754809,0.00455041547712,0.0799597439658,0.999999996532,5.37018156959e-05,-5.89778923805e-05,-2.39345723747e-05,1793255020772498944
+141,2.350000000,POSE1_TO_POSE2_PRESS,780.328267997,759.328267997,737,718,685.328267997,648,912,801,839,657,635.671732003,657.328267997,0.405600271015,0.00455796502156,0.0799569322095,0.999999997212,3.15216342509e-05,-6.17550712725e-05,-2.77134379618e-05,1793255020789165824
+142,2.366666667,POSE1_TO_POSE2_PRESS,780.908783688,759.908783688,737,718,685.908783688,648,912,801,839,657,635.091216312,657.908783688,0.40605612299,0.00456825152209,0.0799508170457,0.999999994577,6.89128262805e-05,-7.22588307968e-05,-2.95846398842e-05,1793255020805832448
+143,2.383333333,POSE1_TO_POSE2_PRESS,780.515135068,759.515135068,737,718,685.515135068,648,912,801,839.484864932,657,635,657.515135068,0.406531153473,0.00457795155644,0.0799422803128,0.999999990816,9.88242616708e-05,-8.69882490337e-05,-3.21671479229e-05,1793255020822498816
+144,2.400000000,POSE1_TO_POSE2_PRESS,780.059516582,759.059516582,737.059516582,718,685.059516582,648,912.059516582,801,840,657.059516582,635.059516582,657.059516582,0.407012060438,0.00458734856742,0.0799338055725,0.99999998626,0.000125989311859,-0.000102136648228,-3.42684456988e-05,1793255020839165440
+145,2.416666667,POSE1_TO_POSE2_PRESS,780.629002476,759.629002476,737.629002476,718,685.629002476,648,912.629002476,801,840,657.629002476,635.629002476,657.629002476,0.407512685404,0.00459508592064,0.0799297301399,0.999999982983,0.000141569803701,-0.000114125190292,-3.11102683484e-05,1793255020855833088
+146,2.433333333,POSE1_TO_POSE2_PRESS,781,760,738,718,685.79244863,648.20755137,912.79244863,801,839.79244863,658,635.79244863,657.79244863,0.408036735487,0.00460386197706,0.0799235513958,0.999999979412,0.000154061259839,-0.00012854787997,-3.02746586484e-05,1793255020872500224
+147,2.450000000,POSE1_TO_POSE2_PRESS,781,760,738,718,685.196959985,648.803040015,912.196959985,801,839.196959985,658,635.196959985,657.196959985,0.408604569769,0.00461457948821,0.0799134413218,0.999999975623,0.000160778953689,-0.000147520269551,-3.37801940018e-05,1793255020889166848
+148,2.466666667,POSE1_TO_POSE2_PRESS,781,760,738,718,685,648.631758778,912.368241222,801,839,658,635,657,0.409223504416,0.00462317735507,0.0799250073835,0.999999977583,0.000163321107072,-0.000129734304245,-3.64644657062e-05,1793255020905833216
+149,2.483333333,POSE1_TO_POSE2_PRESS,781,760,738,718,685,648.08152618,912.91847382,801,839,658,635,657,0.409867693758,0.00463072765563,0.0799472861783,0.999999981437,0.000163799633572,-9.3781704034e-05,-3.87428541377e-05,1793255020922499584
+150,2.500000000,POSE1_TO_POSE2_PRESS,781.515842743,760,737.484157257,718,685,648,912.484157257,801,839.515842743,657.484157257,635,657,0.410570547532,0.00463556026495,0.0799836401142,0.999999982704,0.000178639870124,-3.2825825182e-05,-4.00372993024e-05,1793255020939166208
+151,2.516666667,POSE1_TO_POSE2_PRESS,781.884717204,760,737.115282796,718,685,648.115282796,912.115282796,801,840,657,635,657.115282796,0.411273688639,0.00463470599106,0.0800112537812,0.999999982211,0.000183655247779,1.27356204692e-05,-4.10671254498e-05,1793255020955832576
+152,2.533333333,POSE1_TO_POSE2_PRESS,781.309713181,760,737.690286819,718,685,648.690286819,912.690286819,801,840,657,635,657.690286819,0.411937284098,0.00461305880117,0.0799942503547,0.999999989186,0.000139529673477,-2.04353647742e-05,-4.17242021405e-05,1793255020972498944
+153,2.550000000,POSE1_TO_POSE2_PRESS,781.274341298,760,737.725658702,718,685,649,913,801,840,657.274341298,635.274341298,658,0.412623304761,0.00459020614213,0.0799656510073,0.999999991166,0.000109075350767,-6.415200539e-05,-4.06817822175e-05,1793255020989165824
+154,2.566666667,POSE1_TO_POSE2_PRESS,781.868961785,760,737.131038215,718,685,649,913,801,840,657.868961785,635.868961785,658,0.413335505768,0.00456594615776,0.0799235140233,0.999999987597,9.45814972716e-05,-0.000120180154188,-3.76552885272e-05,1793255021005832960
+155,2.583333333,POSE1_TO_POSE2_PRESS,781.549333827,760,737,718,685,648.549333827,913,801,840,657.549333827,636,658,0.414104869977,0.00456240606428,0.079919791447,0.999999988606,8.85700445044e-05,-0.000115729493772,-3.93675079758e-05,1793255021022499584
+156,2.600000000,POSE1_TO_POSE2_PRESS,781.028406128,760,737,718,685.028406128,648,913,801,840,657,636,658,0.414891223241,0.00456523186659,0.0799276132352,0.999999990994,8.61059307694e-05,-9.38680920886e-05,-4.22616440228e-05,1793255021039166464
+157,2.616666667,POSE1_TO_POSE2_PRESS,781.600150131,760,737,718,685.600150131,648,913,801,840,657,636,658,0.415693473396,0.00457779585484,0.0799485560737,0.999999991357,0.000105632037545,-6.59712973433e-05,-4.21422668833e-05,1793255021055832576
+158,2.633333333,POSE1_TO_POSE2_PRESS,781.822484755,760,737,718,685.822484755,648,912.822484755,801,840,657,636,657.822484755,0.416491341336,0.00458719831565,0.0799578823005,0.999999990435,0.000119091495004,-5.63136079099e-05,-4.21340962035e-05,1793255021072499200
+159,2.650000000,POSE1_TO_POSE2_PRESS,781.232044182,760,737,718,685.232044182,648,912.232044182,801,840,657,636,657.232044182,0.417279015583,0.00458924661996,0.0799401866598,0.99999998812,0.000118439075272,-8.90826343293e-05,-4.23846074021e-05,1793255021089165824
+160,2.666666667,POSE1_TO_POSE2_PRESS,781,760,737.35261627,718,685,648.35261627,912.35261627,801,840,657,636,657.35261627,0.418169072302,0.0045901441958,0.0799542751424,0.999999991032,0.000112768355424,-5.72408413964e-05,-4.40673651083e-05,1793255021105832448
+161,2.683333333,POSE1_TO_POSE2_PRESS,781,760,737.933534352,718,685,648.933534352,912.933534352,801,840,657,636,657.933534352,0.419125416641,0.00459029673108,0.0799889422933,0.999999993383,0.000103848530928,1.6433302937e-05,-4.66774322933e-05,1793255021122499072
+162,2.700000000,POSE1_TO_POSE2_PRESS,781,760,738,718,685,649,912.489869841,801,840,657,636,658,0.42000741325,0.00458546850411,0.0799883598864,0.999999993718,0.000100372754007,1.53612880341e-05,-4.74611358765e-05,1793255021139165952
+163,2.716666667,POSE1_TO_POSE2_PRESS,781.08545726,760,737.91454274,718,685,648.91454274,912.08545726,801,840,657,635.91454274,658,0.42088326741,0.00458099570686,0.0799828847354,0.999999994006,9.84131113648e-05,3.86120130003e-06,-4.78298338545e-05,1793255021155832832
+164,2.733333333,POSE1_TO_POSE2_PRESS,781.656746122,760,737.343253878,718,685,648.343253878,912.656746122,801,840,657,635.343253878,658,0.421778808929,0.00458220190394,0.0799754845529,0.999999993707,0.00010107419315,-1.20226570971e-05,-4.71806451288e-05,1793255021172499200
+165,2.750000000,POSE1_TO_POSE2_PRESS,781.761905323,760,737,718,685,648.238094677,912.761905323,801,840.238094677,657,635.238094677,657.761905323,0.422693797574,0.00458594169671,0.0799814292302,0.999999993243,0.000106331617265,-7.142490787e-06,-4.64412361901e-05,1793255021189165568
+166,2.766666667,POSE1_TO_POSE2_PRESS,781.165414137,760,737,718,685,648.834585863,912.165414137,801,840.834585863,657,635.834585863,657.165414137,0.423638059506,0.00459349523243,0.0800074615087,0.999999991872,0.000115497235023,2.89931133837e-05,-4.55660214438e-05,1793255021205832192
+167,2.783333333,POSE1_TO_POSE2_PRESS,781.414964626,760,737.414964626,718,685,649,912,801,840.585035374,657.414964626,636,657.414964626,0.424550326753,0.00460061681637,0.0799876817153,0.999999990708,0.000127098379384,-2.09256126312e-05,-4.46259896587e-05,1793255021222498816
+168,2.800000000,POSE1_TO_POSE2_PRESS,781.989160649,760,737.989160649,718,685,649,912,801,840.010839351,657.989160649,636,657.989160649,0.425450316853,0.0046075726501,0.0799503227831,0.999999983904,0.000139634089601,-0.000103865350891,-4.3661085894e-05,1793255021239165440
+169,2.816666667,POSE1_TO_POSE2_PRESS,782,760,738,718,685,649,912.563829994,801,840.563829994,658,636,657.436170006,0.426410764157,0.00460490298964,0.079924442576,0.999999983433,0.00013423141564,-0.000113604142522,-4.70060528934e-05,1793255021255832064
+170,2.833333333,POSE1_TO_POSE2_PRESS,782,760,738,718,685.142115249,649,913,801.142115249,841,657.857884751,635.857884751,657,0.427365367197,0.00460154770323,0.0799060031869,0.999999983328,0.000127800128433,-0.000120562124457,-4.97597806124e-05,1793255021272498432
+171,2.850000000,POSE1_TO_POSE2_PRESS,782,760,738,718,685.731758469,649,913,801.731758469,841,657.268241531,635.268241531,657,0.428297903216,0.00459661655341,0.079910299811,0.999999984035,0.0001192165701,-0.000123198427252,-5.03905321879e-05,1793255021289165312
+172,2.866666667,POSE1_TO_POSE2_PRESS,782,760,738,717.683433886,685.683433886,648.683433886,913,801.683433886,840.683433886,657,635.316566114,657.316566114,0.429271072079,0.00459367057021,0.0799293591879,0.99999998761,0.000108480809929,-0.000102185118151,-5.06983019673e-05,1793255021305832192
+173,2.883333333,POSE1_TO_POSE2_PRESS,782,760,738,717.102662039,685.102662039,648.102662039,913,801.102662039,840.102662039,657,635.897337961,657.897337961,0.430278153021,0.00459238140518,0.0799607395423,0.999999992223,9.59488247235e-05,-6.14338683886e-05,-5.07365113904e-05,1793255021322498816
+174,2.900000000,POSE1_TO_POSE2_PRESS,782,760,738,717.472611056,685,648,913,801,840,657,636,658,0.43131182843,0.00459381077279,0.0800058844749,0.999999993854,9.86935938821e-05,5.19739650144e-06,-5.02499744887e-05,1793255021339165440
+175,2.916666667,POSE1_TO_POSE2_PRESS,782,760,737.953225275,718,685,648,913,801,840.046774725,657.046774725,636,658,0.432338041498,0.00459618467996,0.0800450650735,0.999999991256,0.000104750330234,6.35366834394e-05,-4.97804652388e-05,1793255021355831808
+176,2.933333333,POSE1_TO_POSE2_PRESS,782,760,737.378257017,718,685,648,913,801,840.621742983,657.621742983,636,658,0.433215502318,0.00460263287774,0.0799835192346,0.999999991937,0.000111164681306,-3.45116170813e-05,-5.07756099429e-05,1793255021372498688
+177,2.950000000,POSE1_TO_POSE2_PRESS,782,760,737,718,685,648,913,801,841,657.79653793,636,658,0.434113789962,0.00460670768455,0.0799339849212,0.99999998639,0.000113669498185,-0.000107498835467,-5.23691544423e-05,1793255021389165568
+178,2.966666667,POSE1_TO_POSE2_PRESS,782,760,737,718,685,648,913,801,841,657.201837539,636,658,0.435052125773,0.00460621868605,0.0799075476247,0.999999983827,0.000108656653258,-0.000132295980304,-5.5113366102e-05,1793255021405831936
+179,2.983333333,POSE1_TO_POSE2_PRESS,782,760,737.379997891,718,685,648.379997891,913,801.379997891,841,657,636,658,0.436009926708,0.00460278714375,0.0799238962341,0.999999987007,0.000104976033021,-0.000109528686871,-5.44852455665e-05,1793255021422498560
+180,3.000000000,POSE1_TO_POSE2_PRESS,782,760,737.955223771,718,685,648.955223771,913,801.955223771,841,657,636,658,0.436977728002,0.00459784383805,0.0799622265628,0.999999991499,0.00010197985763,-6.23246516598e-05,-5.21245529561e-05,1793255021439165184
+181,3.016666667,POSE1_TO_POSE2_PRESS,782,760,737.470576941,718.529423059,685,649,913,801.470576941,841,657,636,658,0.437975305747,0.00459877469706,0.0800019400513,0.999999993579,9.9903637399e-05,5.11586126794e-06,-5.32533173673e-05,1793255021455832064
+182,3.033333333,POSE1_TO_POSE2_PRESS,782,760,737,718.893728455,685,649,913,801,841,657,636,658,0.438951754339,0.00460084041564,0.0800319274226,0.99999999202,9.9425513811e-05,5.58045097385e-05,-5.44185835696e-05,1793255021472498688
+183,3.050000000,POSE1_TO_POSE2_PRESS,782,760,737,718.304445342,685,649,913,801,841,657,636,658,0.439820745461,0.00460581048157,0.0800171782526,0.999999992662,0.000105857904711,2.25908858958e-05,-5.44109969114e-05,1793255021489165312
+184,3.066666667,POSE1_TO_POSE2_PRESS,782,760,737,718,685,648.719240172,913,801,841,657,635.719240172,658,0.440625951307,0.00461320462353,0.0799512843195,0.999999988348,0.000115165577456,-8.38974407332e-05,-5.47856395068e-05,1793255021505832192
+185,3.083333333,POSE1_TO_POSE2_PRESS,782,760,737,718,685,648.138393698,913,801,841,657,635.138393698,658,0.441362981,0.00462318970864,0.079830724944,0.999999954221,0.000127546456229,-0.000268704517824,-5.55688217417e-05,1793255021522498816
+186,3.100000000,POSE1_TO_POSE2_PRESS,782,760.438064562,737,718,684.561935438,648,913,801,841.438064562,657,635.438064562,658,0.442169636767,0.00462962254214,0.0797735444755,0.999999929021,0.000137793632582,-0.000345914463281,-5.75629251448e-05,1793255021539165440
+187,3.116666667,POSE1_TO_POSE2_PRESS,782,760.986832467,737.013167533,718,684,648,913,801.013167533,841.986832467,657,636,657.986832467,0.442999782421,0.00463492284065,0.0797385795422,0.999999912772,0.000147146556269,-0.000386287657321,-5.98789310737e-05,1793255021555832320
+188,3.133333333,POSE1_TO_POSE2_PRESS,782,760.410992655,737.589007345,718,684,648,913,801.589007345,841.410992655,657,636,657.410992655,0.443903070231,0.00463930716149,0.0798058037682,0.999999945185,0.000146805403826,-0.000290700304507,-5.97652523933e-05,1793255021572498688
+189,3.150000000,POSE1_TO_POSE2_PRESS,782,760,737.830257334,718,683.830257334,648,913,801.830257334,841.169742666,657,635.830257334,657.169742666,0.444777658852,0.00464246099438,0.0798598365042,0.999999964498,0.000146582365113,-0.000214613107387,-5.88190700303e-05,1793255021589165568
+190,3.166666667,POSE1_TO_POSE2_PRESS,782,760,737.237316534,718,683.237316534,648,913,801.237316534,841.762683466,657,635.237316534,657.762683466,0.445580695565,0.00464254700668,0.079880980564,0.999999970178,0.000146653807295,-0.00018714319234,-5.57973115855e-05,1793255021605832448
+191,3.183333333,POSE1_TO_POSE2_PRESS,782,760,737,717.654407028,683,647.654407028,913,801,841.654407028,657.345592972,635,658,0.446346162414,0.00464277791992,0.0798754499789,0.999999968617,0.000150787683609,-0.000192018689804,-5.62004779684e-05,1793255021622498816
+192,3.200000000,POSE1_TO_POSE2_PRESS,782,760,737,717.078191677,683,647.078191677,913,801,841.078191677,657.921808323,635,658,0.447086557954,0.00464310552899,0.0798521187702,0.999999961975,0.000157632518423,-0.000218479048971,-5.88891780002e-05,1793255021639165184
+193,3.216666667,POSE1_TO_POSE2_PRESS,782,760,737,717.497227834,682.502772166,647,913,801,841.497227834,657.502772166,635.497227834,658,0.447767915407,0.00464201315554,0.0798041696562,0.999999947994,0.000139090363554,-0.000284526766462,-6.09049520455e-05,1793255021655832832
+194,3.233333333,POSE1_TO_POSE2_PRESS,782,760,737,718,681.926055236,647,913,801,841.926055236,657.073944764,636,658,0.448429970316,0.0046406146035,0.0797505549221,0.999999925391,0.000120103287934,-0.000361772519715,-6.25594715574e-05,1793255021672500224
+195,3.250000000,POSE1_TO_POSE2_PRESS,782,760,737,718,681.339477524,647,913,801,841.339477524,657.660522476,636,658,0.449022467675,0.00463863900744,0.0796844578734,0.999999878025,0.00012566427956,-0.000473561336603,-6.24419907606e-05,1793255021689166080
+196,3.266666667,POSE1_TO_POSE2_PRESS,782,760,737,718,680.754615046,647,913,801,841,657.754615046,635.754615046,658,0.449651165491,0.00463911590557,0.0796507622677,0.999999849853,0.000135621024395,-0.000527252466195,-6.2501609217e-05,1793255021705832448
+197,3.283333333,POSE1_TO_POSE2_PRESS,782,760,737,718,680.172109084,647,913,801,841,657.172109084,635.172109084,658,0.450329597093,0.00464296215191,0.0796615812432,0.99999986097,0.000151616856057,-0.000501126348078,-6.28045354974e-05,1793255021722499328
+198,3.300000000,POSE1_TO_POSE2_PRESS,782,760,736.594862788,718,680,647,913.405137212,801,841.405137212,657,635,658,0.450983930094,0.00464713614182,0.0796925530359,0.99999988229,0.000149927011763,-0.000457213956834,-6.24250093466e-05,1793255021739166464
+199,3.316666667,POSE1_TO_POSE2_PRESS,782,760,736.019822201,718,680,647,913.980177799,801,841.980177799,657,635,658,0.451628156864,0.00465144757867,0.0797319763653,0.999999905824,0.000140820283741,-0.000405842489961,-6.1759281363e-05,1793255021755833088
+200,3.333333333,POSE1_TO_POSE2_PRESS,782,760,736.554813352,718,679.445186648,646.445186648,913.445186648,800.445186648,841.445186648,657,635,658,0.452154186115,0.0046557367516,0.0797072757797,0.99999988662,0.000130646392024,-0.000453342372753,-6.4594870316e-05,1793255021772499456
+201,3.350000000,POSE1_TO_POSE2_PRESS,782,759.866501612,737,717.866501612,679,646,913,800.133498388,841,657,635,658,0.452666133345,0.00465925704802,0.0796743697925,0.999999859472,0.000128377237934,-0.000510124495224,-6.59395126456e-05,1793255021789166080
+202,3.366666667,POSE1_TO_POSE2_PRESS,782,759.273838584,737,717.273838584,679,646,913,800.726161416,841,657,635,658,0.453144159978,0.00466013554633,0.0796211155991,0.999999814221,0.000153427287678,-0.000586691782674,-6.17261353285e-05,1793255021805832448
+203,3.383333333,POSE1_TO_POSE2_PRESS,782.310720316,759.310720316,737,717,678.689279684,646,913,800.689279684,841.310720316,657,635,658,0.453607086337,0.0046633149685,0.0795790423386,0.999999774261,0.000169249337942,-0.000647359876481,-6.13020452455e-05,1793255021822499072
+204,3.400000000,POSE1_TO_POSE2_PRESS,782.888318538,759.888318538,737,717,678.111681462,646,913,800.111681462,841.888318538,657,635,658,0.454057043029,0.0046684706558,0.0795465723928,0.999999741177,0.000177145451575,-0.000694372138027,-6.4132577126e-05,1793255021839165696
+205,3.416666667,POSE1_TO_POSE2_PRESS,783,760,736.537220997,717.462779003,677.537220997,646,913,800,842,657,635,657.537220997,0.454486871727,0.00467274936279,0.0795313866259,0.999999724044,0.000184677318055,-0.000716548793902,-6.60670173423e-05,1793255021855832832
+206,3.433333333,POSE1_TO_POSE2_PRESS,782.962673414,760,736,718,676.962673414,645.962673414,913,800.037326586,842,657,635,657.037326586,0.454910549699,0.00467663096485,0.0795213810304,0.999999711901,0.00019199611244,-0.000731273152404,-6.76347355527e-05,1793255021872499712
+207,3.450000000,POSE1_TO_POSE2_PRESS,782.375769132,760,736,718,676.375769132,645.375769132,913,800.624230868,842,657,635,657.624230868,0.455314704486,0.00467776088724,0.0795266452945,0.999999716228,0.000197463265236,-0.000723924967233,-6.69655653703e-05,1793255021889166336
+208,3.466666667,POSE1_TO_POSE2_PRESS,782,759.791538024,736.208461976,718,676,645,913,800.791538024,841.791538024,657,635,658,0.455692378806,0.00467999448407,0.0795274490446,0.999999713554,0.000201499468231,-0.000726546659284,-6.64818522637e-05,1793255021905832704
+209,3.483333333,POSE1_TO_POSE2_PRESS,782,759.212064574,736.787935426,718,676,645,913,800.212064574,841.212064574,657,635,658,0.456022924312,0.00468419235206,0.079520314167,0.999999698259,0.000202988928986,-0.000746912301737,-6.63282075783e-05,1793255021922499328
+210,3.500000000,POSE1_TO_POSE2_PRESS,782,759.366292772,737,718,675.633707228,645,913,800,841,657,635.366292772,658,0.456320027076,0.00468677840256,0.0794992581987,0.999999672174,0.000183653358844,-0.000785720009329,-6.75761436512e-05,1793255021939165952
+211,3.516666667,POSE1_TO_POSE2_PRESS,782,759.94400597,737,718,675.05599403,645,913,800,841,657,635.94400597,658,0.456597827064,0.00468843412895,0.0794701671192,0.999999637222,0.000152297794391,-0.000835172287377,-6.96330575506e-05,1793255021955832576
+212,3.533333333,POSE1_TO_POSE2_PRESS,782,759.480642869,736.480642869,718,674.480642869,645,913,800.519357131,841,657,635.480642869,658,0.456865441619,0.00468995696986,0.0794605289992,0.999999628921,0.000140080073416,-0.000847128447904,-7.00579745988e-05,1793255021972499200
+213,3.550000000,POSE1_TO_POSE2_PRESS,782.096649121,759.096649121,736,718.096649121,674,645,913,801,841,657.096649121,635,657.903350879,0.457129431112,0.00469190614656,0.0794560164257,0.999999626009,0.000136152958014,-0.000851247202532,-6.94472844361e-05,1793255021989165824
+214,3.566666667,POSE1_TO_POSE2_PRESS,782.685107432,759.685107432,736,718.685107432,674,645,913,801,841,657.685107432,635,657.314892568,0.457380536856,0.00469609735223,0.0794669616991,0.999999635064,0.00016396152084,-0.00083596261174,-6.44580964683e-05,1793255022005832704
+215,3.583333333,POSE1_TO_POSE2_PRESS,782.729066141,760,736.270933859,718.458132282,674,645,913,801,841.270933859,657.729066141,635,657.270933859,0.457611511555,0.00471069251907,0.0794747809991,0.999999637614,0.000196176990928,-0.000825928341163,-6.42494491065e-05,1793255022022499584
+216,3.600000000,POSE1_TO_POSE2_PRESS,782.146269222,760,736.853730778,717.292538445,674,645,913,801,841.853730778,657.146269222,635,657.853730778,0.457819314054,0.00473726334337,0.0794790020931,0.999999632538,0.000233465105386,-0.000821937542401,-6.95435251779e-05,1793255022039166208
+217,3.616666667,POSE1_TO_POSE2_PRESS,782.429331753,760,736.570668247,717.858663507,673.570668247,645,913,801,842,657,635,658,0.457993522717,0.0047337114666,0.0794751453104,0.999999627007,0.00023410061236,-0.000828333000241,-7.1042951955e-05,1793255022055832576
+218,3.633333333,POSE1_TO_POSE2_PRESS,783,760,736,718.997474544,673,645,913,800.997474544,841.997474544,657,635,658,0.458156337883,0.00472001640393,0.0794685777716,0.999999621426,0.000222378321908,-0.000838222819651,-7.12668965305e-05,1793255022072499200
+219,3.650000000,POSE1_TO_POSE2_PRESS,783,760,736,718.423395054,673,645,913,800.423395054,841.423395054,657,635,658,0.458288133499,0.00469504113285,0.0794610897695,0.999999616439,0.000193354081095,-0.000851324934496,-7.0587234013e-05,1793255022089165824
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,759.843810324,736.156189676,717.843810324,673,645,913.156189676,800.156189676,841.156189676,657,635,658,0.458414747883,0.00468044089035,0.0794539136453,0.99999960934,0.000175120112585,-0.000863486924939,-7.10176546691e-05,1793255022105832192
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,759.248757002,736.751242998,717.248757002,673,645,913.751242998,800.751242998,841.751242998,657,635,658,0.458526803956,0.00469499253312,0.0794476138408,0.999999598626,0.000187204787377,-0.000873007342211,-7.45672007657e-05,1793255022122498816
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,759,736.665810414,717.334189586,672.665810414,645,913.665810414,800.665810414,842,657.334189586,635.334189586,658,0.458624522336,0.00470087562185,0.0794439364739,0.999999594106,0.000191821946,-0.000877049614427,-7.5999892434e-05,1793255022139165696
+223,3.716666667,POSE1_TO_POSE2_PRESS,783,759,736.091560466,717.908439534,672.091560466,645,913.091560466,800.091560466,842,657.908439534,635.908439534,658,0.45871194145,0.0047005317789,0.0794421428972,0.999999594162,0.00019107492127,-0.000877156739715,-7.59119720391e-05,1793255022155832576
+224,3.733333333,POSE1_TO_POSE2_PRESS,783,759,736.482918052,718,672,644.517081948,913,800,841.517081948,657.517081948,635.517081948,658,0.458780493179,0.00469970604816,0.0794383892398,0.999999588542,0.000189827229116,-0.000883801680516,-7.59995854826e-05,1793255022172499456
+225,3.750000000,POSE1_TO_POSE2_PRESS,783,759.059241038,736.940758962,718,672,644.059241038,913,800.059241038,841,657.059241038,635,657.940758962,0.458843730957,0.00469954903721,0.0794342935068,0.999999582085,0.000189152577029,-0.000891203734529,-7.62067119232e-05,1793255022189166080
+226,3.766666667,POSE1_TO_POSE2_PRESS,783,759.651778234,736.348221766,718,672,644.651778234,913,800.651778234,841,657.651778234,635,657.348221766,0.458891349761,0.00470623480661,0.0794304653916,0.999999578259,0.000194491450831,-0.000894257464554,-7.71899698343e-05,1793255022205832448
+227,3.783333333,POSE1_TO_POSE2_PRESS,783,760,736.238170263,718,672,645,913,800.761829737,841,657.761829737,635.238170263,657.238170263,0.458932249026,0.00470768649947,0.0794273663415,0.99999957452,0.000193941354075,-0.000898559684506,-7.7046335937e-05,1793255022222499072
+228,3.800000000,POSE1_TO_POSE2_PRESS,783,760,736.815803577,718,672,645,913,800.184196423,841,657.184196423,635.815803577,657.815803577,0.458963570958,0.00470167808512,0.079425306425,0.999999570865,0.000184997732584,-0.000904641371561,-7.52965479291e-05,1793255022239165696
+229,3.816666667,POSE1_TO_POSE2_PRESS,782.607773289,759.607773289,736.607773289,718,671.607773289,644.607773289,913,800,841,657.392226711,635.607773289,658,0.458988322648,0.00470248162029,0.0794226934044,0.999999566697,0.000185782323929,-0.000909098795026,-7.50371139642e-05,1793255022255832064
+230,3.833333333,POSE1_TO_POSE2_PRESS,782.031916745,759.031916745,736.031916745,718,671.031916745,644.031916745,913,800,841,657.968083255,635.031916745,658,0.459009998329,0.00470647432437,0.0794198214356,0.99999956229,0.000191121399085,-0.000912795782473,-7.54754231081e-05,1793255022272498688
+231,3.850000000,POSE1_TO_POSE2_PRESS,782.555298557,759,736,718,671.555298557,644.555298557,913.555298557,800,841,657.444701443,635,658,0.459022154327,0.00470901122176,0.0794165159501,0.999999558364,0.000193002116314,-0.000916638301725,-7.61267835819e-05,1793255022289165312
+232,3.866666667,POSE1_TO_POSE2_PRESS,783,759,736,718,672,645,913.858876733,800,841.141123267,657,635,658,0.459032606426,0.00470960004527,0.0794137979078,0.999999555212,0.000192515693933,-0.000920155929297,-7.633077824e-05,1793255022305832192
+233,3.883333333,POSE1_TO_POSE2_PRESS,783,759,736,718,672,645,913.279441219,800,841.720558781,657,635,658,0.459039501312,0.00470440369192,0.0794129834012,0.99999955438,0.000185307478599,-0.000922637958547,-7.51064799424e-05,1793255022322498816
+234,3.900000000,POSE1_TO_POSE2_PRESS,783,759,736.298035967,718,672,645,913,800,842,657,635,658,0.459044548268,0.00470366097648,0.079411999586,0.999999552667,0.000183833939582,-0.000924825204801,-7.46269923156e-05,1793255022339165440
+235,3.916666667,POSE1_TO_POSE2_PRESS,783,759,736.873689061,718,672,645,913,800,842,657,635,658,0.4590478739,0.00470706677369,0.0794108580617,0.999999550162,0.000187702185744,-0.000926737864348,-7.48412872496e-05,1793255022355832320
+236,3.933333333,POSE1_TO_POSE2_PRESS,782.551141065,759.448858935,736.551141065,718,671.551141065,644.551141065,913,800,841.551141065,657,635,658,0.459052455319,0.00470757314145,0.0794119809256,0.999999552464,0.000187793092435,-0.000924250677465,-7.46051041838e-05,1793255022372498688
+237,3.950000000,POSE1_TO_POSE2_PRESS,782.024552315,760,736,718,671,644.024552315,913,800.024552315,841,657.024552315,635,658,0.459057146896,0.00470722691938,0.0794135759453,0.999999555819,0.000186941366148,-0.000920817326092,-7.42340269767e-05,1793255022389165312
+238,3.966666667,POSE1_TO_POSE2_PRESS,782.615455597,760,736,718,671,644.615455597,913,800.615455597,841,657.615455597,635,658,0.459056236708,0.00470601441904,0.079411379473,0.999999552487,0.000188838877678,-0.000924088212179,-7.36723246394e-05,1793255022405832192
+239,3.983333333,POSE1_TO_POSE2_PRESS,783,760,736,718,671,644.797911625,913,800.797911625,841.202088375,657.797911625,635,658,0.459056141238,0.00470533267613,0.0794101578319,0.999999550574,0.000189137067092,-0.000926117207737,-7.33933112714e-05,1793255022422499072
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,760,736,718,671,644.219236858,913,800.219236858,841.780763142,657.219236858,635,658,0.459057563974,0.00470563998586,0.0794107527635,0.999999551323,0.000186454961531,-0.000925831972651,-7.36410814266e-05,1793255022439165440
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,760,736,718,671,644.357312882,913,800.357312882,842,657,635.357312882,658,0.459058798458,0.00470578907108,0.0794112052735,0.999999551922,0.000186173140405,-0.000925250934751,-7.35298855536e-05,1793255022455832064
+242,4.033333333,POSE1_TO_POSE2_PRESS,783,760,736,718,671,644.932566454,913,800.932566454,842,657,635.932566454,658,0.45905991812,0.00470584164828,0.0794115709144,0.999999552429,0.000187355357408,-0.000924489473839,-7.31997406549e-05,1793255022472498688
+243,4.050000000,POSE1_TO_POSE2_PRESS,783,759.491233304,736,718,671,644.491233304,913,800.491233304,841.491233304,657,635.491233304,658,0.459059581906,0.00470720042677,0.0794105836226,0.99999955151,0.000187758303263,-0.000925371324134,-7.35859070555e-05,1793255022489165824
+244,4.066666667,POSE1_TO_POSE2_PRESS,783,759,736,718,671,644.087174311,913,800,841,657,635.087174311,658,0.459059284317,0.00470804458852,0.0794096210281,0.999999550713,0.000187797137082,-0.000926205670204,-7.38174043278e-05,1793255022505832192
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+246,4.100000000,POSE1_TO_POSE2_PRESS,783,759,736,718,671,644.737819785,913,800,841.262180215,657,635.737819785,658,0.45906124374,0.0047037751349,0.0794098627749,0.999999552136,0.000185815464308,-0.000925190045991,-7.22776685981e-05,1793255022539165440
+247,4.116666667,POSE1_TO_POSE2_PRESS,783,759,736,718,671,644.160267445,913,800,841.839732555,657,635.160267445,658,0.459062013208,0.00470502325693,0.079409655847,0.999999551832,0.000186442162866,-0.00092533553536,-7.30085272454e-05,1793255022555832320
+248,4.133333333,POSE1_TO_POSE2_PRESS,783,759.414233134,736,718,671,644,913,800,842,657,635,658,0.459061427166,0.00470552432345,0.0794091903079,0.999999551043,0.000186924211027,-0.000926067561417,-7.32988227574e-05,1793255022572498944
+249,4.150000000,POSE1_TO_POSE2_PRESS,783,759.987561581,736,718,671,644,913,800,842,657,635,658,0.459060320513,0.00470573846687,0.0794086254434,0.999999550067,0.000187350702996,-0.000927024859737,-7.34199102977e-05,1793255022589165312
+250,4.166666667,POSE1_TO_POSE2_PRESS,783,759.436406901,736,718,671,644,913,800,842,657,635,658,0.459062151347,0.00470547723648,0.0794095281576,0.999999551588,0.000186213601246,-0.000925625690961,-7.32524603716e-05,1793255022605832192
+251,4.183333333,POSE1_TO_POSE2_PRESS,783,759,736.144001295,717.855998705,671,644,913,800,842,657.144001295,635,658,0.459063373107,0.00470536329442,0.0794101661155,0.999999552566,0.000185511451268,-0.000924731647286,-7.29684150906e-05,1793255022622499072
+252,4.200000000,POSE1_TO_POSE2_PRESS,783,759,736.737895934,717.262104066,671,644,913,800,842,657.737895934,635,658,0.459062488456,0.00470574245085,0.0794098752339,0.999999551686,0.000186276522722,-0.000925578995907,-7.23400898904e-05,1793255022639165440
+253,4.216666667,HOLD_POSE2,782,759,736,718,671,645,914,800,842,657,636,658,0.459064866541,0.00470891923635,0.0794118674664,0.999999552161,0.000192183532904,-0.000923827458728,-7.27018597951e-05,1793255022675385088
+254,4.233333333,HOLD_POSE2,782.573610591,759.573610591,736.573610591,718,671,645,913.426389409,800.573610591,841.426389409,657,636,658,0.459064737115,0.00470822740367,0.0794111388247,0.999999553248,0.000189537638014,-0.000923180216153,-7.29216535447e-05,1793255022692051712
+255,4.250000000,HOLD_POSE2,783,760,737,718,671,645,913.151421804,801,841.151421804,657,635.848578196,658,0.459064333177,0.00470769171102,0.0794103579399,0.999999553613,0.000187517184063,-0.000923191690138,-7.29914704717e-05,1793255022708718336
+256,4.266666667,HOLD_POSE2,783,760,737,718,671,645,913.741399209,801,841.741399209,657,635.258600791,658,0.459063134184,0.00470760823898,0.0794094257457,0.999999551905,0.000187308163644,-0.000925110972691,-7.2626916881e-05,1793255022725384960
+257,4.283333333,HOLD_POSE2,783,759.674677439,737,718,671,644.674677439,914,800.674677439,842,657.325322561,635,658,0.459063166029,0.00470629898568,0.0794095308597,0.999999551529,0.000186365362092,-0.000925734361518,-7.22880709035e-05,1793255022742051840
+258,4.300000000,HOLD_POSE2,783,759.095478603,737,718,671,644.095478603,914,800.095478603,842,657.904521397,635,658,0.459064158399,0.00470403315324,0.0794104454717,0.999999552192,0.000184849930059,-0.000925346456489,-7.19692867385e-05,1793255022758719488
+259,4.316666667,HOLD_POSE2,783,759.480166481,736.519833519,718,670.519833519,644,913.519833519,800,842,658,635.480166481,657.519833519,0.459065589435,0.00470642274449,0.0794112646158,0.999999553273,0.000188940443469,-0.000923350868792,-7.19552690205e-05,1793255022775386112
+260,4.333333333,HOLD_POSE2,783,759.945054238,736,718,670.054945762,644.054945762,913,800,842,657.945054238,636,657.054945762,0.459066859167,0.00470939631993,0.0794118652891,0.999999554132,0.000193424466421,-0.000921486346065,-7.201740295e-05,1793255022792052480
+261,4.350000000,HOLD_POSE2,783,759.371825174,736,718,670.628174826,644.628174826,913,800,842,657.371825174,636,657.628174826,0.459065790648,0.00470921070181,0.0794105829559,0.999999552365,0.000191182888758,-0.000923851376325,-7.22304179904e-05,1793255022808718848
+262,4.366666667,HOLD_POSE2,783,759,736,718,671,645,913.208645842,800,842,657.208645842,635.791354158,658,0.459065109725,0.00470833214531,0.079409710002,0.999999551373,0.000189498797525,-0.00092528075842,-7.21112046605e-05,1793255022825385216
+263,4.383333333,HOLD_POSE2,783,759,736,718,671,645,913.802486642,800,842,657.802486642,635.197513358,658,0.459065144371,0.00470617430926,0.0794095928306,0.999999551825,0.000188843919299,-0.000924982777996,-7.13786424305e-05,1793255022842051840
+264,4.400000000,HOLD_POSE2,782.61351926,759.38648074,736,717.61351926,670.61351926,644.61351926,914,800,841.61351926,657.61351926,635,658,0.4590646282,0.00470649783701,0.0794092591709,0.999999551007,0.000190056016064,-0.000925618460359,-7.13780303208e-05,1793255022858718464
+265,4.416666667,HOLD_POSE2,782.034432301,759.965567699,736,717.034432301,670.034432301,644.034432301,914,800,841.034432301,657.034432301,635,658,0.459063837525,0.00470805797495,0.0794088176222,0.999999549552,0.000192198536859,-0.000926719442094,-7.17421921933e-05,1793255022875385344
+266,4.433333333,HOLD_POSE2,782.539943662,759.460056338,736,717,670,644,913.460056338,800,841.539943662,657,635,658,0.459066361495,0.00470667212279,0.0794099112941,0.999999552202,0.000188823492249,-0.000924545608071,-7.18156938057e-05,1793255022892051968
+267,4.450000000,HOLD_POSE2,783,759.116881263,736,717.116881263,670.116881263,644,913,800,841.883118737,657,635,658,0.459068215202,0.0047057898865,0.0794107389342,0.999999554194,0.000186328292007,-0.000922890036479,-7.1882848349e-05,1793255022908719104
+268,4.466666667,HOLD_POSE2,783,759.705356424,736,717.705356424,670.705356424,644,913,800,841.294643576,657,635,658,0.459066519049,0.00470769109377,0.0794101015901,0.99999955255,0.000188790490774,-0.000924160879631,-7.19985338865e-05,1793255022925385728
+269,4.483333333,POSE2_TO_POSE3_RETREAT,783,759,737,717,671,644,913,800,842,657,635,658,0.459066296045,0.00470581360271,0.0794096235442,0.999999551477,0.000191078986794,-0.000924926631349,-7.10328335247e-05,1793255022963555584
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783,759,736.39991976,717.60008024,670.39991976,644,913,800,842,657,635,657.39991976,0.459066056374,0.00470754633866,0.0794090869338,0.999999551447,0.000188789364504,-0.000925355865165,-7.19764096617e-05,1793255022980222976
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783,759,736,718,670.188996515,644,913,800,841.811003485,657,635,657.188996515,0.459066506483,0.00470864609735,0.0794092947843,0.999999552065,0.000187876383162,-0.000924835745691,-7.2470034289e-05,1793255022996890112
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783,759,736,718,670.755607339,644,913,800,841.244392661,657,635,657.755607339,0.459068334766,0.00470848117023,0.0794109900644,0.999999553979,0.000189713924709,-0.000922418822093,-7.20646577074e-05,1793255023013556480
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783,759,736.338958224,718,671,644,913.338958224,800,841,657,635,658,0.459068542257,0.00470743652196,0.0794113925284,0.999999554343,0.000190078847983,-0.000922000383135,-7.14072868856e-05,1793255023030223104
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783,759,736.935005898,718,671,644,913.935005898,800,841,657,635,658,0.459067520428,0.00470572463209,0.079410814431,0.999999553534,0.000189326835206,-0.000923097733834,-7.05587861602e-05,1793255023046889728
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783,759.516103622,736.483896378,718,671,644,913.483896378,800,841.516103622,657,635.516103622,658,0.459067907414,0.00470736567655,0.0794104968153,0.999999553199,0.000190249294664,-0.000923212732722,-7.13076905767e-05,1793255023063556352
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783,759.905275431,736,717.905275431,671,644.094724569,913,800,842,657.094724569,635.905275431,658,0.459068222957,0.00470889787315,0.0794102961761,0.999999553038,0.000190903957407,-0.000923194572602,-7.20482854716e-05,1793255023080223232
+277,4.616666667,POSE2_TO_POSE3_RETREAT,783,759.329937736,736,717.329937736,671,644.670062264,913,800,842,657.670062264,635.329937736,658,0.459067301185,0.00470779573586,0.0794105273005,0.999999553468,0.000189160082043,-0.000923110799043,-7.17547834567e-05,1793255023096889600
+278,4.633333333,POSE2_TO_POSE3_RETREAT,783,759.250369107,736,717.250369107,671,644.749630893,913.250369107,800,842,658,635,658,0.459065143324,0.00470700538503,0.0794092946321,0.999999552228,0.000187762105143,-0.00092475623705,-7.15155203754e-05,1793255023113555968
+279,4.650000000,POSE2_TO_POSE3_RETREAT,783,759.83735687,736,717.83735687,671,644.16264313,913.83735687,800,842,658,635,658,0.459061323554,0.00470663422797,0.0794060939097,0.999999548735,0.000186829185266,-0.000928726582001,-7.13491809987e-05,1793255023130222592
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783,760,736.419818021,718,671,644.419818021,914,800,842,657.580181979,635,658,0.459046601005,0.00470827390277,0.0793993280524,0.999999538644,0.000188825168096,-0.000939122871049,-7.14492356511e-05,1793255023146889216
+281,4.683333333,POSE2_TO_POSE3_RETREAT,783,759.99946081,736.99946081,717.99946081,671,644.99946081,914,800,842,657,635,658,0.459027674969,0.00471068035689,0.0793911865694,0.999999525862,0.000191939343811,-0.000951998672462,-7.16504173444e-05,1793255023163555840
+282,4.700000000,POSE2_TO_POSE3_RETREAT,783,759.424140796,736.424140796,717.424140796,671,644.424140796,914,800,842,657,635,658,0.458982462718,0.00470889308746,0.0793732619383,0.999999496682,0.000190363751568,-0.000982539039012,-7.08104619206e-05,1793255023180222720
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783,759.150924051,736,717.150924051,671,644,914,800,842,657.150924051,635,658,0.458933249972,0.00470765139104,0.0793554947165,0.999999468548,0.000189855203397,-0.00101091248772,-7.01012582744e-05,1793255023196889600
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783,759.725273143,736,717.725273143,671,644,914,800,842,657.725273143,635,658,0.458872813622,0.00470794032678,0.0793381691104,0.999999445311,0.000192340301221,-0.00103320654798,-6.97588852846e-05,1793255023213556224
+285,4.750000000,POSE2_TO_POSE3_RETREAT,783,760,736.309835878,718,671,644.309835878,914,800.309835878,841.690164122,657.690164122,635,658,0.458804516823,0.00470698046104,0.0793266135963,0.999999429472,0.00019325244822,-0.00104833466817,-6.8583826955e-05,1793255023230222592
+286,4.766666667,POSE2_TO_POSE3_RETREAT,783,760,736.903763575,718,671,644.903763575,914,800.903763575,841.096236425,657.096236425,635,658,0.458729012696,0.0047048755559,0.0793203487422,0.999999420697,0.000192722339746,-0.00105689226046,-6.66452706007e-05,1793255023246888960
+287,4.783333333,POSE2_TO_POSE3_RETREAT,783,759.518125471,736.518125471,718,671,644.518125471,913.518125471,800.518125471,841,657,635,658,0.45864268317,0.00470445457534,0.0793220658853,0.999999423514,0.000194868948702,-0.00105395323795,-6.46621800582e-05,1793255023263555584
+288,4.800000000,POSE2_TO_POSE3_RETREAT,782.9431117,759,736.0568883,718,671,644,913,800,841.0568883,657,635,658,0.458551673395,0.00470436895358,0.079325364511,0.999999428231,0.000197569240449,-0.00104909103047,-6.25436251373e-05,1793255023280222208
+289,4.816666667,POSE2_TO_POSE3_RETREAT,782.36845074,759,736.63154926,718,671,644,913,800,841.63154926,657,635,658,0.458437117955,0.00470437203144,0.0793290093428,0.999999430063,0.000200598075535,-0.00104695807414,-5.92705091422e-05,1793255023296888576
+290,4.833333333,POSE2_TO_POSE3_RETREAT,782.2056299,759.2056299,736.7943701,718,671,644,913,800,841.7943701,657.2056299,635,658,0.458314538412,0.00470389301369,0.0793329203491,0.999999434039,0.000202568827248,-0.00104295825143,-5.59102405264e-05,1793255023313555456
+291,4.850000000,POSE2_TO_POSE3_RETREAT,782.778673575,759.778673575,736.221326425,718,671,644,913,800,841.221326425,657.778673575,635,658,0.458177621636,0.00470255260093,0.0793373069482,0.999999441837,0.000202649024742,-0.0010356227641,-5.23942503867e-05,1793255023330222592
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783,759.636308128,736,718,671,644.363691872,913.363691872,800.363691872,841.363691872,657.636308128,635,658,0.458017186712,0.00470228416963,0.0793418517736,0.999999446929,0.000207102971576,-0.00103001747611,-4.80973873096e-05,1793255023346889472
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,759.043754458,736,718,671,644.956245542,913.956245542,800.956245542,841.956245542,657.043754458,635,658,0.45784195242,0.00470269030813,0.0793464961671,0.999999450272,0.000214309204655,-0.00102550095661,-4.33091409381e-05,1793255023363556096
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,759.535662674,736,718,671,644.464337326,913.464337326,800.464337326,841.464337326,657,635,658,0.457640089523,0.00470322542233,0.0793486381341,0.999999451043,0.000219205614111,-0.00102390762178,-3.84103204976e-05,1793255023380222464
+295,4.916666667,POSE2_TO_POSE3_RETREAT,783,760,736,718,671.113574104,644.113574104,913.113574104,800,841.113574104,657,635,658,0.457429531527,0.00470291723257,0.0793505857095,0.999999451819,0.000223676082572,-0.00102236584709,-3.31365070913e-05,1793255023396888832
+296,4.933333333,POSE2_TO_POSE3_RETREAT,783,760,736,718,671.68961929,644.68961929,913.68961929,800,841.68961929,657,635,658,0.457192212176,0.0046991332572,0.0793525541374,0.999999453564,0.000227162012749,-0.00102008501482,-2.63716274072e-05,1793255023413555456
+297,4.950000000,POSE2_TO_POSE3_RETREAT,783,760,736,718,672,645,913.726953507,800,841.726953507,657.273046493,635,658,0.456939627965,0.0046958435508,0.0793560691625,0.999999457105,0.000232528415555,-0.00101555007166,-1.94389384574e-05,1793255023430222080
+298,4.966666667,POSE2_TO_POSE3_RETREAT,783,760,736,718,672,645,913.134901794,800,841.134901794,657.865098206,635,658,0.456669209552,0.00469313130813,0.0793613911051,0.999999462685,0.00024009180876,-0.00100838160955,-1.23101952735e-05,1793255023446888960
+299,4.983333333,POSE2_TO_POSE3_RETREAT,783,759.556156662,736,718,672.443843338,644.556156662,913,800,841.443843338,658,635,658,0.456356328769,0.00469084496518,0.0793647000375,0.999999465847,0.000248992823362,-0.00100314044862,-4.1474824485e-06,1793255023463555840
+300,5.000000000,POSE2_TO_POSE3_RETREAT,783,759,736,718,673,644.018771855,913,800,841.981228145,658,635,658,0.45603020475,0.00468875737596,0.0793674055479,0.999999468359,0.000258267016871,-0.000998279696769,4.25470689992e-06,1793255023480222720
+301,5.016666667,POSE2_TO_POSE3_RETREAT,783,759,736,718,673,644.596980806,913,800,841.403019194,658,635,658,0.455682835307,0.0046888475199,0.0793698310219,0.999999476444,0.000266899164451,-0.000987806525029,1.07006790799e-05,1793255023496889088
+302,5.033333333,POSE2_TO_POSE3_RETREAT,782.826238155,759,736,717.826238155,673,645,913,800,841,657.826238155,635.173761845,657.826238155,0.455331311227,0.00468754356656,0.0793788505827,0.999999495608,0.000271211860403,-0.000966930855569,1.65102734816e-05,1793255023513555712
+303,5.050000000,POSE2_TO_POSE3_RETREAT,782.252742063,759,736,717.252742063,673,645,913,800,841,657.252742063,635.747257937,657.252742063,0.454970229567,0.00468303253156,0.0794030396548,0.999999539357,0.000265587777732,-0.00092212453275,2.08558977684e-05,1793255023530222336
+304,5.066666667,POSE2_TO_POSE3_RETREAT,782.332219164,759,736,717.332219164,673.332219164,645,913,800,841,657,635.667780836,657.332219164,0.454580845236,0.0046792144416,0.0794261412972,0.999999579935,0.000243064656519,-0.000883575649223,1.85584919621e-05,1793255023546889216
+305,5.083333333,POSE2_TO_POSE3_RETREAT,782.926214548,759,736,717.926214548,673.926214548,645,913,800,841,657,635.073785452,657.926214548,0.454169159426,0.00467594236581,0.0794483860884,0.999999617254,0.000207225727081,-0.000849957387302,1.1026628484e-05,1793255023563555840
+306,5.100000000,POSE2_TO_POSE3_RETREAT,782.493932134,759,736,717.493932134,674,645,913,800,841,657,635.506067866,658,0.453680160999,0.00467113791507,0.0794522017641,0.999999625176,0.000189664720633,-0.000844717731558,1.12395826331e-05,1793255023580222464
+307,5.116666667,POSE2_TO_POSE3_RETREAT,782,759.083380438,736,717,674.083380438,645,913.083380438,800,841,657,635.916619562,658,0.453175919822,0.00466635581133,0.0794533395244,0.999999629056,0.000176338547671,-0.000842985414221,1.29569044327e-05,1793255023596889344
+308,5.133333333,POSE2_TO_POSE3_RETREAT,782,759.657544984,736,717,674.657544984,645,913.657544984,800,841,657,635.342455016,658,0.452646504279,0.00466298457445,0.0794541007552,0.999999633651,0.000172679272087,-0.00083820515518,1.70631489555e-05,1793255023613556480
+309,5.150000000,POSE2_TO_POSE3_RETREAT,782.237695932,759.762304068,736,717.237695932,675.237695932,645,913.762304068,800,841,657.237695932,635,658,0.452112917037,0.00465972078391,0.079462651745,0.999999639161,0.000206734498038,-0.000823723839302,2.04423148577e-05,1793255023630223360
+310,5.166666667,POSE2_TO_POSE3_RETREAT,782.826694448,759.173305552,736,717.826694448,675.826694448,645,913.173305552,800,841,657.826694448,635,658,0.451573164265,0.00465661579382,0.0794827156051,0.999999639839,0.000296529851581,-0.000794904846513,2.2746894911e-05,1793255023646889728
+311,5.183333333,POSE2_TO_POSE3_RETREAT,782.588685452,759,736,717.588685452,676,645.411314548,913,800,841,657.588685452,635,658,0.451007888122,0.00465135102101,0.0795124877261,0.999999677067,0.00030240282729,-0.000744183471313,2.46801666348e-05,1793255023663556352
+312,5.200000000,POSE2_TO_POSE3_RETREAT,782.00589076,759,736,717.00589076,676,645.99410924,913,800,841,657.00589076,635,658,0.450431971106,0.00464518581856,0.0795463072938,0.999999728152,0.000273287927046,-0.000684330827198,2.64586370165e-05,1793255023680222720
+313,5.216666667,POSE2_TO_POSE3_RETREAT,782.566246897,759.566246897,736,717,676.566246897,646,913,800,841,657,635,658,0.449814967257,0.00464003070239,0.0795890679785,0.999999778841,0.000252962754906,-0.000614302699096,3.09754697963e-05,1793255023696889344
+314,5.233333333,POSE2_TO_POSE3_RETREAT,782.860432171,760,736,717.139567829,677.139567829,646,913.139567829,800,841,657.139567829,635,658,0.449173452036,0.00463510795085,0.0796182906636,0.999999811129,0.000229167706107,-0.000569307966262,3.33498582005e-05,1793255023713555712
+315,5.250000000,POSE2_TO_POSE3_RETREAT,782.28305822,760,736,717.71694178,677.71694178,646,913.71694178,800,841,657.71694178,635,658,0.44845636398,0.00463088174428,0.0796047600081,0.999999798819,0.00019420657299,-0.000603165685601,2.89159655952e-05,1793255023730222336
+316,5.266666667,POSE2_TO_POSE3_RETREAT,782,759.698270087,736.301729913,718,678.301729913,646,913.698270087,800,841,658,635,658,0.447728504153,0.00462412506364,0.0795819479987,0.999999779518,0.000172653428835,-0.000640538193743,2.94126305271e-05,1793255023746889216
+317,5.283333333,POSE2_TO_POSE3_RETREAT,782,759.106351291,736.893648709,718,678.893648709,646,913.106351291,800,841,658,635,658,0.446990284484,0.00461493469792,0.0795502096413,0.999999753874,0.000163995420167,-0.000681291055809,3.46512609131e-05,1793255023763556096
+318,5.300000000,POSE2_TO_POSE3_RETREAT,782.473315454,759.473315454,737,718,679.473315454,646.473315454,913.473315454,800,841,657.526684546,635,658,0.446261744356,0.00460952751184,0.0795743012618,0.999999774319,0.000190342527061,-0.00064329109199,3.61826000668e-05,1793255023780222720
+319,5.316666667,POSE2_TO_POSE3_RETREAT,783,760,737,718,680.050109739,647,914,800,841,657,635,658,0.445532026189,0.00460461238771,0.0796131364367,0.999999804349,0.0002186778084,-0.000584899521101,3.70733569372e-05,1793255023796889344
+320,5.333333333,POSE2_TO_POSE3_RETREAT,783,760,737,718,680.624925801,647,914,800,841,657,635,658,0.444767772682,0.00459617321825,0.0796783108441,0.999999859802,0.000187549462105,-0.000493599315105,3.97589342466e-05,1793255023813556224
+321,5.350000000,POSE2_TO_POSE3_RETREAT,782.801782152,760,736.801782152,717.801782152,681.198217848,647,913.801782152,800.198217848,841,657,635,658,0.443990962379,0.00458656322756,0.0797268007146,0.999999895601,0.000157323400215,-0.000426900887582,4.24548275245e-05,1793255023830222848
+322,5.366666667,POSE2_TO_POSE3_RETREAT,782.231351928,760,736.231351928,717.231351928,681.768648072,647,913.231351928,800.768648072,841,657,635,658,0.443190573043,0.00457475467575,0.0797439604504,0.999999908106,0.000128791647376,-0.000406399555356,4.51700924526e-05,1793255023846889472
+323,5.383333333,POSE2_TO_POSE3_RETREAT,782,759.644456387,736,717.355543613,682,647,913,801,841,657,635,658,0.442370664025,0.00456517119904,0.0797522569857,0.999999913837,0.000136271394201,-0.00038939735661,4.61156378986e-05,1793255023863555840
+324,5.400000000,POSE2_TO_POSE3_RETREAT,782,759.046326643,736,717.953673357,682,647,913,801,841,657,635,658,0.44153743683,0.00455710588355,0.0797545061904,0.999999914552,0.000168321659119,-0.000374782604771,4.58537099637e-05,1793255023880222464
+325,5.416666667,POSE2_TO_POSE3_RETREAT,782.532225726,759.532225726,736,718,682.532225726,647.532225726,913,801,841,657.532225726,635,658,0.440599562075,0.0045470665354,0.0797161702908,0.999999895323,0.000135556564533,-0.000434546014719,4.63487213117e-05,1793255023896889088
+326,5.433333333,POSE2_TO_POSE3_RETREAT,782.891335413,759.891335413,736,718,683,648,913,801,841,657.891335413,635,657.891335413,0.439655828761,0.00453631683277,0.0796791757835,0.999999873102,0.000103815911571,-0.000490725481946,4.69721420551e-05,1793255023913555712
+327,5.450000000,POSE2_TO_POSE3_RETREAT,782.316910763,759.316910763,736,718,683,648,913,801,841,657.316910763,635,657.316910763,0.438724642022,0.00452323275377,0.0796625353167,0.999999866474,9.9790026866e-05,-0.000504778436984,4.7873570011e-05,1793255023930222336
+328,5.466666667,POSE2_TO_POSE3_RETREAT,782,759.263712481,736,717.736287519,683,648,913,801,841,657,635,657.263712481,0.43784215663,0.0045126731713,0.0796926995626,0.999999890101,9.20931266953e-05,-0.000457103657348,4.87194074957e-05,1793255023946888960
+329,5.483333333,POSE2_TO_POSE3_RETREAT,782,759.851964133,736,717.148035867,683,648,913,801,841,657,635,657.851964133,0.437019605685,0.0045052203722,0.0797804642757,0.999999939986,7.98784701812e-05,-0.000333463308335,4.94968318584e-05,1793255023963555328
+330,5.500000000,POSE2_TO_POSE3_RETREAT,782.430981591,760,736,717.430981591,683.430981591,648,913,801,840.569018409,657,635,657.569018409,0.436147450619,0.00449495936025,0.0798383717404,0.999999965887,6.7056126946e-05,-0.000247070882844,5.18224413206e-05,1793255023980222208
+331,5.516666667,POSE2_TO_POSE3_RETREAT,782.993049319,760,736,717.993049319,683.993049319,648,913,801,840,657,635,657.006950681,0.435257515549,0.00448374789029,0.0798853296684,0.999999981816,5.40693495371e-05,-0.000174530111882,5.4630490432e-05,1793255023996888832
+332,5.533333333,POSE2_TO_POSE3_RETREAT,782.412380059,760,736,717.412380059,683.412380059,648,913,801,840,657,635,657.587619941,0.434276853271,0.00447203190885,0.0798572466753,0.99999997519,4.43774704384e-05,-0.000211431744763,5.4286769682e-05,1793255024013555712
+333,5.550000000,POSE2_TO_POSE3_RETREAT,782,759.83366024,736,717.16633976,683.16633976,648,913,801,840,657,635,658,0.433262761772,0.0044612515122,0.0798161860663,0.999999959308,3.60566933924e-05,-0.000277668037888,5.4624739448e-05,1793255024030222336
+334,5.566666667,POSE2_TO_POSE3_RETREAT,782,759.259717415,736,717.740282585,683.740282585,648,913,801,840,657,635,658,0.43216675454,0.00445276369638,0.0797433247879,0.999999911474,3.10956989872e-05,-0.000415786704104,5.66331400463e-05,1793255024046888960
+335,5.583333333,POSE2_TO_POSE3_RETREAT,782,759.325285099,736,718,684,648,913,801,840,657.325285099,635,658,0.431143251226,0.00444112419811,0.0797041749497,0.999999879005,1.87638126727e-05,-0.000488249883237,5.70098039832e-05,1793255024063555584
+336,5.600000000,POSE2_TO_POSE3_RETREAT,782,759.919428772,736,718,684,648,913,801,840,657.919428772,635,658,0.43017967478,0.00442687973356,0.0796928887024,0.999999870186,3.39648200835e-07,-0.000506446693202,5.60377857258e-05,1793255024080222208
+337,5.616666667,POSE2_TO_POSE3_RETREAT,781.501403934,760,736,718,684,648,913,801,840,657.501403934,635,657.501403934,0.429310627751,0.00441363715404,0.0797646326426,0.999999926147,-1.68534106098e-05,-0.000379786169209,5.64317476235e-05,1793255024096889088
+338,5.633333333,POSE2_TO_POSE3_RETREAT,781.075125533,759.924874467,736,718,684,648,913,801,840,657,635,657.075125533,0.428443100071,0.00440140841442,0.0798389130163,0.999999966803,-3.11370774051e-05,-0.00024928639872,5.7272456593e-05,1793255024113555712
+339,5.650000000,POSE2_TO_POSE3_RETREAT,781.649738087,759.350261913,736,718,684,648,913,801,840,657,635,657.649738087,0.427487073358,0.00439487535697,0.0798434507465,0.999999967991,-2.73612018977e-05,-0.000244357598348,5.9658641512e-05,1793255024130222592
+340,5.666666667,POSE2_TO_POSE3_RETREAT,782,759.230133586,736.230133586,718,684,648.230133586,913,801,840,657,635,658,0.426512630636,0.00439614033328,0.0798280606455,0.999999961602,-2.24476952815e-05,-0.000269575100404,6.01823351693e-05,1793255024146889216
+341,5.683333333,POSE2_TO_POSE3_RETREAT,782,759.819557656,736.819557656,718,684,648.819557656,913,801,840,657,635,658,0.42550943622,0.00440957979982,0.0797815587017,0.999999939772,-1.57580889956e-05,-0.000341857784964,5.77982596234e-05,1793255024163556608
+342,5.700000000,POSE2_TO_POSE3_RETREAT,782,760,737,717.598211694,684,648.598211694,912.598211694,801,840,657.401788306,635.401788306,657.598211694,0.424497929175,0.0044335776971,0.0797445060743,0.999999917263,2.42761066249e-05,-0.000401808598501,5.86054876421e-05,1793255024180223488
+343,5.716666667,POSE2_TO_POSE3_RETREAT,782,760,737,717.019154809,684,648.019154809,912.019154809,801,840,657.980845191,635.980845191,657.019154809,0.423482754667,0.00446223396212,0.0797116224782,0.999999890915,7.90218995376e-05,-0.000456318597681,6.08207153786e-05,1793255024196889856
+344,5.733333333,POSE2_TO_POSE3_RETREAT,781.443737928,759.443737928,737,717,684,648,912.556262072,801,840,657.443737928,635.443737928,657.556262072,0.42260529588,0.00446896807665,0.0797302778385,0.99999990805,7.44480424322e-05,-0.000418514306799,5.65900230937e-05,1793255024213556736
+345,5.750000000,POSE2_TO_POSE3_RETREAT,781.134212903,759,737,717.134212903,684,648,913,801,840,657,635.134212903,658,0.421743549265,0.00447230005171,0.0797627124328,0.999999931938,6.9189010813e-05,-0.000358445923167,5.34251742711e-05,1793255024230223104
+346,5.766666667,POSE2_TO_POSE3_RETREAT,781.721130846,759,737,717.721130846,684,648,913,801,840,657,635.721130846,658,0.42091890873,0.00446668619075,0.0798356775524,0.999999968804,6.8464048523e-05,-0.000233932541557,5.45992811394e-05,1793255024246889472
+347,5.783333333,POSE2_TO_POSE3_RETREAT,782,759.304005848,737,718,684,648,913,801,840,657,635.695994152,658,0.42005198356,0.00446347704541,0.0798621391524,0.999999978166,6.49571699584e-05,-0.0001909866872,5.45186258505e-05,1793255024263555840
+348,5.800000000,POSE2_TO_POSE3_RETREAT,782,759.883220842,737,718,684,648,913,801,840,657,635.116779158,658,0.419146779179,0.00446244483128,0.0798465022364,0.999999972227,5.89318905455e-05,-0.000221881951953,5.33020651799e-05,1793255024280222464
+349,5.816666667,POSE2_TO_POSE3_RETREAT,781.538772657,759.538772657,737,718,684,648,912.538772657,801,840,657,635,658,0.418245681843,0.0044628189896,0.0798166348161,0.999999958909,6.20293831465e-05,-0.000274738185438,5.3425396869e-05,1793255024296889344
+350,5.833333333,POSE2_TO_POSE3_RETREAT,781,759.038692404,737,718,684,648,912.038692404,801,840,657.038692404,635,657.961307596,0.417350453452,0.00446382748297,0.0797861798461,0.99999994215,6.71036912764e-05,-0.000329084439611,5.3859557592e-05,1793255024313556480
+351,5.850000000,POSE2_TO_POSE3_RETREAT,781,759.612887057,737,718,684,648,912.612887057,801,840,657.612887057,635,657.387112943,0.416522097924,0.00446869986496,0.0797973291033,0.999999942696,6.76528369244e-05,-0.000327298520923,5.39126405345e-05,1793255024330222848
+352,5.866666667,POSE2_TO_POSE3_RETREAT,781,759.808111087,737,718,684,648,913,801,840,658,635,657.191888913,0.415692057986,0.00447265940373,0.0797961479225,0.99999993879,7.01362630098e-05,-0.00033848856687,5.40986113205e-05,1793255024346889472
+353,5.883333333,POSE2_TO_POSE3_RETREAT,781,759.219161968,737,718,684,648,913,801,840,658,635,657.780838032,0.414858532481,0.00447473007075,0.0797694523659,0.999999924689,7.66221391852e-05,-0.000376528726229,5.45595561293e-05,1793255024363556352
+354,5.900000000,POSE2_TO_POSE3_RETREAT,781,759,737,717.636116762,684,648,913,801,840,657.636116762,635,658,0.414092332862,0.0044727372138,0.0797695105445,0.999999927702,7.84114447452e-05,-0.00036821434721,5.35308801388e-05,1793255024380223232
+355,5.916666667,POSE2_TO_POSE3_RETREAT,781,759,737,717.056570667,684,648,913,801,840,657.056570667,635,658,0.413366035357,0.00446833602598,0.0797854248741,0.999999940417,7.74172310649e-05,-0.000332426998694,5.16193498059e-05,1793255024396889856
+356,5.933333333,POSE2_TO_POSE3_RETREAT,781,759,737,717,684.516360308,648,913,801,839.483639692,657,635.516360308,658,0.412649827006,0.00446561000573,0.079794566345,0.99999994447,7.69585529262e-05,-0.000319919672568,5.28063805763e-05,1793255024413556224
+357,5.950000000,POSE2_TO_POSE3_RETREAT,780.911465824,759,737,717.088534176,684.911465824,648,913,800.911465824,839,657.088534176,635.911465824,657.911465824,0.411936270557,0.00446399971761,0.0797996149955,0.999999945783,7.73071678788e-05,-0.000315468359623,5.4190083462e-05,1793255024430222592
+358,5.966666667,POSE2_TO_POSE3_RETREAT,780.339518803,759,737,717.660481197,684.339518803,648,913,800.339518803,839,657.660481197,635.339518803,657.339518803,0.411231235025,0.00446749212348,0.0797863163659,0.999999936929,8.1747446549e-05,-0.00034125442156,5.48175416064e-05,1793255024446889216
+359,5.983333333,POSE2_TO_POSE3_RETREAT,780,759,737.243030294,717.756969706,684.243030294,648,913,800.243030294,839.243030294,657.756969706,635,657.243030294,0.41054706991,0.0044724422975,0.0797822486006,0.999999933205,8.75245490034e-05,-0.00035055987227,5.51064083618e-05,1793255024463556096
+360,6.000000000,POSE2_TO_POSE3_RETREAT,780,759,737.841066291,717.158933709,684.841066291,648,913,800.841066291,839.841066291,657.158933709,635,657.841066291,0.409893391248,0.00447952190127,0.0797916647911,0.999999937578,9.52544120628e-05,-0.000335791322286,5.49006788375e-05,1793255024480222720
+361,6.016666667,POSE2_TO_POSE3_RETREAT,780.423361205,759,737.576638795,717.423361205,685,648,913,800.576638795,840,657,635,657.576638795,0.409300359498,0.00448073956355,0.0798137831505,0.999999950395,9.29181972436e-05,-0.000295990850139,5.44615783297e-05,1793255024496889344
+362,6.033333333,POSE2_TO_POSE3_RETREAT,780.999958658,759,737.000041342,717.999958658,685,648,913,800.000041342,840,657,635,657.000041342,0.408729278939,0.00447983548755,0.0798404990806,0.99999996423,8.6938550298e-05,-0.000247130032962,5.39380087031e-05,1793255024513555968
+363,6.050000000,POSE2_TO_POSE3_RETREAT,781,759,737,718,685,648,912.424269844,800,839.424269844,657.575730156,635,657.575730156,0.408136575125,0.00448001454856,0.0798253520047,0.999999953873,0.000102124396988,-0.000280765786488,5.47231039985e-05,1793255024530222336
+364,6.066666667,POSE2_TO_POSE3_RETREAT,781,759,737,718,685,648,912.154999326,800,839,657.845000674,635,658,0.407555178704,0.00447995207111,0.0798051296572,0.999999940898,0.000110588692438,-0.000320873822203,5.48930563534e-05,1793255024546888960
+365,6.083333333,POSE2_TO_POSE3_RETREAT,781,759,737,718,685,648,912.744063786,800,839,657.255936214,635,658,0.407005452078,0.00447921296408,0.0797707027576,0.9999999217,0.000100225491532,-0.000379090488738,5.33400799484e-05,1793255024563555584
+366,6.100000000,POSE2_TO_POSE3_RETREAT,781,759,737,718,685,648,913,800.327354026,839,657,635,658,0.406500091518,0.0044789754524,0.0797597271694,0.999999917492,9.42318239281e-05,-0.000391628214973,5.25745477016e-05,1793255024580222208
+367,6.116666667,POSE2_TO_POSE3_RETREAT,781,759,737,718,685,648,913,800.906208008,839,657,635,658,0.406028816606,0.00447912330706,0.0797667687857,0.999999926325,9.15951875368e-05,-0.000369071665657,5.24139941992e-05,1793255024596888832
+368,6.133333333,POSE2_TO_POSE3_RETREAT,781,759.483120015,737,718,685,648,912.516879985,801,839,657,635,658,0.405613513986,0.00448193544596,0.0797877843593,0.999999938583,0.000105579759511,-0.000329818115778,5.39102671942e-05,1793255024613555712
+369,6.150000000,POSE2_TO_POSE3_RETREAT,781,759.940537841,737,718.059462159,685,648,912,800.940537841,839,657,635.059462159,658,0.405210992363,0.00448549320949,0.0798102362891,0.999999948859,0.000121577686019,-0.000290527758533,5.56305327854e-05,1793255024630222592
+370,6.166666667,POSE2_TO_POSE3_RETREAT,781,759.365879675,737,718.634120325,685,648,912,800.365879675,839,657,635.634120325,658,0.404825436628,0.00449104770899,0.0798217222048,0.999999951426,0.000127173848617,-0.000278891479807,5.65157999463e-05,1793255024646889216
+371,6.183333333,POSE2_TO_POSE3_RETREAT,781,759,737,718.785630705,685,648,912,800,839,657.214369295,636,658,0.404449332713,0.00449391820842,0.0798289548667,0.999999952724,0.00012579452257,-0.000274923562003,5.60766920298e-05,1793255024663555584
+372,6.200000000,POSE2_TO_POSE3_RETREAT,781,759,737,718.195584039,685,648,912,800,839,657.804415961,636,658,0.40408979294,0.00449208505746,0.0798287337957,0.999999951845,0.000112190808907,-0.000284394275557,5.33166464728e-05,1793255024680222720
+373,6.216666667,POSE2_TO_POSE3_RETREAT,781,759,737,718.363324588,684.636675412,648,912,800,839,657.636675412,635.636675412,658,0.403754830283,0.00449087971276,0.079826785292,0.999999949977,0.000109341732987,-0.000291975620759,5.32952086059e-05,1793255024696889088
+374,6.233333333,POSE2_TO_POSE3_RETREAT,781,759,737,718.906794276,684.093205724,648,912,800,839,657.093205724,635.093205724,658,0.403432053522,0.00448998564939,0.0798239802854,0.999999947668,0.000111825064837,-0.000298620172391,5.46316382904e-05,1793255024713555456
+375,6.250000000,POSE2_TO_POSE3_RETREAT,781,759.511588772,737,718.488411228,684.511588772,648,912,800,839.511588772,657,635.511588772,657.488411228,0.403150983389,0.00448130693294,0.0798262635514,0.999999949539,9.96613005728e-05,-0.000296249292824,5.67963178653e-05,1793255024730222336
+376,6.266666667,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,648,912,800.118977012,839.881022988,657,635.881022988,657.118977012,0.402887249186,0.00447013836681,0.0798292199853,0.999999952164,8.17649787901e-05,-0.000292479314582,5.86671586463e-05,1793255024746888704
+377,6.283333333,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,648,912,800.688146059,839.311853941,657,635.311853941,657.688146059,0.402656444145,0.00445564602816,0.0798307381116,0.999999954645,5.36500683282e-05,-0.000290476840278,5.87774147778e-05,1793255024763555584
+378,6.300000000,POSE2_TO_POSE3_RETREAT,780.728969865,759.728969865,737,718.271030135,685,648,912,801,839,657,635,658,0.402441172079,0.00444650321529,0.0798304804768,0.999999955329,3.5063673806e-05,-0.000290889575424,5.91335838366e-05,1793255024780222208
+379,6.316666667,POSE2_TO_POSE3_RETREAT,780.129463846,759.129463846,737,718.870536154,685,648,912,801,839,657,635,658,0.402244725269,0.00444384377904,0.0798280707021,0.999999954535,2.80253979237e-05,-0.000294229432102,5.97877879286e-05,1793255024796888832
+380,6.333333333,POSE2_TO_POSE3_RETREAT,780.451522031,759.451522031,737,719,685,648,912,800.548477969,839,657,635,657.548477969,0.402073321537,0.00444557819017,0.0798298706715,0.999999955649,3.28423734394e-05,-0.000289661516045,6.09927357918e-05,1793255024813555712
+381,6.350000000,POSE2_TO_POSE3_RETREAT,781,759.972584996,737.027415004,719,685,648,912,800.027415004,839,657,635,657.027415004,0.401910300936,0.00444843706009,0.0798328681984,0.999999957197,4.06333864605e-05,-0.000282969190634,6.23217634568e-05,1793255024830222336
+382,6.366666667,POSE2_TO_POSE3_RETREAT,781,759.39652967,737.60347033,719,685,648,912,800.60347033,839,657,635,657.60347033,0.401777008892,0.00444958007059,0.0798366275302,0.999999958641,4.25956338134e-05,-0.000277350142976,6.30982147689e-05,1793255024846888960
+383,6.383333333,POSE2_TO_POSE3_RETREAT,781,759.182838412,737.817161588,718.817161588,685,648,912,800.817161588,839,657,635,658,0.401649734857,0.00445370585252,0.0798383438246,0.999999957846,6.72181293262e-05,-0.000275262861355,6.34007107962e-05,1793255024863555584
+384,6.400000000,POSE2_TO_POSE3_RETREAT,781,759.76952351,737.23047649,718.23047649,685,648,912,800.23047649,839,657,635,658,0.401535753197,0.00446441986891,0.0798355475332,0.999999948497,0.000141891737848,-0.000280976412968,6.26563516835e-05,1793255024880222208
+385,6.416666667,POSE2_TO_POSE3_RETREAT,781,759.646193776,737.353806224,718.353806224,685,648,912.353806224,800,839,657,635,658,0.401430195475,0.0044773375685,0.0798302582902,0.999999943563,0.000158967452455,-0.000290545784724,5.64495191073e-05,1793255024896888832
+386,6.433333333,POSE2_TO_POSE3_RETREAT,781,759.063465411,737.936534589,718.936534589,685,648,912.936534589,800,839,657,635,658,0.401330088256,0.00449168111144,0.07982335604,0.999999943493,0.000138775788458,-0.000302609976934,4.67083193544e-05,1793255024913555456
+387,6.450000000,POSE2_TO_POSE3_RETREAT,781,759,737.488182702,719,685,648.511817298,912.488182702,800.511817298,839,657.511817298,635.511817298,658,0.401256009043,0.00448764546963,0.0798196172824,0.999999943365,0.000130328438113,-0.000306657441784,4.73911081244e-05,1793255024930222080
+388,6.466666667,POSE2_TO_POSE3_RETREAT,781,759,737,719,685,648.913744053,912,801,839.086255947,658,635.913744053,658,0.401188591174,0.00448233966657,0.0798169572344,0.999999943301,0.000124455788834,-0.000309009048067,4.9210773772e-05,1793255024946888960
+389,6.483333333,POSE2_TO_POSE3_RETREAT,781,759,737,719,685,648.338931559,912,801,839.661068441,658,635.338931559,658,0.401140884938,0.00448256298477,0.0798182170404,0.999999943702,0.000125036092339,-0.000307304996706,5.02535334374e-05,1793255024963556608
+390,6.500000000,POSE2_TO_POSE3_RETREAT,780.757024506,759.242975494,737,719,685,648,912,801,839.757024506,658,635,657.757024506,0.401099078284,0.00448258694423,0.0798191846344,0.999999944092,0.000124943908698,-0.000305933926595,5.10917210842e-05,1793255024980223488
+391,6.516666667,POSE2_TO_POSE3_RETREAT,780.164923492,759.835076508,737,719,685,648,912,801,839.164923492,658,635,657.164923492,0.401065748598,0.00448232445002,0.0798197323561,0.999999944468,0.000123885444755,-0.000305041309166,5.16359641583e-05,1793255024996889600
+392,6.533333333,POSE2_TO_POSE3_RETREAT,780.416699028,760,737,719,685,648,912,800.583300972,839.416699028,658,635,657.416699028,0.401039075382,0.00448153652923,0.0798198318592,0.999999944644,0.000122006132899,-0.000305153280909,5.20378314012e-05,1793255025013555968
+393,6.550000000,POSE2_TO_POSE3_RETREAT,780.994276027,760,737,719,685,648,912,800.005723973,839.994276027,658,635,657.994276027,0.401014972078,0.00448054575325,0.0798197583154,0.999999944739,0.00011980991045,-0.00030565310159,5.2384730577e-05,1793255025030222336
+394,6.566666667,POSE2_TO_POSE3_RETREAT,781,759.430820612,737,719,685,648,912,800,839.430820612,658,635,658,0.401001214477,0.00448259392086,0.0798189396138,0.999999945077,0.000120263866962,-0.000304427723565,5.20319773771e-05,1793255025046888960
+395,6.583333333,POSE2_TO_POSE3_RETREAT,781,759,737.146672315,719,685,648,912,800,839,658,635,658,0.4009888796,0.00448370286643,0.0798185969652,0.999999945362,0.000120632745824,-0.000303355507995,5.19449959296e-05,1793255025063555840
+396,6.600000000,POSE2_TO_POSE3_RETREAT,781,759,737.731989648,719,685,648,912,800,839,658,635,658,0.400980489893,0.00448191196016,0.0798197003292,0.999999945491,0.000120667854528,-0.000302792991081,5.26737879053e-05,1793255025080222976
+397,6.616666667,POSE2_TO_POSE3_RETREAT,781,759.315951238,737.684048762,719,685,648,912,800.315951238,839,658,635,658,0.400975942062,0.0044812188455,0.0798213139465,0.999999946129,0.000120038148517,-0.000300919766839,5.27361590549e-05,1793255025096889856
+398,6.633333333,POSE2_TO_POSE3_RETREAT,781,759.898767777,737.101232223,719,685,648,912,800.898767777,839,658,635,658,0.400974639236,0.0044814529702,0.0798233585449,0.999999947189,0.000118846912889,-0.000297939465677,5.22356440799e-05,1793255025113556736
+399,6.650000000,POSE2_TO_POSE3_RETREAT,781,760,737,719,685,648,912,800.52368827,839,657.52368827,635,657.52368827,0.40097280463,0.0044813399627,0.079823915138,0.999999947478,0.000119207679033,-0.000296816482342,5.22806361904e-05,1793255025130223104
+400,6.666666667,POSE2_TO_POSE3_RETREAT,781,759.947523587,737,719,685,648,912,800,839,657,635.052476413,657,0.400971001713,0.00448104015182,0.079824186774,0.999999947646,0.000119518335282,-0.000296109471211,5.23782550476e-05,1793255025146889216
+401,6.683333333,POSE2_TO_POSE3_RETREAT,781,759.374048471,737,719,685,648,912,800,839,657,635.625951529,657,0.400970623229,0.00447961017006,0.0798247347284,0.99999994821,0.000116092487087,-0.000295656142687,5.18599011655e-05,1793255025163556096
+402,6.700000000,POSE2_TO_POSE3_RETREAT,781,759,737,719,685,648,912,800.204630327,839,657.204630327,635.795369673,657.204630327,0.400970235144,0.00447943974552,0.0798253325666,0.999999948512,0.000115340353947,-0.000294943940488,5.17732795103e-05,1793255025180222976
+403,6.716666667,POSE2_TO_POSE3_RETREAT,781,759,737,719,685,648,912,800.793069218,839,657.793069218,635.206930782,657.793069218,0.40096982905,0.00448163177074,0.0798260239678,0.999999948326,0.000119603092228,-0.000293746189891,5.2496423128e-05,1793255025196889344
+404,6.733333333,POSE2_TO_POSE3_RETREAT,781,759.375664073,737,719,685,648,912,800.624335927,839,658,635.375664073,657.624335927,0.400969411755,0.004481570363,0.0798264452518,0.999999948386,0.000119730004148,-0.000293477343539,5.25654984037e-05,1793255025213555968
+405,6.750000000,POSE2_TO_POSE3_RETREAT,781,759.955089092,737,719,685,648,912,800.044910908,839,658,635.955089092,657.044910908,0.400968988384,0.00448028668863,0.0798267200237,0.999999948583,0.00011761363543,-0.000293712336749,5.22798056773e-05,1793255025230222848
+406,6.766666667,POSE2_TO_POSE3_RETREAT,781,760,737,719,685,648,912,800,839,657.467176468,635.467176468,657.532823532,0.400969925783,0.00448072495264,0.0798276575204,0.999999949301,0.00011573456775,-0.000292046352936,5.20724507797e-05,1793255025246889216
+407,6.783333333,POSE2_TO_POSE3_RETREAT,781,759.888601053,737,719,685,648,912,800,839,657.111398947,635,658,0.400970539815,0.00448129163314,0.0798282901895,0.999999949783,0.000114777784714,-0.000290807775126,5.18716565965e-05,1793255025263555840
+408,6.800000000,POSE2_TO_POSE3_RETREAT,781,759.305866576,737,719,685,648,912,800,839,657.694133424,635,658,0.400969301911,0.0044817894991,0.0798273975146,0.999999949098,0.00011763888212,-0.00029205337856,5.16707720039e-05,1793255025280222464
+409,6.816666667,POSE2_TO_POSE3_RETREAT,780.722274159,759.277725841,737,719,685,648,912,800.277725841,839,657.722274159,635,658,0.400968832132,0.00448208210893,0.0798273994005,0.999999948969,0.000118303132606,-0.000292233270393,5.16336572624e-05,1793255025296888832
+410,6.833333333,POSE2_TO_POSE3_RETREAT,780.137733869,759.862266131,737,719,685,648,912,800.862266131,839,657.137733869,635,658,0.400969210929,0.00448214796447,0.0798283895421,0.99999994946,0.000116540441942,-0.000291235829679,5.17774653665e-05,1793255025313555456
+411,6.850000000,POSE2_TO_POSE3_RETREAT,780,759.560260459,737.439739541,719,685,648,912,801,839,657,635,658,0.400970018206,0.00448198611566,0.0798289489296,0.999999949713,0.000117811562925,-0.00028982987418,5.18905084316e-05,1793255025330222080
+412,6.866666667,POSE2_TO_POSE3_RETREAT,780.015062488,759,737.984937512,719,685,648,912,800.984937512,839,657,635,657.984937512,0.400970915578,0.00448177208198,0.0798293574988,0.99999994988,0.000119927508375,-0.000288366757223,5.19859711006e-05,1793255025346888960
+413,6.883333333,POSE2_TO_POSE3_RETREAT,780.591429994,759,737.408570006,719,685,648,912,800.408570006,839,657,635,657.408570006,0.400970248182,0.00448222911533,0.0798290940768,0.999999949722,0.000118675168067,-0.000289466302016,5.17797107148e-05,1793255025363555584
+414,6.900000000,POSE2_TO_POSE3_RETREAT,780.828576466,759.171423534,737.171423534,718.828576466,685.171423534,648,912,800,839,657.171423534,635.171423534,657.171423534,0.400969915822,0.00448249788603,0.079829056923,0.99999994973,0.000117904767814,-0.000289782105037,5.16274938136e-05,1793255025380222464
+415,6.916666667,POSE2_TO_POSE3_RETREAT,780.239753931,759.760246069,737.760246069,718.239753931,685.760246069,648,912,800,839,657.760246069,635.760246069,657.760246069,0.400970399244,0.00448230825617,0.0798295707091,0.999999950143,0.000118307843021,-0.000288189575901,5.16068673539e-05,1793255025396890112
+416,6.933333333,POSE2_TO_POSE3_RETREAT,780.34411373,759.65588627,738,718.34411373,685.65588627,648,912,800.34411373,839,658,635.65588627,657.65588627,0.40097056202,0.00448239712521,0.0798298221336,0.999999950235,0.000118920213972,-0.000287638005819,5.15102862098e-05,1793255025413556736
+417,6.950000000,POSE2_TO_POSE3_RETREAT,780.924578168,759.075421832,738,718.924578168,685.075421832,648,912,800.924578168,839,658,635.075421832,657.075421832,0.400970504565,0.00448267727815,0.0798298933577,0.999999950105,0.00011967633737,-0.000287801407005,5.13615364323e-05,1793255025430222592
+418,6.966666667,POSE2_TO_POSE3_RETREAT,781,759.498617439,738,719,685,648,912,800.501382561,839.498617439,657.501382561,635,657,0.400968974788,0.00448257816394,0.0798291430035,0.999999949874,0.000118489959768,-0.000289146677828,5.1058542602e-05,1793255025446889216
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..487a8f28ca5b079190da81dbab4cd771e5ee25e7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_10/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,420 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+1,0.016666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+2,0.033333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+3,0.050000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+4,0.066666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+5,0.083333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+6,0.100000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+7,0.116666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+8,0.133333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+9,0.150000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+11,0.183333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+12,0.200000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+247,4.116666667,pose1_to_pose2_press,0.624221354475,0.0101816901286,1.07002052898,0.594792503363,0.0188559340639,1.06969223152
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+269,4.483333333,pose2_to_pose3_retreat,0.624221784366,0.0101818411451,1.07002010207,0.594792930481,0.0188560763086,1.06969182044
+270,4.500000000,pose2_to_pose3_retreat,0.624221709196,0.0101817441981,1.07002028214,0.594792855417,0.0188559793399,1.06969198971
+271,4.516666667,pose2_to_pose3_retreat,0.62422159021,0.0101817406172,1.07002041449,0.594792737887,0.0188559805858,1.06969211909
+272,4.533333333,pose2_to_pose3_retreat,0.624221525352,0.0101817386653,1.07002048663,0.594792673823,0.0188559812649,1.06969218962
+273,4.550000000,pose2_to_pose3_retreat,0.624221367998,0.0101817367523,1.070020541,0.594792516786,0.0188559804269,1.06969224377
+274,4.566666667,pose2_to_pose3_retreat,0.624221182142,0.0101817356774,1.07002055458,0.594792330633,0.018855978394,1.06969225866
+275,4.583333333,pose2_to_pose3_retreat,0.624221070229,0.0101817350301,1.07002056277,0.59479221854,0.0188559771699,1.06969226762
+276,4.600000000,pose2_to_pose3_retreat,0.624220702201,0.0101817329015,1.07002058967,0.594791849922,0.0188559731443,1.06969229709
+277,4.616666667,pose2_to_pose3_retreat,0.624219965499,0.0101817742223,1.07002056949,0.594791111998,0.0188560103747,1.06969227845
+278,4.633333333,pose2_to_pose3_retreat,0.624217205391,0.0101819207766,1.07002039902,0.594788349347,0.0188561481061,1.06969210403
+279,4.650000000,pose2_to_pose3_retreat,0.624211505451,0.0101817412656,1.07002042382,0.594782652626,0.018855979288,1.06969212336
+280,4.666666667,pose2_to_pose3_retreat,0.62419866771,0.0101817210585,1.07002055397,0.594769815644,0.0188559619097,1.06969225923
+281,4.683333333,pose2_to_pose3_retreat,0.624178287166,0.0101818646412,1.07002034707,0.594749434124,0.0188561026546,1.06969206446
+282,4.700000000,pose2_to_pose3_retreat,0.624148276611,0.0101817861429,1.070020626,0.594719424371,0.018856026555,1.06969233362
+283,4.716666667,pose2_to_pose3_retreat,0.62410935316,0.0101818014693,1.07002064672,0.59468050009,0.0188560389088,1.06969235091
+284,4.733333333,pose2_to_pose3_retreat,0.624060803878,0.0101817253552,1.07002041569,0.594631952097,0.0188559676822,1.06969213091
+285,4.750000000,pose2_to_pose3_retreat,0.624005406855,0.0101818501097,1.07002042703,0.594576552784,0.0188560845496,1.06969214079
+286,4.766666667,pose2_to_pose3_retreat,0.623942949245,0.010181869253,1.07002052203,0.594514094741,0.0188561019659,1.06969223002
+287,4.783333333,pose2_to_pose3_retreat,0.623871332327,0.010181808892,1.07002041708,0.594442478712,0.0188560445666,1.06969212736
+288,4.800000000,pose2_to_pose3_retreat,0.623790549765,0.0101818210939,1.07002050519,0.594361695489,0.0188560541377,1.06969221412
+289,4.816666667,pose2_to_pose3_retreat,0.623699551445,0.0101818002388,1.07002049222,0.59427069869,0.0188560386851,1.06969220342
+290,4.833333333,pose2_to_pose3_retreat,0.623596116337,0.0101816427209,1.07002054765,0.594167265055,0.018855885748,1.06969224747
+291,4.850000000,pose2_to_pose3_retreat,0.62347860197,0.0101817651927,1.07002063291,0.594049748603,0.0188560011275,1.0696923333
+292,4.866666667,pose2_to_pose3_retreat,0.623346268365,0.0101818329381,1.0700203921,0.593917414341,0.0188560668155,1.06969209854
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+295,4.916666667,pose2_to_pose3_retreat,0.62285629591,0.0101817757224,1.07002049075,0.593427443956,0.0188560165112,1.06969219914
+296,4.933333333,pose2_to_pose3_retreat,0.622661160988,0.0101818976476,1.07002075615,0.593232307414,0.0188561325556,1.06969245673
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+298,4.966666667,pose2_to_pose3_retreat,0.622213980453,0.0101816430417,1.07002052194,0.59278512909,0.0188558854685,1.06969222547
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+302,5.033333333,pose2_to_pose3_retreat,0.621114177159,0.0101818420665,1.07002060188,0.591685324232,0.0188560789925,1.06969230963
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+304,5.066666667,pose2_to_pose3_retreat,0.620468998737,0.0101819173681,1.07002074981,0.591040145429,0.0188561526554,1.06969245376
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+307,5.116666667,pose2_to_pose3_retreat,0.619308049866,0.0101818629136,1.07002052712,0.58987919636,0.0188560972068,1.06969223079
+308,5.133333333,pose2_to_pose3_retreat,0.618874095743,0.0101818498529,1.07002052267,0.589445242289,0.0188560842564,1.06969222746
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+322,5.366666667,pose2_to_pose3_retreat,0.610954864373,0.0101817953815,1.07002053174,0.581526012717,0.0188560350303,1.06969223351
+323,5.383333333,pose2_to_pose3_retreat,0.610257145221,0.0101818345395,1.07002052653,0.580828292397,0.0188560701791,1.06969222679
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+327,5.450000000,pose2_to_pose3_retreat,0.607269140505,0.0101818539828,1.0700206064,0.577840287553,0.0188560893598,1.06969231011
+328,5.466666667,pose2_to_pose3_retreat,0.606523753511,0.01018190508,1.07002058206,0.577094900063,0.0188561387735,1.06969228565
+329,5.483333333,pose2_to_pose3_retreat,0.605787371273,0.0101818890331,1.07002045993,0.576358518034,0.0188561235938,1.06969216772
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+334,5.566666667,pose2_to_pose3_retreat,0.601775256457,0.0101817647912,1.07002035177,0.572346402959,0.018855998472,1.06969205918
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+337,5.616666667,pose2_to_pose3_retreat,0.599353200927,0.0101817962431,1.07002049604,0.569924348367,0.0188560329946,1.06969220035
+338,5.633333333,pose2_to_pose3_retreat,0.598577803603,0.0101817498182,1.0700205856,0.569148952412,0.0188559911875,1.06969228921
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+343,5.716666667,pose2_to_pose3_retreat,0.594543532117,0.0101818010241,1.0700204798,0.565114680042,0.0188560397801,1.06969219333
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+345,5.750000000,pose2_to_pose3_retreat,0.593030597859,0.0101818837468,1.07002058073,0.563601744274,0.0188561169229,1.06969228213
+346,5.766666667,pose2_to_pose3_retreat,0.592304678701,0.0101817503196,1.07002068237,0.562875827439,0.0188559913492,1.06969238305
+347,5.783333333,pose2_to_pose3_retreat,0.5915747566,0.0101816448458,1.07002074571,0.562145906047,0.0188558884625,1.0696924511
+348,5.800000000,pose2_to_pose3_retreat,0.590839201097,0.0101817512673,1.07002044986,0.561410348662,0.0188559883623,1.06969215163
+349,5.816666667,pose2_to_pose3_retreat,0.590103151041,0.0101819027539,1.07002049847,0.560674297669,0.0188561367248,1.06969220169
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+351,5.850000000,pose2_to_pose3_retreat,0.588655548732,0.0101817716226,1.07002076555,0.559226697839,0.0188560141429,1.06969247241
+352,5.866666667,pose2_to_pose3_retreat,0.587960379445,0.0101818426793,1.07002067001,0.558531526971,0.0188560797434,1.06969237443
+353,5.883333333,pose2_to_pose3_retreat,0.587293474394,0.0101818391941,1.07002046246,0.557864620714,0.0188560719965,1.0696921624
+354,5.900000000,pose2_to_pose3_retreat,0.586645276193,0.0101817289909,1.07002054394,0.557216424523,0.0188559686406,1.06969224457
+355,5.916666667,pose2_to_pose3_retreat,0.586016720665,0.0101818235892,1.07002052026,0.556587868277,0.0188560609953,1.06969222594
+356,5.933333333,pose2_to_pose3_retreat,0.58540972915,0.0101818073254,1.07002052134,0.555980874409,0.0188560367323,1.06969222663
+357,5.950000000,pose2_to_pose3_retreat,0.584816518884,0.0101817027131,1.07002049387,0.555387666992,0.0188559419926,1.06969220465
+358,5.966666667,pose2_to_pose3_retreat,0.584235457074,0.0101817239815,1.07002045142,0.554806606295,0.0188559667839,1.0696921555
+359,5.983333333,pose2_to_pose3_retreat,0.583675069482,0.010181773626,1.07002038812,0.554246217704,0.0188560132154,1.06969209679
+360,6.000000000,pose2_to_pose3_retreat,0.583138567107,0.0101818089894,1.07002036428,0.553709713465,0.0188560424398,1.06969207789
+361,6.016666667,pose2_to_pose3_retreat,0.582620898239,0.010181835935,1.07002045523,0.553192043777,0.01885606624,1.06969215925
+362,6.033333333,pose2_to_pose3_retreat,0.582120566361,0.0101818015876,1.0700206439,0.552691714228,0.0188560397318,1.06969234625
+363,6.050000000,pose2_to_pose3_retreat,0.581637653546,0.0101816930757,1.07002057081,0.552208801777,0.0188559321058,1.0696922639
+364,6.066666667,pose2_to_pose3_retreat,0.581169460895,0.0101817625064,1.0700207885,0.551740607762,0.0188559967848,1.0696924784
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+366,6.100000000,pose2_to_pose3_retreat,0.58029621037,0.0101818072906,1.0700205996,0.550867358541,0.0188560465503,1.06969230419
+367,6.116666667,pose2_to_pose3_retreat,0.579904493443,0.0101816692591,1.07002057546,0.550475642778,0.0188559125823,1.06969228311
+368,6.133333333,pose2_to_pose3_retreat,0.579540247692,0.0101816046009,1.07002058717,0.550111396567,0.0188558463149,1.06969229353
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+371,6.183333333,pose2_to_pose3_retreat,0.57856359879,0.0101817215399,1.07002060875,0.549134747714,0.0188559634685,1.06969231672
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+373,6.216666667,pose2_to_pose3_retreat,0.577987420592,0.0101817954429,1.07002053504,0.548558567895,0.0188560316444,1.0696922371
+374,6.233333333,pose2_to_pose3_retreat,0.577726904822,0.0101818351847,1.07002059155,0.548298051555,0.0188560694661,1.06969229402
+375,6.250000000,pose2_to_pose3_retreat,0.577488021052,0.01018175868,1.07002048053,0.548059168066,0.018855993989,1.06969218503
+376,6.266666667,pose2_to_pose3_retreat,0.577269173385,0.0101817900861,1.07002020483,0.547840319948,0.0188560241707,1.06969191736
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+379,6.316666667,pose2_to_pose3_retreat,0.576729769918,0.0101818732387,1.07002054104,0.547300916242,0.0188561060467,1.06969224126
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+382,6.366666667,pose2_to_pose3_retreat,0.576334986526,0.0101817548943,1.07002044817,0.546906134911,0.0188559947183,1.0696921491
+383,6.383333333,pose2_to_pose3_retreat,0.576228504791,0.0101818671185,1.07002054392,0.546799651652,0.0188561017085,1.06969224318
+384,6.400000000,pose2_to_pose3_retreat,0.576132521964,0.0101816786666,1.07002049173,0.546703670744,0.0188559202355,1.06969220332
+385,6.416666667,pose2_to_pose3_retreat,0.57604657596,0.0101817422649,1.07002040253,0.546617722759,0.0188559769002,1.06969210955
+386,6.433333333,pose2_to_pose3_retreat,0.575970743828,0.0101818006649,1.07002040257,0.546541890554,0.0188560349726,1.06969210719
+387,6.450000000,pose2_to_pose3_retreat,0.575905957587,0.0101818837248,1.0700204112,0.546477103422,0.0188561149607,1.06969211423
+388,6.466666667,pose2_to_pose3_retreat,0.575851828823,0.0101818315438,1.07002040077,0.546422975056,0.0188560642172,1.06969210612
+389,6.483333333,pose2_to_pose3_retreat,0.57580881376,0.010181760999,1.070020499,0.546379961222,0.0188559978193,1.06969220367
+390,6.500000000,pose2_to_pose3_retreat,0.575773690756,0.0101817449487,1.07002059012,0.546344839315,0.0188559853626,1.06969229146
+391,6.516666667,pose2_to_pose3_retreat,0.575745771032,0.0101816953198,1.07002040791,0.546316920602,0.0188559392521,1.06969211156
+392,6.533333333,pose2_to_pose3_retreat,0.575723611326,0.010181886158,1.07002058757,0.546294756528,0.0188561146382,1.06969227452
+393,6.550000000,pose2_to_pose3_retreat,0.575706151936,0.0101817964498,1.07002043932,0.54627729896,0.0188560316924,1.06969214162
+394,6.566666667,pose2_to_pose3_retreat,0.575692843282,0.0101817281056,1.07002044382,0.546263991717,0.0188559685088,1.06969215604
+395,6.583333333,pose2_to_pose3_retreat,0.575683259395,0.0101817151882,1.0700204411,0.546254407623,0.0188559547884,1.06969215074
+396,6.600000000,pose2_to_pose3_retreat,0.575677311915,0.0101817278928,1.0700204738,0.54624845951,0.0188559651272,1.06969217763
+397,6.616666667,pose2_to_pose3_retreat,0.5756732214,0.0101817415385,1.07002072511,0.546244369221,0.0188559795649,1.06969242923
+398,6.633333333,pose2_to_pose3_retreat,0.575670781494,0.0101817871477,1.07002070216,0.54624192915,0.0188560245931,1.06969240592
+399,6.650000000,pose2_to_pose3_retreat,0.575669459541,0.0101818191089,1.07002065629,0.546240607049,0.0188560560357,1.06969235974
+400,6.666666667,pose2_to_pose3_retreat,0.575668743908,0.0101818488379,1.07002061088,0.546239890955,0.0188560842261,1.06969231496
+401,6.683333333,pose2_to_pose3_retreat,0.575668157132,0.0101818776612,1.07002056628,0.546239303666,0.0188561113377,1.06969227116
+402,6.700000000,pose2_to_pose3_retreat,0.575667743248,0.0101818979918,1.07002053483,0.54623888942,0.018856130461,1.06969224027
+403,6.716666667,pose2_to_pose3_retreat,0.575667508094,0.0101818972555,1.07002051356,0.546238654195,0.018856129484,1.06969221911
+404,6.733333333,pose2_to_pose3_retreat,0.575667441711,0.0101818785229,1.07002050244,0.546238587993,0.0188561113546,1.06969220769
+405,6.750000000,pose2_to_pose3_retreat,0.575667412712,0.0101818703398,1.07002049758,0.546238559073,0.0188561034349,1.0696922027
+406,6.766666667,pose2_to_pose3_retreat,0.575667362539,0.0101818561815,1.07002048917,0.546238509036,0.0188560897325,1.06969219407
+407,6.783333333,pose2_to_pose3_retreat,0.57566730737,0.0101818406134,1.07002047992,0.546238454018,0.0188560746658,1.06969218458
+408,6.800000000,pose2_to_pose3_retreat,0.575667286188,0.0101818346361,1.07002047637,0.546238432894,0.0188560688809,1.06969218094
+409,6.816666667,pose2_to_pose3_retreat,0.575667277391,0.0101818321537,1.0700204749,0.546238424121,0.0188560664785,1.06969217943
+410,6.833333333,pose2_to_pose3_retreat,0.575667241626,0.0101818220612,1.07002046891,0.546238388453,0.0188560567109,1.06969217327
+411,6.850000000,pose2_to_pose3_retreat,0.575667151559,0.0101817966454,1.07002045381,0.546238298632,0.0188560321136,1.06969215778
+412,6.866666667,pose2_to_pose3_retreat,0.575667048413,0.0101817675387,1.07002043653,0.546238195767,0.0188560039441,1.06969214004
+413,6.883333333,pose2_to_pose3_retreat,0.575666935308,0.0101817356219,1.07002041758,0.546238082971,0.0188559730551,1.06969212059
+414,6.900000000,pose2_to_pose3_retreat,0.57566688609,0.010181722892,1.07002041151,0.546238033861,0.0188559606801,1.06969211423
+415,6.916666667,pose2_to_pose3_retreat,0.575666873972,0.0101817317785,1.07002043268,0.546238021496,0.0188559686969,1.06969213452
+416,6.933333333,pose2_to_pose3_retreat,0.575666836429,0.0101817593105,1.07002049826,0.546237983189,0.0188559935344,1.06969219737
+417,6.950000000,pose2_to_pose3_retreat,0.575666808685,0.0101817796566,1.07002054673,0.546237954881,0.0188560118892,1.06969224383
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..509b5747e7aaedcb1e29a3723eb5264623207da2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6505fc9047349a9eb4fda0baadba5112139497a1df04474b62df6e39de56607
+size 25555903
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6e3de16cc60dfac2b2c186a76d9c1bc44d18cdbb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_01/franka_data.csv
@@ -0,0 +1,403 @@
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+26,0.433333333,BASELINE,766,745.93105328,717,679,662,637,877.06894672,783.06894672,812,651.93105328,630,653,0.400770950575,-0.00544927871119,0.0598673279284,0.999999928983,-9.80225199099e-05,-0.000362170294976,-3.54783513027e-05,1793249478028321280
+27,0.450000000,BASELINE,766,745.347156676,717,679,662,637,877.652843324,783.652843324,812,651.347156676,630,653,0.400773081469,-0.00544805064717,0.0598679401526,0.999999929638,-9.65562067104e-05,-0.000360758607768,-3.54179740841e-05,1793249478044987904
+28,0.466666667,BASELINE,766,745,717,679,662,637,878,783.76148424,812.23851576,651,630,653,0.400773064841,-0.00544789371009,0.0598674331339,0.999999929539,-9.6106589473e-05,-0.000361149285754,-3.54560963806e-05,1793249478061654272
+29,0.483333333,BASELINE,766,745,717,679,662,637,878,783.173207749,812.826792251,651,630,653,0.400769899076,-0.00544930747912,0.0598652848516,0.999999928331,-9.71478604868e-05,-0.000364182961371,-3.56386588741e-05,1793249478078320896
+30,0.500000000,BASELINE,766.407162555,745.407162555,717,679,662,637,878,783,812.592837445,651,630,653,0.400769545816,-0.00544982944362,0.0598651172062,0.99999992816,-9.74871956167e-05,-0.000364570958384,-3.5556901178e-05,1793249478094987776
+31,0.516666667,BASELINE,766.9842336,745.9842336,717,679,662,637,878,783,812.0157664,651,630,653,0.400770366212,-0.00544997925902,0.0598657760784,0.999999928423,-9.75336136419e-05,-0.000363854916526,-3.53648429505e-05,1793249478111654656
+32,0.533333333,BASELINE,766.440775548,745.440775548,717,679,662,637,877.440775548,783,812,651,630,653,0.400770916761,-0.00545157612012,0.0598662822782,0.999999928697,-9.92728638641e-05,-0.000362665697683,-3.49960057704e-05,1793249478128321024
+33,0.550000000,BASELINE,766.137308832,745.137308832,717,678.862691168,662,636.862691168,877.137308832,783.137308832,812.137308832,651,630,653,0.400771422865,-0.00545264042976,0.05986664333,0.999999928887,-0.000100804237549,-0.000361739721198,-3.47807022316e-05,1793249478144987648
+34,0.566666667,BASELINE,766.725748922,745.725748922,717,678.274251078,662,636.274251078,877.725748922,783.725748922,812.725748922,651,630,653,0.400771807847,-0.00545182148641,0.0598665415843,0.999999928812,-0.000101496402209,-0.000361722301515,-3.50861513203e-05,1793249478161654272
+35,0.583333333,BASELINE,766.690908766,745.690908766,717.309091234,678.309091234,662,636.309091234,878,783.690908766,812.690908766,651,630,653,0.400771473801,-0.00545099997393,0.0598664421537,0.999999928722,-0.000101268193036,-0.000362020208669,-3.52545336944e-05,1793249478178320896
+36,0.600000000,BASELINE,766.112016167,745.112016167,717.887983833,678.887983833,662,636.887983833,878,783.112016167,812.112016167,651,630,653,0.400770512124,-0.0054501762188,0.0598663447439,0.999999928616,-0.000100236602642,-0.000362593360158,-3.53032725068e-05,1793249478194987520
+37,0.616666667,BASELINE,766,745.463750394,718,679,662,637,878,783.463750394,812.463750394,651,630,653.463750394,0.400770347383,-0.00544955255577,0.0598666495552,0.999999928604,-9.93709042651e-05,-0.000362866388524,-3.52921552677e-05,1793249478211654144
+38,0.633333333,BASELINE,766,745.961202977,717.961202977,679,662,637,878.038797023,783.961202977,812.961202977,651.038797023,630.038797023,653.961202977,0.400770487388,-0.00544890903463,0.0598670886484,0.99999992866,-9.84139177157e-05,-0.000362974600799,-3.52846407623e-05,1793249478228321024
+39,0.650000000,BASELINE,766,745.38573966,717.38573966,679,662,637,878.61426034,783.38573966,812.38573966,651.61426034,630.61426034,653.38573966,0.400772197941,-0.00544732675137,0.059868050317,0.999999929346,-9.56436045399e-05,-0.000361799024002,-3.55256135578e-05,1793249478244987648
+40,0.666666667,BASELINE,766,745,717.194835119,679,662,637,878.805164881,783,812,652,630.805164881,653.194835119,0.400772739958,-0.00544718557997,0.0598682516216,0.999999929481,-9.4671978056e-05,-0.000361678483402,-3.5564312787e-05,1793249478261654272
+41,0.683333333,BASELINE,766,745,717.785802313,679,662,637,878.214197687,783,812,652,630.214197687,653.785802313,0.400770906149,-0.00544997442782,0.0598669069804,0.999999928502,-9.73573797648e-05,-0.000363703006247,-3.51917563317e-05,1793249478278320896
+42,0.700000000,BASELINE,766.370352435,745.370352435,717.629647565,679,662,637,878,783,812,651.629647565,630.370352435,653.629647565,0.400770644871,-0.00545041981412,0.0598663572914,0.999999928372,-9.74419338722e-05,-0.000364043464264,-3.51242719911e-05,1793249478294987520
+43,0.716666667,BASELINE,766.95125436,745.95125436,717.04874564,679,662,637,878,783,812,651.04874564,630.95125436,653.04874564,0.400771277595,-0.0054495329163,0.0598662595417,0.999999928727,-9.60478770165e-05,-0.000363426512572,-3.52302245633e-05,1793249478311654144
+44,0.733333333,BASELINE,766.47457411,745.47457411,717,679,662,637,878,783,812,651.52542589,630.47457411,653,0.400771025793,-0.00544933968238,0.059866511388,0.999999928649,-9.74963891744e-05,-0.00036325392502,-3.52440857102e-05,1793249478328321024
+45,0.750000000,BASELINE,766.099176802,745,717,679,662,637,878,783,812,652,630.099176802,653,0.400770708008,-0.0054492623744,0.059866653145,0.999999928545,-9.86945489141e-05,-0.000363218793525,-3.52463415559e-05,1793249478344987392
+46,0.766666667,BASELINE,766.673866727,745,717,679,662,637,878,783,812,652,630.673866727,653,0.400770462341,-0.00544943623717,0.0598661135298,0.999999928512,-9.74439503604e-05,-0.000363647550201,-3.52333999309e-05,1793249478361654272
+47,0.783333333,BASELINE,767,745.255361024,717.255361024,679,662,637,878,783.255361024,812,652,630.744638976,653,0.400770252156,-0.00544983935757,0.0598657710354,0.999999928372,-9.72554153042e-05,-0.000364081958034,-3.52326403899e-05,1793249478378320896
+48,0.800000000,BASELINE,767,745.845783477,717.845783477,679,662,637,878,783.845783477,812,652,630.154216523,653,0.400770088528,-0.00545054328892,0.0598656871849,0.999999928093,-9.84604228614e-05,-0.00036452378086,-3.5247865066e-05,1793249478394987520
+49,0.816666667,BASELINE,766.572173585,746,717.572173585,679,662,637,877.572173585,784,812,652,630,653,0.40077037313,-0.00545083979373,0.0598660054711,0.9999999282,-9.95002917362e-05,-0.000363954291694,-3.51603882008e-05,1793249478411654144
+50,0.833333333,BASELINE,766.00686377,745.99313623,717,679,662,637,877.00686377,783.99313623,812,651.99313623,630,653,0.400770812831,-0.00545096149691,0.0598664580374,0.999999928443,-0.000100425041112,-0.000363044856107,-3.50413551993e-05,1793249478428320768
+51,0.850000000,BASELINE,766.582334856,745.417665144,717,679,662,637,877.582334856,783.417665144,812,651.417665144,630,653,0.400770973523,-0.00544853500236,0.0598662568609,0.999999928606,-9.66496592156e-05,-0.000363592890997,-3.53160715106e-05,1793249478444987392
+52,0.866666667,BASELINE,766.839070874,745,717,679,662,637,878,783,812,651.160929126,630,653,0.400770973234,-0.00544738386701,0.0598663001003,0.999999928698,-9.46274693608e-05,-0.000363865833696,-3.53700457226e-05,1793249478461654016
+53,0.883333333,BASELINE,766.252210506,745,717,679,662,637,878,783,812,651.747789494,630,653,0.400770546879,-0.005449608226,0.0598669902357,0.999999928631,-9.72454544452e-05,-0.000363410689668,-3.48397816368e-05,1793249478478320640
+54,0.900000000,BASELINE,766,745.331816609,717.331816609,679,662,637,878,783,812,652,630,653,0.400769963079,-0.00545034562533,0.0598667820008,0.999999928462,-9.78247431291e-05,-0.00036371027515,-3.49387708749e-05,1793249478494987264
+55,0.916666667,BASELINE,766,745.913708404,717.913708404,679,662,637,878,783,812,652,630,653,0.400769260619,-0.00544996237026,0.0598658967046,0.999999928219,-9.68675583294e-05,-0.000364578666184,-3.55119999365e-05,1793249478511654144
+56,0.933333333,BASELINE,766,746,717.510666426,679.489333574,662,637,878,783,812,652,630,653,0.400769125712,-0.00544985210458,0.0598652264046,0.999999927825,-9.71915691493e-05,-0.00036558122584,-3.54038284543e-05,1793249478528320768
+57,0.950000000,BASELINE,766.063960655,746,717.063960655,679.936039345,662.063960655,637,878,783,812,652,630,653,0.400769142735,-0.00544971201292,0.0598647518957,0.999999927495,-9.76375065739e-05,-0.00036638301542,-3.52173739517e-05,1793249478544987392
+58,0.966666667,BASELINE,766.639331237,746,717.639331237,679.360668763,662.639331237,637,878,783,812,652,630,653,0.400769584417,-0.00544895339319,0.0598655435609,0.999999927888,-9.72746854686e-05,-0.000365392722039,-3.53536199697e-05,1793249478561654016
+59,0.983333333,BASELINE,766.779031807,745.779031807,717.779031807,679,662.779031807,637,877.779031807,783,812,652,630.220968193,653,0.400770357768,-0.00544852299959,0.0598664400814,0.999999928358,-9.69374128158e-05,-0.000364188004107,-3.54233265825e-05,1793249478578320640
+60,1.000000000,BASELINE,766.186868129,745.186868129,717.186868129,679,662.186868129,637,877.186868129,783,812,652,630.813131871,653,0.400771688273,-0.00544864397961,0.0598675127441,0.999999928956,-9.66430579114e-05,-0.000362623082928,-3.53812563756e-05,1793249478594987264
+61,1.016666667,BASELINE,766.395538984,745,717.395538984,679,662,637,877.395538984,783,812,651.604461016,630.604461016,653,0.400770836571,-0.00544861285002,0.0598670136815,0.999999928618,-9.67869814273e-05,-0.000363513580666,-3.54195261791e-05,1793249478611654144
+62,1.033333333,BASELINE,766.973447639,745,717.973447639,679,662,637,877.973447639,783,812,651.026552361,630.026552361,653,0.400768978727,-0.00544851158782,0.0598657899492,0.999999927844,-9.71329803422e-05,-0.000365536189254,-3.54948380514e-05,1793249478628320768
+63,1.050000000,BASELINE,767,745,717.455887873,679,662,637,878,783,812,651,630,653,0.400769109086,-0.00544813536206,0.0598660192594,0.999999928063,-9.59876349437e-05,-0.000365245182352,-3.54580412944e-05,1793249478644987392
+64,1.066666667,BASELINE,766.881133407,745,717,679,662,636.881133407,878,783.118866593,812,651,630,653,0.400769326196,-0.00544808392465,0.0598662461641,0.99999992832,-9.52792764309e-05,-0.000364731893514,-3.54031817679e-05,1793249478661654528
+65,1.083333333,BASELINE,766.288694314,745,717,679,662,636.288694314,878,783.711305686,812,651,630,653,0.400769507457,-0.00544937922194,0.0598661846964,0.999999928545,-9.65980410118e-05,-0.000363776922096,-3.52978687616e-05,1793249478678321408
+66,1.100000000,BASELINE,766.296581905,745,717.296581905,679,662,636.296581905,878.296581905,784,812,651.296581905,630,653,0.400769029203,-0.00545029526964,0.0598655295035,0.999999928034,-9.82916349806e-05,-0.000364732707144,-3.52123626254e-05,1793249478694988032
+67,1.116666667,BASELINE,766.875050136,745,717.875050136,679,662,636.875050136,878.875050136,784,812,651.875050136,630,653,0.400767924113,-0.00545085085944,0.0598643100043,0.999999926818,-0.000100341485532,-0.000367504571071,-3.51456819383e-05,1793249478711654400
+68,1.133333333,BASELINE,767,745.450568124,717.549431876,679,662,637,878.549431876,784,812,651.549431876,630.450568124,653,0.400767587723,-0.00545082047171,0.0598636489943,0.999999926464,-9.98922472053e-05,-0.000368581060159,-3.52292028475e-05,1793249478728321280
+69,1.150000000,BASELINE,766.97452703,746,717.02547297,679,662,637,878,783.97452703,812,651,630.97452703,653,0.400767482353,-0.0054505730592,0.0598632237136,0.999999926392,-9.87410276305e-05,-0.000369076555775,-3.53507551791e-05,1793249478744987648
+70,1.166666667,BASELINE,766.395282043,746,717.604717957,679,662,637,878,783.395282043,812,651,630.395282043,653,0.400767795082,-0.00544911734323,0.0598645780079,0.99999992726,-9.7297376437e-05,-0.000367095977148,-3.53994588646e-05,1793249478761654272
+71,1.183333333,BASELINE,766,745.813374028,717.813374028,679,662,637,878,783,812,651.186625972,630.186625972,653.186625972,0.400768365469,-0.00544833227565,0.0598656086117,0.999999927926,-9.65481321614e-05,-0.000365478618093,-3.53825113673e-05,1793249478778321152
+72,1.200000000,BASELINE,766,745.225743843,717.225743843,679,662,637,878,783,812,651.774256157,630.774256157,653.774256157,0.400769489488,-0.00544898823357,0.0598659437,0.999999928165,-9.72909634301e-05,-0.00036464171048,-3.5224498836e-05,1793249478794988032
+73,1.216666667,BASELINE,766.356928731,745,717,679,662,637,878,783.356928731,812,652,630.643071269,654,0.40076897771,-0.00544910956479,0.0598654830852,0.999999927766,-9.71113438505e-05,-0.000365788366131,-3.5162141789e-05,1793249478811654912
+74,1.233333333,BASELINE,766.936508725,745,717,679,662,637,878,783.936508725,812,652,630.063491275,654,0.400767445526,-0.00544889739717,0.0598645261129,0.999999926964,-9.63563016621e-05,-0.000368172363702,-3.51594544065e-05,1793249478828321792
+75,1.250000000,BASELINE,767,745.509087232,717,679,662,637,878,784,812,651.490912768,630,654,0.400767570458,-0.00544905762407,0.0598649508593,0.999999927261,-9.67997034866e-05,-0.000367238848975,-3.52695646596e-05,1793249478844988160
+76,1.266666667,BASELINE,766.91659119,745.91659119,717.08340881,679,662.08340881,636.91659119,878,783.91659119,812,651.08340881,630,653.91659119,0.400767993698,-0.0054493582436,0.0598655641027,0.999999927621,-9.76122608647e-05,-0.000366031951781,-3.53532022831e-05,1793249478861654528
+77,1.283333333,BASELINE,766.326446928,745.326446928,717.673553072,679,662.673553072,636.326446928,878,783.326446928,812,651.673553072,630,653.326446928,0.400768990709,-0.00545023346218,0.0598662898156,0.999999927556,-9.97718280838e-05,-0.000365643710558,-3.51917040225e-05,1793249478878320896
+78,1.300000000,BASELINE,766,745.258126582,717.741873418,679,662.741873418,636,878,783.258126582,812,651.741873418,630,653,0.400770069566,-0.00545048105145,0.0598669994719,0.999999927899,-0.000100103813412,-0.000364622512706,-3.50843289747e-05,1793249478894987776
+79,1.316666667,BASELINE,766,745.835803677,717.164196323,679,662.164196323,636,878,783.835803677,812,651.164196323,630,653,0.400771249744,-0.00544995166037,0.0598676892506,0.999999928749,-9.81733243884e-05,-0.000362817739578,-3.50439563384e-05,1793249478911654400
+80,1.333333333,BASELINE,766,745.584843466,717.415156534,679,662,636.415156534,878,783.584843466,812,651.415156534,630,653,0.400770569912,-0.00545028943135,0.0598669899635,0.999999928416,-9.81521232098e-05,-0.000363736157167,-3.50611711856e-05,1793249478928321024
+81,1.350000000,BASELINE,766,745.004825103,717.995174897,679,662,636.995174897,878,783.004825103,812,651.995174897,630,653,0.400769151455,-0.00545097155896,0.0598657390677,0.999999927613,-9.88891146501e-05,-0.000365735974429,-3.51012544587e-05,1793249478944987904
+82,1.366666667,BASELINE,766.569322005,745,717.430677995,679,662,637,878,783,812,652,630,653,0.400769228703,-0.00544976741773,0.0598659897787,0.999999927881,-9.82497024658e-05,-0.000365175254389,-3.50963333591e-05,1793249478961654528
+83,1.383333333,BASELINE,767,745.146840597,717.146840597,679,662.146840597,637,877.853159403,783,812.146840597,652,630,653,0.400769003852,-0.00544911283946,0.0598660162987,0.999999927939,-9.7969416963e-05,-0.000365089917742,-3.5128718186e-05,1793249478978321152
+84,1.400000000,BASELINE,767,745.734631519,717.734631519,679,662.734631519,637,877.265368481,783,812.734631519,652,630,653,0.400767834139,-0.00545015606963,0.0598653317654,0.999999927337,-9.88022316712e-05,-0.000366496619629,-3.5274263345e-05,1793249478994987520
+85,1.416666667,BASELINE,767,745.68231171,717.68231171,679,662.68231171,637,877.31768829,783,812.68231171,652,630,653,0.40076775323,-0.00544937479494,0.0598651863232,0.999999927365,-9.80785296787e-05,-0.00036657797624,-3.56422256483e-05,1793249479011654144
+86,1.433333333,BASELINE,767,745.103151398,717.103151398,679,662.103151398,637,877.896848602,783,812.103151398,652,630,653,0.400768568456,-0.00544709186906,0.0598654845778,0.99999992791,-9.60737430552e-05,-0.000365568512864,-3.61932474459e-05,1793249479028320768
+87,1.450000000,BASELINE,766.52568086,745,717,679,662,637,878,783,812,652,630,653,0.400767431383,-0.00544859429625,0.0598648356534,0.999999927426,-9.67802465851e-05,-0.000366742797263,-3.57841922055e-05,1793249479044987648
+88,1.466666667,BASELINE,766,745.051216234,717,679,662,637,878,783,812,652,630.051216234,653.051216234,0.400766156634,-0.00545065803723,0.0598641664146,0.999999926858,-9.77570368079e-05,-0.000368087447116,-3.52068525904e-05,1793249479061654272
+89,1.483333333,BASELINE,766,745.625994558,717,679,662,637,878,783,812,652,630.625994558,653.625994558,0.400767799294,-0.00545007439225,0.0598653877378,0.999999927726,-9.54906990597e-05,-0.00036633614852,-3.5036012388e-05,1793249479078320896
+90,1.500000000,BASELINE,766,746,717,679,662,636.794230159,878,783,812,651.794230159,630.794230159,654,0.400768820456,-0.00544953241701,0.0598659985948,0.999999928202,-9.47395869008e-05,-0.000365234325746,-3.49896667817e-05,1793249479094987520
+91,1.516666667,BASELINE,766,746,717,679,662,636.205146461,878,783,812,651.205146461,630.205146461,654,0.400768683875,-0.00544906806544,0.0598654722579,0.999999927958,-9.68110798986e-05,-0.000365342365028,-3.51752332347e-05,1793249479111654144
+92,1.533333333,BASELINE,766,745.622126322,717.377873678,679,662,636.377873678,877.622126322,783,812,651,630,653.622126322,0.400768171723,-0.0054498569168,0.0598651587321,0.999999927603,-9.82816006057e-05,-0.000365914514062,-3.52449947815e-05,1793249479128321536
+93,1.550000000,BASELINE,766,745.042346027,717.957653973,679,662,636.957653973,877.042346027,783,812,651,630,653.042346027,0.400767458896,-0.00545131538332,0.0598649589161,0.999999927188,-9.94310081552e-05,-0.000366734647645,-3.52528791143e-05,1793249479144988672
+94,1.566666667,BASELINE,766,745,717.464737949,679,662,637,877.535262051,783,812,651,630,653.535262051,0.400767576459,-0.00544960603891,0.0598650550963,0.999999927528,-9.68945251877e-05,-0.000366473457157,-3.53941523274e-05,1793249479161654784
+95,1.583333333,BASELINE,766,745,717,679,662,637,878,783,812.111482382,651.111482382,630,653.888517618,0.400767608585,-0.00544821139478,0.0598650482793,0.999999927771,-9.48067363528e-05,-0.000366343516383,-3.55251571179e-05,1793249479178321152
+96,1.600000000,BASELINE,766,745,717,679,662,637,878,783,812.682686015,651.682686015,630,653.317313985,0.400767018588,-0.00544914376668,0.0598645205565,0.999999927398,-9.57668494642e-05,-0.000367106154726,-3.55704773017e-05,1793249479194987776
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+98,1.633333333,BASELINE,766,745.860130975,717,679,662,637,878.860130975,783,812.139869025,652,630.860130975,653.860130975,0.40076889761,-0.00544849438298,0.059865715367,0.999999928306,-9.41091465071e-05,-0.000365118080647,-3.49417362222e-05,1793249479228321280
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+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,717,679,662,637,878,783,812,651,630,653,0.400768928283,-0.00544613760195,0.059866870142,0.999999928579,-9.47712477424e-05,-0.000364059980253,-3.63506088144e-05,1793249479405454080
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.597461582,717,679,662,636.402538418,878,783,812,651,630,653,0.400767853846,-0.00544814770163,0.0598650209136,0.999999927719,-9.53545031792e-05,-0.000366318573595,-3.57843341538e-05,1793249479422120704
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,717,679.188177343,662,636.188177343,878.188177343,783,812,651,630.188177343,653,0.400767426805,-0.0054493592498,0.0598640542492,0.999999927224,-9.56762236093e-05,-0.000367617239878,-3.5430741373e-05,1793249479438787072
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+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,717,680,662,637,878.658228158,783,812,651,631,653.341771842,0.400768639304,-0.00544895517519,0.059865325173,0.999999927434,-9.65859399697e-05,-0.000366793395394,-3.55770037963e-05,1793249479472120320
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+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.495476203,717,679.495476203,662,637,878,783,812,651,630.495476203,653.495476203,0.400770187165,-0.0054501872762,0.0598662893366,0.999999927924,-9.70460154114e-05,-0.000365375029224,-3.51373537075e-05,1793249479505453824
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+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745.601229253,717,679,662,637,878,783,812,651.601229253,630,653.601229253,0.400823564026,-0.00545140620231,0.0598735105871,0.999999929059,-9.94632490976e-05,-0.000361617501024,-3.49672784283e-05,1793249479588787200
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+120,2.000000000,POSE1_TO_POSE2_PRESS,766.437958224,745.562041776,717.562041776,679,662,637,878,783,812,651.562041776,630,653,0.400893510311,-0.0054529353788,0.0598711788528,0.99999992762,-9.90185023779e-05,-0.000365651962379,-3.54093176395e-05,1793249479622120704
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+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.031055701,717,679,662,637,878,783.968944299,812.968944299,651.968944299,630.968944299,653,0.401403218677,-0.00546438580284,0.0598746284067,0.999999934482,-0.000106234373859,-0.000343660982252,-4.05788433445e-05,1793249479722120704
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.621410108,717,679,662,637,878,783.378589892,812.378589892,651.378589892,630.378589892,653,0.401560835457,-0.0054672255799,0.0598838505835,0.999999940967,-0.000109590471598,-0.000322957734731,-4.18797407476e-05,1793249479738787328
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+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,717,684,662,635,887,782.550653661,815.550653661,652,629,654,0.449678410285,-0.00556767716983,0.0596707684864,0.99999984695,-0.0001439277311,-0.000528805505021,-7.58308383593e-05,1793249481055454208
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,717,684,662,634.974787182,887,782.025212818,815.025212818,651.974787182,629,654,0.449907801781,-0.00556903069063,0.0596657959216,0.999999845019,-0.000144301436171,-0.000532333580568,-7.58904237707e-05,1793249481072120832
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,717,684,662,634.38449339,887,782.61550661,815.61550661,651.38449339,629,654,0.450109257426,-0.00556993782374,0.0596655697349,0.99999984554,-0.000142231098452,-0.000531975579093,-7.54477916016e-05,1793249481088787456
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,717,684,662,634.201648102,887,782.798351898,816,651.201648102,629,654,0.450299014916,-0.00557146512987,0.0596665631549,0.999999846812,-0.000140935639353,-0.000530007813043,-7.4865871346e-05,1793249481105454080
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,717,684,662,634.780031859,887,782.219968141,816,651.780031859,629,654,0.450466916926,-0.00557415109439,0.0596698351453,0.999999849478,-0.00014108787278,-0.000525032551773,-7.4023721621e-05,1793249481122120448
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,746,717,684,662,634.644987257,887.355012743,782.355012743,816,652,629,654,0.450613090998,-0.00557479466665,0.0596707047514,0.999999850148,-0.000140130101781,-0.000524056192189,-7.37102420129e-05,1793249481138787328
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,746,717,684,662,634.072094741,887.927905259,782.927905259,816,652,629,654,0.450745930134,-0.00557418477441,0.0596700999572,0.9999998496,-0.000138491094654,-0.000525534053307,-7.37212197624e-05,1793249481155454464
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+214,3.566666667,POSE1_TO_POSE2_PRESS,766.078722462,746,717,683.078722462,662,634.078722462,887.078722462,782.921277538,816.921277538,652,629,654,0.450959450599,-0.00557923921514,0.0596693854748,0.999999848263,-0.000144955918189,-0.000526503383846,-7.24916412894e-05,1793249481188787456
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+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745.410127572,717,684,661.410127572,634,887,782.410127572,816,652,629,654,0.45121143251,-0.00557770981203,0.0596539254825,0.999999837317,-0.000138156428496,-0.000548636042822,-7.26492599858e-05,1793249481255453952
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+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,717,684,662,634,887,782.841309471,816,652,628.841309471,654,0.45131687262,-0.00558152638756,0.0596547508759,0.999999840243,-0.000141647492324,-0.000542586189457,-7.10611334118e-05,1793249481305453824
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+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,717,683.015229187,661,633.984770813,887,782,816,651.984770813,628.015229187,654,0.451379856416,-0.00557397077731,0.0596468376164,0.999999833681,-0.000133404375449,-0.000556840211249,-6.90706166828e-05,1793249481588787200
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,717,683.603059374,661,633.396940626,887,782,816,651.396940626,628.603059374,654,0.451381369734,-0.00557375139856,0.0596474128466,0.999999834454,-0.000133242796436,-0.000555460887578,-6.92985540294e-05,1793249481605454080
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,717,683.811295181,661.188704819,633.188704819,887,782,816,651.188704819,628.811295181,654,0.451382694768,-0.00557343784651,0.0596481133221,0.999999835222,-0.000132404362359,-0.000554274445318,-6.93122719867e-05,1793249481622120960
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,717,683.230192778,661.769807222,633.769807222,887,782,816,651.769807222,628.230192778,654,0.451383628282,-0.00557292846812,0.0596490742358,0.999999835982,-0.000130158458718,-0.000553489085635,-6.88805367036e-05,1793249481638788096
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+244,4.066666667,HOLD_POSE2,765,746,717,684,662,634,888,782,816,652,629,654,0.451384783274,-0.00557506232713,0.059649303533,0.999999836347,-0.000130006835173,-0.000552951597198,-6.81834545999e-05,1793249481703340544
+245,4.083333333,HOLD_POSE2,765.591099126,746,717,684,661.408900874,634,887.408900874,782,816,652,628.408900874,654,0.451385761532,-0.00557255250475,0.0596492268409,0.99999983651,-0.000129659514111,-0.000552680464791,-6.86456304787e-05,1793249481720007168
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+247,4.116666667,HOLD_POSE2,766,746,717,684,661.755723196,634,887,782,816.755723196,651.244276804,628.755723196,654,0.45138421067,-0.00557336761462,0.0596477371975,0.999999834798,-0.000131771991773,-0.000555219099828,-6.90829259082e-05,1793249481753341184
+248,4.133333333,HOLD_POSE2,766,746,717,684,661.667936736,634,887,782,816.667936736,651.332063264,628.667936736,654,0.4513841692,-0.00557328561384,0.0596479303712,0.999999834908,-0.000131017958125,-0.000555222950692,-6.8893588145e-05,1793249481770008064
+249,4.150000000,HOLD_POSE2,766,746,717,684,661.092567976,634,887,782,816.092567976,651.907432024,628.092567976,654,0.451385344955,-0.00557171460756,0.0596490696809,0.999999836118,-0.000128393729814,-0.000553702754145,-6.84996681915e-05,1793249481786674432
+250,4.166666667,HOLD_POSE2,766,746,717,684,661,634,887.491199662,782,816,652,628.491199662,654,0.451385722528,-0.00557357896965,0.0596486541016,0.999999835888,-0.000128853921042,-0.000554081629569,-6.79243463514e-05,1793249481803340800
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+256,4.266666667,HOLD_POSE2,766,746,717,684,661.964726239,634,887.035273761,782,816,651,628.035273761,654,0.451386027306,-0.00557181556471,0.0596484737967,0.999999835625,-0.000129919578411,-0.000554207694385,-6.87381609021e-05,1793249481903340544
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745.240258625,717.759741375,678.240258625,662,636,878,784,812,652,630,654,0.400972781477,-0.00537217747699,0.0598353899385,0.999999928673,0.000257960472896,-0.000274896814097,2.32909974069e-05,1793249484008461824
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745.834971798,717.165028202,678.834971798,662,636,878,784,812,652,630,654,0.400970827092,-0.00537303459509,0.0598347982267,0.999999928766,0.00025719905398,-0.000275293437888,2.30089234524e-05,1793249484025127936
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745,717.850439081,678.149560919,662,636.149560919,877,784,812,651,630,654,0.400970340883,-0.00537425605637,0.0598369410911,0.999999929938,0.000256693278116,-0.000271478472911,2.30855494068e-05,1793249484091794688
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745,717.263280755,678.736719245,662,636.736719245,877,784,812,651,630,654,0.400968731583,-0.00537403476835,0.0598361829653,0.99999992982,0.000255643117275,-0.000272935596308,2.26637090313e-05,1793249484108461568
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745,717,679,662,637,877.319289047,784,812,651,630,653.680710953,0.400969223686,-0.00537463926533,0.0598370597173,0.999999930297,0.00025493434833,-0.00027184952438,2.26510286702e-05,1793249484125128448
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745,717,679,662,637,877.89812889,784,812,651,630,653.10187111,0.400971424025,-0.00537591504479,0.0598392654651,0.999999931251,0.000254503097522,-0.000268696083313,2.29709553748e-05,1793249484141795328
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745.476618783,717,679,661.523381217,636.523381217,878,784,812,651,630,653.476618783,0.400970326167,-0.00537543612062,0.0598388995267,0.999999931033,0.000255211623135,-0.000268843971118,2.28993892016e-05,1793249484158461952
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745.94539261,717,679,661,636,878,784,812,651.05460739,630,653.94539261,0.400968650245,-0.00537445350153,0.059838030398,0.999999930527,0.000256230758446,-0.000269768889134,2.27366889915e-05,1793249484175128064
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745.371460127,717,679,661,636,878,784,812,651.628539873,630,653.371460127,0.400968176076,-0.0053722447857,0.0598375994127,0.999999929671,0.000257888748423,-0.000271377887866,2.25024828948e-05,1793249484191794688
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745,717,679,661.207721543,636,877.792278457,784,812,652,630,653.207721543,0.400968611146,-0.00537180481391,0.059837922525,0.999999929728,0.000257590049962,-0.000271448269714,2.25347980732e-05,1793249484208461312
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745,717,679,661.796533447,636,877.203466553,784,812,652,630,653.796533447,0.400970714324,-0.00537460981771,0.0598396291207,0.999999931453,0.000253701569173,-0.000268695872201,2.30560788664e-05,1793249484225127936
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.620519077,745.379480923,717,679,662,636.379480923,877.379480923,784,812,652,630,654,0.400969810142,-0.00537516839105,0.0598396350338,0.999999931555,0.000253475550447,-0.000268534782634,2.29887847538e-05,1793249484241794816
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.040668102,745.959331898,717,679,662,636.959331898,877.959331898,784,812,652,630,654,0.400967318041,-0.0053745408246,0.0598387429678,0.999999930805,0.000255183351618,-0.000269741931916,2.26107166779e-05,1793249484258461952
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.888910267,746,717.888910267,678.111089733,662,636,877.111089733,783.888910267,812,652,630.888910267,654,0.400969810098,-0.0053754239695,0.0598396916872,0.999999931948,0.000252638829268,-0.000267910370236,2.24066465442e-05,1793249484291795200
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.262055449,745.737944551,717,679,662,636,878,783.262055449,812,651.737944551,629.737944551,654,0.400968322698,-0.00537509810654,0.0598392703449,0.999999931143,0.000254900311428,-0.000268723673257,2.29713289416e-05,1793249484325128448
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.856255998,745.143744002,717,679,662,636,878,783.856255998,812,651.143744002,629.143744002,654,0.400969453757,-0.00537649147461,0.0598392200198,0.999999931942,0.000252247936209,-0.000268246922008,2.30199402106e-05,1793249484341795072
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..04f8be571e1fbab35a54e715f67cacc272a8c78e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,403 @@
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+271,4.516666667,pose2_to_pose3_retreat,0.617703599155,0.000150115348488,1.0500334597,0.588274279825,0.00882275825431,1.0497048611
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b6aa455eda0f1864fe7021eaf02f6a50aef10da
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:150521ba9064a03434dd9ba71e9ef198c1c92219edf4b4af94963e8ac68700cf
+size 25568450
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..792a25353ee9698f85d2e687b007d3ba76e3be69
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_02/franka_data.csv
@@ -0,0 +1,403 @@
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+7,0.116666667,BASELINE,766.062137463,745.062137463,717.937862537,678.062137463,662,636.062137463,877,784,812,652,630,654,0.400969671931,-0.00537549431805,0.0598411125444,0.999999932473,0.000252467145034,-0.000266098014783,2.24788334437e-05,1793249484577415168
+8,0.133333333,BASELINE,766.636332417,745.636332417,717.363667583,678.636332417,662,636.636332417,877,784,812,652,630,654,0.400970301859,-0.00537517692612,0.0598415529768,0.999999932743,0.000251895498195,-0.000265653186098,2.214436709e-05,1793249484594081536
+9,0.150000000,BASELINE,767,745.789575088,717,678.789575088,662,636.789575088,877,784,812,651.789575088,630,653.789575088,0.400970305893,-0.00537543026085,0.0598416943115,0.999999932793,0.000251721090961,-0.00026563760274,2.20509373845e-05,1793249484610748160
+10,0.166666667,BASELINE,767,745.215659641,717,678.215659641,662,636.215659641,877,784,812,651.215659641,630,653.215659641,0.400969228752,-0.00537666947573,0.0598413189812,0.999999932464,0.000252232880279,-0.000266363502991,2.2373877331e-05,1793249484627414528
+11,0.183333333,BASELINE,767,745,717,678,662,636,877.369506669,784,812,651,630,653.369506669,0.400968216817,-0.00537659675178,0.0598403525563,0.999999931931,0.000252904934187,-0.000267718720666,2.24488306428e-05,1793249484644081152
+12,0.200000000,BASELINE,767,745,717,678,662,636,877.961445731,784,812,651,630,653.961445731,0.400967244135,-0.00537573427848,0.0598390303094,0.999999931272,0.000253673462819,-0.000269452769407,2.23745031607e-05,1793249484660747776
+13,0.216666667,BASELINE,766.45899433,745,717,678.54100567,662,636,877.45899433,784,812,651,630,654,0.400967416602,-0.00537570738439,0.0598393272049,0.999999931364,0.00025363540168,-0.000269140225924,2.24552129285e-05,1793249484677414656
+14,0.233333333,BASELINE,766,745,717,679,662,636,877,784,812,651.118835938,630,654,0.400967550677,-0.00537567007367,0.059839683438,0.999999931481,0.000253753903449,-0.000268590943039,2.2494997862e-05,1793249484694081536
+15,0.250000000,BASELINE,766,745,717,679,662,636,877,784,812,651.693341078,630,654,0.400967231619,-0.00537536960016,0.0598398346519,0.999999931491,0.000254688212632,-0.000267680634111,2.23364415908e-05,1793249484710748928
+16,0.266666667,BASELINE,766.274629891,745,717.274629891,679,662,636.274629891,877,784,812,651.725370109,630,654,0.400967768557,-0.0053754054305,0.059840319754,0.999999931919,0.00025414661786,-0.000266598715793,2.22997643284e-05,1793249484727415552
+17,0.283333333,BASELINE,766.863685341,745,717.863685341,679,662,636.863685341,877,784,812,651.136314659,630,654,0.400969285529,-0.00537582629733,0.059841187127,0.999999932821,0.000251915250933,-0.000265320320814,2.24026271505e-05,1793249484744081664
+18,0.300000000,BASELINE,767,745,717.554993408,679,662,636.554993408,877.445006592,784,812,651.445006592,630,654,0.40097008874,-0.00537659358389,0.0598412157096,0.99999993332,0.000250358603032,-0.000264925267682,2.22431648318e-05,1793249484760748032
+19,0.316666667,BASELINE,766.976103987,745,717.023896013,679,662,636.023896013,877.976103987,784,812,652,630,654,0.400970640482,-0.00537736592338,0.0598410402886,0.999999933665,0.000249154615515,-0.000264778241656,2.20311250497e-05,1793249484777414656
+20,0.333333333,BASELINE,766.39959995,745,717.60040005,679,662,636.60040005,877.39959995,784,812,652,630,654,0.400970346676,-0.00537584305936,0.0598419875171,0.99999993324,0.000251408144968,-0.000264216431197,2.24297240189e-05,1793249484794081024
+21,0.350000000,BASELINE,766.176037389,745,718,678.823962611,662,636.823962611,877.176037389,784,812,651.823962611,630,654,0.400969790012,-0.00537496246818,0.059842308087,0.999999932916,0.000252636105204,-0.000264257181221,2.26193513635e-05,1793249484810747904
+22,0.366666667,BASELINE,766.749716906,745,718,678.250283094,662,636.250283094,877.749716906,784,812,651.250283094,630,654,0.400968639595,-0.00537553267543,0.0598412131288,0.999999932825,0.000251547457684,-0.000265659025325,2.23369430126e-05,1793249484827414528
+23,0.383333333,BASELINE,767,745.331990455,717.668009545,678.331990455,662,636,878,784,812,651,630,654,0.40096855599,-0.00537560063427,0.0598411025437,0.999999932967,0.000250673708712,-0.000265965341657,2.21749452573e-05,1793249484844081408
+24,0.400000000,BASELINE,767,745.920915164,717.079084836,678.920915164,662,636,878,784,812,651,630,654,0.400969298015,-0.00537527989277,0.0598417537851,0.999999933289,0.000249966274036,-0.000265423806628,2.21061357126e-05,1793249484860748288
+25,0.416666667,BASELINE,767,746,717.503463429,679,662,636,877.496536571,784,812.503463429,651,630,654,0.400970158743,-0.00537506135729,0.0598421829922,0.999999933119,0.000251834686869,-0.000264310187118,2.19386173373e-05,1793249484877414656
+26,0.433333333,BASELINE,767,745.915880357,717.915880357,678.915880357,662,636,877.084119643,783.915880357,812.915880357,651,630,654,0.400970946401,-0.00537507767226,0.0598425795982,0.999999933006,0.000253463823088,-0.000263186314446,2.18193436553e-05,1793249484894081280
+27,0.450000000,BASELINE,767,745.340497221,717.340497221,678.340497221,662,636,877.659502779,783.340497221,812.340497221,651,630,654,0.40097119979,-0.00537637293956,0.0598429869504,0.999999933706,0.00025136213122,-0.000262520809086,2.20712412003e-05,1793249484910747648
+28,0.466666667,BASELINE,767,745,717.233040725,678,662,636,878,783.233040725,812.233040725,651,630,654,0.400970733682,-0.00537706831245,0.0598428276662,0.999999934072,0.000249614919121,-0.000262786460606,2.21749185238e-05,1793249484927414272
+29,0.483333333,BASELINE,767,745,717.803903799,678,662,636,878,783.803903799,812.803903799,651,630,654,0.400969224572,-0.00537689406157,0.0598418469699,0.999999933956,0.000248381570933,-0.000264401943214,2.20637316556e-05,1793249484944080896
+30,0.500000000,BASELINE,766.607996885,745,717.607996885,678.392003115,661.607996885,636,877.607996885,784,812.607996885,651.392003115,630,654,0.400968456133,-0.00537700891777,0.0598414143604,0.999999933445,0.000249744353766,-0.00026504705227,2.20668492412e-05,1793249484960747264
+31,0.516666667,BASELINE,766.010878752,745,717.010878752,678.989121248,661.010878752,636,877.010878752,784,812.010878752,651.989121248,630,654,0.400968075249,-0.00537727504881,0.0598412685365,0.999999932724,0.000252465558149,-0.000265184414826,2.21297764574e-05,1793249484977413888
+32,0.533333333,BASELINE,766,745,717.564721225,679,661,636,877,784,812,652,630,653.435278775,0.400968604955,-0.00537766656916,0.059841175317,0.999999932897,0.000251912630509,-0.000265062231104,2.20691562944e-05,1793249484994081280
+33,0.550000000,BASELINE,766.140036072,745.140036072,718,679,661.140036072,636,877.140036072,784,812,651.859963928,630,653,0.400969306407,-0.00537799858328,0.0598413274022,0.999999933112,0.000251249874574,-0.00026487838777,2.21075386044e-05,1793249485010748672
+34,0.566666667,BASELINE,766.715706007,745.715706007,718,679,661.715706007,636,877.715706007,784,812,651.284293993,630,653,0.400970489573,-0.00537813824281,0.0598422395619,0.999999933404,0.000250434466108,-0.00026451771255,2.2461036771e-05,1793249485027414784
+35,0.583333333,BASELINE,766.701183862,745.701183862,717.701183862,678.701183862,662,636,878,784,812,651.298816138,630.298816138,653.298816138,0.400970810065,-0.00537779306012,0.0598426800441,0.999999933536,0.000250448371691,-0.000263998519379,2.25333633754e-05,1793249485044081408
+36,0.600000000,BASELINE,766.110814301,745.110814301,717.110814301,678.110814301,662,636,878,784,812,651.889185699,630.889185699,653.889185699,0.40097028885,-0.00537697481928,0.0598426603131,0.999999933512,0.000251271434781,-0.000263324660988,2.23313523232e-05,1793249485060747776
+37,0.616666667,BASELINE,766.469467992,745,717,678.469467992,662,636,878,784,812,651.530532008,631,654,0.400969797086,-0.00537677646563,0.0598424785655,0.99999993354,0.000251011276639,-0.000263473252135,2.2230963372e-05,1793249485077413888
+38,0.633333333,BASELINE,767,745,717.047209795,679,662,636,877.952790205,784,812,651.047209795,630.952790205,653.952790205,0.400969377146,-0.00537677628036,0.0598423323347,0.999999933607,0.000250461481757,-0.000263748154042,2.2168377852e-05,1793249485094080768
+39,0.650000000,BASELINE,767,745,717.622607531,679,662,636,877.377392469,784,812,651.622607531,630.377392469,653.377392469,0.400969684634,-0.00537739061915,0.0598430023334,0.999999933968,0.000249471669919,-0.0002633099423,2.22660156947e-05,1793249485110747392
+40,0.666666667,BASELINE,767,745.202005987,717.797994013,679,662,636,877,784,812,651.797994013,630,653.202005987,0.400969706339,-0.00537781848554,0.0598431311414,0.9999999341,0.000248991085763,-0.000263253487858,2.23870317304e-05,1793249485127414016
+41,0.683333333,BASELINE,767,745.789029668,717.210970332,679,662,636,877,784,812,651.210970332,630,653.789029668,0.400969183351,-0.00537789094081,0.0598422284552,0.999999933797,0.000249481075214,-0.000263924652057,2.25526059346e-05,1793249485144081152
+42,0.700000000,BASELINE,767,745.629227688,717,678.629227688,662,636,877.370772312,783.629227688,812,651,630,654,0.400968783517,-0.00537689383412,0.0598421904798,0.99999993344,0.000250731289309,-0.000264107247944,2.24047227641e-05,1793249485160748288
+43,0.716666667,BASELINE,767,745.050447786,717,678.050447786,662,636,877.949552214,783.050447786,812,651,630,654,0.400968452774,-0.0053752966907,0.0598426376173,0.999999933049,0.000252407998273,-0.00026401575129,2.20809863474e-05,1793249485177414912
+44,0.733333333,BASELINE,767,745,717,678,662,636,877.471975663,783.528024337,811.471975663,651.528024337,630,653.471975663,0.400968679318,-0.00537693595055,0.0598426086686,0.999999933421,0.000250726171236,-0.000264198741443,2.22080918143e-05,1793249485194081280
+45,0.750000000,BASELINE,766.894076133,745,717,678,662,636,877.105923867,784,811.105923867,652,630,653.105923867,0.400968912451,-0.00537861830044,0.0598425455651,0.999999933832,0.000248939957282,-0.000264321513289,2.23348860681e-05,1793249485210747648
+46,0.766666667,BASELINE,766.318584838,745,717,678,662,636,877.681415162,784,811.681415162,652,630,653.681415162,0.400968938894,-0.00537912172974,0.059842532574,0.999999934108,0.000248112628627,-0.000264061145535,2.22694632417e-05,1793249485227414272
+47,0.783333333,BASELINE,766,745.262341541,717,678,661.737658459,636,878,784,812,651.737658459,630,653.737658459,0.400969488256,-0.00537961158925,0.0598429825313,0.999999934372,0.000248003837906,-0.000263155720181,2.23566299492e-05,1793249485244080640
+48,0.800000000,BASELINE,766,745.850007944,717,678,661.149992056,636,878,784,812,651.149992056,630,653.149992056,0.400970686082,-0.0053800846212,0.0598440065824,0.999999934618,0.000248786092598,-0.000261450370868,2.26330200893e-05,1793249485260747264
+49,0.816666667,BASELINE,766.430926742,745.569073258,717,678,661,636,878,784,812,651,630,653,0.400970913987,-0.00537881594949,0.059843635836,0.999999934123,0.000250452925601,-0.000261773976237,2.23988924307e-05,1793249485277414400
+50,0.833333333,BASELINE,767,745,717,678.009538873,661.009538873,636,877.990461127,784,812,651,630,653,0.400970788407,-0.00537699845709,0.0598427932847,0.999999933388,0.000252348900379,-0.000262792368544,2.20006563316e-05,1793249485294081536
+51,0.850000000,BASELINE,767,745,717,678.588496647,661.588496647,636,877.411503353,784,812,651,630,653,0.400969403803,-0.00537805019865,0.0598423205717,0.999999933756,0.000249827165161,-0.000263778485721,2.22499401607e-05,1793249485310748160
+52,0.866666667,BASELINE,767,745,717,679,662,636,877,784,812,651,629.833812399,653.166187601,0.40096878851,-0.00537863070543,0.059842108009,0.999999933953,0.000248516522865,-0.000264261435755,2.23647301583e-05,1793249485327414784
+53,0.883333333,BASELINE,767,745,717,679,662,636,877,784,812,651,629.259234566,653.740765434,0.400970063723,-0.00537805319746,0.0598425347408,0.999999933741,0.000250182026453,-0.000263507900306,2.21490143354e-05,1793249485344081152
+54,0.900000000,BASELINE,766.687403487,745.312596513,717,679,662,636,877.312596513,784,812,651.312596513,629.312596513,654,0.400970084018,-0.005377912992,0.059842651197,0.999999933759,0.000250140046982,-0.000263496002631,2.19709508317e-05,1793249485360747520
+55,0.916666667,BASELINE,766.117830463,745.882169537,717,679,662,636,877.882169537,784,812,651.882169537,629.882169537,654,0.40096907268,-0.00537813228026,0.0598425125847,0.999999933965,0.000248694395211,-0.00026409378386,2.18238402163e-05,1793249485377414144
+56,0.933333333,BASELINE,766.475142995,746,717.475142995,679,661.524857005,636,878,784,812,651.524857005,630,654,0.400969539618,-0.00537828810573,0.0598427975559,0.99999993423,0.000248387018381,-0.000263360415984,2.20444995669e-05,1793249485394080768
+57,0.950000000,BASELINE,767,745.9287227,718,679,661.0712773,636,877.9287227,784,812,651,630,654,0.400970117148,-0.00537842457389,0.0598431040092,0.999999934457,0.000248369235902,-0.000262487948044,2.23368027032e-05,1793249485410747392
+58,0.966666667,BASELINE,767,745.35339919,718,679,661.64660081,636,877.35339919,784,812,651,630,654,0.400968750028,-0.00537854121327,0.0598427810639,0.999999934314,0.000248299773476,-0.000263087161693,2.24573808522e-05,1793249485427414272
+59,0.983333333,BASELINE,766.774067777,745.225932223,717.774067777,679,661.774067777,636,877,784,812,651.225932223,630,654,0.400968296795,-0.00537908563301,0.0598425110607,0.999999934377,0.000247641070891,-0.000263472382843,2.2428226416e-05,1793249485444081152
+60,1.000000000,BASELINE,766.188353962,745.811646038,717.188353962,679,661.188353962,636,877,784,812,651.811646038,630,654,0.400969298866,-0.00538031126371,0.0598423253639,0.999999934765,0.000246044043696,-0.000263516835688,2.21606331117e-05,1793249485460748032
+61,1.016666667,BASELINE,766.392738425,745.607261575,717,679,661.392738425,636,877.392738425,784,812,652,630,654,0.400970408976,-0.00537984075559,0.0598426320119,0.999999934676,0.000246848727805,-0.000263112852131,2.20519753756e-05,1793249485477414912
+62,1.033333333,BASELINE,766.971640159,745.028359841,717,679,661.971640159,636,877.971640159,784,812,652,630,654,0.400971570298,-0.00537856625473,0.0598431720379,0.999999934357,0.000248791855542,-0.000262496303672,2.20186552571e-05,1793249485494081536
+63,1.050000000,BASELINE,767,745.551309409,717,679,662,636.551309409,877.448690591,784,812,651.448690591,630,653.448690591,0.400970879972,-0.00537904255662,0.059843159687,0.999999934571,0.000248010509664,-0.000262386044346,2.2398741127e-05,1793249485510747904
+64,1.066666667,BASELINE,766.870392901,745.870392901,717.129607099,678.870392901,661.870392901,636.870392901,877.129607099,784,812,651.129607099,630,653,0.400970306885,-0.00537958158201,0.0598432026978,0.999999934826,0.000247084877372,-0.000262265901645,2.26744863487e-05,1793249485527414272
+65,1.083333333,BASELINE,766.296927745,745.296927745,717.703072255,678.296927745,661.296927745,636.296927745,877.703072255,784,812,651.703072255,630,653,0.400970461951,-0.00538002654992,0.0598435327486,0.999999935125,0.000246145746179,-0.000262022596316,2.25199721887e-05,1793249485544080896
+66,1.100000000,BASELINE,766,745,718,678,661.277209201,636,878,784,812,651.722790799,630,653.277209201,0.400970141632,-0.00538005132967,0.0598432388726,0.999999935119,0.000245918175,-0.000262272794334,2.23375613397e-05,1793249485560747776
+67,1.116666667,BASELINE,766,745,718,678,661.852067434,636,878,784,812,651.147932566,630,653.852067434,0.400969310877,-0.00537962493896,0.0598422750648,0.999999934787,0.000246454630289,-0.000263052883848,2.21251968685e-05,1793249485577414400
+68,1.133333333,BASELINE,766,745.440503411,717.559496589,678.440503411,662,636,878,784.440503411,812,651,630,654,0.400968186577,-0.00537872773317,0.059841948679,0.999999934234,0.000247473499981,-0.000264203089254,2.20345189797e-05,1793249485594081280
+69,1.150000000,BASELINE,766.032772993,745.967227007,717.032772993,679,662,636,877.967227007,784.967227007,812,651.032772993,630,653.967227007,0.400967086949,-0.00537775293515,0.0598419026666,0.99999993368,0.000248527428396,-0.000265312918652,2.19882445897e-05,1793249485610747904
+70,1.166666667,BASELINE,766.610554324,745.389445676,717.610554324,679,662,636,877.389445676,784.389445676,812,651.610554324,630,653.389445676,0.400968089125,-0.00537820078991,0.0598428461681,0.999999934412,0.000247384540975,-0.000263618569282,2.19791926388e-05,1793249485627414528
+71,1.183333333,BASELINE,766.813486549,745.186513451,717.813486549,678.813486549,662,636,877,784,812,652,630,653.186513451,0.400969037862,-0.00537856824856,0.059843609077,0.999999934946,0.000246679223345,-0.0002622478323,2.19974731588e-05,1793249485644080896
+72,1.200000000,BASELINE,766.241295324,745.758704676,717.241295324,678.241295324,662,636,877,784,812,652,630,653.758704676,0.400969876098,-0.00537876946196,0.0598439985516,0.999999935079,0.000246878724666,-0.000261546269833,2.2072272532e-05,1793249485660747520
+73,1.216666667,BASELINE,766,746,717.343484104,678.343484104,662,636,877,784,812,651.656515896,630,654,0.40097026153,-0.00537980091798,0.0598440968383,0.999999935403,0.000245413379289,-0.000261686821193,2.20521369156e-05,1793249485677414144
+74,1.233333333,BASELINE,766,746,717.937443042,678.937443042,662,636,877,784,812,651.062556958,630,654,0.400970316768,-0.00538143780196,0.0598439827854,0.999999935861,0.000242733997509,-0.00026244145726,2.19627729793e-05,1793249485694080768
+75,1.250000000,BASELINE,766.516225695,745.483774305,717.483774305,679,661.483774305,636,877,784,812,651.516225695,630.516225695,654,0.400968525465,-0.0053795450508,0.0598427199777,0.999999934545,0.000246373607414,-0.000264065757501,2.18906708172e-05,1793249485710747904
+76,1.266666667,BASELINE,766.907087523,745,717.092912477,679,661,636.092912477,877,784,812,652,630.907087523,654,0.400967121782,-0.00537771614548,0.059841772096,0.999999933375,0.000249861559891,-0.000265222693397,2.18313194297e-05,1793249485727414784
+77,1.283333333,BASELINE,766.332005918,745,717.667994082,679,661,636.667994082,877,784,812,652,630.332005918,654,0.40096885772,-0.00537837486043,0.0598431603087,0.99999993414,0.000248702145964,-0.000263422955609,2.18275927629e-05,1793249485744081408
+78,1.300000000,BASELINE,766.241745476,745,718,679,661,636.758254524,877.241745476,784,812,651.758254524,630,654,0.400970436785,-0.00537913428108,0.0598439933437,0.99999993459,0.000248347969131,-0.000262023458641,2.20708186169e-05,1793249485760748032
+79,1.316666667,BASELINE,766.813679949,745,718,679,661,636.186320051,877.813679949,784,812,651.186320051,630,654,0.400971801583,-0.00538003125094,0.0598440680868,0.999999934615,0.000249093628609,-0.000261170632304,2.26513455317e-05,1793249485777414656
+80,1.333333333,BASELINE,767,745.402211078,717.597788922,679,661.402211078,636.402211078,877.597788922,784,812,651.402211078,630,654,0.400971347023,-0.00537912981498,0.0598439651384,0.999999934595,0.000249046533495,-0.000261313802922,2.2387100444e-05,1793249485794081024
+81,1.350000000,BASELINE,767,745.998761383,717.001238617,679,661.998761383,636.998761383,877.001238617,784,812,651.998761383,630,654,0.40097001339,-0.00537735943038,0.0598437763335,0.999999934553,0.000248616397494,-0.000261938216495,2.17146808275e-05,1793249485810747648
+82,1.366666667,BASELINE,767,745.42536045,717,678.42536045,662,636.42536045,877,784,812,651.42536045,630,653.42536045,0.400971042597,-0.00537830130379,0.0598441402774,0.99999993481,0.000248274544127,-0.000261274346174,2.17955187612e-05,1793249485827414272
+83,1.383333333,BASELINE,767,745,717,678,662,636,877.150424581,784,812,651,630,653,0.400971157809,-0.00537908562883,0.0598440963095,0.999999934865,0.000247989499521,-0.000261327591407,2.18919026727e-05,1793249485844080896
+84,1.400000000,BASELINE,767,745,717,678,662,636,877.726068052,784,812,651,630,653,0.400968675455,-0.00537940864563,0.0598428960093,0.999999934345,0.00024786452211,-0.00026341554947,2.20278015694e-05,1793249485860747520
+85,1.416666667,BASELINE,767,745,717,678.308778136,662,636,878,784,812,651,630,653,0.400967751176,-0.00537930172042,0.0598421343024,0.999999934117,0.000247477893885,-0.000264650049058,2.1917971269e-05,1793249485877414400
+86,1.433333333,BASELINE,767,745,717,678.897904151,662,636,878,784,812,651,630,653,0.400968241515,-0.0053788044394,0.0598417708061,0.999999934157,0.000246853705937,-0.00026510967088,2.15850368892e-05,1793249485894080768
+87,1.450000000,BASELINE,767,745,717,679,662,636,877.521074019,784,812,651,630,653.478925981,0.400968944663,-0.0053783721283,0.0598424724127,0.999999934023,0.000248684365167,-0.000263889203686,2.17313382052e-05,1793249485910747392
+88,1.466666667,BASELINE,767,745,717.057737801,679,662,636,877.057737801,784,812,651.057737801,630,654,0.400969424662,-0.00537802449781,0.0598432159268,0.999999933862,0.000250662647385,-0.000262609706874,2.19391379725e-05,1793249485927414016
+89,1.483333333,BASELINE,767,745,717.631977229,679,662,636,877.631977229,784,812,651.631977229,630,654,0.40096750938,-0.00537831255358,0.0598423369758,0.999999933837,0.000249358012107,-0.000263952771825,2.17983847516e-05,1793249485944080640
+90,1.500000000,BASELINE,767,745,717.789001699,678.789001699,662,636,878,784,812,651.789001699,630,654,0.400967564302,-0.0053787585391,0.0598426113163,0.999999934284,0.00024810546845,-0.00026343769878,2.18346468848e-05,1793249485960747520
+91,1.516666667,BASELINE,767,745,717.201447168,678.201447168,662,636,878,784,812,651.201447168,630,654,0.400971135331,-0.00537948637247,0.0598449438683,0.999999935565,0.000246945889772,-0.000259606516255,2.21868178995e-05,1793249485977414144
+92,1.533333333,BASELINE,767,745.380132437,717,678,661.619867563,636,877.619867563,784,812,651,630,654,0.400970981819,-0.00537898861466,0.0598448130205,0.999999934876,0.000249121568187,-0.000260170053939,2.231766504e-05,1793249485994080768
+93,1.550000000,BASELINE,767,745.958594745,717,678,661.041405255,636,877.041405255,784,812,651,630,654,0.400968885071,-0.00537785141834,0.0598433969215,0.999999933145,0.00025303737978,-0.000263026487655,2.23330389428e-05,1793249486010747392
+94,1.566666667,BASELINE,767,745.463777003,717.536222997,678.536222997,661.536222997,636.536222997,877.536222997,784,812.536222997,651,630.536222997,654,0.400967901631,-0.00537864452889,0.0598427320926,0.999999933675,0.000249736676415,-0.000264173888822,2.22123484859e-05,1793249486027414016
+95,1.583333333,BASELINE,766.886495591,745.113504409,718,678.886495591,662,637,877.886495591,784,813,651,630.886495591,654,0.400967564822,-0.00537929723966,0.059842564566,0.999999934316,0.000246973622849,-0.000264353544648,2.21348759563e-05,1793249486044080896
+96,1.600000000,BASELINE,766.310365577,745.689634423,718,678.310365577,662,637,877.310365577,784,813,651,630.310365577,654,0.400969513738,-0.00537877113755,0.0598441878887,0.99999993474,0.000248669609824,-0.000261125862017,2.22763085969e-05,1793249486060748288
+97,1.616666667,BASELINE,766.270979284,745.729020716,717.729020716,678,662,636.729020716,877.270979284,784,812.729020716,651,630,654,0.400969806999,-0.00537839918786,0.0598443772422,0.999999934588,0.000249841637716,-0.000260585700575,2.23144265807e-05,1793249486077415168
+98,1.633333333,BASELINE,766.858414123,745.141585877,717.141585877,678,662,636.141585877,877.858414123,784,812.141585877,651,630,654,0.40096816675,-0.00537820726076,0.0598428919749,0.999999933769,0.000250401774595,-0.000263184085543,2.22318914331e-05,1793249486094081024
+99,1.650000000,BASELINE,767,745.441820406,717,678.441820406,662,636,878,784,812,651.441820406,630,653.558179594,0.400969273012,-0.00537886528804,0.0598433554512,0.999999934461,0.000248439955876,-0.000262419026532,2.2183167563e-05,1793249486110747648
+100,1.666666667,BASELINE,767,745.976314763,717,678.976314763,662,636,877.976314763,784,812,652,630,653.023685237,0.400971126482,-0.00537973461519,0.0598443597841,0.999999935551,0.000245876173957,-0.000260679088479,2.21336776079e-05,1793249486127414272
+101,1.683333333,BASELINE,767,745.400559489,717,678.400559489,662,636,877.400559489,784,812,652,630,653.599440511,0.400970066706,-0.005379237694,0.0598435461516,0.999999934933,0.000247948958732,-0.000261112256666,2.18160604568e-05,1793249486144080896
+102,1.700000000,BASELINE,767,745.174183176,717.174183176,678.174183176,662,636,877,784,812,651.825816824,630,654,0.400969885264,-0.00537888610117,0.0598432965713,0.999999934752,0.000248798587215,-0.000261012995929,2.16135982689e-05,1793249486160747776
+103,1.716666667,BASELINE,767,745.746610583,717.746610583,678.746610583,662,636,877,784,812,651.253389417,630,654,0.400971712006,-0.00537886678038,0.0598443366134,0.999999935576,0.000246851648339,-0.000259696414665,2.16744210222e-05,1793249486177414912
+104,1.733333333,BASELINE,767,745.670217457,718,678.670217457,662,636.329782543,877.329782543,784,812,651,630,654,0.400970866957,-0.00537861250834,0.0598439327598,0.999999935191,0.000247374053264,-0.000260676715795,2.17163597313e-05,1793249486194081792
+105,1.750000000,BASELINE,767,745.07851179,718,678.07851179,662,636.92148821,877.92148821,784,812,651,630,654,0.400967899892,-0.00537817163101,0.0598423821214,0.999999933838,0.000249857684411,-0.00026348126923,2.1743300176e-05,1793249486210747904
+106,1.766666667,BASELINE,767,745,718,678.502443235,662,637,878,784,812,651,630,653.497556765,0.400969362284,-0.00537827533928,0.0598438064178,0.999999934345,0.000249639805305,-0.00026175026372,2.18463665294e-05,1793249486227414528
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,717,679,661,636,877,784,812,651,630,654,0.40097103181,-0.00537769741481,0.0598443380908,0.99999993498,0.000248045500662,-0.000260859315983,2.15717339126e-05,1793249486271188480
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,717,678.402899922,661,636,877,784,812,651,630,654,0.400970052463,-0.00537993445075,0.059843832906,0.999999935324,0.000245244110108,-0.000262152129791,2.20071855524e-05,1793249486287855104
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.811745387,745,717,678,661,636.188254613,877,784,812,651.188254613,630,653.811745387,0.400969275345,-0.00538123699011,0.0598434613527,0.999999935441,0.000243719888637,-0.000263104279776,2.2261356872e-05,1793249486304522240
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.232925747,745,717,678,661,636.767074253,877,784,812,651.767074253,630,653.232925747,0.400968917782,-0.00538060076369,0.0598433670398,0.999999935104,0.000244845363092,-0.000263349667102,2.21394325579e-05,1793249486321188864
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.344718705,745,717,678.344718705,661.344718705,636.655281295,877.344718705,784,812,652,630,653.344718705,0.400969075913,-0.00537959455314,0.0598434115089,0.999999934886,0.000246228042325,-0.000262891274256,2.2078040834e-05,1793249486337855488
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.921571749,745,717,678.921571749,661.921571749,636.078428251,877.921571749,784,812,652,630,653.921571749,0.400969581313,-0.00537833919449,0.059843549434,0.999999934747,0.000247783923756,-0.000261958954272,2.20574118973e-05,1793249486354522368
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.502291114,745,717,679,662,636,878,784,812,652,630,654,0.400969286367,-0.00538017764919,0.0598431522344,0.999999934936,0.000246581591485,-0.000262362907895,2.21564462254e-05,1793249486371188480
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.075140497,745,717,678.924859503,662,636,877.924859503,784,812,651.924859503,630,654,0.400969148891,-0.00538201037528,0.0598428837057,0.999999935196,0.000245140554874,-0.000262718354423,2.22122521129e-05,1793249486387855104
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.66215781,745,717,678.33784219,662,636,877.33784219,784,812,651.33784219,630,654,0.400970942055,-0.00538048774158,0.0598440653307,0.9999999356,0.000245029999019,-0.000261310973153,2.1845304487e-05,1793249486404521728
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,717,678.243474398,662,636,877.243474398,784,812,651.243474398,630,653.756525602,0.4009748118,-0.00537914064126,0.0598459635007,0.999999935873,0.000246537071709,-0.000258844382202,2.17445105472e-05,1793249486421188352
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,717,678.817061655,662,636,877.817061655,784,812,651.817061655,630,653.182938345,0.40098149706,-0.00537803153661,0.0598488331927,0.999999935951,0.000250237393412,-0.000254941670195,2.20045790312e-05,1793249486437854720
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.604238774,745.395761226,717,678.604238774,662,636,878,784,812,652,630,653.395761226,0.401005945901,-0.00537941555412,0.0598589357349,0.999999940544,0.000248927606133,-0.000237559580803,2.26265017979e-05,1793249486454521600
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.023145089,745.976854911,717,678.023145089,662,636,878,784,812,652,630,653.976854911,0.401038713313,-0.00538196708475,0.0598724253749,0.999999946778,0.000245271616968,-0.000213865184465,2.34178786303e-05,1793249486471188480
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.545608801,745.454391199,717,678.545608801,662,636,878,784,812.545608801,651.454391199,630,654,0.401095002762,-0.00538306585796,0.0598885056999,0.999999952265,0.000245481378106,-0.000186072550241,2.41983422584e-05,1793249486487855360
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,717,678.880389104,662.119610896,636,877.880389104,784,812.880389104,651,630,654,0.401156306836,-0.00538448853046,0.0599043583228,0.99999995677,0.000245682415055,-0.000159613453562,2.49770376316e-05,1793249486504521984
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,717,678.283397676,662.716602324,636,877.283397676,784,812.283397676,651,630,654,0.40123373052,-0.00538744444204,0.0599188732495,0.999999959923,0.000245208615146,-0.000139155156513,2.57504827976e-05,1793249486521188352
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.695615308,745,717,678.304384692,662.695615308,636,877.304384692,784,812,651.304384692,630,654,0.401317861162,-0.00539031814058,0.0599281731859,0.999999962093,0.000243955732446,-0.000125008214718,2.59209202757e-05,1793249486537854720
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.116155291,745,717,678.883844709,662.116155291,636,877.883844709,784,812,651.883844709,630,654,0.401408052939,-0.00539311754225,0.0599327602854,0.999999963598,0.000241998785338,-0.000116564905615,2.55464139623e-05,1793249486554521344
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.457604356,745,717,679,662,636.457604356,878,784,812,652,630,654,0.401515284004,-0.00539691656377,0.0599362221122,0.999999965398,0.000237436634101,-0.000110517624844,2.47901225438e-05,1793249486571188224
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,717,679,662,637,878,784,812,652,630.029956654,654,0.401628373418,-0.00540087351269,0.0599394331937,0.999999967202,0.000232473731132,-0.000104786065421,2.39175923031e-05,1793249486587855104
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,717,679,662,637,878,784,812,652,630.602703922,654,0.401770207558,-0.00540315103629,0.059943212717,0.999999968404,0.000232084111902,-9.38907544814e-05,2.26732315587e-05,1793249486604521728
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745.184040912,717,679,662.184040912,636.815959088,878,784,812.184040912,651.815959088,630.815959088,654,0.401918811325,-0.00540607933611,0.0599448206041,0.999999969343,0.000230955330982,-8.67195623356e-05,2.12830209436e-05,1793249486621188352
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745.784828602,717,679,662.784828602,636.215171398,878,784,812.784828602,651.215171398,630.215171398,654,0.402082744381,-0.00541048126932,0.0599415109841,0.999999969911,0.000228152774207,-8.79813581244e-05,1.95625444586e-05,1793249486637854976
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,717,679,662.632077458,636,878,784,812.632077458,651,630.367922542,654,0.402271318614,-0.00541643569824,0.0599408802122,0.999999971597,0.000222167667311,-8.44499294047e-05,1.77462025699e-05,1793249486654521600
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,717,679,662.058856462,636,878,784,812.058856462,651,630.941143538,654,0.402473642484,-0.00542325641038,0.0599417442202,0.999999973828,0.000214406717278,-7.82439118108e-05,1.58763682297e-05,1793249486671188480
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.485304509,745.485304509,717,679,661.485304509,636,878,784,812,651.514695491,630.485304509,654,0.402711747564,-0.00542828139012,0.0599438975469,0.999999975459,0.000210099792479,-6.89788073146e-05,1.35089549872e-05,1793249486687855104
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.091438412,717,679,661.091438412,636,877.908561588,784,812.091438412,651.908561588,630,654,0.402960410509,-0.00543413693079,0.0599462109774,0.999999977117,0.000205099857901,-5.97838034684e-05,1.12247633142e-05,1793249486704521728
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.685514147,717,679,661.685514147,636,877.314485853,784,812.685514147,651.314485853,630,654,0.403244603868,-0.00544568758204,0.0599485935208,0.999999979713,0.000194117869739,-5.28982986811e-05,9.71101608765e-06,1793249486721188608
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.271785617,746,717.271785617,679,662,636,877.271785617,784,812.728214383,651,630,654,0.403535237836,-0.00545576687953,0.059944712345,0.999999981531,0.00018309108581,-5.79789376451e-05,7.33224035542e-06,1793249486737855488
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.849278727,746,717.849278727,679,662,636,877.849278727,784,812.150721273,651,630,654,0.403833116257,-0.0054641911812,0.0599337856678,0.99999998227,0.000172013915727,-7.65192290137e-05,3.98047099788e-06,1793249486754522368
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,717.577556174,679,662,636,878,784,812,651,630,654,0.404158814624,-0.00547327286193,0.0599219307925,0.999999982244,0.000161462816442,-9.71645188465e-05,7.50387652501e-07,1793249486771188992
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,717.005919594,679,662,636,878,784,812,651,630,654,0.404494338041,-0.00548258670634,0.0599097481096,0.999999981554,0.000151097507597,-0.000118553221926,-2.43672027189e-06,1793249486787855616
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745.414026336,717,679,662,636.585973664,878,784,812,651,630,653.414026336,0.404865350137,-0.00549114497172,0.0598978835068,0.999999980425,0.000140523610032,-0.000139149855898,-6.33063079825e-06,1793249486804521984
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745.173650487,717.173650487,678.826349513,662,637,878,784,812.173650487,651,630,653.173650487,0.405265399345,-0.00549982560643,0.0598926273989,0.999999980766,0.000127014097748,-0.000149111634018,-1.00752701157e-05,1793249486821188608
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745.751031378,717.751031378,678.248968622,662,637,878,784,812.751031378,651,630,653.751031378,0.405732095247,-0.00550880912552,0.0599027280393,0.999999985191,0.000106684475344,-0.000134367066292,-1.34556641605e-05,1793249486837855488
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745.670017633,717.670017633,678.329982367,662,637,878,784,812.670017633,651,630,653.670017633,0.406235466061,-0.0055142283911,0.0599261371149,0.999999994099,5.02138899175e-05,-9.50458464766e-05,-1.56847997413e-05,1793249486854522112
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745.089876295,717.089876295,678.910123705,662,637,878,784,812.089876295,651,630,653.089876295,0.406766640102,-0.0055169456042,0.0599596352895,0.999999998601,-3.3655089651e-05,-3.70931136889e-05,-1.70411688269e-05,1793249486871188736
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745.485132341,717.485132341,679,662.485132341,637,878.485132341,784,812.485132341,651,630,653.485132341,0.407312737701,-0.00550656981334,0.0599827018207,0.999999999445,-2.62398474516e-05,-4.04979747784e-06,-2.01474217867e-05,1793249486887855360
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745.939440769,717.939440769,679,663,637,879,784,813,651,630,654,0.407859523286,-0.00549520855551,0.0600007959542,0.999999999544,-4.25958751038e-06,1.84720063795e-05,-2.35123781643e-05,1793249486904522496
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745.352192551,717.352192551,679,663,637,879,784,813,651,630,654,0.408388499047,-0.00549615164165,0.0599922765795,0.999999999594,-1.14655652042e-06,-1.079796079e-05,-2.63373471207e-05,1793249486921189888
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745,717,679,663,637,879,784,812.767992731,651,630,654,0.408949772352,-0.00550203285432,0.0599820616594,0.999999998774,-8.30638117321e-06,-3.90005961824e-05,-2.93514681321e-05,1793249486937856768
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745,717,679,663,637,879,784,812.188360471,651,630,654,0.409559438219,-0.00551531304281,0.0599693062423,0.999999996839,-3.08584019417e-05,-6.56040075062e-05,-3.26490024308e-05,1793249486954522880
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745,717,679,663,637,879,784,812.389135304,651,629.610864696,654,0.41021692287,-0.00551986473926,0.0599740285932,0.99999999774,-2.95989174502e-05,-5.20845459902e-05,-3.05055272363e-05,1793249486971188992
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745,717,679,663,637,879,784,812.965602546,651,629.034397454,654,0.410897427737,-0.00552021448982,0.059987164841,0.999999999341,-1.6876438811e-05,-1.92497054718e-05,-2.57427191441e-05,1793249486987855616
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745,717,679,663,637,879,784,813,651,629.53923969,654,0.411584974619,-0.00551712420968,0.0599871818855,0.999999999539,-1.07976918589e-06,-1.71102601609e-05,-2.50745516066e-05,1793249487004522496
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745.115941224,717,679,663,637,879.115941224,784,813,651,629.884058776,654,0.412268152104,-0.00551330937703,0.0599811561832,0.999999999204,1.32044618123e-05,-2.74741492573e-05,-2.57282564877e-05,1793249487021189120
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745.705905534,717,679,663,637,879.705905534,784,813,651,629.294094466,654,0.41293163826,-0.00550742470142,0.0599538284598,0.999999996038,2.05075569367e-05,-8.09941043813e-05,-3.07241039306e-05,1793249487037855744
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745.708999894,717,679,663,637,880,784,813,651,629.291000106,654,0.413638104728,-0.00550541245565,0.0599278270647,0.999999991054,5.74481154328e-06,-0.000129010278238,-3.48534185334e-05,1793249487054522368
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745.128745772,717,679,663,637,880,784,813,651,629.871254228,654,0.414387293692,-0.00550724940325,0.0599031440362,0.999999984079,-3.09513717305e-05,-0.000171555701508,-3.81214003425e-05,1793249487071189248
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.551334066,745.448665934,717,679.448665934,663,637,880,784,813,651,629.551334066,654,0.41522901847,-0.00551569568279,0.0599402620833,0.999999993433,-3.63697675214e-05,-0.000102384289416,-3.64580517637e-05,1793249487087855872
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,717.02560906,680,663,637,880.02560906,784,813,651,629,654,0.416094295215,-0.00552568917353,0.0599935563206,0.999999998901,-3.25257476478e-05,-4.45801371117e-06,-3.34720253938e-05,1793249487104522240
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,717.610013827,680,663,637,880.610013827,784,813,651,629,654,0.416897729272,-0.00552832024879,0.0600152956156,0.999999998921,-2.11825167465e-05,2.58095454602e-05,-3.23073591209e-05,1793249487121188864
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.193624252,745.806375748,717.806375748,680,663,637,881.193624252,784,813,651,629,654,0.417712595286,-0.00552894263011,0.0600231813125,0.999999998674,-1.51182754897e-05,3.68619582539e-05,-3.26284324565e-05,1793249487137855488
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.775641267,745.224358733,717.224358733,680,663,637,881.775641267,784,813,651,629,654,0.418550392722,-0.00552553575265,0.0600032779413,0.999999999118,-1.96432113647e-05,9.37052115591e-06,-3.5929765363e-05,1793249487154521856
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.645120044,745.354879956,717,680.354879956,663.354879956,637,882,784,813,651,629,654,0.419400267192,-0.00552426180797,0.0599800920974,0.999999998565,-2.35924811094e-05,-2.86129876566e-05,-3.8649416615e-05,1793249487171188736
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.067624217,745.932375783,717,680.932375783,663.932375783,637,882,784,813,651,629,654,0.420257717544,-0.00552432585018,0.0599548471622,0.999999996112,-2.71806358193e-05,-7.3178162337e-05,-4.10041793261e-05,1793249487187855616
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.494508822,717,681,664,637,882,784,813,651,629,654,0.421064591385,-0.00552232468631,0.0599164884323,0.999999988771,-3.09331617715e-05,-0.000139909802399,-4.3897405898e-05,1793249487204522496
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.080359781,745,717,681,664,637,882.080359781,784,813,651,628.919640219,654,0.421875090137,-0.00552064309832,0.0598821599451,0.999999978432,-3.43536642857e-05,-0.000199480349015,-4.65217852399e-05,1793249487221189120
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.670021666,745,717,681,664,637,882.670021666,784,813,651,628.329978334,654,0.422751075918,-0.0055227228782,0.0598843974124,0.999999979246,-3.55317096726e-05,-0.000195032830809,-4.69896505319e-05,1793249487237856000
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.744741871,745.255258129,717,680.744741871,664,637,883,784,813.255258129,651,628.255258129,654,0.423679998334,-0.00552540780122,0.0599176550339,0.999999988502,-3.55463263913e-05,-0.000140094490133,-4.58957906757e-05,1793249487254522880
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.165128686,745.834871314,717,680.165128686,664,637,883,784,813.834871314,651,628.834871314,654,0.42467618715,-0.00552886167646,0.0599903297897,0.999999998282,-3.40825806986e-05,-2.09977455344e-05,-4.28174551242e-05,1793249487271189248
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.411785613,746,717,680.823571226,664,637,883.411785613,784,814,651,629,654,0.425635604536,-0.00553108126678,0.0600245616513,0.999999997471,-4.38549658529e-05,3.7070115584e-05,-4.19515323366e-05,1793249487287855616
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.987624654,746,717,681.975249308,664,637,883.987624654,784,814,651,629,654,0.426580372299,-0.00553280912365,0.0600434780425,0.999999994923,-5.81037722196e-05,7.08243529045e-05,-4.19670245515e-05,1793249487304521984
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,717,681.427838842,664,637,884,784,814,651,629,654,0.427460038826,-0.00553356740133,0.0600250219424,0.999999996043,-5.43468156827e-05,5.42975912111e-05,-4.4849139703e-05,1793249487321188608
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745.84419211,717,681,664,637,884,784,814.15580789,651,629,654,0.428331223199,-0.00553357761309,0.0600032020285,0.999999997196,-4.97646645816e-05,2.96971687797e-05,-4.74266814158e-05,1793249487337855232
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745.263492759,717,681,664,637,884,784,814.736507241,651,629,654,0.429183175647,-0.00553160590451,0.0599744472941,0.999999997734,-4.40106192301e-05,-1.39087918933e-05,-4.90019524492e-05,1793249487354522368
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.683639712,745,717,681,663.683639712,637,884.316360288,784,815,651,628.683639712,654,0.430033974121,-0.00552966203618,0.0599449951181,0.999999995374,-4.79805235666e-05,-6.59730503434e-05,-5.0963067473e-05,1793249487371189248
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.104489689,745,717,681,663.104489689,637,884.895510311,784,815,651,628.104489689,654,0.430883813984,-0.0055277412939,0.0599149636024,0.99999998896,-6.00277824836e-05,-0.00012506332686,-5.32446898172e-05,1793249487387855872
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.471314302,745,717,681.471314302,663.942628604,636.528685698,885,783.528685698,815,651,628,654,0.431843718476,-0.0055309511723,0.0599518782031,0.999999995214,-6.23866940927e-05,-5.37041076549e-05,-5.28752020668e-05,1793249487404522240
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.953747703,745.046252297,717,682,664.953747703,636.046252297,885,783.046252297,815,651,628.046252297,654,0.432817772885,-0.00553514761074,0.0600002320633,0.999999995925,-6.27029436468e-05,3.89707677865e-05,-5.19514100342e-05,1793249487421188608
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.380285334,745.619714666,717,682,664.380285334,636.619714666,885,783.619714666,815,651,628.619714666,654,0.433676937556,-0.00553771550028,0.0600109937209,0.999999995512,-6.40460863536e-05,4.72854637078e-05,-5.13615986532e-05,1793249487437855232
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.800698082,717,682.199301918,664,636.800698082,885,784,815,651,629,654,0.434519272521,-0.00553953991012,0.0600094593687,0.999999995731,-6.61168987899e-05,3.87853870112e-05,-5.15988062083e-05,1793249487454521600
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.209053371,717,682.790946629,664,636.209053371,885,784,815,651,629,654,0.435328476931,-0.00553990071736,0.0599837192763,0.999999996143,-6.9620191204e-05,-2.81599954473e-06,-5.34640707822e-05,1793249487471188224
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.625035804,745,717,683,664.374964196,636.374964196,885,783.625035804,815,651,629,654,0.436129906675,-0.00553910168424,0.059958208845,0.99999999479,-7.0283970441e-05,-4.92562636587e-05,-5.52640991871e-05,1793249487487855104
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.045185853,745,717,683,664.954814147,636.954814147,885,783.045185853,815,651,629,654,0.436927088185,-0.00553766889787,0.0599328239054,0.999999991131,-6.93961990942e-05,-9.83405565367e-05,-5.70284814375e-05,1793249487504522240
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.5284376,745,717,683,664.4715624,636.4715624,885.5284376,783.5284376,815,651,628.4715624,654,0.437694101717,-0.00553843040073,0.0599145727475,0.999999986284,-7.47288083754e-05,-0.000136346700674,-5.70688157745e-05,1793249487521189120
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.101295941,717,683,664.101295941,636,886,784,815,651,628.101295941,654,0.438462253044,-0.0055389223828,0.0599030109092,0.999999982212,-7.85065516143e-05,-0.000161702975471,-5.71375701341e-05,1793249487537856000
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.673044754,717,683,664.673044754,636,886,784,815,651,628.673044754,654,0.439247529734,-0.00553730134828,0.0599197165047,0.999999986881,-7.26214346994e-05,-0.000132657177336,-5.80150150071e-05,1793249487554522368
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.743437274,717,683,664.743437274,636,886,784,815,651,628.743437274,654,0.440031534449,-0.00553816574249,0.0599504231372,0.99999999225,-7.17011295466e-05,-8.414945172e-05,-5.72520315906e-05,1793249487571188736
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.144200028,717,683,664.144200028,636,886,784,815,651,628.144200028,654,0.440813840205,-0.00554234976593,0.059999830063,0.999999995483,-7.74120080137e-05,-9.64766917024e-06,-5.42980321728e-05,1793249487587855104
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+248,4.133333333,HOLD_POSE2,766,746,717,684,661.327530068,633,887,782,816,651.327530068,628,654,0.451893940369,-0.00556279572117,0.0596519288044,0.999999843624,-0.000119543637855,-0.000542231684795,-6.66807063292e-05,1793249488635644416
+249,4.150000000,HOLD_POSE2,766,746,717,684,661.904590389,633,887,782,816,651.904590389,628,654,0.451892617944,-0.00556310081261,0.059650995142,0.999999842539,-0.000120288999277,-0.000544089249115,-6.64715059282e-05,1793249488652311040
+250,4.166666667,HOLD_POSE2,766,746,717,683.52017997,662,633,887,782,816,652,628,654,0.451893397089,-0.00556157778514,0.0596513378483,0.999999843195,-0.000119417967947,-0.000543068951309,-6.65168785033e-05,1793249488668977408
+251,4.183333333,HOLD_POSE2,766,746,717,683.054553355,662,633,887,782,816,652,628,654,0.451894527493,-0.00555995729982,0.0596518961858,0.999999844113,-0.000118393043093,-0.000541591122047,-6.66012630216e-05,1793249488685644032
+252,4.200000000,HOLD_POSE2,766,746,717,683.628015156,662,633,887,782,816,652,628,654,0.451895039262,-0.00556085435993,0.0596521006498,0.999999844269,-0.00011894991426,-0.000541183774457,-6.65770581297e-05,1793249488702310912
+253,4.216666667,HOLD_POSE2,766,746,717,684,661.789739577,633.210260423,887,782,816,651.789739577,628,654,0.451895234432,-0.00556113453886,0.0596519780429,0.999999844329,-0.000118504010223,-0.000541189144202,-6.64363262392e-05,1793249488718977792
+254,4.233333333,HOLD_POSE2,766,746,717,684,661.191277555,633.808722445,887,782,816,651.191277555,628,654,0.451894845067,-0.00556027577647,0.0596512515684,0.999999844206,-0.000116206692851,-0.000541956509647,-6.60804517836e-05,1793249488735644416
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+256,4.266666667,HOLD_POSE2,766,746,717,683.034737861,661,633.034737861,887.965262139,782,816,651.965262139,628,654,0.451897805663,-0.00556099389304,0.0596533341543,0.999999845589,-0.000118701879033,-0.00053881440183,-6.64172808056e-05,1793249488768977664
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+259,4.316666667,HOLD_POSE2,766,746,717,684,661.708864566,633,887,782,816,651,628,654.708864566,0.451897163057,-0.00556052892965,0.0596525347304,0.999999844781,-0.000118515797951,-0.000540315179272,-6.67236831522e-05,1793249488818977792
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.154340977,661.154340977,633,887,781.154340977,816,651,628.154340977,654,0.451895918505,-0.00555774093836,0.0596512843651,0.999999844262,-0.00011638440007,-0.000541732521136,-6.67561286129e-05,1793249488889411328
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,746,717,683.517582115,662,633.517582115,887.517582115,782,816,651.517582115,628,654,0.451896254522,-0.0055615019396,0.0596523273851,0.999999844048,-0.000120190046125,-0.000541415897518,-6.57744661386e-05,1793249488956078592
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.634045586,661.365954414,633,887,782,816,651.634045586,628,654,0.451894471922,-0.0055601911892,0.0596506403851,0.999999843915,-0.000118200449669,-0.000542034614063,-6.63042802113e-05,1793249488989411840
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,661.214185356,633,887,782,816,652,628,654,0.451890047166,-0.00555981832283,0.0596480923417,0.999999842298,-0.000117699984856,-0.000545058674052,-6.67982798226e-05,1793249489006078208
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,661.612733647,633,887,781.612733647,816,651.612733647,628,654,0.451854521551,-0.00555875042239,0.0596348436779,0.999999829715,-0.000116883261341,-0.000567812238832,-6.70566427245e-05,1793249489039411456
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.17935572,746,717,684,661,633,887,782,816,651.17935572,628,654,0.450943254094,-0.0055304732133,0.0595588576739,0.999999761581,-9.54635905086e-05,-0.000680770316966,-6.54015666304e-05,1793249489206079232
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.768773912,746,717,684,661,633,887,782,816,651.768773912,628,654,0.450773027428,-0.00552641817243,0.0595549256256,0.999999757888,-9.23823011697e-05,-0.000686717106256,-6.41029163262e-05,1793249489222745600
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,661.351881577,633,887,782,816,651.648118423,628,654,0.450585182939,-0.00552031262253,0.0595541842358,0.99999975866,-8.65801019989e-05,-0.000686461773836,-6.28842158716e-05,1793249489239412224
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,661.930915623,633,887,782,816,651.069084377,628,654,0.450385965481,-0.00551288339343,0.0595555025326,0.999999762273,-7.90214553873e-05,-0.000682202744841,-6.17171258476e-05,1793249489256078592
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,717,683,662,634,887,782,815.341735516,651,628,653.658264484,0.449631711856,-0.00548969565182,0.0595511390551,0.999999759691,-6.10970180592e-05,-0.000688128259816,-5.79975912331e-05,1793249489306078976
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,717,683.239171573,662,634,887,782,815,651,628,654,0.449338658789,-0.005481344514,0.0595512531678,0.999999761864,-5.30289663308e-05,-0.000685798292909,-5.60369386554e-05,1793249489322745344
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.828375085,662,634,887,782,815,651,628,654,0.449027471238,-0.00547248396383,0.0595568162044,0.999999768222,-4.23053053768e-05,-0.000677420069819,-5.35583625893e-05,1793249489339411968
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,717,683.010599089,662,634,886.010599089,782,815,651,628,654,0.448346720501,-0.00545512576962,0.0595767759132,0.999999790056,-1.82921195763e-05,-0.000645947888957,-4.79999360053e-05,1793249489372744960
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,766.024194233,745.024194233,717,682,663,636,880,785,813,651,629,653.024194233,0.426590702116,-0.00538567099453,0.0597378950246,0.999999907658,0.00019332404912,-0.000383464527694,1.62978149839e-05,1793249489889412352
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745.551516648,717,681.448483352,663,636,880,784.448483352,813,651,629,653.551516648,0.425708393951,-0.00538564579555,0.0597703193727,0.999999921194,0.000191281388313,-0.000347323986513,1.97207979001e-05,1793249489906078976
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,766.71558967,745.28441033,717,681,662.28441033,636,879.28441033,784,813,651,629,653.28441033,0.423969385161,-0.00538435026115,0.0598205316474,0.999999935863,0.000202063617494,-0.000294599509194,2.56099446986e-05,1793249489939412224
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766.702229832,745.297770168,717,681,662,636,879,784,813,651,629,653.297770168,0.423103913581,-0.00538533596522,0.059835049047,0.999999941843,0.000205047869309,-0.000271187059442,2.69572694615e-05,1793249489956078592
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,766.274699504,745,717,679,662,636,877.274699504,784.274699504,812,651,629,654,0.409099178002,-0.0053717222776,0.0598462152552,0.999999934424,0.00025035629145,-0.000260054615757,2.90648664943e-05,1793249490256077824
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+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745.496609576,717,678.496609576,661.503390424,636,877.496609576,784,812,651.496609576,629.496609576,653.503390424,0.40155330777,-0.00537391294224,0.059831748674,0.999999947125,0.000169722523277,-0.000276696232339,1.95565799849e-05,1793249490622744576
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.079700628,745,717,678.079700628,661.920299372,636,877.079700628,784,812,651.079700628,629.079700628,654,0.401444390452,-0.00537390453692,0.0598328122379,0.99999994714,0.000172231636193,-0.000275008452355,2.06332289304e-05,1793249490639411200
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.65415858,745,717,678.65415858,661.34584142,636,877.65415858,784,812,651.65415858,629.65415858,654,0.401358296984,-0.00537197339861,0.0598343354755,0.999999946103,0.000183392697654,-0.000271527402798,2.08140364339e-05,1793249490656077824
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745.234615333,717.234615333,679,661,636,877.765384667,784,812,652,630,654,0.40127932008,-0.00537023143986,0.0598341593577,0.99999993954,0.000216566554733,-0.000271254545011,2.09867944516e-05,1793249490672744704
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745.824146782,717.824146782,679,661,636,877.175853218,784,812,652,630,654,0.401211108817,-0.00536877566402,0.0598314125271,0.999999921678,0.000283040433263,-0.00027583490295,2.11473754762e-05,1793249490689411328
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745.015157975,717.015157975,679,661.984842025,636,877.984842025,784,812,652,630,653.015157975,0.401102007186,-0.00536962569536,0.0598265334182,0.999999916839,0.000291780889031,-0.000284184237125,2.06144122539e-05,1793249490722744576
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.439542187,745,717,679,662,636,877.439542187,784,812,651.439542187,630,653,0.401068218317,-0.00536960238925,0.0598270493842,0.999999916768,0.000291083902973,-0.000285113152893,2.10914107254e-05,1793249490739411456
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.135051425,745,717,679,662,636,877.135051425,784,812,651,630.135051425,653.135051425,0.401037663974,-0.0053697324578,0.0598275539198,0.999999916932,0.000289991407022,-0.000285624162155,2.1435281417e-05,1793249490756078080
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.706612473,745,717,679,662,636,877.706612473,784,812,651,630.706612473,653.706612473,0.401015967464,-0.00537042589368,0.0598277692626,0.999999917926,0.000287114698921,-0.000285060403041,2.12777198733e-05,1793249490772744704
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745,717,678.711228835,661.711228835,636,877.711228835,784,811.711228835,651,630.711228835,654,0.401000416872,-0.00537046304111,0.0598288866459,0.99999991908,0.000285256228985,-0.000282878945524,2.11828256648e-05,1793249490789411584
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745,717,678.117892815,661.117892815,636,877.117892815,784,811.117892815,651,630.117892815,654,0.400991348334,-0.00536980800597,0.0598309554049,0.999999920396,0.000284471687106,-0.000278991313146,2.11540262215e-05,1793249490806078208
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,745,717.465143331,678.465143331,661.465143331,636,877,784,811.465143331,651,630,654,0.400985933601,-0.00536943549893,0.0598332687116,0.999999921172,0.000285142356017,-0.000275510795724,2.10694084406e-05,1793249490822744832
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.954826759,745,718,678.954826759,662,636,877,784,811.954826759,651.045173241,630,653.954826759,0.400981491636,-0.00536926730418,0.0598354376787,0.999999921819,0.000285855101326,-0.000272411675624,2.09959104982e-05,1793249490839411456
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.380097872,745,718,678.380097872,662,636,877,784,811.380097872,651.619902128,630,653.380097872,0.40097783223,-0.00537067295563,0.0598352037293,0.999999922623,0.000282831054887,-0.000272600174771,2.1215022018e-05,1793249490856078080
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,717.805204083,678.194795917,662,636,877,784,811.194795917,651.805204083,630,653.194795917,0.400975114629,-0.00537095196273,0.0598352068169,0.999999923016,0.000281276397528,-0.000272759339313,2.1292135532e-05,1793249490872744704
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,717.229988288,678.770011712,662,636,877,784,811.770011712,651.229988288,630,653.770011712,0.40097423629,-0.00536903072907,0.0598356728175,0.999999922622,0.000282591332413,-0.000272861215857,2.10919389889e-05,1793249490889411584
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.355842277,745.355842277,717.355842277,679,662,636,877.355842277,784,812,651,630,654,0.400974080523,-0.00536929427655,0.0598366196301,0.999999923086,0.000282291346508,-0.000271464523158,2.11363350243e-05,1793249490906078208
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.948744308,745.948744308,717.948744308,679,662,636,877.948744308,784,812,651,630,654,0.400974406127,-0.00537101331076,0.0598378867565,0.999999924116,0.000280915511084,-0.000269069493614,2.13436770131e-05,1793249490922744832
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745.47529082,717.47529082,679,662,636.52470918,877.47529082,784,812,651,630,654.52470918,0.400973369921,-0.00537124040733,0.0598377520314,0.999999924032,0.000280619724953,-0.00026971478725,2.10188441929e-05,1793249490939411456
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.90082497,745,717,679,662,636.90082497,877.09917503,784,812,651,630.09917503,654.80164994,0.400972397791,-0.0053711292012,0.0598376021884,0.999999923826,0.000280743390088,-0.000270376042365,2.07076569697e-05,1793249490956078080
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.325861651,745,717,679,662,636.325861651,877.674138349,784,812,651,630.674138349,653.651723301,0.400972351299,-0.00537007231261,0.059838016232,0.999999923536,0.000282389034293,-0.000269733622736,2.07035313383e-05,1793249490972744704
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.255841071,745,717,679,662,636,878,784,812,651,630.744158929,653,0.400972508664,-0.00536994052335,0.0598383567461,0.999999923857,0.000282106741302,-0.000268838747618,2.06538051537e-05,1793249490989411328
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.846360004,745,717,679,662,636,878,784,812,651,630.153639996,653,0.400972932705,-0.00537101890035,0.059838601073,0.999999924976,0.000279302422277,-0.000267613623387,2.05444267181e-05,1793249491006078208
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745,717.428692518,678.571307482,662,636,878,784,812,651,630,653.428692518,0.400972589712,-0.00537164792215,0.0598386777697,0.999999925255,0.000277936849843,-0.000267979390333,2.07010195904e-05,1793249491022744832
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.991919004,745,717.991919004,678.008080996,662,636,877.991919004,784,812,651,630,654,0.400971989096,-0.00537210625688,0.0598387036519,0.999999925246,0.00027708759292,-0.000268871683732,2.09462125501e-05,1793249491039411456
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.417091344,745,717.417091344,678.582908656,662,636,877.417091344,784,812,651,630,654,0.400972238771,-0.005371676744,0.0598393002071,0.999999925663,0.000276963674272,-0.000267452923595,2.0845247341e-05,1793249491056078080
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.157572257,717.157572257,679,662,636,877.157572257,784,812,651.157572257,630,654,0.400972439889,-0.0053714840445,0.0598399121085,0.999999925896,0.000277176510597,-0.000266355254829,2.08903976113e-05,1793249491072744704
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.73180201,717.73180201,679,662,636,877.73180201,784,812,651.73180201,630,654,0.400972512609,-0.00537191753434,0.0598405645886,0.999999925646,0.000278279804976,-0.000266106626015,2.13219110143e-05,1793249491089411328
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,718,678.685162369,662,636,877.685162369,784,812,652,630,653.685162369,0.40097169188,-0.00537190070912,0.0598396672148,0.999999925398,0.000278207212895,-0.000267124998758,2.11663296956e-05,1793249491106078208
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746,718,678.094409553,662,636,877.094409553,784,812,652,630,653.094409553,0.400970088155,-0.00537148923993,0.059837411591,0.999999925148,0.000277104105663,-0.000269253737415,2.04962344173e-05,1793249491122744832
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.487904195,746,717.512095805,678.487904195,662,636,877,784,812,652,630,653.487904195,0.400970456548,-0.00537136082523,0.0598383778949,0.999999925365,0.000277228941435,-0.000268327091027,2.03840424816e-05,1793249491139411200
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,717,679,662,636,877.067765106,784,812,652,630,654,0.400971120084,-0.00537139133463,0.059839706175,0.999999925632,0.000277510765966,-0.000267033519203,2.04203922876e-05,1793249491156077824
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,717,679,662,636,877.641299307,784,812,652,630,654,0.400971186733,-0.00537220614691,0.0598391620915,0.999999925623,0.00027722104169,-0.00026733894155,2.07733675622e-05,1793249491172744704
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,717.219784124,678.780215876,662,636,878,784,812,652,630,654,0.400972018449,-0.00537221300089,0.059839617678,0.999999925874,0.000277179452123,-0.000266429527902,2.09457999191e-05,1793249491189411584
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,717.806534923,678.193465077,662,636,878,784,812,652,630,654,0.400974127575,-0.00537087083228,0.0598417423823,0.999999926552,0.000277552165265,-0.000263491740653,2.08167854722e-05,1793249491206078208
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d1dd0b305e8b042ffebbd36dd14d7ae58bc8ef0f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,403 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+1,0.016666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+2,0.033333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+3,0.050000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+4,0.066666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+6,0.100000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+8,0.133333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+11,0.183333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+12,0.200000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+13,0.216666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+14,0.233333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+15,0.250000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+16,0.266666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+17,0.283333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+18,0.300000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+21,0.350000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+394,6.566666667,pose2_to_pose3_retreat,0.575665634556,0.000150058955755,1.05003342012,0.546236314632,0.00882269813116,1.04970481333
+395,6.583333333,pose2_to_pose3_retreat,0.575665445347,0.000150074870957,1.05003346192,0.546236125318,0.00882271371294,1.04970485585
+396,6.600000000,pose2_to_pose3_retreat,0.575665305231,0.000150086656779,1.05003349287,0.546235985123,0.00882272525185,1.04970488733
+397,6.616666667,pose2_to_pose3_retreat,0.57566516447,0.000150098496815,1.05003352396,0.546235844283,0.00882273684383,1.04970491897
+398,6.633333333,pose2_to_pose3_retreat,0.5756651298,0.000150101413067,1.05003353162,0.546235809593,0.00882273969899,1.04970492676
+399,6.650000000,pose2_to_pose3_retreat,0.575664700958,0.000150137484975,1.05003362636,0.54623538051,0.00882277501519,1.04970502313
+400,6.666666667,pose2_to_pose3_retreat,0.575664442741,0.000150043194522,1.0500337129,0.546235123073,0.00882268336012,1.04970510939
+401,6.683333333,pose2_to_pose3_retreat,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511742,1.04970501047
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e6a36b58d7ef75cd888bca85744535766756d44f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d5abe25c9e15931ef9a5229d3bab47559ee186793eabcf16d3a08361c95dd63
+size 25692277
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4740b8770a1e55194b04ae5a279ce8fee396dc75
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_03/franka_data.csv
@@ -0,0 +1,405 @@
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+12,0.200000000,BASELINE,767,745.027318202,718,678.972681798,662,636,877.027318202,784.027318202,812,651.027318202,630,653.027318202,0.400970818807,-0.00537312323019,0.0598403582659,0.9999999272,0.000273760498678,-0.000265044464524,2.01843224597e-05,1793249491527473920
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+27,0.450000000,BASELINE,766.301117355,745,717.698882645,678.301117355,661.301117355,636,877.301117355,784.301117355,811.301117355,651.698882645,630,654,0.400969661513,-0.00537350956394,0.0598411522472,0.999999928108,0.000270689174103,-0.000264780445224,2.00734666373e-05,1793249491777473792
+28,0.466666667,BASELINE,766,745.274520577,717.725479423,678.274520577,661.274520577,636,877,784,811.274520577,651.725479423,630,653.725479423,0.400969208255,-0.00537403598395,0.0598410492014,0.999999927901,0.000271016653888,-0.000265227836932,2.00496877314e-05,1793249491794140416
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+51,0.850000000,BASELINE,767,745,717,679,662,636,877,784,812,651,630,654,0.400970708035,-0.00537290412922,0.0598426072171,0.999999927819,0.000273747172396,-0.000262707779458,2.02158647565e-05,1793249492177473792
+52,0.866666667,BASELINE,767,745.203511283,717.203511283,678.796488717,662,636,877.203511283,784,812,651,630,654,0.400970312074,-0.00537317731559,0.0598421938748,0.999999927785,0.000273385472195,-0.000263212734089,2.02433595462e-05,1793249492194140672
+53,0.883333333,BASELINE,767,745.779181681,717.779181681,678.220818319,662,636,877.779181681,784,812,651,630,654,0.40097133144,-0.00537383956634,0.0598424911635,0.999999928481,0.000271660519053,-0.00026235735799,2.01804380722e-05,1793249492210807296
+54,0.900000000,BASELINE,767,745.648459767,717.648459767,678.351540233,662,636,877.648459767,784,812,651,630,654,0.400971898432,-0.00537383556661,0.0598427672331,0.99999992886,0.000271200875797,-0.000261392326677,2.01220391746e-05,1793249492227473920
+55,0.916666667,BASELINE,767,745.07816214,717.07816214,678.92183786,662,636,877.07816214,784,812,651,630,654,0.400972183919,-0.00537341697073,0.0598430300985,0.999999929041,0.000271528613021,-0.000260359058857,2.00664546004e-05,1793249492244140800
+56,0.933333333,BASELINE,767,745,717,679,661.485348844,636,877,784,812,651.514651156,630,654,0.400970897687,-0.00537279859152,0.0598427473272,0.999999928442,0.000272347483604,-0.000261791164012,2.01876972705e-05,1793249492260807424
+57,0.950000000,BASELINE,767,745,717.107573005,679,661.107573005,636,877,784,811.892426995,651.892426995,630,653.892426995,0.400969653336,-0.00537234595113,0.0598423970709,0.999999927886,0.000272871284182,-0.000263360543092,2.02763127096e-05,1793249492277474048
+58,0.966666667,BASELINE,767,745,717.685338773,679,661.685338773,636,877,784,811.314661227,651.314661227,630,653.314661227,0.400969683129,-0.0053727564312,0.0598421306242,0.99999992807,0.000271764413133,-0.000263818473577,2.00995637438e-05,1793249492294140672
+59,0.983333333,BASELINE,766.738606665,745,717.738606665,679,662,636,877.261393335,784,811.261393335,651,630,653,0.400970100755,-0.00537324117886,0.0598423632307,0.999999928437,0.000270832076283,-0.000263395285442,1.99546578948e-05,1793249492310807296
+60,1.000000000,BASELINE,766.164598556,745,717.164598556,679,662,636,877.835401444,784,811.835401444,651,630,653,0.400970982215,-0.00537381474729,0.0598431926825,0.999999929023,0.000270108474409,-0.000261918318781,1.98478349705e-05,1793249492327474176
+61,1.016666667,BASELINE,766,745.409133953,717,679,662,636,878,784,812,651.409133953,630,653.409133953,0.40097045488,-0.00537384142137,0.0598424586695,0.999999928701,0.000270327582747,-0.000262926059861,1.97557322512e-05,1793249492344141056
+62,1.033333333,BASELINE,766,745.982755624,717,679,662,636,878,784,812,651.982755624,630,653.982755624,0.400969361154,-0.00537364822267,0.0598410960828,0.999999928012,0.000270925697201,-0.000264932749922,1.96695476317e-05,1793249492360807680
+63,1.050000000,BASELINE,766.575840702,746,717,678.424159298,662,636,877.424159298,784,811.424159298,651.424159298,630,653.424159298,0.400970393418,-0.005375184975,0.0598419736775,0.999999928887,0.000268918990012,-0.000263638017387,2.00695772328e-05,1793249492377474304
+64,1.066666667,BASELINE,767,745.835173129,717,678,662,636,877.164826871,784,811.164826871,651,630,653.164826871,0.400971167435,-0.00537571350582,0.0598426399526,0.99999992939,0.00026821020369,-0.000262437872589,2.02360256538e-05,1793249492394140928
+65,1.083333333,BASELINE,767,745.257951724,717,678,662,636,877.742048276,784,811.742048276,651,630,653.742048276,0.400971130459,-0.00537358532854,0.0598426037904,0.999999928846,0.000270950792539,-0.000261730399286,1.9780352921e-05,1793249492410807552
+66,1.100000000,BASELINE,767,745,717.318807711,678.318807711,662,636,878,784,812,651.318807711,630,654,0.400970621786,-0.00537278333384,0.0598421954055,0.999999928463,0.00027176118044,-0.000262362301827,1.96389185011e-05,1793249492427474176
+67,1.116666667,BASELINE,767,745,717.895193873,678.895193873,662,636,878,784,812,651.895193873,630,654,0.40096973201,-0.00537305281914,0.0598414862858,0.999999928213,0.000271012075903,-0.000264076343713,1.97513707424e-05,1793249492444140800
+68,1.133333333,BASELINE,767,745.479995721,717.520004279,679,662,636,878,784,812,651.520004279,630.479995721,654,0.400970687532,-0.00537396743407,0.0598426157993,0.999999928694,0.000270950779864,-0.00026229271014,1.99904726451e-05,1793249492460807424
+69,1.150000000,BASELINE,767,746,717,679,662,636,878,784,812,651,630.933878133,654,0.400971832886,-0.00537481233735,0.0598438532532,0.999999929219,0.000271085854207,-0.000260128184379,2.01875319944e-05,1793249492477474048
+70,1.166666667,BASELINE,767,746,717,679,662,636,878,784,812,651,630.352011406,654,0.400971260097,-0.00537399517024,0.0598427453828,0.999999928856,0.000271560292165,-0.0002610559154,1.98371171242e-05,1793249492494140672
+71,1.183333333,BASELINE,767,745.773159329,717.226840671,678.773159329,662.226840671,636,878,784,811.773159329,651.226840671,630,654,0.40097090459,-0.005373389887,0.0598421724026,0.999999928758,0.000271193887478,-0.000261830163187,1.95863998916e-05,1793249492510807296
+72,1.200000000,BASELINE,767,745.198923943,717.801076057,678.198923943,662.801076057,636,878,784,811.198923943,651.801076057,630,654,0.400970881839,-0.00537310909278,0.0598424185786,0.999999929065,0.00026953977599,-0.000262369359505,1.94883643638e-05,1793249492527473920
+73,1.216666667,BASELINE,766.616825574,745,717.616825574,678.383174426,662.616825574,636,878,784,811.383174426,651.616825574,630,653.616825574,0.400970407165,-0.0053726576637,0.0598422765207,0.999999928912,0.000269996940751,-0.000262486977103,1.94483722183e-05,1793249492544141312
+74,1.233333333,BASELINE,766.030559674,745,717.030559674,678.969440326,662.030559674,636,878,784,811.969440326,651.030559674,630,653.030559674,0.40096969296,-0.00537211579414,0.0598419286898,0.999999928513,0.000271573131769,-0.000262381148015,1.94391444388e-05,1793249492560808704
+75,1.250000000,BASELINE,766.549143813,745,717,679,661.450856187,636,878,784,812,651,630,653.549143813,0.400971697357,-0.00537237940722,0.0598428567728,0.999999929065,0.000271165700107,-0.000260694027766,1.94559223911e-05,1793249492577474816
+76,1.266666667,BASELINE,767,745,717,679,661.128126427,636,878,784,812,651,630,653.871873573,0.400973214773,-0.00537258813428,0.0598436177298,0.999999929546,0.000270723292626,-0.000259304491567,1.94453863552e-05,1793249492594140928
+77,1.283333333,BASELINE,767,745,717,679,661.705845818,636,878,784,812,651,630,653.294154182,0.400972498781,-0.00537244883545,0.0598435460352,0.999999929608,0.000270540930524,-0.000259264309546,1.93339878411e-05,1793249492610807552
+78,1.300000000,BASELINE,767,745,717.282345141,679,662,636,877.717654859,784,812,651,630,653.282345141,0.400972394351,-0.00537298455286,0.0598436603493,0.99999992976,0.000270168129203,-0.000259047268627,1.95720629805e-05,1793249492627474688
+79,1.316666667,BASELINE,767,745,717.857578799,679,662,636,877.142421201,784,812,651,630,653.857578799,0.400972924322,-0.0053742204931,0.059843967618,0.999999930006,0.000269597777265,-0.000258646764516,2.01726618809e-05,1793249492644141824
+80,1.333333333,BASELINE,766.558678186,745,718,678.558678186,662,636.441321814,877.441321814,784,812,651,630,654,0.400971686648,-0.00537311354341,0.05984316717,0.999999929097,0.000271438239547,-0.000260231206683,2.01634576701e-05,1793249492660808192
+81,1.350000000,BASELINE,766.027726619,745,718,678,662.027726619,636.972273381,878,783.972273381,812,651,630,653.972273381,0.400970008878,-0.00537139145206,0.059842067126,0.999999927898,0.000273855639794,-0.000262314160512,1.99480834675e-05,1793249492677474304
+82,1.366666667,BASELINE,766.61135768,745,718,678,662.61135768,636.38864232,878,783.38864232,812,651,630,653.38864232,0.400971169415,-0.00537279326075,0.0598422684759,0.999999928695,0.000271935045036,-0.00026129636849,1.96222715694e-05,1793249492694140928
+83,1.383333333,BASELINE,766.808632742,745,717.808632742,678,662.808632742,636,878,783.191367258,812,651,630,653,0.400971746881,-0.00537404932183,0.0598425456021,0.999999929318,0.000270345360524,-0.000260571297268,1.94883525828e-05,1793249492710807552
+84,1.400000000,BASELINE,766.23584123,745,717.23584123,678,662.23584123,636,878,783.76415877,812,651,630,653,0.400971162197,-0.00537501488582,0.0598429737618,0.999999929601,0.000269415230473,-0.000260429663253,1.97369055012e-05,1793249492727474176
+85,1.416666667,BASELINE,766.338268631,745,717.338268631,678,662,636,878,784,812,651,630,653,0.400971444855,-0.00537555657813,0.0598433293781,0.999999929749,0.000269092354245,-0.000260189995269,1.98248152458e-05,1793249492744140544
+86,1.433333333,BASELINE,766.913301208,745,717.913301208,678,662,636,878,784,812,651,630,653,0.400972334591,-0.00537580159039,0.0598436342191,0.999999929802,0.000269194512493,-0.000259881710498,1.98002861974e-05,1793249492760807424
+87,1.450000000,BASELINE,767,745,717.49611852,678.50388148,662,636,877.49611852,784,811.49611852,651,630,653,0.400971667002,-0.00537477895953,0.0598433462547,0.99999992985,0.000268763665165,-0.000260162999346,1.95408269167e-05,1793249492777474048
+88,1.466666667,BASELINE,767,745,717.094692594,678.905307406,662,636,877,784,811.094692594,651,630,653.094692594,0.400970972265,-0.00537384040429,0.0598429591382,0.999999929738,0.000268702388497,-0.000260667193171,1.94069939334e-05,1793249492794140928
+89,1.483333333,BASELINE,767,745,717.672595839,678.327404161,662,636,877,784,811.672595839,651,630,653.672595839,0.400971549899,-0.00537447933635,0.0598426031221,0.999999928811,0.000271009899158,-0.000261774718128,2.01270656261e-05,1793249492810807552
+90,1.500000000,BASELINE,766.750634006,745.249365994,717.750634006,678.249365994,662,636,877,784,812,651,630,654,0.400971806943,-0.00537453127314,0.05984250036,0.999999928436,0.000272313618101,-0.000261834019232,2.03843337032e-05,1793249492827474176
+91,1.516666667,BASELINE,766.175344852,745.824655148,717.175344852,678.824655148,662,636,877,784,812,651,630,654,0.400971644974,-0.00537381600281,0.059842728603,0.999999928788,0.000272305373818,-0.000260523284085,2.00367140463e-05,1793249492844140800
+92,1.533333333,BASELINE,766,745.619529078,717,679,661.619529078,636,877,784,812,651,630,654,0.400971065765,-0.00537372648505,0.0598423511055,0.999999929046,0.000270829657093,-0.000261083288787,1.98865928607e-05,1793249492860807424
+93,1.550000000,BASELINE,766,745.07225084,717,679,661.07225084,636,877,784,812,651,630,654,0.400970303629,-0.00537391131174,0.0598417080374,0.999999929257,0.000268710566255,-0.000262463469314,1.98230595766e-05,1793249492877474304
+94,1.566666667,BASELINE,766,745,717,678.458213801,661,636,877,784,812,651,630,654,0.40097067551,-0.00537341926652,0.0598425567015,0.999999929352,0.000269515503648,-0.000261280335644,1.97533139174e-05,1793249492894140672
+95,1.583333333,BASELINE,766,745,717,678.153319482,661.153319482,636,877,784,812,651,630,653.846680518,0.400971104222,-0.00537338031968,0.059843287182,0.99999992955,0.00026974879355,-0.000260282764234,1.97236087006e-05,1793249492910807296
+96,1.600000000,BASELINE,766,745,717,678.729908856,661.729908856,636,877,784,812,651,630,653.270091144,0.400971213659,-0.00537487646125,0.0598430650162,0.999999930085,0.000267176138605,-0.000260873806823,1.98070518922e-05,1793249492927473920
+97,1.616666667,BASELINE,766.309034343,745,717.309034343,678.690965657,662,636,877,784,812,651,630,653.309034343,0.400971749463,-0.00537549415423,0.0598436461383,0.999999930369,0.000266825597431,-0.000260126194385,2.00287515565e-05,1793249492944140544
+98,1.633333333,BASELINE,766.890394659,745,717.890394659,678.109605341,662,636,877,784,812,651,630,653.890394659,0.400972660989,-0.00537533774427,0.0598449351307,0.999999930431,0.000268433218366,-0.000258198937835,2.03722850161e-05,1793249492960807168
+99,1.650000000,BASELINE,766.527705867,745,717.527705867,678,661.527705867,636,876.527705867,784,812,651,630,653.527705867,0.400971862996,-0.00537384736905,0.0598437460786,0.999999929725,0.000269514305484,-0.000259839981271,1.98888318106e-05,1793249492977473792
+100,1.666666667,BASELINE,766.054093631,745,717,678.054093631,661.054093631,636,876.054093631,783.945906369,811.945906369,651,630,653,0.400970740077,-0.00537223625455,0.0598421124578,0.99999992896,0.000270276632692,-0.000262028962524,1.92620406801e-05,1793249492994140672
+101,1.683333333,BASELINE,766.633704947,745,717,678.633704947,661.633704947,636,876.633704947,783.366295053,811.366295053,651,630,653,0.40097031913,-0.00537246309428,0.059841753134,0.999999929414,0.000269130673771,-0.00026148702587,1.91093425043e-05,1793249493010807296
+102,1.700000000,BASELINE,766.788402232,745,717,679,662,636,877,783.211597768,811.211597768,651.211597768,630,653.211597768,0.400970191592,-0.00537256986396,0.0598417194205,0.999999929337,0.000269636493452,-0.000261251157249,1.92101891363e-05,1793249493027474176
+103,1.716666667,BASELINE,766.213460373,745,717,679,662,636,877,783.786539627,811.786539627,651.786539627,630,653.786539627,0.40097056788,-0.00537247045592,0.0598422448271,0.999999928345,0.000272978656933,-0.00026154085193,1.97464090317e-05,1793249493044141568
+104,1.733333333,BASELINE,766.361728873,745,717.361728873,679,662,636,877,784,812,651.638271127,630,653.638271127,0.400971272764,-0.00537357073684,0.0598426970911,0.999999928893,0.000271908085553,-0.000260548608804,1.98455627083e-05,1793249493060808448
+105,1.750000000,BASELINE,766.937064259,745,717.937064259,679,662,636,877,784,812,651.062935741,630,653.062935741,0.400972171689,-0.00537537945272,0.0598431061632,0.999999930344,0.000268231726067,-0.000258799361533,1.96866220503e-05,1793249493077475072
+106,1.766666667,BASELINE,767,745,717.474163042,679,662,636,877,784.525836958,812,651,630,653.525836958,0.400971894268,-0.00537462091431,0.0598436724994,0.999999930329,0.000268198606183,-0.000258897832947,1.95976266501e-05,1793249493094141696
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,636,877,784,812,651,630,654,0.400971403675,-0.00537385442039,0.0598429874831,0.999999929536,0.000269263068243,-0.000260819973687,1.9937028504e-05,1793249493136405760
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,717.423964668,678.423964668,662,636,877,784,812,651,630,653.423964668,0.400971787488,-0.00537344636165,0.0598434351371,0.999999929208,0.000271205871978,-0.000260064529929,1.99539907252e-05,1793249493153072384
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,717,678,661.844596836,636,877,784,812,651,630,653.155403164,0.400971818817,-0.00537338863346,0.0598435905917,0.999999928953,0.000272318997578,-0.000259881541761,1.99387329045e-05,1793249493169739008
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745,717,678,661.255938042,636,877,784,812,651,630,653.744061958,0.400970867435,-0.00537430760785,0.0598429314107,0.999999928913,0.000271119025781,-0.000261294528704,1.98336473501e-05,1793249493186405632
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.67292821,745,717,678.32707179,661.32707179,636,877.32707179,784,812,651,630,654,0.400970500104,-0.00537458263672,0.0598429814828,0.99999992927,0.000269799483177,-0.000261296924811,1.97841051318e-05,1793249493203072000
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.09426375,745,717,678.90573625,661.90573625,636,877.90573625,784,812,651,630,654,0.400970582041,-0.00537436232484,0.0598435771321,0.999999929933,0.000268387963472,-0.000260214255335,1.97772883906e-05,1793249493219738624
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,717,678.517558038,662.482441962,636.482441962,877.517558038,784,812,651.482441962,630,654,0.400971403877,-0.00537439372125,0.0598438960405,0.999999929955,0.000269087973494,-0.000259386270437,2.00189505287e-05,1793249493236405504
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.058723992,745,717,678.058723992,662.941276008,636.941276008,877,784,811.941276008,651.941276008,630,653.941276008,0.40097236065,-0.00537446380353,0.0598441177091,0.999999929899,0.000269867185364,-0.000258773898245,2.02461045255e-05,1793249493253071872
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.634631641,745,717,678.634631641,662.365368359,636.365368359,877,784,811.365368359,651.365368359,630,653.365368359,0.400973237744,-0.00537444320663,0.0598439572729,0.999999930261,0.000267725115093,-0.000259623944976,1.99196330249e-05,1793249493269738496
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,717,679,662,636,877.216359559,784,811.216359559,651,630,653.216359559,0.40097631883,-0.00537441444051,0.0598450152898,0.999999930832,0.00026688212367,-0.000258291706284,1.98685550867e-05,1793249493286405120
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,717,679,662,636,877.808187869,784,811.808187869,651,630,653.808187869,0.400983224707,-0.00537437149758,0.059848187801,0.999999931755,0.000268293544116,-0.000253172345807,2.02953930976e-05,1793249493303071744
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.608738493,745,717,678.608738493,662,636,877.608738493,784,812,651,630,653.608738493,0.401006054035,-0.00537472520259,0.0598571761411,0.999999935437,0.000268948621211,-0.000237416609056,2.06394463178e-05,1793249493319738368
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.029862763,745,717,678.029862763,662,636,877.029862763,784,812,651,630,653.029862763,0.401036518835,-0.00537526910468,0.0598689532358,0.999999940086,0.000269241023331,-0.00021656061165,2.09438033455e-05,1793249493336404736
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,717.542506997,678.542506997,661.457493003,636,877,783.457493003,812,651,630,653,0.401093925113,-0.00537728829646,0.0598874658916,0.999999946418,0.000268685798149,-0.000185717127175,2.19486659502e-05,1793249493353071616
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.118052767,745,717.881947233,679,661.118052767,636,877,783.118052767,812,651,630,653.118052767,0.401156373913,-0.0053796749,0.0599056432529,0.999999951599,0.000267880086213,-0.000156572331398,2.29653842211e-05,1793249493369738240
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.70769984,745,717.29230016,679,661.70769984,636,877,783.70769984,812,651,630,653.70769984,0.401233112355,-0.00538320866596,0.0599210176235,0.999999954968,0.000266257917524,-0.000136383588091,2.38772507334e-05,1793249493386404864
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745,717.291514519,679,662,636,877.291514519,784,812,651,630,654,0.401315870903,-0.00538608641089,0.059931055173,0.999999957436,0.000264156636092,-0.00012151547497,2.41655317607e-05,1793249493403072000
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745,717.869595758,679,662,636,877.869595758,784,812,651,630,654,0.401404547372,-0.00538831926907,0.059935846481,0.999999959244,0.000261584373929,-0.000111877687652,2.38408112026e-05,1793249493419739392
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745,717.551403603,679,662,636,878,784,812,651,630,654,0.401513364221,-0.00539054252998,0.0599402423914,0.999999960793,0.000259350531115,-0.000103060068487,2.30279572039e-05,1793249493436405760
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,717.027571223,679,662.027571223,636,878,784,812,651,630,654,0.401629107029,-0.00539283373495,0.0599443883406,0.99999996221,0.000257166875761,-9.46467731309e-05,2.20523434084e-05,1793249493453072128
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,717.600735785,679,662.600735785,636,878,784,812,651,630,654,0.401765810824,-0.00539652477242,0.0599458670884,0.999999963516,0.000254025633959,-8.95068166275e-05,2.06696607537e-05,1793249493469738752
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.821400517,745,717.821400517,679,662.821400517,636,877.821400517,784,812,651,630,654,0.401911126309,-0.00540046555703,0.0599466605391,0.99999996482,0.000250577833542,-8.48627426927e-05,1.92194216413e-05,1793249493486405376
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.232747981,745,717.232747981,679,662.232747981,636,877.232747981,784,812,651,630,654,0.402076213668,-0.00540497974469,0.0599458805911,0.999999966172,0.00024642619449,-8.13571843038e-05,1.76140773906e-05,1793249493503072256
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.351310119,745,717,679,662,636,877,784,812,651,630,654,0.402265883598,-0.00540953109596,0.0599466121846,0.999999967466,0.000243291865158,-7.50099155137e-05,1.58534986118e-05,1793249493519738880
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.932363692,745,717,679,662,636,877,784,812,651,630,654,0.402471629612,-0.00541410675127,0.0599483322687,0.999999968673,0.000240822817258,-6.68042758778e-05,1.39914021972e-05,1793249493536405760
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,717.507037125,678.492962875,662,636,877.507037125,784,812,651,630,654,0.40270472144,-0.00541887590274,0.0599494482701,0.999999970524,0.000234630343526,-6.13573913238e-05,1.16713323274e-05,1793249493553072384
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.918902696,745,717.918902696,678.081097304,662,636,878,784,812,651.081097304,630,654,0.402946750567,-0.00542412778803,0.0599501143144,0.999999972426,0.000227699409955,-5.67111221184e-05,9.24731943274e-06,1793249493569739008
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.343457022,745,717.343457022,678.656542978,662,636,878,784,812,651.656542978,630,654,0.40322129954,-0.00543216691225,0.0599485226375,0.999999974444,0.000219257064355,-5.47298113866e-05,6.5574656042e-06,1793249493586405632
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.238843163,717,679,662,636,877.761156837,784,812,651.761156837,630,654,0.403508812146,-0.00543972021064,0.0599454201992,0.999999976325,0.000209785879751,-5.76875949206e-05,3.56100031993e-06,1793249493603072000
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.831291354,717,679,662,636,877.168708646,784,812,651.168708646,630,654,0.403815517272,-0.00544655424802,0.0599400810929,0.999999977932,0.000198791509296,-6.79576605625e-05,1.10599858536e-07,1793249493619738624
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.412073569,746,717,679,662,636.412073569,877.412073569,784,812,651,630,654,0.404140113046,-0.00545446262023,0.0599283498914,0.99999997812,0.000189141241261,-8.92996886337e-05,-3.48069264894e-06,1793249493636405760
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.988211052,746,717,679,662,636.988211052,877.988211052,784,812,651,630,654,0.404471831836,-0.00546279873041,0.0599140737267,0.999999977152,0.00018002611739,-0.000115049932865,-7.12808015349e-06,1793249493653072640
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.436970173,746,717.563029827,679,662.563029827,636.436970173,878,784,812,651,629.436970173,653.436970173,0.404843701942,-0.00546920910664,0.0599013250068,0.999999976185,0.000170915295637,-0.000135175554326,-1.20950924931e-05,1793249493669739264
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.14139463,745.85860537,717.85860537,678.85860537,662.85860537,636,878,784,812,651,629.14139463,653,0.405236453493,-0.00547619500015,0.0598932209222,0.999999975789,0.0001618549289,-0.000148142070034,-1.66984776572e-05,1793249493686405888
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.731089563,745.268910437,717.268910437,678.268910437,662.268910437,636,878,784,812,651,629.731089563,653,0.405692751586,-0.00548513314909,0.0598997417745,0.999999978471,0.000152954249922,-0.000138782726942,-2.00615591542e-05,1793249493703072512
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.685082263,745,717,678,662,636.314917737,878,784,812.314917737,651,630,653.314917737,0.406187673128,-0.00549148986579,0.0599209183359,0.999999990893,8.34203818682e-05,-0.000103768553598,-2.20761086136e-05,1793249493719739392
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.106172069,745,717,678,662,636.893827931,878,784,812.893827931,651,630,653.893827931,0.406714972378,-0.00549568259413,0.0599543806356,0.999999997938,-3.69416973489e-05,-4.72481846581e-05,-2.29601969427e-05,1793249493736406272
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,717.471420312,678,662,636.528579688,878,784,812.528579688,651,630,654,0.407266687894,-0.00548944041901,0.0599812643054,0.999999998528,-4.85319694349e-05,-5.70274100722e-06,-2.35677314314e-05,1793249493753072640
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.048446478,745.048446478,717.951553522,678.048446478,662,636.048446478,878.048446478,784,812.048446478,651,630,654,0.407821752996,-0.00548253078556,0.0600036717248,0.99999999867,-3.69513551263e-05,2.65390018521e-05,-2.42972157296e-05,1793249493769739008
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.622540834,745.622540834,717.377459166,678.622540834,662,636.622540834,878.622540834,784,812.622540834,651,630,654,0.408353663836,-0.00549380709108,0.0599935424093,0.999999998857,-3.90215445116e-05,-5.67396477587e-06,-2.70237748621e-05,1793249493786405888
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.798446482,746,717,679.201553518,662,637,879.201553518,784,813,651,630,654,0.408908706853,-0.00550555449108,0.059983215599,0.999999997989,-4.34597453534e-05,-3.49172148257e-05,-3.02327494343e-05,1793249493803072768
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.209992653,746,717,679.790007347,662,637,879.790007347,784,813,651,630,654,0.409508154153,-0.0055182061991,0.05997250968,0.999999996325,-5.24435594998e-05,-5.84598218532e-05,-3.43677641918e-05,1793249493819739648
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.627604951,717,679.627604951,662.372395049,637,879.627604951,784,812.627604951,651,630,654,0.410157992104,-0.00552616131808,0.0599755342058,0.999999995908,-6.54755682327e-05,-4.91695412813e-05,-3.84492258482e-05,1793249493836406016
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.048583116,717,679.048583116,662.951416884,637,879.048583116,784,812.048583116,651,630,654,0.410835789746,-0.00553151049141,0.0599861771944,0.999999995602,-8.07537542865e-05,-2.16616329942e-05,-4.25009729179e-05,1793249493853072640
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.527752306,745,717,679,663,637,879,784,812.527752306,651,630,654,0.411533784153,-0.00553023184321,0.0599908803514,0.999999998139,-4.9853916079e-05,-1.14483081112e-05,-3.32477938114e-05,1793249493869739008
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745,717,679.10291736,663,636.89708264,879,784,812.89708264,651,630,654,0.412225453018,-0.00552582074174,0.0599884232327,0.999999999508,-1.21025932384e-05,-1.55777649657e-05,-2.44079181835e-05,1793249493886405376
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,717,679.673878661,663,636.326121339,879,784,812.326121339,651,630,654,0.412879942005,-0.00550992467854,0.0599558769921,0.999999996009,3.75730449972e-05,-7.7731078305e-05,-2.29895772553e-05,1793249493903072512
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745.254460268,717.254460268,680,663,636.254460268,879.254460268,784,812.254460268,650.745539732,629.745539732,654,0.413572186299,-0.00550200044915,0.0599276468743,0.999999990167,4.54266524083e-05,-0.000130335345349,-2.47985359713e-05,1793249493919739136
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745.847855987,717.847855987,680,663,636.847855987,879.847855987,784,812.847855987,650.152144013,629.152144013,654,0.414314719918,-0.00550469452398,0.0599051657319,0.999999985032,-2.4257536459e-06,-0.000170220502765,-3.09061863594e-05,1793249493936405504
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745.568176977,717.568176977,680,663,637,880,784,812.568176977,650,629,654,0.415155214695,-0.0055176601647,0.059939156933,0.999999993668,-2.59075250702e-05,-0.000104762605007,-3.1886647612e-05,1793249493953072128
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745,717,680,663,637,880.012427653,784,812.012427653,650,629,654,0.416028510937,-0.00553381513708,0.0599919359068,0.999999998693,-4.03163739242e-05,-4.56068633787e-06,-3.10939400404e-05,1793249493969739008
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745,717,680,663,637,880.587986618,784,812.587986618,650,629,654,0.416857600836,-0.00553400582774,0.0600137235704,0.99999999896,-2.43700587139e-05,2.41213599287e-05,-3.00606731386e-05,1793249493986405632
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.833056307,745.166943693,717.166943693,680.166943693,663,637,881.166943693,784,813.166943693,650.166943693,629,654,0.417681635997,-0.00553343953371,0.0600244914874,0.999999998711,-1.43489810097e-05,3.84283951756e-05,-2.99145283459e-05,1793249494003072256
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.245538555,745.754461445,717.754461445,680.754461445,663,637,881.754461445,784,813.754461445,650.754461445,629,654,0.418492936924,-0.00553096620073,0.0600074978299,0.999999999166,-1.92551000964e-05,1.65210822897e-05,-3.20032722166e-05,1793249494019738880
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.337561473,746,717.662438527,680.662438527,663.337561473,636.662438527,882,784,813.662438527,651,629,654,0.419335049764,-0.0055287412879,0.05998585721,0.999999998958,-2.31388051684e-05,-1.83042180924e-05,-3.48482092328e-05,1793249494036405248
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.917489582,746,717.082510418,680.082510418,663.917489582,636.082510418,882,784,813.082510418,651,629,654,0.420199285295,-0.00552669473901,0.0599608801064,0.999999996976,-2.62884243154e-05,-6.24045367776e-05,-3.8236087187e-05,1793249494053072128
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745.504966495,717,680.495033505,663.504966495,636.495033505,882.495033505,784,813.495033505,651,628.504966495,654,0.421015769894,-0.00552654280866,0.059922197949,0.999999990471,-2.81003667574e-05,-0.00012889819686,-4.06611001831e-05,1793249494069738496
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745.071613759,717,680.928386241,663.071613759,637,882.928386241,784,814,651,628.071613759,654,0.421834725324,-0.00552698972589,0.0598864763781,0.999999980617,-3.01687560534e-05,-0.000189818031905,-4.27272704129e-05,1793249494086405376
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745.644218853,717,680.355781147,663.644218853,637,882.355781147,784,814,651,628.644218853,654,0.422726377572,-0.00552942744173,0.0598873701659,0.999999981172,-3.55834698232e-05,-0.000185758752161,-4.34004129784e-05,1793249494103072512
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745.776310257,717,680.447379485,664,637,882.223689743,784,814,651,629,654,0.423648586205,-0.00553275822548,0.0599148991189,0.99999998863,-3.72864574848e-05,-0.000139750415639,-4.26463788294e-05,1793249494119739392
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745.185573354,717,681.628853291,664,637,882.814426646,784,814,651,629,654,0.424620934222,-0.00553755442342,0.0599861330791,0.999999998366,-3.28989628637e-05,-2.49088707336e-05,-3.95505241812e-05,1793249494136406016
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.602998597,745,717.397001403,681.602998597,664,636.602998597,883,784,814.397001403,651,629,654,0.425581466008,-0.00553736154947,0.0600231446924,0.999999997691,-4.23345486021e-05,3.62846547036e-05,-3.88444856708e-05,1793249494153072384
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.024162306,745,717.975837694,681.024162306,664,636.024162306,883,784,814.975837694,651,629,654,0.426536585655,-0.00553488357671,0.0600444817559,0.999999994885,-5.81013925334e-05,7.2906266281e-05,-3.92330328661e-05,1793249494169738752
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.551522266,745.551522266,717.448477734,681,664,636.551522266,883.551522266,784,814.448477734,651,628.448477734,654,0.427443615539,-0.00553604226191,0.0600254135854,0.999999995965,-5.4151533319e-05,5.77431808113e-05,-4.24607202369e-05,1793249494186405376
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+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,717,681,664,637,884,784,814.715276776,651,628,654,0.429155990111,-0.00553613003371,0.0599718126368,0.999999997866,-4.23397871955e-05,-1.64214160252e-05,-4.69731761839e-05,1793249494219738368
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,717.299317327,681.299317327,664.299317327,637,884,784,815,651,628,654,0.429999875533,-0.0055348179492,0.0599423425672,0.999999995382,-4.58940211627e-05,-6.91313719042e-05,-4.84780703208e-05,1793249494236405248
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,717.881583398,681.881583398,664.881583398,637,884,784,815,651,628,654,0.430861545707,-0.00553299229396,0.0599139524613,0.999999989228,-5.90530203648e-05,-0.000124749656473,-4.99335125579e-05,1793249494253072384
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,637,884.457676767,784,815,651,628,654,0.431827449712,-0.00553687434929,0.0599504859337,0.99999999535,-6.16794320263e-05,-5.53974742904e-05,-4.92593198995e-05,1793249494269739264
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.967709263,746,717.967709263,682.032290737,665,636.967709263,885,784,815,651,628,654,0.432813231696,-0.00554195201938,0.0600012888146,0.999999996113,-6.16565676156e-05,4.07752028645e-05,-4.80650634224e-05,1793249494286405888
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+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,717,682.815614065,664.815614065,636,885,784,815,651,628,654,0.43454470554,-0.00554435264534,0.0600124998727,0.999999995793,-6.48843837567e-05,4.42185959322e-05,-4.74144780488e-05,1793249494319738880
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,717,682.240562209,664.240562209,636,885,784,815,651,628,654,0.435375657412,-0.005548317847,0.0599847483117,0.99999999621,-7.15771234208e-05,-2.56617771729e-07,-4.95570343722e-05,1793249494336405504
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,717,682,664.344680308,636.344680308,885,784,815,651,628.344680308,654,0.436178543337,-0.00554856171275,0.0599581585227,0.999999994741,-7.43325350668e-05,-4.83000442708e-05,-5.15778601642e-05,1793249494353071872
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,717,682,664.937251829,636.937251829,885,784,815,651,628.937251829,654,0.436961244418,-0.0055461292244,0.0599324042721,0.99999999092,-7.42562526519e-05,-9.89096970136e-05,-5.35111381891e-05,1793249494369738752
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.514956403,746,717,682,664.485043597,637,885.514956403,784,815,651,628.485043597,654,0.43774219332,-0.00554537201836,0.0599141079004,0.999999986517,-7.5244044184e-05,-0.000135780322776,-5.35520961973e-05,1793249494386405376
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,745.908994535,717,682.091005465,664,636.908994535,886,784,815,651,628.091005465,654,0.438526830921,-0.00554497304629,0.0599025449101,0.999999982888,-7.55655922967e-05,-0.000160196812487,-5.33980321807e-05,1793249494403071744
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,745.332384071,717,682.667615929,664,636.332384071,886,784,815,651,628.667615929,654,0.439332258693,-0.00554542690831,0.0599221981939,0.999999987962,-7.16596208958e-05,-0.000126840490608,-5.33991909369e-05,1793249494419738368
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+186,3.100000000,POSE1_TO_POSE2_PRESS,767,745,717,683,664,636,886,784,815.840724792,651,629,654,0.440904508841,-0.00555191616953,0.0600010336405,0.999999995187,-8.44230877428e-05,-6.03151650519e-06,-4.96145758516e-05,1793249494453071616
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,745.422875251,717,683,664,636,886,784,816,651,629,654.422875251,0.441605605113,-0.00555349161287,0.0599924172502,0.999999994523,-8.90866505946e-05,-2.11798884724e-05,-5.06761696937e-05,1793249494469738240
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.998106493,746,717,683,664,636,886,784,816,651,629,654.998106493,0.442278024032,-0.00555404285194,0.0599630247965,0.99999999206,-9.15663173918e-05,-6.83771964956e-05,-5.31144228727e-05,1793249494486404608
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+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,717,683,664,636,886.147458842,783.852541158,815.852541158,651,628.852541158,654,0.443518250129,-0.0055600112437,0.0598652577506,0.999999971984,-9.18007948216e-05,-0.000209976976548,-5.92742801028e-05,1793249494519738368
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,717,683,664,636,886.716764468,783.283235532,815.283235532,651,628.283235532,654,0.444119281453,-0.00556003064289,0.0598521731835,0.99999996702,-9.83839252005e-05,-0.000229197942765,-6.12248715012e-05,1793249494536406272
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.699385988,717,683,664,635.699385988,887,783,815.300614012,651,628,654,0.444706829664,-0.00555718749607,0.0598469245752,0.999999964288,-0.000100670082894,-0.000239490461242,-6.271322134e-05,1793249494553073152
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.101136671,717,683,664,635.101136671,887,783,815.898863329,651,628,654,0.445281028327,-0.00555151016747,0.0598494342819,0.999999964071,-9.87018451417e-05,-0.000240943000605,-6.37439097546e-05,1793249494569739776
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.47966056,717,683,663.52033944,635,886.52033944,783,816,651,628.47966056,653.52033944,0.445793281725,-0.005549662354,0.0598249136222,0.999999951227,-9.71650564892e-05,-0.000289269205264,-6.6541395324e-05,1793249494586406144
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,717,683,663,635,886.628596135,783,816,651,629,653.628596135,0.446788872677,-0.00555463655848,0.0597796424603,0.999999926529,-0.000103056567552,-0.000362130158383,-7.19994345938e-05,1793249494619739136
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,717,683,663,635,887,783,815.792618766,651,628.792618766,654,0.447275941538,-0.00556038082366,0.0597724454743,0.999999923749,-0.000110200101325,-0.000367254098994,-7.40494041938e-05,1793249494636405504
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,717,683,663,635,887,783,815.201630015,651,628.201630015,654,0.447745984469,-0.00556675314366,0.0597825984797,0.999999929933,-0.000118438253228,-0.000346997425789,-7.54927733279e-05,1793249494653072384
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.618233932,717,683,663,635,887,783,815.381766068,651,628.381766068,654,0.448184783046,-0.00557247872799,0.0597875362297,0.999999932322,-0.000123911956068,-0.000337837926207,-7.66019273728e-05,1793249494669739008
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,717,683,662.886334259,634,887,783,816,651,628,654,0.449263660894,-0.00558582702975,0.0597235417249,0.999999888698,-0.000140315833476,-0.000444112571486,-7.53566788342e-05,1793249494719739392
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+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,717,683,662,634,887,783,816,651,628.268288374,654,0.449852453152,-0.0055737133685,0.0596675935509,0.999999851897,-0.00013444776598,-0.000524893859398,-5.11529373537e-05,1793249494753072128
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+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,717,683,662,634,886.978622214,782.978622214,816,651,628,654,0.450675468359,-0.00554822541823,0.0596678128959,0.99999986123,-0.000100786724523,-0.000513702129954,-5.90898743509e-05,1793249494803071744
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,717,683,662,634,886.403815226,782.403815226,816,651,628,654,0.450899158919,-0.00555538165649,0.0596759577113,0.9999998648,-0.000106124876739,-0.000505582282574,-5.93621653386e-05,1793249494819738880
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+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,717,683.740575043,662,633.259424957,886.740575043,782,816,651,628,654,0.451281720803,-0.00556460467331,0.0596695900866,0.999999858284,-0.000113082277924,-0.000516561166228,-6.17103666251e-05,1793249494853071616
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+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,717,683,661,633,887,782,816,651.948338862,628,654,0.452374431886,-0.00556986798617,0.0596460123225,0.999999842674,-0.000106555761429,-0.000547073442824,-6.33111130115e-05,1793249495203071488
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746,717,683.523993536,661.523993536,633.523993536,887,782,816,651.476006464,628,654,0.452377228488,-0.00556995739289,0.0596465166795,0.999999843568,-0.000106218473709,-0.000545533875385,-6.30406491548e-05,1793249495219738368
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,717,683.901799151,661.901799151,633.901799151,887,782,815.901799151,651.098200849,628,654,0.452379825495,-0.00556975325404,0.0596471223151,0.999999844547,-0.000105341509586,-0.000543931692955,-6.28227448629e-05,1793249495236405248
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,746,717,683.332781694,661.332781694,633.332781694,887,782,815.332781694,651.667218306,628,654,0.452380226678,-0.00556819746819,0.0596476911574,0.999999845199,-0.000102466235244,-0.000543284214023,-6.28139043043e-05,1793249495253072384
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,717,683.247022004,661,633,887.247022004,782,815.247022004,651.752977996,628,654,0.452379660457,-0.00556809532985,0.0596472677836,0.999999844723,-0.000101724176797,-0.000544305611923,-6.27571649697e-05,1793249495269739264
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,717,683.8420202,661,633,887.8420202,782,815.8420202,651.1579798,628,654,0.452377731466,-0.00557004092273,0.0596454466898,0.999999842656,-0.000103987147156,-0.000547677931482,-6.26329513463e-05,1793249495286406144
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,717,683.573909064,661,633,887.573909064,782,816,651,628,654,0.452378175828,-0.00556931676162,0.0596445152666,0.999999842287,-0.000104166083599,-0.000548327945266,-6.2541341414e-05,1793249495303072768
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,717,683,661.006150743,633,887,782,816,651,628,654,0.452379459681,-0.00556762713325,0.0596439202158,0.999999842534,-0.000103584729089,-0.000547996212994,-6.24650037922e-05,1793249495319739648
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,717,683,661.58060428,633,887,782,816,651,628,654,0.452379037668,-0.00556590372083,0.0596446890257,0.999999842707,-0.00010236363253,-0.000547881871837,-6.27107806879e-05,1793249495336406272
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,717,683,662,633,887,782,816,651.155192774,628,654,0.452378381376,-0.00556489071571,0.0596450021726,0.999999842479,-0.00010188921086,-0.000548367493786,-6.28731782639e-05,1793249495353072896
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,717,683,662,633,887,782,816,651.73014626,628,654,0.452377091415,-0.00556579919885,0.0596440828557,0.999999841166,-0.000103434372889,-0.000550475877777,-6.28100539677e-05,1793249495369739264
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,717,683,661.685922059,633,887.314077941,782,816,651.685922059,628,654,0.452377445762,-0.00556539460524,0.059643800873,0.999999841369,-0.000102597384398,-0.000550272728103,-6.27287873145e-05,1793249495386405888
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,717,683,661.094049404,633,887.905950596,782,816,651.094049404,628,654,0.452379254461,-0.0055638286254,0.0596440825976,0.999999842907,-9.96534384752e-05,-0.000548025079948,-6.26314741665e-05,1793249495403072512
+244,4.066666667,HOLD_POSE2,766,746,717,684,662,633,887,782,816,651,628,654,0.452382146503,-0.00556412525786,0.0596461024626,0.999999844398,-0.000101539745814,-0.000544925498631,-6.28422671845e-05,1793249495434651904
+245,4.083333333,HOLD_POSE2,766,746,717,683.424896393,661.424896393,633,887,782.575103607,816,651,628,654,0.452380270326,-0.00556579222032,0.0596443340502,0.999999843099,-0.000100927307552,-0.000547468640409,-6.23939662337e-05,1793249495451318784
+246,4.100000000,HOLD_POSE2,766,746,717.150773923,683,661,633,887,782.849226077,816,651.150773923,628,654,0.452379367674,-0.00556681648595,0.0596433870291,0.999999842395,-0.000100844241018,-0.000548804349724,-6.20877165258e-05,1793249495467985408
+247,4.116666667,HOLD_POSE2,766,746,717.728047443,683,661,633,887,782.271952557,816,651.728047443,628,654,0.452381218868,-0.00556602273241,0.0596447635069,0.999999843384,-0.000102258627118,-0.000546724552163,-6.21832921558e-05,1793249495484651776
+248,4.133333333,HOLD_POSE2,766,746,717.685324905,683,661.314675095,633,887,782,816,652,628,654,0.452382440722,-0.00556540088959,0.0596456100572,0.999999843963,-0.000101790834365,-0.000545746473207,-6.22357260971e-05,1793249495501318400
+249,4.150000000,HOLD_POSE2,766,746,717.090365466,683,661.909634534,633,887,782,816,652,628,654,0.452383102016,-0.00556493216945,0.0596459845955,0.999999844176,-9.96465654617e-05,-0.000545749706465,-6.2249733287e-05,1793249495517985024
+250,4.166666667,HOLD_POSE2,766,746,717,683,661.513051657,633,887,782,816,651.513051657,628,654,0.452383512111,-0.00556433430165,0.0596459070071,0.999999844324,-9.97551332072e-05,-0.000545445620969,-6.23713747753e-05,1793249495534651648
+251,4.183333333,HOLD_POSE2,766,746,717,683.061157676,661,633,887,782,816,651,628,654,0.452383746199,-0.00556393764663,0.0596457446535,0.99999984435,-0.000100418646821,-0.000545264002133,-6.24707835233e-05,1793249495551318272
+252,4.200000000,HOLD_POSE2,766,746,717,683.635833874,661,633,887,782,816,651,628,654,0.452382880141,-0.00556542470254,0.0596455504279,0.999999843455,-0.000102354212341,-0.000546572810682,-6.2221660802e-05,1793249495567985152
+253,4.216666667,HOLD_POSE2,766,746,717,683.783144591,661,633,887,782,816,651,628,654,0.452382419176,-0.00556639122921,0.0596454285924,0.99999984305,-0.00010286349227,-0.000547249230779,-6.19424674552e-05,1793249495584651776
+254,4.233333333,HOLD_POSE2,766,746,717,683.191146174,661,633,887,782,816,651,628,654,0.452382658993,-0.00556645728057,0.0596454319859,0.999999843499,-0.000100905408752,-0.00054683166786,-6.16112542888e-05,1793249495601318400
+255,4.250000000,HOLD_POSE2,766,746,717,683.390676049,661,633,887.390676049,782,816,651.390676049,628,654,0.452382873959,-0.00556591037254,0.0596452766018,0.999999843543,-0.000100213913579,-0.000546856329384,-6.18061648067e-05,1793249495617985024
+256,4.266666667,HOLD_POSE2,766,746,717,683.96764581,661,633,887.96764581,782,816,651.96764581,628,654,0.452383077075,-0.00556507117509,0.0596450455046,0.999999843395,-0.000100126390359,-0.000547091865414,-6.22519571564e-05,1793249495634651904
+257,4.283333333,HOLD_POSE2,766,746,717,683.456920818,661,633,886.913841636,782,816,651.456920818,628,654,0.452383356811,-0.00556503582758,0.0596449732192,0.999999843566,-0.000100105050255,-0.000546771485199,-6.2355677444e-05,1793249495651318272
+258,4.300000000,HOLD_POSE2,766,746,717,683,661.121191172,633,886.121191172,782,816,651,628,654,0.452383637664,-0.0055649497526,0.0596450538464,0.999999843827,-9.97734654376e-05,-0.000546357927759,-6.23206148874e-05,1793249495667984640
+259,4.316666667,HOLD_POSE2,766,746,717,683,661.709990776,633,886.709990776,782,816,651,628,654,0.452383905264,-0.00556448369075,0.059645688074,0.999999844363,-9.82296506376e-05,-0.000545712278735,-6.18284772076e-05,1793249495684651264
+260,4.333333333,HOLD_POSE2,766,746,717,683,662,633,886.706289127,782,816,651,628,654,0.452383777848,-0.00556410285781,0.0596455339419,0.999999844195,-9.80071000838e-05,-0.000546074976761,-6.17038236702e-05,1793249495701317888
+261,4.350000000,HOLD_POSE2,766,746,717,683,662,633,886.127499291,782,816,651,628,654,0.452383267025,-0.00556380474901,0.0596446146194,0.999999843342,-9.90669830491e-05,-0.000547416387423,-6.19358542617e-05,1793249495717984512
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,746,717,683,661,633,886,782,816,651,628,654,0.45238397059,-0.00556405386545,0.059645534459,0.99999984361,-9.67729520865e-05,-0.000547334619322,-6.19646860483e-05,1793249495750835456
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.579648684,746,717,683,661,633,886.579648684,782,815.420351316,651,628,654,0.452384438701,-0.00556509042652,0.0596464068406,0.999999844207,-9.96260321692e-05,-0.00054577143425,-6.15991590699e-05,1793249495767501824
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,746,717,683,661,633,887,782,815.161976884,651,628,654,0.452384882141,-0.00556533707547,0.0596469035568,0.999999844694,-0.00010070933242,-0.000544699420522,-6.14185068381e-05,1793249495784168192
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,746,717,683,661,633,887,782,815.751375878,651,628,654,0.45238526048,-0.00556349931669,0.0596464089727,0.999999844908,-9.71225654833e-05,-0.000544923501847,-6.17256991669e-05,1793249495800834816
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,746,717,683,661,633,887,782.335841327,816,651,628,654,0.452385005549,-0.00556234932955,0.0596456009643,0.999999844561,-9.61232106284e-05,-0.000545705918262,-6.19960266135e-05,1793249495817501184
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,746,717,683,661,633,887,782.916707301,816,651,628,654,0.452384288594,-0.00556170113009,0.0596445642863,0.99999984381,-9.70115919008e-05,-0.000546895687328,-6.22394579929e-05,1793249495834167296
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.492324176,661,633,887,782.507675824,816,651,628,654,0.452382482802,-0.00556322774748,0.0596439058478,0.999999842811,-9.81369211991e-05,-0.000548542989578,-6.20373950618e-05,1793249495850834176
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,746,717,683.932789645,661,633,887,782,816,651,628,654,0.45238041437,-0.00556465787784,0.0596431818517,0.999999841774,-9.90825915182e-05,-0.000550280208377,-6.18619824249e-05,1793249495867501312
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,717,683.356783135,661,633,887,782,816,651,628,654,0.452377737521,-0.00556260157535,0.0596414822511,0.999999840794,-9.83679374947e-05,-0.000552118311371,-6.24528644298e-05,1793249495884167936
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.225040999,661,633,886.774959001,782,816,651,628,654,0.452368452436,-0.00556158868581,0.059637404459,0.999999837464,-9.75526713337e-05,-0.000558228414076,-6.27378813696e-05,1793249495900834560
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,717,683.816333181,661,633,886.183666819,782,816,651,628,654,0.452348412535,-0.00556227393693,0.0596294561925,0.999999830195,-9.65736603381e-05,-0.000571291138324,-6.25251069859e-05,1793249495917501440
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,746,717,683.602899777,661,633,886.397100223,782,816,651,628,654,0.452311767754,-0.00556162272206,0.0596163859971,0.999999817553,-9.67731959144e-05,-0.000592937261648,-6.28866444839e-05,1793249495934167808
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.026875077,661,633,886.973124923,782,816,651,628,654,0.452267641183,-0.00556036932558,0.0596010079743,0.999999801989,-9.75037580802e-05,-0.000618450873439,-6.35069540193e-05,1793249495950834432
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,746,717,683,661,633,887.549806679,782,816,651,628,654,0.452207940724,-0.00555649905959,0.0595879517998,0.999999795028,-9.41955969159e-05,-0.000629994677295,-6.4628892818e-05,1793249495967501312
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,746,717,683,661,633,887.871107102,782,816,651.128892898,628,654,0.452143457352,-0.00555324347719,0.0595764003626,0.999999787832,-9.17924798414e-05,-0.000641582162323,-6.54429954238e-05,1793249495984167936
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,746,717,683,661,633,887.283579435,782,816,651.716420565,628,654,0.452064667131,-0.00555263079928,0.0595697988473,0.99999977852,-9.3313047107e-05,-0.000655757773341,-6.50743829552e-05,1793249496000834048
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,717,683.299385295,661,633,887,782,816,652,628,654,0.451978052181,-0.00555122287498,0.0595666297795,0.999999774368,-9.24352302467e-05,-0.000662243986074,-6.44420416755e-05,1793249496017500672
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,746,717,683.878092833,661,633,887,782,816,652,628,654,0.451884136874,-0.00554907299709,0.0595666631373,0.999999775163,-8.93197548504e-05,-0.000661556098233,-6.35636451769e-05,1793249496034167552
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.544437119,746,717,683.544437119,661,633,886.544437119,782,816,651.544437119,628,654,0.451767438189,-0.00554634881902,0.0595669658058,0.999999775033,-8.8160671869e-05,-0.000662005726209,-6.25376080034e-05,1793249496050834432
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,717,683,661.032508618,633,886.032508618,782,815.967491382,651,628,654,0.451643043883,-0.00554328573318,0.0595675449569,0.999999774891,-8.72292295507e-05,-0.000662441587484,-6.14901915205e-05,1793249496067501056
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,717,683,661.606223765,633,886.606223765,782,815.393776235,651,628,654,0.451491756595,-0.00553713204103,0.059571530492,0.999999778627,-8.13954989212e-05,-0.000657594381524,-6.0742803982e-05,1793249496084167424
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.184807456,746,717,683.184807456,661.815192544,633,887,782,815.184807456,651,628,654,0.451329488496,-0.00553140911718,0.0595723919897,0.999999778924,-7.61293909747e-05,-0.00065785380947,-5.98694279394e-05,1793249496100833792
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.774045333,746,717,683.774045333,661.225954667,633,887,782,815.774045333,651,628,654,0.451143190144,-0.00552662888227,0.0595664168806,0.999999771703,-7.21054624663e-05,-0.000669288534449,-5.87203402641e-05,1793249496117500416
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,717,683.642652358,661,633,887,782.357347642,816,651,628,654,0.450936189995,-0.00552021070415,0.0595597887146,0.999999764595,-6.64046251143e-05,-0.000680498254834,-5.76444857244e-05,1793249496134167040
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.063041794,661,633,887,782.936958206,816,651,628,654,0.450716313734,-0.00551277375838,0.0595527543599,0.999999757485,-5.96607843722e-05,-0.000691568028024,-5.66141805807e-05,1793249496150833664
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,717,683,661.513554571,633.513554571,886.486445429,782.486445429,815.486445429,650.486445429,627.486445429,654,0.450465905125,-0.00550534679205,0.0595512377611,0.999999757288,-5.19953863708e-05,-0.000692592417516,-5.50967916845e-05,1793249496167500288
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,717,683,662,633.910534471,886.089465529,782,815,650.089465529,627.089465529,654,0.45020492464,-0.00549769224751,0.0595506195882,0.999999758083,-4.46284753827e-05,-0.00069208194163,-5.35151396166e-05,1793249496184166912
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,717,683,662,633.336343815,886.663656185,782,815,650.663656185,627.663656185,654,0.449906853859,-0.00548879808064,0.0595512206929,0.999999759894,-3.94881110327e-05,-0.000689897670319,-5.19073736903e-05,1793249496200833280
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,717,683.244687294,662,633.244687294,887,782,815.244687294,651,628,654,0.449597455715,-0.00547920613947,0.0595517806393,0.99999976229,-3.15013945186e-05,-0.000686966006232,-5.0059414829e-05,1793249496217499904
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,717,683.835391583,662,633.835391583,887,782,815.835391583,651,628,654,0.449272039351,-0.00546862746281,0.0595522823829,0.999999765435,-1.94895971236e-05,-0.000682977439756,-4.78717946239e-05,1793249496234166528
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,662,634,886.580601089,782,816,651,628,654,0.448918815293,-0.00546024414063,0.059559185871,0.999999773689,-1.03434808986e-05,-0.00067116473392,-4.53168206036e-05,1793249496250833152
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,662.741239929,634,886,782,815,651.741239929,628,654,0.44732876587,-0.00543354907812,0.0596288567555,0.999999842388,2.33119997187e-05,-0.000560178901037,-2.96738174382e-05,1793249496317499904
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.363043185,745.363043185,717,679.636956815,662,636,877.636956815,784,812,651.363043185,630,653.363043185,0.406238513778,-0.00537172237461,0.0598214685721,0.999999929324,0.000238371907733,-0.000289553701054,2.62577023657e-05,1793249497234166528
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.218178358,745,717,679.781821642,662,636,877.781821642,784,812,651,630,653.218178358,0.405784594614,-0.00536768520484,0.0598244981178,0.999999929058,0.000248232054867,-0.000282095629179,2.619853558e-05,1793249497250833408
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.808946105,745,717,679.191053895,662,636,877.191053895,784,812,651,630,653.808946105,0.405355285238,-0.00536526087806,0.0598262340224,0.99999993044,0.000246925771526,-0.000278274860857,2.66583799814e-05,1793249497267500032
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.608274343,745.391725657,717,679,662,636,877.391725657,784,812,651,630,654,0.404927839992,-0.0053613133031,0.0598135013822,0.999999924132,0.000251829801699,-0.000295997918357,2.64976591403e-05,1793249497284166656
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.029312909,745.970687091,717,679,662,636,877.970687091,784,812,651,630,654,0.404501285718,-0.00535663765061,0.0597938531133,0.999999913444,0.000259702217367,-0.000324018424261,2.60403225319e-05,1793249497300833280
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.545786126,745.454213874,717,679.545786126,662,636,877.454213874,784,812,651,630,654,0.404107456931,-0.00535105628304,0.0597695997653,0.999999895981,0.000270790440398,-0.000366127053789,2.57354075339e-05,1793249497317499904
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745,717,680,662,636,877,784,812,651,630,653.87977158,0.403738833059,-0.005346415116,0.0597535766771,0.999999882988,0.000280613930032,-0.00039320576635,2.58704803538e-05,1793249497334166784
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745,717,680,662,636,877,784,812,651,630,653.307025695,0.40345850687,-0.00534549448762,0.0597694551089,0.999999893877,0.000285031708735,-0.000360886831786,2.76309908801e-05,1793249497350834176
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745,717,679.725073348,662,636,877.549853304,783.725073348,812,651,629.725073348,653,0.403199716054,-0.00534485004849,0.0597889931476,0.999999905748,0.000286552324666,-0.000324846183149,2.94452059631e-05,1793249497367501312
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745,717,679.132483455,662,636,878.73503309,783.132483455,812,651,629.132483455,653,0.402965808244,-0.00534452473152,0.0598127596681,0.999999918504,0.00028472542153,-0.000284505292133,3.13214737141e-05,1793249497384167680
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745.44865335,717.44865335,679,662,636,878.102693299,783.44865335,812,651,629.44865335,653.44865335,0.402739365509,-0.00535045026515,0.05982947805,0.999999926978,0.000277918311778,-0.000260198110078,3.32026193793e-05,1793249497400834048
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.973594095,745.973594095,718,679,661.973594095,636,877,784,812,651,629.973594095,653.973594095,0.402515292143,-0.00535824143792,0.0598432028633,0.999999933838,0.00026923281814,-0.000242100936756,3.50079347013e-05,1793249497417500672
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.397640294,745.397640294,718,679,661.397640294,636,877,784,812,651,629.397640294,653.397640294,0.402295794491,-0.00536740125724,0.0598368628173,0.999999934739,0.000251299109722,-0.000257161731802,3.52058725357e-05,1793249497434167296
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.181393721,745,717.818606279,679,661.181393721,636,877,783.818606279,812,651,629.181393721,653.181393721,0.402090719312,-0.0053746994296,0.0598304543207,0.999999938365,0.000219681524573,-0.000272168884407,3.05769950761e-05,1793249497450833920
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.767296554,745,717.232703446,679,661.767296554,636,877,783.232703446,812,651,629.767296554,653.767296554,0.401917806363,-0.00537784611656,0.0598238931794,0.999999946273,0.000157548812137,-0.000287056411537,1.51842897353e-05,1793249497467500544
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745,717,679,662,636,877,783.351353477,812,651,629.648646523,653.648646523,0.401769865449,-0.005380423772,0.0598239561598,0.999999949301,0.000132216259051,-0.000289496546643,1.03970006745e-05,1793249497484167168
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745,717,679,662,636,877,783.934194289,812,651,629.065805711,653.065805711,0.401638377207,-0.0053826265244,0.0598283834063,0.99999995107,0.000131129285741,-0.000283735786981,1.25970311815e-05,1793249497500834048
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745,717,679,661.491090329,636,876.491090329,784,812,651,629.508909671,653.508909671,0.401527304789,-0.00537868325497,0.0598304206782,0.999999950991,0.000138377847006,-0.000280501366818,1.37121357861e-05,1793249497517501184
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.917258849,745.082741151,717,678.917258849,661.082741151,636,876.165482302,784,812,651,630,653.917258849,0.401422437871,-0.00537459201846,0.0598323117872,0.999999950774,0.000146207479934,-0.000277233523181,1.47548290966e-05,1793249497534167808
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.342533649,745.657466351,717,678.342533649,661.657466351,636,877.314932702,784,812,651,630,653.342533649,0.401339018787,-0.00537427218097,0.0598351425016,0.999999951488,0.000151183989905,-0.000271855042294,1.61880173453e-05,1793249497550833920
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745.760855722,717,678,661.760855722,636,877.760855722,784,812,651,630,653.239144278,0.401261487487,-0.00537374722599,0.0598350211592,0.999999950506,0.00015716200016,-0.000272019423329,1.71101553102e-05,1793249497567500288
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745.168921026,717,678,661.168921026,636,877.168921026,784,812,651,630,653.831078974,0.401192641971,-0.00537291967763,0.0598305448833,0.999999947,0.000164617443339,-0.000280360745318,1.72783816005e-05,1793249497584166912
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.413370985,745,717,678,661.413370985,636,877,784.413370985,812,651,630,653.586629015,0.401136100139,-0.00537122069809,0.0598254034015,0.999999933642,0.000220854069339,-0.000289207880538,1.72935216499e-05,1793249497600833536
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.991812393,745,717,678,661.991812393,636,877,784.991812393,812,651,630,653.008187607,0.401084471508,-0.00536917373209,0.0598199962849,0.999999911396,0.000296570364309,-0.000298256999283,1.72475300562e-05,1793249497617500160
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.432373919,745,717,678,662,636,877.567626081,784.432373919,812,651,630,653,0.401054077885,-0.00536959015903,0.0598221790818,0.999999912885,0.000295244837765,-0.000294528973753,1.77207706287e-05,1793249497634167296
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.142275674,745,717.142275674,678,662,636,877.857724326,784,812,651,630,653,0.401026882681,-0.00537013299436,0.0598242661601,0.99999991457,0.000293025832076,-0.00029097684644,1.80984209168e-05,1793249497650834432
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.713529035,745,717.713529035,678,662,636,877.286470965,784,812,651,630,653,0.401008411812,-0.00537095032398,0.0598257360634,0.999999915746,0.000291448064101,-0.000288508202644,1.81653774696e-05,1793249497667501056
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.702907131,745,718,678,662,636,877,784,812.297092869,651.297092869,630,653.297092869,0.40099593619,-0.00537134088139,0.0598278315691,0.999999917073,0.000290562908697,-0.000284764217781,1.83551601054e-05,1793249497684167424
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.106959762,745,718,678,662,636,877,784,812.893040238,651.893040238,630,653.893040238,0.400989491363,-0.0053713021361,0.0598305563869,0.999999918541,0.000290374472565,-0.000279737329332,1.86684971375e-05,1793249497700833792
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,717.525940038,678,661.525940038,636,877,784,812.525940038,651.525940038,630,654,0.400981310033,-0.00537065598291,0.0598304922214,0.999999918394,0.000289820261575,-0.000280852591414,1.83792348361e-05,1793249497717500160
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,717,678,661.05155019,636,877.05155019,784,812,651,630,653.94844981,0.400973216032,-0.00536993472204,0.059829932196,0.99999991792,0.00028936638283,-0.000283023203697,1.80025761384e-05,1793249497734166784
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,717,678,661.626358403,636,877.626358403,784,812,651,630,653.373641597,0.400969863986,-0.00536979970036,0.0598305312948,0.999999917733,0.000290743045326,-0.00028226879704,1.80767443738e-05,1793249497750833408
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.206408037,745,717,678.206408037,662,636,877.793591963,784,812,651,630,653,0.400967728694,-0.00536926623408,0.0598312969084,0.999999917797,0.000291680168766,-0.000281075294385,1.80582286166e-05,1793249497767500288
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.796192915,745,717,678.796192915,662,636,877.203807085,784,812,651,630,653,0.400967853371,-0.00536799270732,0.0598323718019,0.999999918328,0.000291800903877,-0.000279066226453,1.78675640526e-05,1793249497784167168
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745,717.378720279,679,661.621279721,636,877.378720279,784,812,651.378720279,630,653,0.400967490569,-0.00536809404089,0.0598326266165,0.99999991849,0.000291987804015,-0.000278281022429,1.79594907078e-05,1793249497800834304
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745,717.957415455,679,661.042584545,636,877.957415455,784,812,651.957415455,630,653,0.400966870365,-0.00536892133919,0.0598324484063,0.99999991846,0.000292209641136,-0.000278142052828,1.82006334342e-05,1793249497817501184
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.466362315,745,717.466362315,679,661,636,877.466362315,784,812,651.466362315,630,653.533637685,0.400966006751,-0.00537124468853,0.0598335201439,0.999999919879,0.000287760392475,-0.000277643841851,1.86844531656e-05,1793249497834167552
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.108916598,717,679,661.108916598,636,877,784,812,651,630,653.891083402,0.400965148261,-0.00537299377205,0.0598342701421,0.999999921022,0.000283968511654,-0.000277409336719,1.90035405102e-05,1793249497850833664
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.681019105,717,679,661.681019105,636,877,784,812,651,630,653.318980895,0.40096439378,-0.00537179532906,0.0598332296576,0.999999920586,0.000284550087945,-0.000278417636136,1.85400997632e-05,1793249497867500288
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.737592762,717.262407238,678.737592762,661.737592762,636,877,784,812,651,630,653.262407238,0.400963831303,-0.00537156445504,0.0598327262367,0.999999920342,0.000285039495588,-0.000278815345137,1.82042586209e-05,1793249497884166912
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745.144502911,717.855497089,678.144502911,661.144502911,636,877,784,812,651,630,653.855497089,0.400963510789,-0.00537255290027,0.0598328996171,0.999999920342,0.00028541275343,-0.000278443595187,1.80292169847e-05,1793249497900833536
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,718,678.436264835,661.436264835,636,877,784,812,651,630,653.563735165,0.400964823836,-0.00537347041049,0.0598338307255,0.999999921102,0.000284540288975,-0.000276585029446,1.82510573465e-05,1793249497917500672
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,717.98701462,678.98701462,662,636,877,784,812,651,630,653.01298538,0.400966597133,-0.00537434814171,0.0598349805154,0.999999922087,0.000283262705857,-0.000274304854919,1.85930508403e-05,1793249497934167552
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,717.413653949,678.413653949,662,636,877,784,812,651,630,653.586346051,0.400965523574,-0.0053744953253,0.0598350339878,0.999999922441,0.000281819611824,-0.000274499050826,1.8603011057e-05,1793249497950833920
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.164414702,745,717.164414702,678.164414702,661.835585298,636,877.164414702,784,812,651,630,654,0.400964729572,-0.00537426003507,0.0598351614349,0.999999922584,0.000281182899231,-0.000274632836821,1.85509983727e-05,1793249497967500032
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.754677386,745,717.754677386,678.754677386,661.245322614,636,877.754677386,784,812,651,630,654,0.400964659648,-0.00537303410529,0.0598354804826,0.999999922185,0.000282634782843,-0.000274610156028,1.83384706341e-05,1793249497984166656
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,745,717.660192945,678.660192945,661.339807055,636,877.660192945,784,812,651,630,654,0.400965048795,-0.00537210697223,0.0598358083287,0.999999922015,0.000283721684178,-0.000274112287784,1.82844056823e-05,1793249498000833280
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745,717.078713919,678.078713919,661.921286081,636,877.078713919,784,812,651,630,654,0.400965764435,-0.00537139234448,0.0598361424324,0.999999922008,0.000284549008774,-0.00027327646456,1.83430400298e-05,1793249498017499904
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.503249684,745.496750316,717,678.496750316,661.503249684,636,877.496750316,784,812,651,630,653.503249684,0.400965121593,-0.00537000830027,0.0598363634099,0.999999921912,0.000284959677765,-0.000273225862501,1.79542897655e-05,1793249498034167296
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.07152965,745.92847035,717,679,661.07152965,636,878,784,812,651,630,653.07152965,0.400964202738,-0.00536912829972,0.0598364004457,0.99999992183,0.000284997847532,-0.000273506499996,1.76235018177e-05,1793249498050834688
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.648121836,745.351878164,717,679,661.648121836,636,878,784,812,651,630,653.648121836,0.400962836747,-0.00537254731079,0.0598352637476,0.999999921944,0.000282866442122,-0.000275257945967,1.81965478293e-05,1793249498067501312
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,745,717,678.770107164,662,636,878,784,812,651.229892836,630,653.770107164,0.400962614686,-0.00537426399807,0.0598350514927,0.999999922067,0.000282275512105,-0.000275398296154,1.85262397703e-05,1793249498084167680
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,745,717,678.180226605,662,636,878,784,812,651.819773395,630,653.180226605,0.400964183899,-0.00537331502792,0.0598362868175,0.999999922205,0.000284096802337,-0.000273015842019,1.84748652157e-05,1793249498100834048
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b646ceb593c89396590a5698b19dcb5e53e8d8e9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+1,0.016666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+2,0.033333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+3,0.050000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+4,0.066666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+5,0.083333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+6,0.100000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+7,0.116666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+9,0.150000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+362,6.033333333,pose2_to_pose3_retreat,0.576977980106,0.000149983207826,1.05003362312,0.547548660914,0.00882262497945,1.04970501859
+363,6.050000000,pose2_to_pose3_retreat,0.576799223896,0.0001500016374,1.05003357132,0.547369905134,0.00882264495565,1.04970496919
+364,6.066666667,pose2_to_pose3_retreat,0.576633895024,0.000150085241564,1.05003353931,0.547204575162,0.00882272479566,1.04970493644
+365,6.083333333,pose2_to_pose3_retreat,0.576484662096,0.000150107787624,1.05003364103,0.547055341599,0.0088227450199,1.04970503368
+366,6.100000000,pose2_to_pose3_retreat,0.576354071811,0.000150253176046,1.05003362426,0.546924750088,0.00882288632925,1.04970501918
+367,6.116666667,pose2_to_pose3_retreat,0.576240601229,0.000150069792265,1.05003355857,0.546811280241,0.00882270506098,1.04970494351
+368,6.133333333,pose2_to_pose3_retreat,0.576142443004,0.000150070837256,1.05003346491,0.546713123109,0.00882271061871,1.04970487106
+369,6.150000000,pose2_to_pose3_retreat,0.57605649658,0.000149988423723,1.05003349131,0.546627175859,0.00882262508391,1.04970489028
+370,6.166666667,pose2_to_pose3_retreat,0.575981365181,0.000150038040855,1.05003358391,0.546552043502,0.00882267112326,1.04970497435
+371,6.183333333,pose2_to_pose3_retreat,0.575915510126,0.000150156327616,1.05003359433,0.546486188374,0.0088227893224,1.04970498816
+372,6.200000000,pose2_to_pose3_retreat,0.575858710572,0.000150140061588,1.05003350337,0.546429389152,0.00882277427252,1.04970489949
+373,6.216666667,pose2_to_pose3_retreat,0.575811214998,0.00015009563826,1.05003353312,0.546381893234,0.00882272830324,1.04970491921
+374,6.233333333,pose2_to_pose3_retreat,0.575772279068,0.000150179555997,1.05003337238,0.546342956288,0.00882280928496,1.04970477207
+375,6.250000000,pose2_to_pose3_retreat,0.575741907562,0.000150028721129,1.05003338303,0.546312586788,0.00882266504433,1.04970477703
+376,6.266666667,pose2_to_pose3_retreat,0.57571909681,0.000150007085591,1.05003358812,0.546289775983,0.00882264313911,1.04970497984
+377,6.283333333,pose2_to_pose3_retreat,0.575703766895,0.000150060174226,1.05003358422,0.54627444489,0.00882269216096,1.04970497416
+378,6.300000000,pose2_to_pose3_retreat,0.575692144125,0.000150106614117,1.05003353435,0.546262821428,0.00882273624843,1.04970492434
+379,6.316666667,pose2_to_pose3_retreat,0.575683727263,0.000150109361266,1.05003352076,0.546254405156,0.00882274111183,1.04970491374
+380,6.333333333,pose2_to_pose3_retreat,0.575677799032,0.000150070492386,1.05003364863,0.54624847715,0.00882270303419,1.04970504239
+381,6.350000000,pose2_to_pose3_retreat,0.575673510638,0.000150033115067,1.05003374732,0.54624418908,0.00882266677685,1.04970514165
+382,6.366666667,pose2_to_pose3_retreat,0.575670417772,0.000149998107811,1.05003365786,0.546241097947,0.0088226377455,1.04970505452
+383,6.383333333,pose2_to_pose3_retreat,0.575668480774,0.000150004955968,1.05003361162,0.546239161415,0.00882264622048,1.04970500937
+384,6.400000000,pose2_to_pose3_retreat,0.575667675086,0.000150071942937,1.05003361425,0.546238354542,0.00882270916772,1.04970501159
+385,6.416666667,pose2_to_pose3_retreat,0.575667185346,0.00015011266119,1.05003361584,0.546237864081,0.00882274743041,1.04970501293
+386,6.433333333,pose2_to_pose3_retreat,0.575666857718,0.000150139901098,1.05003361691,0.54623753597,0.00882277302758,1.04970501383
+387,6.450000000,pose2_to_pose3_retreat,0.575666418465,0.00015017642169,1.05003361833,0.546237096071,0.00882280734575,1.04970501504
+388,6.466666667,pose2_to_pose3_retreat,0.575665966371,0.000150186962391,1.05003359373,0.546236643839,0.00882281741818,1.04970499042
+389,6.483333333,pose2_to_pose3_retreat,0.575665574259,0.000150145100883,1.05003352321,0.546236252602,0.00882277854204,1.04970492033
+390,6.500000000,pose2_to_pose3_retreat,0.575665436195,0.000150130361342,1.05003349838,0.546236114847,0.00882276485366,1.04970489564
+391,6.516666667,pose2_to_pose3_retreat,0.575665267091,0.000150112307883,1.05003346796,0.546235946119,0.00882274808769,1.04970486541
+392,6.533333333,pose2_to_pose3_retreat,0.575665135227,0.00015009823025,1.05003344425,0.54623581455,0.008822735014,1.04970484184
+393,6.550000000,pose2_to_pose3_retreat,0.575665030386,0.000150087037499,1.05003342539,0.546235709943,0.00882272461947,1.0497048231
+394,6.566666667,pose2_to_pose3_retreat,0.575664896297,0.000150072722309,1.05003340128,0.546235576153,0.00882271132517,1.04970479913
+395,6.583333333,pose2_to_pose3_retreat,0.575664870041,0.00015006991924,1.05003339656,0.546235549956,0.008822708722,1.04970479443
+396,6.600000000,pose2_to_pose3_retreat,0.5756647816,0.00015006498171,1.05003339567,0.546235461667,0.00882270429504,1.04970479341
+397,6.616666667,pose2_to_pose3_retreat,0.575664754468,0.000150072272624,1.05003342477,0.546235434492,0.00882271142435,1.04970482202
+398,6.633333333,pose2_to_pose3_retreat,0.575664718908,0.000150081828053,1.0500334629,0.546235398877,0.00882272076798,1.04970485951
+399,6.650000000,pose2_to_pose3_retreat,0.575664595867,0.000150114890844,1.05003359485,0.546235275645,0.00882275309794,1.04970498922
+400,6.666666667,pose2_to_pose3_retreat,0.575664432272,0.00015015741844,1.05003375858,0.546235111832,0.00882279478886,1.04970515042
+401,6.683333333,pose2_to_pose3_retreat,0.575664338749,0.000150155655439,1.05003363899,0.546235018831,0.00882279505379,1.04970503754
+402,6.700000000,pose2_to_pose3_retreat,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511738,1.04970501047
+403,6.716666667,pose2_to_pose3_retreat,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511738,1.04970501047
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ffce35179c2ccdce4c7459b8755696f990a77e60
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f96f8aa09b0a499b077e8e9bde10881a0e56eb94b30d68d715273413661bfeb
+size 25762824
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7e0832f73b41c2b3564cf0cf0d861e3baf599d16
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_04/franka_data.csv
@@ -0,0 +1,406 @@
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+33,0.550000000,BASELINE,766,745,717,678.858839455,662,636,877,784,812,651,630,653.141160545,0.400965330906,-0.00537511349036,0.059838719819,0.999999924834,0.000278454097572,-0.000269221874919,1.77301443023e-05,1793249498799770880
+34,0.566666667,BASELINE,766,745,717,678.272166377,662,636,877,784,812,651,630,653.727833623,0.40096691221,-0.00537513394761,0.0598402801351,0.999999925319,0.000279025362972,-0.00026680709281,1.79060710346e-05,1793249498816437504
+35,0.583333333,BASELINE,766.310024928,745.310024928,717.310024928,678.310024928,662,636,877,784,812,651,630.310024928,654,0.400967256806,-0.0053748393763,0.059840488508,0.999999925452,0.00027890354672,-0.00026643457884,1.79418363555e-05,1793249498833104384
+36,0.600000000,BASELINE,766.88833788,745.88833788,717.88833788,678.88833788,662,636,877,784,812,651,630.88833788,654,0.400966531185,-0.00537427218693,0.0598395269425,0.999999925282,0.000278181954541,-0.00026782939373,1.78563094228e-05,1793249498849771520
+37,0.616666667,BASELINE,766.532106336,745.532106336,718,679,662,636.467893664,877,784,812.467893664,651,630.532106336,654,0.400966152818,-0.00537358723587,0.0598392124463,0.999999924913,0.000279367592926,-0.000267974550193,1.77871582237e-05,1793249498866438144
+38,0.633333333,BASELINE,766.047021331,745,718,679,662,636.952978669,877.047021331,784,812.952978669,651,630,653.952978669,0.40096583643,-0.00537294964901,0.0598390715376,0.99999992452,0.000280875364987,-0.000267872034356,1.77316489165e-05,1793249498883104512
+39,0.650000000,BASELINE,766.61806413,745,718,679,662,636.38193587,877.61806413,784,812.38193587,651,630,653.38193587,0.400965284741,-0.00537315393487,0.059839139632,0.999999924389,0.000280887164456,-0.000268341792063,1.77845008294e-05,1793249498899771136
+40,0.666666667,BASELINE,767,745.196426772,717.803573228,679,662,636,878,784,812,651,630,653.196426772,0.400964920983,-0.00537346775277,0.0598392319501,0.999999924352,0.00028071031074,-0.000268661596277,1.78242847839e-05,1793249498916437760
+41,0.683333333,BASELINE,767,745.789573134,717.210426866,679,662,636,878,784,812,651,630,653.789573134,0.400964936782,-0.00537400279054,0.0598393731925,0.999999924504,0.000280152437605,-0.000268678542113,1.78376756162e-05,1793249498933104128
+42,0.700000000,BASELINE,767,745.627131162,717,678.627131162,662,636,877.627131162,784,812,651,630,653.627131162,0.400965060156,-0.00537385860761,0.0598391866573,0.999999924627,0.000279651403574,-0.00026874875082,1.77584202211e-05,1793249498949770752
+43,0.716666667,BASELINE,767,745.049251567,717,678.049251567,662,636,877.049251567,784,812,651,630,653.049251567,0.400965242678,-0.00537334097551,0.0598388199035,0.999999924734,0.000279181620838,-0.00026884824452,1.76282260736e-05,1793249498966437632
+44,0.733333333,BASELINE,767,745,717,678,662,636,877,784,811.473350394,651,630,653.526649606,0.400965922299,-0.00537410593846,0.0598392329931,0.999999925344,0.000278207937988,-0.000267564275664,1.79520343296e-05,1793249498983104512
+45,0.750000000,BASELINE,767,745,717.104565184,678,661.895434816,636,877.104565184,784,811.104565184,651,630,654,0.400966539519,-0.00537479822623,0.0598396517211,0.999999925797,0.000277567070567,-0.000266518011863,1.82054100127e-05,1793249498999771392
+46,0.766666667,BASELINE,767,745,717.692647693,678,661.307352307,636,877.692647693,784,811.692647693,651,630,654,0.40096665403,-0.00537460189197,0.0598397605502,0.999999925318,0.000278682256901,-0.000267166936544,1.79375071991e-05,1793249499016437760
+47,0.783333333,BASELINE,767,745,718,678.276286143,661.276286143,636,877.723713857,784,812,651,630,654,0.400966516445,-0.00537483326542,0.0598396767157,0.999999925274,0.000278344966917,-0.000267685504612,1.79221563836e-05,1793249499033104384
+48,0.800000000,BASELINE,767,745,718,678.85505917,661.85505917,636,877.14494083,784,812,651,630,654,0.400966102859,-0.00537553290691,0.059839381947,0.999999925703,0.000276417459657,-0.00026806135418,1.81833075204e-05,1793249499049771008
+49,0.816666667,BASELINE,767,745,718,679,662,636,877.434166365,784,812,651,630,654,0.400966087069,-0.00537466328237,0.0598396033897,0.999999925207,0.000278404841107,-0.000267857463401,1.8144062944e-05,1793249499066437632
+50,0.833333333,BASELINE,767,745.013239143,718,678.986760857,662,636,877.986760857,784,812,651,630,654,0.400966194778,-0.0053733017953,0.0598399803565,0.999999924414,0.000281625408472,-0.000267459361747,1.80062214455e-05,1793249499083104256
+51,0.850000000,BASELINE,767,745.586139025,718,678.413860975,662,636,877.413860975,784,812,651,630,654,0.400965904987,-0.00537331080876,0.0598396412542,0.999999924511,0.000281685819636,-0.000267039151299,1.79429304511e-05,1793249499099770880
+52,0.866666667,BASELINE,766.836800171,745.836800171,717.836800171,678,661.836800171,636.163199829,877,784,812,651,630,654,0.400965664347,-0.00537357751908,0.0598393503188,0.999999924711,0.000281115195195,-0.000266893767846,1.78761827386e-05,1793249499116437760
+53,0.883333333,BASELINE,766.248911589,745.248911589,717.248911589,678,661.248911589,636.751088411,877,784,812,651,630,654,0.400965551609,-0.00537451482423,0.0598391847265,0.99999992518,0.000278902450613,-0.000267463556335,1.78004397433e-05,1793249499133104128
+54,0.900000000,BASELINE,766.334430561,745,717.334430561,678,661.334430561,636.665569439,877,784,812,651,630,653.665569439,0.400964616452,-0.00537436430897,0.0598385555474,0.999999924726,0.000279167026183,-0.000268882387645,1.77863277061e-05,1793249499149770752
+55,0.916666667,BASELINE,766.91443423,745,717.91443423,678,661.91443423,636.08556577,877,784,812,651,630,653.08556577,0.400963077389,-0.00537341500472,0.0598375859555,0.99999992359,0.000281250703567,-0.000270924672969,1.78174714222e-05,1793249499166437376
+56,0.933333333,BASELINE,767,745,717.507133761,678.492866239,662,636,877,784,812,651,630,653.492866239,0.400964671714,-0.00537330949217,0.0598389013356,0.999999924206,0.000280877901102,-0.000269028554913,1.78884573916e-05,1793249499183104000
+57,0.950000000,BASELINE,767,745.070472768,717,679,662,636,877.140945537,784.070472768,812,651,630,653.929527232,0.400966737546,-0.00537341228963,0.0598404679228,0.999999925088,0.000280120113908,-0.000266521300685,1.79711961615e-05,1793249499199770624
+58,0.966666667,BASELINE,767,745.644127012,717,679,662,636,878.288254023,784.644127012,812,651,630,653.355872988,0.400968298237,-0.00537395981605,0.0598410047484,0.99999992575,0.000279648826308,-0.000264516929274,1.80886202317e-05,1793249499216437248
+59,0.983333333,BASELINE,767,745.776356746,717.223643254,679,662,636,878.776356746,784.776356746,811.776356746,651,630,653.223643254,0.400969099445,-0.00537427661009,0.0598413222557,0.999999926161,0.000278918637499,-0.000263731087134,1.81267142424e-05,1793249499233103616
+60,1.000000000,BASELINE,767,745.18726141,717.81273859,679,662,636,878.18726141,784.18726141,811.18726141,651,630,653.81273859,0.400968659594,-0.0053742163679,0.0598412813781,0.999999926165,0.000277765382042,-0.000264936425068,1.80351762123e-05,1793249499249770240
+61,1.016666667,BASELINE,767,745.396553226,717.603446774,678.603446774,662,636,877.603446774,784,811.396553226,651.396553226,630,654,0.400967951464,-0.00537394238764,0.0598407614189,0.999999925922,0.000277679737426,-0.000265949685998,1.79333981123e-05,1793249499266437120
+62,1.033333333,BASELINE,767,745.977906931,717.022093069,678.022093069,662,636,877.022093069,784,811.977906931,651.977906931,630,654,0.400967118312,-0.00537356880184,0.0598400181996,0.999999925563,0.000278091617506,-0.00026687343574,1.78268479731e-05,1793249499283104000
+63,1.050000000,BASELINE,766.45009334,745.45009334,717,678,662,636,877,783.45009334,812,651.45009334,630,654,0.400966801183,-0.00537379458942,0.0598401403316,0.999999925286,0.000279186606576,-0.000266760666424,1.7918340838e-05,1793249499299770624
+64,1.066666667,BASELINE,766.122639397,745,717,678,662,636,877.245278795,783.122639397,812,651,630,654,0.400966565756,-0.00537388546409,0.0598401918715,0.999999925012,0.000280159590984,-0.000266765051968,1.79940706931e-05,1793249499316436992
+65,1.083333333,BASELINE,766.699455148,745,717,678,662,636,878.398910296,783.699455148,812,651,630,654,0.400966557409,-0.0053733890226,0.059839855386,0.999999924736,0.000280580812627,-0.000267354942679,1.79824514768e-05,1793249499333103872
+66,1.100000000,BASELINE,766.716021581,745.283978419,717,678.283978419,662,636,878.716021581,783.716021581,812,651.283978419,629.716021581,654,0.400966783259,-0.00537315641106,0.0598400809195,0.999999924812,0.000280545981732,-0.000267105584126,1.79964015047e-05,1793249499349770496
+67,1.116666667,BASELINE,766.123113623,745.876886377,717,678.876886377,662,636,878.123113623,783.123113623,812,651.876886377,629.123113623,654,0.400967263883,-0.00537321081031,0.0598409178527,0.99999992527,0.000280015028248,-0.000265943237539,1.80381673614e-05,1793249499366437120
+68,1.133333333,BASELINE,766.453157137,746,717,678.546842863,662,636,878.453157137,783.453157137,812,651.546842863,629.453157137,654,0.400967045424,-0.00537291046972,0.0598404694884,0.999999925256,0.000279470800646,-0.000266577644405,1.79280292458e-05,1793249499383104256
+69,1.150000000,BASELINE,767,746,717,678,662,636,878.949465256,784,812,651,630,654,0.400966647682,-0.00537260107612,0.0598397397196,0.999999925149,0.000278862464684,-0.000267620888127,1.77974614988e-05,1793249499399771648
+70,1.166666667,BASELINE,767,746,717,678,662,636,877.79654732,784,812,651,630,654,0.400966335413,-0.00537412211751,0.0598402188777,0.999999925763,0.000276931530035,-0.000267311252356,1.8089614961e-05,1793249499416438016
+71,1.183333333,BASELINE,767,745.816927627,717,678.183072373,662,636,877.183072373,784,812,651,630,654,0.400965916209,-0.0053750651524,0.059840218005,0.999999926005,0.000275863191535,-0.000267501346718,1.82212723663e-05,1793249499433104384
+72,1.200000000,BASELINE,767,745.224658081,717,678.775341919,662,636,877.775341919,784,812,651,630,654,0.400965257987,-0.00537471624701,0.0598391441842,0.999999925421,0.000276722898389,-0.000268808420905,1.79941944724e-05,1793249499449770752
+73,1.216666667,BASELINE,766.640593379,745,717,678.640593379,662,636,878,784,811.640593379,651.359406621,630,653.640593379,0.400965146879,-0.005373767321,0.0598392865332,0.999999925111,0.000278109901758,-0.000268545727591,1.77809413227e-05,1793249499466437120
+74,1.233333333,BASELINE,766.061542932,745,717,678.061542932,662,636,878,784,811.061542932,651.938457068,630,653.061542932,0.400965370128,-0.00537245170498,0.059840172119,0.999999924965,0.000279819151294,-0.00026732370368,1.75761368894e-05,1793249499483104000
+75,1.250000000,BASELINE,766.51356419,745,717,678.51356419,662,636,877.48643581,784,811.51356419,651.48643581,630,653,0.400964700562,-0.00537285652581,0.0598393810551,0.999999924523,0.000280175415773,-0.000268605387898,1.75092440874e-05,1793249499499770880
+76,1.266666667,BASELINE,767,745.088154489,717.088154489,678.911845511,662,636,877,784,812,651,630,653.088154489,0.400964254177,-0.00537343281333,0.0598386761022,0.999999924256,0.000280100543886,-0.000269674398247,1.75083020122e-05,1793249499516437504
+77,1.283333333,BASELINE,767,745.662480747,717.662480747,678.337519253,662,636,877,784,812,651,630,653.662480747,0.400965624195,-0.00537382638466,0.0598395456879,0.999999925158,0.000278535316067,-0.000267928447095,1.77806281943e-05,1793249499533105152
+78,1.300000000,BASELINE,767,745.756429752,717.756429752,678.243570248,662,636,877,784,812,651,630,654,0.40096654186,-0.00537389247812,0.059840015696,0.999999925485,0.000278294279738,-0.000266946621634,1.79377318109e-05,1793249499549772288
+79,1.316666667,BASELINE,767,745.165700701,717.165700701,678.834299299,662,636,877,784,812,651,630,654,0.400966814791,-0.00537349181989,0.0598399161891,0.999999924997,0.000279940603499,-0.000267053898802,1.79306095667e-05,1793249499566439168
+80,1.333333333,BASELINE,766.582052872,745.417947128,717.417947128,678.582052872,662,636,877.417947128,784,812,651,630,653.582052872,0.400966020455,-0.00537358423363,0.0598394687417,0.999999924517,0.00028100908177,-0.000267721957396,1.80138246418e-05,1793249499583105792
+81,1.350000000,BASELINE,766.001165666,745.998834334,717.998834334,678.001165666,662,636,877.998834334,784,812,651,630,653.001165666,0.400964810037,-0.00537386887546,0.0598388856468,0.99999992404,0.000281852282429,-0.000268608641186,1.81322584528e-05,1793249499599771904
+82,1.366666667,BASELINE,766,745.420409845,717.420409845,678,661.420409845,636,877.420409845,784,812,651,630,653,0.400964927894,-0.00537332609411,0.059839088618,0.999999924521,0.000280324224136,-0.000268444582087,1.77048900333e-05,1793249499616438016
+83,1.383333333,BASELINE,766.160726145,745,717,678.160726145,661.160726145,636,877,784,812,651,630.160726145,653,0.40096485868,-0.00537288010234,0.0598391360756,0.999999924627,0.000279846081313,-0.000268567611868,1.74205159437e-05,1793249499633104384
+84,1.400000000,BASELINE,766.742859719,745,717,678.742859719,661.742859719,636,877,784,812,651,630.742859719,653,0.400964291985,-0.00537269224491,0.0598387716484,0.999999923746,0.000282133209716,-0.000269448898602,1.75139356297e-05,1793249499649771008
+85,1.416666667,BASELINE,767,745.323198359,717,678.676801641,662,636,877,784,812,651,630.676801641,653.323198359,0.400964135741,-0.00537315319844,0.0598386504534,0.999999923747,0.000281768472366,-0.000269811686558,1.77140374956e-05,1793249499666437376
+86,1.433333333,BASELINE,767,745.902116782,717,678.097883218,662,636,877,784,812,651,630.097883218,653.902116782,0.400964304255,-0.0053741275023,0.0598387217081,0.999999924446,0.000279305533378,-0.000269764229368,1.79985481197e-05,1793249499683104000
+87,1.450000000,BASELINE,767,745.522000503,717,678,662,636,877,784,812,651,630,654,0.400966193736,-0.00537500317949,0.0598396574,0.999999925577,0.000277116832496,-0.000267836927738,1.77565380876e-05,1793249499699771136
+88,1.466666667,BASELINE,766.946972052,745,717,678.053027948,662,636,877,784,812,651,630,654,0.400968168403,-0.00537581995175,0.0598406745832,0.999999926693,0.000275092691133,-0.000265768633017,1.74386697403e-05,1793249499716438272
+89,1.483333333,BASELINE,766.374261745,745,717,678.625738255,662,636,877,784,812,651,630,654,0.40096754599,-0.00537625612581,0.0598407665494,0.999999926877,0.000274134378861,-0.000266067333056,1.74273551552e-05,1793249499733104896
+90,1.500000000,BASELINE,766.205188024,745,717,679,662,636,877.205188024,784,812,651,629.794811976,654,0.400966843973,-0.005375760858,0.0598405165501,0.999999926528,0.000274782517334,-0.000266713151845,1.73916275299e-05,1793249499749771264
+91,1.516666667,BASELINE,766.797347936,745,717,679,662,636,877.797347936,784,812,651,629.202652064,654,0.400965991828,-0.00537350894853,0.0598396216249,0.999999925164,0.000278460322383,-0.000268013615035,1.73098584261e-05,1793249499766437632
+92,1.533333333,BASELINE,767,745,717,679,662,636,877.620262548,784,812,651,629.379737452,653.620262548,0.400963728795,-0.00537360859113,0.0598382603304,0.999999924468,0.000278739987778,-0.000270301473476,1.74562446254e-05,1793249499783104512
+93,1.550000000,BASELINE,767,745,717,679,662,636,877.042956295,784,812,651,629.957043705,653.042956295,0.400960731709,-0.00537493169284,0.0598366563943,0.999999924116,0.000277251678351,-0.00027310305144,1.77213348576e-05,1793249499799770880
+94,1.566666667,BASELINE,766.467339351,745.532660649,717,678.467339351,662,636,877.532660649,784,812,651,630,653,0.400963901462,-0.00537530830085,0.0598389710357,0.999999924942,0.000277727403716,-0.000269539747019,1.81931034209e-05,1793249499816437504
+95,1.583333333,BASELINE,766,745.894600169,717,678.105399831,661.894600169,636,878,784,812.105399831,651,630,653.105399831,0.400966739662,-0.00537549669634,0.0598409078237,0.999999925688,0.000278029648499,-0.000266424017432,1.84881727047e-05,1793249499833103872
+96,1.600000000,BASELINE,766,745.333710296,717,678.666289704,661.333710296,636,878,784,812.666289704,651,630,653.666289704,0.400966002627,-0.00537520054283,0.0598398503561,0.999999925736,0.00027689986778,-0.000267453713078,1.7947826643e-05,1793249499849771008
+97,1.616666667,BASELINE,766.247116106,745,717,679,661.247116106,636,878,784,812.752883894,651,630,654,0.400964732582,-0.00537464029385,0.05983871747,0.999999925305,0.000276957118131,-0.000269021791048,1.76555366421e-05,1793249499866437888
+98,1.633333333,BASELINE,766.857227785,745,717,679,661.857227785,636,878,784,812.142772215,651,630,654,0.400962679582,-0.00537369210788,0.0598374737998,0.999999924166,0.000278758030795,-0.000271380713405,1.77276229723e-05,1793249499883104512
+99,1.650000000,BASELINE,767,745,717,678.559233852,662,636,878,784,812,651,630,654,0.400963415724,-0.00537527252747,0.0598382597629,0.999999924893,0.000277411010498,-0.00027007801631,1.77516524107e-05,1793249499899770880
+100,1.666666667,BASELINE,767,745,717,678,662,636,878,784,812,651,630,654,0.400964984134,-0.00537748111686,0.0598396480989,0.999999926128,0.000275267236121,-0.000267686887884,1.77624025763e-05,1793249499916437248
+101,1.683333333,BASELINE,767,745,717,678,662,636,878,784,812,651,630,654,0.400965867942,-0.0053747035184,0.0598404255933,0.999999925502,0.000278822073189,-0.000266338934366,1.78215951989e-05,1793249499933103872
+102,1.700000000,BASELINE,767,745,717,678,662,636,877.830016972,784,812,651,630,654,0.400966412631,-0.00537297088454,0.0598407692182,0.999999925075,0.000280924905099,-0.000265731741384,1.78504728029e-05,1793249499949770496
+103,1.716666667,BASELINE,767,745,717,678,662,636,877.237973384,784,812,651,630,654,0.400966115302,-0.00537383285334,0.0598400355643,0.999999925168,0.000279422470038,-0.00026696382521,1.7804079509e-05,1793249499966437120
+104,1.733333333,BASELINE,767,745.346218553,717.346218553,678,661.653781447,636,877,784,812,651,630,654,0.400967005283,-0.0053741017312,0.0598407474829,0.999999925687,0.000278465500294,-0.000266018179078,1.78048913374e-05,1793249499983104000
+105,1.750000000,BASELINE,767,745.925133392,717.925133392,678,661.074866608,636,877,784,812,651,630,654,0.400968693265,-0.00537397198794,0.0598424309826,0.999999926489,0.000277875142042,-0.000263608863177,1.78374301048e-05,1793249499999770880
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,746,717,679,662,636,877,784,812,652,630,654,0.400966260888,-0.00537556159902,0.0598404259985,0.999999925602,0.000277943330533,-0.000266870175169,1.80159476904e-05,1793249500030946304
+107,1.783333333,POSE1_TO_POSE2_PRESS,766.575112497,745.424887503,717.575112497,679.575112497,662,636,877.575112497,784,812,651.424887503,630,653.424887503,0.400965433287,-0.00537551160748,0.0598394498598,0.999999925508,0.000277517688579,-0.000267669511489,1.79360353974e-05,1793249500047612416
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745.154387128,718,679.845612872,662,636,877.845612872,784,812,651.154387128,630,653.154387128,0.400964844223,-0.00537481702555,0.0598389044782,0.999999925416,0.000277327632132,-0.000268223152263,1.77337188031e-05,1793249500064278784
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745.745433827,718,679.254566173,662,636,877.254566173,784,812,651.745433827,630,653.745433827,0.40096492982,-0.00537229932167,0.0598395774249,0.999999925331,0.000277803891925,-0.000268081882227,1.71852009843e-05,1793249500080945152
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745.670077554,717.670077554,679,662,636,877,784,812,651.670077554,630,653.670077554,0.400964613365,-0.00537170706527,0.0598396947623,0.999999925181,0.000278112127235,-0.000268328906423,1.70699682966e-05,1793249500097611776
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745.090550523,717.090550523,679,662,636,877,784,812,651.090550523,630,653.090550523,0.400963992735,-0.00537257151658,0.0598393917506,0.999999924982,0.000278293242697,-0.000268869696699,1.72825398184e-05,1793249500114278400
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745,717,679,662,636,877,784,812,651,630,653.484155641,0.400964279904,-0.00537263531888,0.0598397373477,0.999999924545,0.000280276967661,-0.000268426592175,1.73765370105e-05,1793249500130945280
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.941954018,745.058045982,717.058045982,678.941954018,662,636,877.058045982,784,812,651,630,653.941954018,0.400964702089,-0.00537282506679,0.0598401221373,0.999999924245,0.000281802668788,-0.000267940072494,1.74560971835e-05,1793249500147612160
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.367379137,745.632620863,717.632620863,678.367379137,662,636,877.632620863,784,812,651,630,653.367379137,0.400964829787,-0.00537545492936,0.0598397868565,0.999999925582,0.000276282108671,-0.000268688557987,1.76025840718e-05,1793249500164279040
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.214695853,745.785304147,717.785304147,678.214695853,662,636,877.785304147,784,812,651,630,653,0.400966863652,-0.0053765088339,0.0598402704843,0.999999926489,0.000273716036396,-0.000267932062939,1.77075248839e-05,1793249500180945408
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.810069238,745.189930762,717.189930762,678.810069238,662,636,877.189930762,784,812,651,630,653,0.400972277344,-0.00537476840471,0.0598422061201,0.999999926665,0.000276388571427,-0.000264507084629,1.7738800273e-05,1793249500197611776
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,717,679,662,636,877,784,811.609372509,651,630,653.390627491,0.400991633851,-0.00537516940017,0.059850527862,0.999999929925,0.000277740557546,-0.000250337355189,1.84745437114e-05,1793249500214278400
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,717,679,662,636,877,784,811.035754396,651,630,653.964245604,0.401017521912,-0.0053765735523,0.0598618411946,0.999999934324,0.000278473928711,-0.00023113421442,1.95402973212e-05,1793249500230945280
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,717,678.458598291,661.458598291,636,877.541401709,784,811.541401709,651,630,653.458598291,0.401071918783,-0.0053784997802,0.0598803892937,0.999999942117,0.000276487393986,-0.000197257462134,2.02382507983e-05,1793249500247611648
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,717,678.121188536,661.121188536,636.121188536,878,784,812.121188536,651,630,653.121188536,0.401131056211,-0.00538038825721,0.0598986449997,0.999999948244,0.000274870868903,-0.00016589070729,2.09351514002e-05,1793249500264278528
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,717,678.710223454,661.710223454,636.710223454,878,784,812.710223454,651,630,653.710223454,0.401201178425,-0.00538199702036,0.0599139153104,0.999999950898,0.000275380756278,-0.000147979362835,2.1722374372e-05,1793249500280945664
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,717.294182849,678.705817151,662,636.705817151,878,784.294182849,812.411634302,651,630,654,0.401279842908,-0.00538364015315,0.0599248317126,0.999999953219,0.000275223667571,-0.000131666880574,2.18428513309e-05,1793249500297612544
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745,717.873227502,678.126772498,662,636.126772498,878,784.873227502,811.253544995,651,630,654,0.401366778996,-0.00538531656647,0.0599315321569,0.999999955286,0.000274420735589,-0.000116902602399,2.13177077629e-05,1793249500314279424
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.550825042,745,717.550825042,678,662,636,877.550825042,784.101650083,811.449174958,651,630,654,0.40147087772,-0.00538866880923,0.0599368507813,0.99999995751,0.000270567629236,-0.000106488949623,2.07968535822e-05,1793249500330945536
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.024747958,745,717,678.024747958,662,636,877,783.024747958,812,651.024747958,630,653.975252042,0.401580867694,-0.00539243800937,0.0599417626494,0.999999959683,0.000266020564562,-9.72462224898e-05,2.02602746889e-05,1793249500347611904
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.611533096,745,717,678.611533096,662,636,877,783.611533096,812,651.611533096,630,653.388466904,0.40171539723,-0.00539500855647,0.0599462332483,0.99999996089,0.00026513010061,-8.69006607896e-05,1.93392751533e-05,1793249500364278528
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745.195694005,717,678.804305995,661.804305995,636,877.195694005,784,812,651.804305995,630,653.195694005,0.401856979877,-0.00539785646208,0.0599488684491,0.999999962005,0.000263290884084,-7.96113632234e-05,1.81583659513e-05,1793249500380945152
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745.774714493,717,678.225285507,661.225285507,636,877.774714493,784,812,651.225285507,630,653.774714493,0.40201237818,-0.00540124765877,0.0599479084612,0.999999963104,0.000259593245999,-7.83086937002e-05,1.64683443923e-05,1793249500397611776
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.646572606,745.646572606,717,678,661.353427394,636,878,784,812,651,629.646572606,653.646572606,0.402187751043,-0.00540518026422,0.0599468557758,0.99999996461,0.000254486520732,-7.62079225134e-05,1.44346911758e-05,1793249500414278656
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.068055543,745.068055543,717,678,661.931944457,636,878,784,812,651,629.068055543,653.068055543,0.402375845254,-0.00540945768061,0.0599457440535,0.999999966346,0.000248482380314,-7.35988588504e-05,1.21821868001e-05,1793249500430945536
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.50575203,745,717,678.50575203,662,636,877.49424797,784,812,651,629.50575203,653.50575203,0.402603166671,-0.00541535555822,0.0599469029491,0.999999968662,0.000241103812855,-6.66364758151e-05,1.01794520402e-05,1793249500447612416
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,717,679,661.918931618,636,877.162136765,784,812,651,630,654,0.402840765229,-0.00542167921099,0.0599484441985,0.999999971023,0.000233193373832,-5.92400312108e-05,8.11864807323e-06,1793249500464279296
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745,717,679,661.330235875,636,878.339528249,784,812,651,630,654,0.403109968711,-0.00542931615342,0.0599504840772,0.999999973706,0.000223099904066,-5.27598599481e-05,5.48571701912e-06,1793249500480945408
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745,717,679,661.254278007,636,878.745721993,784,812,651,629.745721993,654,0.403391685051,-0.00543702540932,0.0599497597198,0.999999975862,0.000213543085559,-5.1661389455e-05,2.63576173823e-06,1793249500497611776
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,717,679,661.833448664,636,878.166551336,784,812,651,629.166551336,654,0.403689389135,-0.00544482706016,0.0599455034798,0.999999977405,0.000204671950449,-5.74391531675e-05,-4.91486639756e-07,1793249500514278400
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,717,679,662,636,878.410960932,784,812,651,629.410960932,654,0.40400347284,-0.00545242860943,0.0599342640295,0.999999977826,0.000196320939568,-7.60981525367e-05,-4.00990641558e-06,1793249500530944768
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,717,679,662,636,878.987803789,784,812,651,629.987803789,654,0.404324168074,-0.0054599493887,0.0599202058482,0.999999977269,0.000188179873836,-9.99565855029e-05,-7.68622011009e-06,1793249500547611392
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,717.559008468,679,662,636,878.440991532,784,812,651,630,654,0.404683363699,-0.00546477004024,0.059906699971,0.999999975566,0.000182212099096,-0.000124562243011,-1.23188126568e-05,1793249500564278528
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,717.865195498,679,662,636,878,784,812,651,630,654,0.405060811798,-0.00547028529262,0.0598965180798,0.99999997411,0.00017559748136,-0.000143750746688,-1.67999384317e-05,1793249500580945408
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,717.273422707,679,662,636,878,784,812,651,630,654,0.405497314138,-0.00547835284654,0.0598975635965,0.99999997546,0.00016663103006,-0.00014452114457,-2.0697593464e-05,1793249500597612288
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.687806187,745,717,679,662,636,878,784,812.312193813,650.687806187,629.687806187,654,0.405973690256,-0.00548636498962,0.0599135568864,0.999999981247,0.000150750105136,-0.000119291182331,-2.34485206396e-05,1793249500614279168
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.107477067,745,717,679,662,636,878,784,812.892522933,650.107477067,629.107477067,654,0.406484312994,-0.00549432954263,0.0599423884378,0.999999988798,0.000128930513746,-7.17301733488e-05,-2.52145528761e-05,1793249500630945792
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,717,679,662,636.469894773,878.469894773,784,812.530105227,650.469894773,629,654,0.407028788205,-0.00548687739176,0.0599715680123,0.999999998667,3.82010888274e-05,-2.22688754808e-05,-2.66624340156e-05,1793249500647612416
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.046180014,745,717,678.953819986,662.046180014,636.953819986,878.953819986,784,812,651,629,653.953819986,0.407579555208,-0.00547605193299,0.0599982770171,0.999999997684,-5.77517846403e-05,2.22350306759e-05,-2.83281108283e-05,1793249500664279040
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.617750784,745,717,678.382249216,662.617750784,636.382249216,878.382249216,784,812,651,629,653.382249216,0.408114363879,-0.00546671500096,0.059995978363,0.999999998821,-3.49351094727e-05,5.42460789282e-06,-3.32943775458e-05,1793249500680945664
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745.197438837,717,678.197438837,663,636.197438837,878.197438837,784,812,651,629,653.197438837,0.408666295035,-0.00546574143584,0.0599898003315,0.999999998909,-2.23697875154e-05,-1.54300121859e-05,-3.79957383105e-05,1793249500697612288
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745.793516036,717,678.793516036,663,636.793516036,878.793516036,784,812,651,629,653.793516036,0.409252797266,-0.00548165390509,0.0599757896533,0.999999997658,-3.0502434511e-05,-4.44500570866e-05,-4.21622411391e-05,1793249500714278912
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745.623698573,717,679,663,636.623698573,879,784,812,651,629.376301427,654,0.409884859961,-0.00549333067958,0.0599755755272,0.999999997157,-3.91924481057e-05,-4.52788156585e-05,-4.58163420855e-05,1793249500730945792
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745.047957843,717,679,663,636.047957843,879,784,812,651,629.952042157,654,0.410541069629,-0.00550276254045,0.0599826735575,0.999999997144,-4.8177865068e-05,-3.11662255917e-05,-4.91988705238e-05,1793249500747613184
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745,717,679,662.474484827,636.525515173,879.525515173,784,812,651,629.474484827,654,0.411229702402,-0.00551731620717,0.0599910969015,0.999999994889,-8.71377059142e-05,-1.0819821317e-05,-5.01261093418e-05,1793249500764279552
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745,717,679,662.101938926,637,879.898061074,784,812,651,629.101938926,654,0.411920747744,-0.00552851225552,0.059994001905,0.999999993884,-0.000100467088446,-9.78464983329e-07,-4.62281241619e-05,1793249500780946176
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745,717,679,662.693525675,637,879.306474325,784,812,651,629.693525675,654,0.412609229762,-0.00552134501763,0.0599698219621,0.999999998563,2.23982231869e-05,-4.43173180955e-05,-2.02245680037e-05,1793249500797612544
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+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745,717,679.856187996,663,637,879.856187996,784.856187996,812.856187996,651,629.143812004,654,0.413987516602,-0.00550242034927,0.0599042106,0.999999982124,7.12186401164e-05,-0.000174032791213,-1.98317299154e-05,1793249500830946304
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745,717,680,663,636.565651073,880,784.565651073,813,651,629.434348927,654,0.414797002675,-0.00550873147111,0.0599238289889,0.999999990224,2.91984093323e-05,-0.000134502829422,-2.46525962303e-05,1793249500847613184
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745.012510458,717.012510458,680,663,636.012510458,880.012510458,784,813,651,629.987489542,654,0.415646014042,-0.00552050265768,0.0599618148144,0.999999997661,-2.22783513826e-05,-5.82539322363e-05,-2.80806760095e-05,1793249500864279552
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745.584551013,717.584551013,680,663,636.584551013,880.584551013,784,813,651,629.415448987,654,0.416482443916,-0.00553078074959,0.0599995327664,0.999999999345,-2.218929219e-05,1.45919675204e-06,-2.85703217062e-05,1793249500880946176
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,717.838211744,680,663,637,881.161788256,784,813,651,629,654,0.41731982073,-0.00553787624437,0.0600235828046,0.999999998611,-1.98775445278e-05,3.91128989533e-05,-2.92157729795e-05,1793249500897613056
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,717.247187338,680,663,637,881.752812662,784,813,651,629,654,0.418159709795,-0.00553652807421,0.0600113708599,0.999999999307,-1.1668840991e-05,1.8241315195e-05,-3.02745881058e-05,1793249500914279424
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,717,679.662482083,663.337517917,637,882,784.337517917,813,651,629,654,0.419002627927,-0.00553302747932,0.0599933853971,0.999999999286,-1.59964799751e-05,-1.10335912661e-05,-3.23985215601e-05,1793249500930945792
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,717,679.082319743,663.917680257,637,882,784.917680257,813,651,629,654,0.419847723646,-0.00552797948855,0.059971249305,0.999999997873,-2.93365996887e-05,-4.63497150537e-05,-3.52881773216e-05,1793249500947612416
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,717,679.983703752,663.508148124,637,882,784.508148124,813,651,628.508148124,654,0.420669632755,-0.00552723913235,0.0599371697236,0.999999994191,-2.43183570723e-05,-9.76562969496e-05,-3.85907489714e-05,1793249500964279040
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,717,681.065407478,663.065407478,637,882.065407478,784,813.065407478,651,628.065407478,654,0.421490833215,-0.00552732294797,0.059902679593,0.99999998755,-1.8686821832e-05,-0.000151036681383,-4.16958574235e-05,1793249500980945664
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,717,681.641889515,663.641889515,637,882.641889515,784,813.641889515,651,628.641889515,654,0.422336453591,-0.00552828105218,0.0598804127859,0.999999978584,-3.19825537563e-05,-0.000199961142093,-4.27245510066e-05,1793249500997612288
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745.775190808,717,681.775190808,664,637,883,784,813.775190808,651,628.775190808,654,0.423248282777,-0.00553050800839,0.0598932163636,0.99999998175,-3.66640626938e-05,-0.000182600789951,-4.25818976809e-05,1793249501014279168
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745.181713865,717,681.181713865,664,637,883,784,813.181713865,651,628.181713865,654,0.424268688855,-0.00553481577296,0.0599635323545,0.99999999721,-2.72189881766e-05,-5.65390484341e-05,-4.05183359439e-05,1793249501030945792
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745.399971374,717,681,664,637,883,784,813.399971374,651,628,654,0.42523339075,-0.00553587472679,0.0600109055443,0.999999998417,-3.46864229442e-05,2.14987957771e-05,-3.87284527266e-05,1793249501047612416
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745.976452819,717,681,664,637,883,784,813.976452819,651,628,654,0.426173509951,-0.00553549995822,0.0600481539168,0.999999995014,-4.96174629288e-05,7.83433619043e-05,-3.70593458831e-05,1793249501064279040
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,717,681,664,637,883.550212602,784,814,651,628,654,0.42708381315,-0.00553711175121,0.0600319133554,0.999999995693,-5.23044121843e-05,6.51681626112e-05,-4.03819574859e-05,1793249501080945920
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.872417938,745.872417938,717,681,664,637,883.872417938,784,814,651,628,654,0.42798217277,-0.00553855186459,0.0600116150676,0.999999996755,-5.1975152582e-05,4.36117295758e-05,-4.34262504678e-05,1793249501097612544
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.281518986,745.281518986,717,681,664,637,883.281518986,784,814,651,628,654,0.428841770083,-0.0055390612953,0.0599848532036,0.999999998092,-4.25860342263e-05,2.44733074476e-06,-4.46878470368e-05,1793249501114279168
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.303101146,745,717,681.303101146,664.303101146,636.696898854,883.303101146,784,814.303101146,651,628,654,0.429703433634,-0.00553860660502,0.0599526810895,0.99999999636,-4.7577075126e-05,-5.36439682242e-05,-4.62392467777e-05,1793249501130945280
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.882007861,745,717,681.882007861,664.882007861,636.117992139,883.882007861,784,814.882007861,651,628,654,0.430566977303,-0.00553727461703,0.0599155859434,0.999999989087,-6.56532796947e-05,-0.000123317932564,-4.80543514564e-05,1793249501147611904
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745,717,682,664.542194777,636.457805223,884.457805223,784,815,651,628,654,0.43150781568,-0.00553782186861,0.0599382207128,0.999999993936,-6.2856807664e-05,-7.62596623349e-05,-4.85900584926e-05,1793249501164278784
+175,2.916666667,POSE1_TO_POSE2_PRESS,767.033474757,745.033474757,717,682,664.033474757,636.966525243,885,784,815,651,628,654,0.432464112035,-0.00553891872766,0.0599757648248,0.99999999728,-5.53789851755e-05,-1.15993389694e-06,-4.8692120754e-05,1793249501180946176
+176,2.933333333,POSE1_TO_POSE2_PRESS,767.620186104,745.620186104,717,682,664.620186104,636.379813896,885,784,815,651,628,654,0.433348859703,-0.00554114818356,0.0600070078536,0.999999996216,-5.884145085e-05,4.35054405948e-05,-4.70402687348e-05,1793249501197612800
+177,2.950000000,POSE1_TO_POSE2_PRESS,767.591869826,746,717,682,664.795934913,636,885,784,814.795934913,651,628,654,0.434224474698,-0.00554335486253,0.0600197954963,0.999999995242,-6.19103087281e-05,5.93733641915e-05,-4.64522462667e-05,1793249501214279168
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.434510739,746,717,682,664.21725537,636,885,784,814.21725537,651,628,654,0.435083324453,-0.00554551972891,0.0599987034909,0.999999996542,-6.42565980007e-05,2.23760966241e-05,-4.78171589987e-05,1793249501230945536
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,717,682,664,636.359230886,885.359230886,784,814.359230886,651,628,654,0.435920397221,-0.00554728375424,0.0599701909892,0.99999999594,-6.89661115521e-05,-2.95411797369e-05,-4.99174292678e-05,1793249501247612160
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,717,682,664,636.934398703,885.934398703,784,814.934398703,651,628,654,0.436744379595,-0.00554880683026,0.0599372179613,0.999999991716,-7.5096180247e-05,-9.04270058266e-05,-5.24597293875e-05,1793249501264278528
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.48870811,717,682.51129189,664,636.48870811,885.48870811,784,815,651,628,654,0.437521935693,-0.00554722664184,0.0599181751746,0.999999987195,-7.7740944742e-05,-0.000129379751628,-5.3178069466e-05,1793249501280945152
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,717,683,664,636,885,784,815,651,628.088007322,654,0.438298716795,-0.00554545377947,0.0599048334408,0.999999983091,-7.79290976576e-05,-0.000157729290578,-5.3535520485e-05,1793249501297611776
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,717,683,664,636,885,784,815,651,628.662512249,654,0.439104253554,-0.00554482430434,0.0599130930673,0.999999986104,-6.70176504772e-05,-0.000143074057439,-5.31960472395e-05,1793249501314278656
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.243631067,716.756368933,683,664,636,885.243631067,783.756368933,815,651,629,653.756368933,0.43991218035,-0.00554566187416,0.0599393318534,0.999999991339,-6.72130476121e-05,-0.000100468574172,-5.20599999046e-05,1793249501330945536
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+186,3.100000000,POSE1_TO_POSE2_PRESS,765.584933165,746,716.415066835,683,664.415066835,636,886,783,815,651,628.584933165,653.415066835,0.441464321425,-0.00555230934054,0.0599942092026,0.999999994868,-8.67985751269e-05,-1.68931458444e-05,-4.94432176711e-05,1793249501364278784
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.007796436,746,716.992203564,683,664.992203564,636,886,783,815,651,628.007796436,653.992203564,0.442177597457,-0.00555634054023,0.0599781921024,0.999999993976,-8.55181693592e-05,-4.7439847654e-05,-4.98478974045e-05,1793249501380945408
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.56822952,746,717,683,664.43177048,636,886,783.56822952,815,651,628,654,0.442807660445,-0.00555738643881,0.0599243144472,0.999999987328,-8.43024006216e-05,-0.000123652401749,-5.42814416849e-05,1793249501397612288
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,717,683,664,635.851639196,886,783.851639196,815.148360804,651,628,654,0.443431905479,-0.00555870896199,0.0598784382609,0.999999976651,-8.56905400937e-05,-0.000189706950424,-5.80237380547e-05,1793249501414278912
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,717,683,664,635.2591733,886,783.2591733,815.7408267,651,628,654,0.444042146131,-0.00556098190809,0.0598580657089,0.999999968756,-9.48706024639e-05,-0.000223482519709,-5.95316980758e-05,1793249501430945280
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,717,683,664,635.322239171,886.322239171,783,815.677760829,651,628.322239171,654,0.44464700206,-0.00556015962671,0.0598497155683,0.999999964883,-9.8132795142e-05,-0.000238524193549,-6.09157431141e-05,1793249501447611904
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,717,683,664,635.8950563,886.8950563,783,815.1049437,651,628.8950563,654,0.445247670713,-0.00555693045041,0.0598507142343,0.999999964821,-9.67931641028e-05,-0.000238998110602,-6.22034299746e-05,1793249501464278784
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,717,683,663.527055839,635.527055839,887,783,815,651,628.527055839,654,0.445793494792,-0.00555283624442,0.0598261389217,0.99999995254,-9.41912502165e-05,-0.000285998343082,-6.52141232973e-05,1793249501480945664
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,717,683,663,635,887,783,815.051551044,651,628.051551044,654,0.446324581104,-0.00554928821739,0.0597970680857,0.999999935632,-9.18718243107e-05,-0.000340002124751,-6.85191367506e-05,1793249501497612032
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,717,683,663,635,887,783,815.625915303,651,628.625915303,654,0.4468309607,-0.0055532470937,0.0597805800381,0.999999928436,-9.52886987038e-05,-0.00035919697489,-7.08896076582e-05,1793249501514278912
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.791883776,717,683,663,635,887,783,815.791883776,651,629,654,0.44733430243,-0.00555865533932,0.0597742594911,0.999999926084,-0.000101738084289,-0.000363562478706,-7.28281401441e-05,1793249501530945792
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.195045502,717,683,663,635,887,783,815.195045502,651,629,654,0.44783196994,-0.00556677073432,0.0597869299291,0.999999932906,-0.000113851631275,-0.000340229544604,-7.39598924652e-05,1793249501547612416
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.386573243,717,683.386573243,663,635,887,783,815.386573243,651,628.613426757,654,0.448288270268,-0.00557275029856,0.05978832258,0.999999932616,-0.000123168289025,-0.000337587988161,-7.50494842018e-05,1793249501564278784
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.9608039,717,683.9608039,663,635,887,783,815.9608039,651,628.0391961,654,0.44872448943,-0.00557769304971,0.0597842405635,0.999999928996,-0.000131127231019,-0.000344990814602,-7.61186096904e-05,1793249501580945152
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+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.341794082,717,683.658205918,661.341794082,633.341794082,887,782,815.341794082,651.341794082,628,654,0.452346731898,-0.0055747865174,0.0596659116363,0.999999858131,-0.000115133709367,-0.000516345349364,-6.22008403387e-05,1793249501830944768
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745.236649698,717,683.763350302,661.236649698,633,887,782,815.236649698,651.236649698,628,654,0.452442885513,-0.00557331570283,0.0596606973398,0.999999854848,-0.000112655529252,-0.00052314489604,-6.2702700292e-05,1793249501847611648
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+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,717,683,661.590223074,633,887,782,816,652,628,654,0.452587012183,-0.00557248211109,0.0596523157928,0.999999849034,-0.000109069285198,-0.000534826493523,-6.32124554036e-05,1793249501880944896
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,717,683,661.015616899,633,887,782,816,652,628,654,0.452648493585,-0.005576326503,0.0596509938903,0.999999847272,-0.00011324324869,-0.000537291248161,-6.28445195257e-05,1793249501897611520
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+247,4.116666667,HOLD_POSE2,766,745.368019036,717,683,661,633,887,782,816,651,628,654,0.452858174424,-0.00556799058493,0.0596390700524,0.999999837325,-0.000101065109521,-0.000558071951784,-6.07577715187e-05,1793249502396894208
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+251,4.183333333,HOLD_POSE2,766,745.31825887,717,683.31825887,661,633,887.31825887,782.31825887,816,651,628,654,0.452856412071,-0.00556737374414,0.059637407426,0.999999836031,-9.78061429921e-05,-0.000561007047798,-6.03533484669e-05,1793249502463560192
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+256,4.266666667,HOLD_POSE2,766,745.576580769,717,683,661,633,887,782,816,651,627.576580769,654,0.452858367259,-0.00556688660064,0.0596378449204,0.999999836738,-9.89995350443e-05,-0.000559508597897,-6.05998559515e-05,1793249502546894848
+257,4.283333333,HOLD_POSE2,766,746,717,683,661,633,887,782,816,651,627.842225434,654,0.452858089251,-0.00556774151373,0.059637344018,0.999999836434,-9.83130028726e-05,-0.000560212638092,-6.02276345308e-05,1793249502563561216
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745.634352537,717.365647463,680,662,636,878.634352537,784,813,650.365647463,629,654,0.41784154707,-0.00538559998628,0.0597429244454,0.999999898901,0.00021009034537,-0.000397003080021,2.1167091248e-05,1793249503861915136
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745.057505723,717.942494277,680,662,636,878.057505723,784,813,650.942494277,629,654,0.417052607952,-0.00538260780058,0.0597912550357,0.999999924155,0.000199467399779,-0.000333620530496,2.44965269396e-05,1793249503878581760
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766.519315747,745,717.480684253,680,662,636,878.519315747,784,812.480684253,651,629,654,0.416265885275,-0.00538014660322,0.05982028397,0.999999933032,0.000213676719159,-0.00029584694609,2.74514810857e-05,1793249503895248384
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,745,717,680,662,636,878.902219855,784,812,651,629,653.902219855,0.415484621196,-0.00537902244861,0.0598421633041,0.999999938058,0.000226248971371,-0.000267964302904,2.98580131296e-05,1793249503911914496
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,745,717,680,662,636,878.315526594,784,812,651,629,653.315526594,0.414729423679,-0.00538428969275,0.0598389801934,0.999999938127,0.000216887168104,-0.000275359084756,2.97296988903e-05,1793249503928581376
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,745,717,679.731416933,662,636,878,784.268583067,812,651,629,653,0.413957089247,-0.00538652216669,0.0598345189911,0.999999936784,0.000211134299325,-0.000284574377094,2.95286729331e-05,1793249503945248000
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745,717,679.150313564,662,636,878,784.849686436,812,651,629,653,0.413164814542,-0.00538522341501,0.0598285706158,0.99999993383,0.000209580747698,-0.000295907994909,2.92430404305e-05,1793249503961914368
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745,717,679.426680049,662,636,878,784.573319951,812,651,629,653.426680049,0.412387666766,-0.00537909278293,0.0597908547154,0.999999911306,0.000220574531259,-0.000357793071598,2.6828251348e-05,1793249503978581248
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766.997762607,745,717,680,662,636,878,784,812,651,629,653.997762607,0.411616282426,-0.00537130749265,0.0597422698141,0.999999876471,0.000235821229411,-0.000436905213891,2.36800331548e-05,1793249503995248128
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766.422798356,745,717,680,662,636,878,784,812,651,629,653.422798356,0.410969131576,-0.00537153664122,0.0597488495218,0.999999891434,0.000219026693287,-0.000410647538915,2.29606511403e-05,1793249504011915264
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766.15657147,745,717,680,661.84342853,636,878,784,812,651.15657147,629,653,0.41033769172,-0.0053724837579,0.0597660700037,0.999999907918,0.000207230473854,-0.000375057347171,2.34814562704e-05,1793249504028582400
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766.748182473,745,717,680,661.251817527,636,878,784,812,651.748182473,629,653,0.409749905292,-0.00537542577518,0.0598128562656,0.999999928563,0.000209322255658,-0.000313536411625,2.7448166403e-05,1793249504045248512
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745,717,679.668307064,661,636,878,784,812,651.668307064,629,653,0.409151755422,-0.00537585238691,0.0598426407004,0.999999937026,0.000225226705161,-0.000272652924675,2.96730214246e-05,1793249504061915136
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745,717,679.090799866,661,636,878,784,812,651.090799866,629,653,0.408545925347,-0.00537441485699,0.0598598252511,0.999999937419,0.000251367582329,-0.000247063645059,3.06070051207e-05,1793249504078581504
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766.516072249,745.483927751,717,679,661,636,877.516072249,784,812,651,629,653.483927751,0.407975313076,-0.00537526823573,0.0598512909609,0.99999993865,0.000239490797879,-0.000253918787269,2.94745333027e-05,1793249504095247872
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745.940303601,717,679,661,636,877,784,812,651,629,654,0.407416545566,-0.00537637580384,0.0598380289522,0.999999939002,0.00022308904646,-0.000267289579982,2.80093240606e-05,1793249504111913984
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745.350690689,717,679,661,636,877,784,812,651,629,654,0.406904599429,-0.00537594588788,0.0598253916521,0.999999932758,0.000229479412952,-0.000284768904221,2.70126304838e-05,1793249504128580608
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.234657475,745,717,679.234657475,661.234657475,636,877.234657475,784,812,651,629.234657475,654,0.406411259381,-0.00537419437873,0.059820305242,0.999999929616,0.000236167014463,-0.000290338377327,2.64081398914e-05,1793249504145247232
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.813745782,745,717,679.813745782,661.813745782,636,877.813745782,784,812,651,629.813745782,654,0.405945229443,-0.00537050303181,0.059826302048,0.999999931296,0.000243290897778,-0.000278426539618,2.63793259179e-05,1793249504161913856
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745,717,679.609521527,661.609521527,636,877.609521527,784,812,651,630,653.609521527,0.405491703794,-0.00536613355137,0.0598254530332,0.999999930094,0.000247852914446,-0.000278687715099,2.67313239163e-05,1793249504178580480
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745,717,679.033905651,661.033905651,636,877.033905651,784,812,651,630,653.033905651,0.405044106756,-0.00536144254743,0.0598213582126,0.999999927545,0.000251200274937,-0.000284720475419,2.72638761409e-05,1793249504195247360
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745.539541994,717,679,661,636,877.539541994,784.539541994,812,651,630,653.539541994,0.404630839881,-0.0053555713161,0.0598001056131,0.999999915171,0.000260044120862,-0.000318293627943,2.69044790083e-05,1793249504211914496
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745.883498352,717,678.883498352,661,636,877.883498352,784.883498352,812,651,629.883498352,653.883498352,0.40423179368,-0.00534964796403,0.0597794028534,0.999999901817,0.000269471622313,-0.000350781845987,2.65067991493e-05,1793249504228581888
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745.291655373,717,678.291655373,661,636,877.291655373,784.291655373,812,651,629.291655373,653.291655373,0.403882002424,-0.00534381335173,0.0597653251715,0.99999989137,0.000279876849862,-0.000371810276918,2.618070262e-05,1793249504245248000
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745.293386167,717,678.293386167,661.293386167,636,877.293386167,784,811.706613833,651,629,653.293386167,0.403568295256,-0.00534071652663,0.0597668955328,0.999999891597,0.000286783311182,-0.00036581545845,2.72120826867e-05,1793249504261914368
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745.87181955,717,678.87181955,661.87181955,636,877.87181955,784,811.12818045,651,629,653.87181955,0.403289646575,-0.00534027967262,0.0597836691719,0.999999901796,0.000290290451389,-0.000333565474259,2.95623556368e-05,1793249504278581504
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745.552298221,717,679,662,636,878,784,811.447701779,651,629,654,0.403040156236,-0.00534122832745,0.0598046802094,0.999999912557,0.000291233215948,-0.000298412666144,3.19178246736e-05,1793249504295248384
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.976672022,745,717,679,661.976672022,636,877.976672022,784,812,651,629,653.976672022,0.402800038371,-0.00534279516312,0.0598264146626,0.99999992239,0.000290999968215,-0.000263376724846,3.42253544141e-05,1793249504311915008
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.38968328,745,717,679,661.38968328,636,877.38968328,784,812,651,629,653.38968328,0.402585810931,-0.0053497682637,0.0598364808406,0.999999928644,0.000279990959804,-0.000251132199659,3.53388132965e-05,1793249504328581376
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.194832628,745,717,678.805167372,661,636,877,784,812,651,629.194832628,653.194832628,0.402374731457,-0.00535873408648,0.059841180066,0.999999932976,0.000267409154145,-0.000247393302584,3.65651534949e-05,1793249504345248000
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.774464559,745,717,678.225535441,661,636,877,784,812,651,629.774464559,653.774464559,0.402169869321,-0.00537163558454,0.0598352794246,0.999999933678,0.000251721036011,-0.000260453234855,3.80144369841e-05,1793249504361914624
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745,717,678,661.352678243,636,876.647321757,784,812,651,629.647321757,654,0.401985309606,-0.00537588015265,0.0598295626684,0.999999932058,0.000243953682119,-0.000273709614899,3.81259471759e-05,1793249504378581248
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745,717,678,661.929988656,636,876.070011344,784,812,651,629.070011344,654,0.40181368114,-0.0053746108436,0.059823963034,0.999999928994,0.000241231317405,-0.000287091120171,3.73853864674e-05,1793249504395247872
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.494614933,745,717,678,662,636,876.505385067,784,812,650.494614933,629.505385067,653.494614933,0.401680565704,-0.00537429703289,0.0598246310773,0.999999942413,0.000182582580053,-0.000285237665423,2.18395282034e-05,1793249504411914496
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,717,678.082322524,661.917677476,636,877.082322524,784,812,650.082322524,629.917677476,653,0.401556782233,-0.00537533174389,0.0598264221658,0.999999952549,0.000124844620156,-0.000281542613016,7.08227274483e-06,1793249504428581120
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,717,678.670349468,661.329650532,636,877.670349468,784,812,650.670349468,629.329650532,653,0.401457674124,-0.00538384032601,0.0598297984812,0.999999953693,0.00012011469015,-0.000279450567651,9.72098383452e-06,1793249504445248000
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,717,679,661,636,877.74548748,784,812,651,629,653.25451252,0.401368238573,-0.00538511449797,0.0598321523957,0.999999954057,0.000124077452165,-0.000276343871705,1.11865123921e-05,1793249504461914624
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,717,679,661,636,877.166254224,784,812,651,629,653.833745776,0.401291143798,-0.00537715862054,0.0598332018761,0.999999953283,0.000139130817614,-0.000271942630158,1.11552315302e-05,1793249504478581248
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.412355311,745.412355311,717.412355311,678.587644689,661.412355311,636,877,784,812,651,629.412355311,654,0.401223405246,-0.00537660788181,0.0598324524861,0.999999943485,0.000194510526578,-0.000273954323779,1.20483326152e-05,1793249504495247872
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.990713738,745.990713738,717.990713738,678.009286262,661.990713738,636,877,784,812,651,629.990713738,654,0.401159433259,-0.0053790382522,0.0598309789194,0.999999925706,0.000266124531556,-0.000278547690887,1.33135648652e-05,1793249504511914496
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,745.435334394,717.435334394,678,662,636,877,784,812,651,630,654,0.401111785467,-0.00537698416256,0.0598284617213,0.999999923609,0.000269123326728,-0.000283158667451,1.32677869539e-05,1793249504528581120
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.857063933,745,717,678,661.857063933,636,877,784,812,651.142936067,630,654,0.401068326087,-0.00537520214458,0.0598259865486,0.999999921957,0.000270660331961,-0.000287496300101,1.32148480492e-05,1793249504545248256
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.264997862,745,717,678,661.264997862,636,877,784,812,651.735002138,630,654,0.401037190417,-0.00537450496319,0.0598236969396,0.999999920826,0.000271122368161,-0.00029097413476,1.32066298263e-05,1793249504561915136
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.318661943,745,717.318661943,678,661.318661943,636,877,784,812.318661943,651.681338057,630,654,0.401014918856,-0.00537500702923,0.0598233940131,0.999999921013,0.000270356087349,-0.000291025562931,1.36274182881e-05,1793249504578581760
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.895510868,745,717.895510868,678,661.895510868,636,877,784,812.895510868,651.104489132,630,654,0.400999829192,-0.00537648075211,0.0598247007407,0.999999922266,0.000268594596864,-0.000288300840846,1.43957974925e-05,1793249504595248128
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745.470709137,718,678.470709137,662,636,877,784,812.529290863,651,630,654,0.400989421815,-0.00537496560954,0.0598257286685,0.999999922562,0.000268881816929,-0.000287007498509,1.43146174895e-05,1793249504611914752
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,717.953331687,678.953331687,661.953331687,636,877,784,812,651,629.953331687,654,0.400980580936,-0.00537317516431,0.0598268692489,0.999999922804,0.000269347639416,-0.000285735920344,1.41191365203e-05,1793249504628581632
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,717.364285215,678.364285215,661.364285215,636,877,784,812,651,629.364285215,654,0.400977908348,-0.00537586910782,0.0598300358296,0.999999924856,0.00026662222979,-0.00028103740845,1.47793489786e-05,1793249504645248256
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745.779053615,717,678,661.220946385,636,877.220946385,784,812,651,629,653.779053615,0.400975691117,-0.00537657467988,0.0598324135975,0.999999925802,0.000266761058047,-0.000277497178441,1.51568819136e-05,1793249504661915136
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745.200005059,717,678,661.799994941,636,877.799994941,784,812,651,629,653.200005059,0.400974211913,-0.00537405756889,0.0598335128852,0.999999924977,0.000271542143023,-0.000275834251475,1.50762577279e-05,1793249504678581760
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745.376855824,717,678.376855824,662,636,877.623144176,784,812,651,629.376855824,653,0.400972573238,-0.00537441312015,0.0598335820543,0.999999925379,0.000270431533468,-0.000275457007629,1.52472932178e-05,1793249504695248128
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745.952562348,717,678.952562348,662,636,877.047437652,784,812,651,629.952562348,653,0.400970850416,-0.00537628445249,0.059833107674,0.999999926423,0.000266212128571,-0.000275758163824,1.55511187562e-05,1793249504711914496
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745.471880843,717.528119157,679,661.471880843,636,877.528119157,783.471880843,812,651,630,653.528119157,0.400969480088,-0.0053765424427,0.0598334489615,0.999999925858,0.00026748460461,-0.000276572617481,1.55947848209e-05,1793249504728581376
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.893911571,745,717.893911571,678.893911571,661.106088429,636,877.893911571,783.106088429,812,651,630,654,0.400968789409,-0.00537667124514,0.0598341287573,0.999999925493,0.000268813011018,-0.000276604092662,1.56360717255e-05,1793249504745248256
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.304899532,745,717.304899532,678.304899532,661.695100468,636,877.304899532,783.695100468,812,651,630,654,0.400971048463,-0.00537687145895,0.0598360160512,0.999999926696,0.000268151102752,-0.00027286156214,1.57728737676e-05,1793249504761915136
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.279283719,745.279283719,717.279283719,678,662,636,877,784,812,651,630,654,0.400971300836,-0.00537764459688,0.0598365891028,0.999999927387,0.000266799767577,-0.000271651565171,1.58087378863e-05,1793249504778581760
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745.565147032,717.565147032,678.434852968,662,636,877,784,812,651,630,654,0.400968358571,-0.00537879246043,0.0598351575991,0.999999927237,0.000264799162239,-0.000274157842156,1.56328163031e-05,1793249504811914240
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..23599ee75e23129ae41c80b258bd60c5d402ffb8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,406 @@
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+374,6.233333333,pose2_to_pose3_retreat,0.575790822037,0.000150051856488,1.05003350903,0.546361502222,0.00882269149118,1.04970490462
+375,6.250000000,pose2_to_pose3_retreat,0.57575590043,0.000150056317006,1.05003356811,0.546326580584,0.00882269600667,1.04970496796
+376,6.266666667,pose2_to_pose3_retreat,0.575729430361,0.000150091222208,1.05003362683,0.546300108997,0.00882272558217,1.04970502203
+377,6.283333333,pose2_to_pose3_retreat,0.575709276258,0.000150102780532,1.05003352265,0.5462799547,0.00882273647583,1.04970491781
+378,6.300000000,pose2_to_pose3_retreat,0.575694957265,0.000150105467718,1.05003340793,0.546265636386,0.00882274157571,1.04970480612
+379,6.316666667,pose2_to_pose3_retreat,0.575685462238,0.000150119047093,1.05003350934,0.546256140504,0.00882275206987,1.0497049027
+380,6.333333333,pose2_to_pose3_retreat,0.575679337478,0.000150037868923,1.05003349957,0.546250017238,0.00882267609018,1.04970489606
+381,6.350000000,pose2_to_pose3_retreat,0.575675355865,0.000149974542254,1.0500334844,0.546246036836,0.00882261698653,1.04970488366
+382,6.366666667,pose2_to_pose3_retreat,0.575672953719,0.000150034976142,1.05003356094,0.546243633674,0.0088226737859,1.04970495531
+383,6.383333333,pose2_to_pose3_retreat,0.575671570033,0.00015007158423,1.0500336066,0.546242249371,0.0088227081878,1.04970499802
+384,6.400000000,pose2_to_pose3_retreat,0.575670371529,0.000150103292965,1.05003364614,0.546241050332,0.00882273798561,1.04970503502
+385,6.416666667,pose2_to_pose3_retreat,0.575669381408,0.000150129135202,1.05003364172,0.546240059955,0.00882276297645,1.0497050311
+386,6.433333333,pose2_to_pose3_retreat,0.575668922104,0.000150140902518,1.05003361652,0.546239600648,0.00882277480286,1.04970500776
+387,6.450000000,pose2_to_pose3_retreat,0.575668737363,0.000150145635565,1.05003360638,0.546239415905,0.00882277955968,1.04970499837
+388,6.466666667,pose2_to_pose3_retreat,0.575668526734,0.000150151031865,1.05003359482,0.546239205274,0.00882278498308,1.04970498766
+389,6.483333333,pose2_to_pose3_retreat,0.575668363899,0.000150155203654,1.05003358588,0.546239042439,0.00882278917582,1.04970497939
+390,6.500000000,pose2_to_pose3_retreat,0.575668194332,0.000150159547962,1.05003357657,0.54623887287,0.00882279354194,1.04970497077
+391,6.516666667,pose2_to_pose3_retreat,0.575667785591,0.000150170019845,1.05003355414,0.546238464127,0.00882280406641,1.04970495
+392,6.533333333,pose2_to_pose3_retreat,0.575667432829,0.000150179057565,1.05003353478,0.546238111362,0.00882281314952,1.04970493207
+393,6.550000000,pose2_to_pose3_retreat,0.575667406339,0.00015017973623,1.05003353333,0.546238084872,0.00882281383159,1.04970493072
+394,6.566666667,pose2_to_pose3_retreat,0.57566727994,0.000150182974575,1.05003352639,0.546237958471,0.0088228170862,1.0497049243
+395,6.583333333,pose2_to_pose3_retreat,0.575667207385,0.00015018483342,1.05003352241,0.546237885916,0.00882281895438,1.04970492061
+396,6.600000000,pose2_to_pose3_retreat,0.575666916825,0.000150192277534,1.05003350646,0.546237595354,0.00882282643588,1.04970490584
+397,6.616666667,pose2_to_pose3_retreat,0.575666406296,0.000150202509986,1.0500334803,0.54623708486,0.00882283685807,1.0497048816
+398,6.633333333,pose2_to_pose3_retreat,0.575666219213,0.000150188268963,1.05003348244,0.546236898032,0.00882282347044,1.04970488345
+399,6.650000000,pose2_to_pose3_retreat,0.575666129278,0.000150181422949,1.05003348347,0.546236808219,0.00882281703467,1.04970488435
+400,6.666666667,pose2_to_pose3_retreat,0.575666026074,0.000150173566936,1.05003348465,0.546236705156,0.00882280964943,1.04970488537
+401,6.683333333,pose2_to_pose3_retreat,0.575665700778,0.000150148804856,1.05003348836,0.546236380302,0.00882278637122,1.0497048886
+402,6.700000000,pose2_to_pose3_retreat,0.575664911873,0.00015008878791,1.05003349744,0.54623559247,0.00882272995041,1.04970489649
+403,6.716666667,pose2_to_pose3_retreat,0.57566450373,0.000150175277232,1.05003370522,0.546235182462,0.00882280999047,1.04970510105
+404,6.733333333,pose2_to_pose3_retreat,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511741,1.04970501047
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b21b9751b3c838f9bf12b18e69a142b662eb0b5d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a95a5b1d50de894a5b91d3069927cad35448ccb9e3dbf39e908742ed6ee73729
+size 25746566
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..12c3a61874ad550d95ba51baf1baa69fa000b247
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_05/franka_data.csv
@@ -0,0 +1,406 @@
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+13,0.216666667,BASELINE,766.448493018,745,717,678,661.551506982,636,877,784,812,651,630,653.551506982,0.400968092438,-0.0053771903599,0.0598383852396,0.999999928452,0.000266260010687,-0.000268252821395,1.55737495595e-05,1793249505361100800
+14,0.233333333,BASELINE,766,745,717,678,661.865464171,636,877.134535829,784,812,651,630,653.865464171,0.400968681442,-0.00537804601917,0.059839304437,0.99999992879,0.000265945054965,-0.000267298766732,1.56634528716e-05,1793249505377766912
+15,0.250000000,BASELINE,766,745,717,678,661.283174277,636,877.716825723,784,812,651,630,653.283174277,0.400967970563,-0.00537761115941,0.0598386866768,0.999999928962,0.000264621369655,-0.000267967018998,1.56538580475e-05,1793249505394433536
+16,0.266666667,BASELINE,766.29740973,745,717,678.29740973,661.29740973,636,877.70259027,784,812,651,629.70259027,653,0.400968075911,-0.00537691174789,0.0598387301842,0.999999929004,0.000264611436232,-0.000267812841036,1.57531589861e-05,1793249505411100160
+17,0.283333333,BASELINE,766.876378731,745,717,678.876378731,661.876378731,636,877.123621269,784,812,651,629.123621269,653,0.400968953984,-0.00537596188395,0.059839399717,0.999999928923,0.00026584523834,-0.000266880064244,1.59555520859e-05,1793249505427766784
+18,0.300000000,BASELINE,766.549285929,745,717,679,662,636,877.450714071,784,811.549285929,651,629.450714071,653,0.400968548679,-0.00537588891169,0.0598390939094,0.999999928279,0.000267657260959,-0.000267479431605,1.60118308324e-05,1793249505444433920
+19,0.316666667,BASELINE,766.023909305,745,717,678.976090695,661.976090695,636,877.976090695,784,811.023909305,651,630,653.023909305,0.400967871104,-0.00537605022525,0.0598385655513,0.999999927536,0.000269495330853,-0.000268408829287,1.60176935803e-05,1793249505461101056
+20,0.333333333,BASELINE,766.599826168,745,717,678.400173832,661.400173832,636,877.400173832,784,811.599826168,651,630,653.599826168,0.400968951682,-0.00537612428112,0.0598390124677,0.999999928141,0.000268310490739,-0.000267354362969,1.57754167201e-05,1793249505477767680
+21,0.350000000,BASELINE,767,745,717,678,661,636,877,784,812,651,630,654,0.400969390443,-0.0053760465885,0.0598392270609,0.999999928544,0.000267362444316,-0.000266807351786,1.55944150495e-05,1793249505494434304
+22,0.366666667,BASELINE,767,745,717,678,661,636,877,784,812,651,630,654,0.400968367762,-0.00537562335862,0.0598389126451,0.999999928491,0.000266953586553,-0.000267415835937,1.5552939415e-05,1793249505511100672
+23,0.383333333,BASELINE,766.640412613,745,717.359587387,678.359587387,661.359587387,636,877,784,812,651,630,653.640412613,0.400967110204,-0.0053764324675,0.0598381159772,0.999999928395,0.000265821831292,-0.000268896584945,1.56145586615e-05,1793249505527767296
+24,0.400000000,BASELINE,766.063277403,745,717.936722597,678.936722597,661.936722597,636,877,784,812,651,630,653.063277403,0.400965710546,-0.00537798713256,0.0598370275502,0.999999928267,0.000264252728122,-0.000270905048075,1.57385495772e-05,1793249505544433664
+25,0.416666667,BASELINE,766,745,718,679,662,636,877,784,812,651,630,653.509607692,0.400967447867,-0.00537629882868,0.0598386543251,0.999999928158,0.000267533861777,-0.000268067952655,1.5774896543e-05,1793249505561100544
+26,0.433333333,BASELINE,766.084729268,745.084729268,718,679,662,636.084729268,877.084729268,784,812,651,630,654,0.400969111446,-0.00537458616032,0.0598401363811,0.999999928092,0.00027040154375,-0.000265424043475,1.57740953311e-05,1793249505577767424
+27,0.450000000,BASELINE,766.676362217,745.676362217,718,679,662,636.676362217,877.676362217,784,812,651,630,654,0.400968022802,-0.00537511686134,0.059838752317,0.999999928395,0.000267222472647,-0.000267505674914,1.56156187484e-05,1793249505594433792
+28,0.466666667,BASELINE,767,745.738044609,717.738044609,679,662,636.738044609,878,784,812,651,630,653.738044609,0.400967502577,-0.00537580689118,0.059838109739,0.999999928568,0.000265575693545,-0.000268500029083,1.55575619823e-05,1793249505611100416
+29,0.483333333,BASELINE,767,745.159745256,717.159745256,679,662,636.159745256,878,784,812,651,630,653.159745256,0.400967668788,-0.00537668933051,0.0598383625983,0.999999928598,0.00026577934925,-0.000268181359575,1.56207747386e-05,1793249505627767808
+30,0.500000000,BASELINE,767,745,717,678.584899782,662,636,878,784,812,651,630,653.415100218,0.400966994956,-0.00537626705041,0.0598379010004,0.999999928395,0.000265795861942,-0.000268928112127,1.54968366701e-05,1793249505644434432
+31,0.516666667,BASELINE,767,745,717,678.011372529,662,636,878,784,812,651,630,653.988627471,0.400966000515,-0.00537534681141,0.0598371667229,0.999999928102,0.000265740949677,-0.00027008149338,1.53014706674e-05,1793249505661100800
+32,0.533333333,BASELINE,767,745.563462387,717,678.563462387,662,636,878,784,812,651,630,654,0.4009670146,-0.00537628586835,0.0598383432717,0.999999928438,0.000265899407631,-0.000268669697859,1.54457106261e-05,1793249505677766912
+33,0.550000000,BASELINE,766.85741722,745.85741722,717,678.85741722,662,636,877.85741722,784.14258278,812,651,630,654,0.400968108567,-0.00537680493331,0.0598392848085,0.999999928765,0.000265980265473,-0.000267365581466,1.5522694623e-05,1793249505694433280
+34,0.566666667,BASELINE,766.264855839,745.264855839,717,678.264855839,662,636,877.264855839,784.735144161,812,651,630,654,0.4009693264,-0.00537587983417,0.0598393626716,0.999999929028,0.000265802601632,-0.000266565064494,1.53657426477e-05,1793249505711099904
+35,0.583333333,BASELINE,766,745,717,678,661.679787305,636,877.320212695,784.679787305,812,651,630,653.679787305,0.400969312129,-0.0053754321962,0.059839167918,0.999999928859,0.000266235822082,-0.00026676803383,1.53162376168e-05,1793249505727766528
+36,0.600000000,BASELINE,766,745,717,678,661.100774521,636,877.899225479,784.100774521,812,651,630,653.100774521,0.400968302056,-0.00537537044847,0.059838752832,0.999999928341,0.000267162767186,-0.000267782033835,1.53535725943e-05,1793249505744433152
+37,0.616666667,BASELINE,766.474722631,745,717,678.474722631,661.474722631,636,877.525277369,784,812,651,629.525277369,653,0.400968740958,-0.00537616584758,0.0598390233269,0.999999928696,0.000266870038932,-0.000266734707812,1.55086115239e-05,1793249505761100544
+38,0.633333333,BASELINE,766.950780408,745.049219592,717,679,661.950780408,636,877,784,812,651,629.049219592,653,0.40096940631,-0.00537705767896,0.0598393917148,0.999999929162,0.000266344121235,-0.00026550295794,1.56619797777e-05,1793249505777767680
+39,0.650000000,BASELINE,766.379036621,745.620963379,717,679,661.379036621,636,877,784,812,651,629.620963379,653,0.400969234288,-0.00537705577719,0.0598392656771,0.999999928858,0.000266071086164,-0.000266924609821,1.55343028595e-05,1793249505794434304
+40,0.666666667,BASELINE,766.2015079,745.7984921,717,678.7984921,661,636,877,784,811.7984921,651,630,653,0.400969069867,-0.00537662319979,0.0598391970907,0.9999999286,0.000266259276358,-0.000267707659808,1.54551283644e-05,1793249505811100672
+41,0.683333333,BASELINE,766.799362589,745.200637411,717,678.200637411,661,636,877,784,811.200637411,651,630,653,0.400968920396,-0.00537534352454,0.0598392415058,0.999999928434,0.000267354652611,-0.00026723464079,1.54713535102e-05,1793249505827767040
+42,0.700000000,BASELINE,766.617258104,745.382741896,717,678,661.382741896,636,877,784,811.382741896,651,630,653,0.400968747871,-0.0053756384554,0.059839420994,0.999999929012,0.000265554274794,-0.00026687148263,1.53617463693e-05,1793249505844433408
+43,0.716666667,BASELINE,766.041190439,745.958809561,717,678,661.958809561,636,877,784,811.958809561,651,630,653,0.400968563702,-0.00537672873154,0.0598396687086,0.999999929958,0.000262291230086,-0.000266563816016,1.51885804067e-05,1793249505861100032
+44,0.733333333,BASELINE,766.533015016,745.466984984,717,678.533015016,662.533015016,636,876.466984984,784,812,651,630,653.533015016,0.40096894997,-0.00537730477076,0.0598395618756,0.999999929509,0.000264750920277,-0.000265791836968,1.55878253576e-05,1793249505877766400
+45,0.750000000,BASELINE,767,745,717.110201098,678.889798902,662.889798902,636,876.220402195,784,812,651,630,654,0.40096897522,-0.00537745845684,0.0598392948998,0.99999992895,0.0002670565544,-0.000265573313039,1.58593775688e-05,1793249505894432768
+46,0.766666667,BASELINE,767,745,717.701011566,678.298988434,662.298988434,636,877.402023131,784,812,651,630,654,0.400967234421,-0.00537594288262,0.0598384485841,0.999999928407,0.000266768322916,-0.000267924460045,1.53817900276e-05,1793249505911099392
+47,0.783333333,BASELINE,767,745.285836808,718,678,661.714163192,636,877.714163192,784,812,651,630,654,0.400967112415,-0.00537548974098,0.0598384123156,0.999999928451,0.000266629558948,-0.000267906938285,1.52810352681e-05,1793249505927766016
+48,0.800000000,BASELINE,767,745.864529914,718,678,661.135470086,636,877.135470086,784,812,651,630,654,0.400968648956,-0.0053761251226,0.0598392059872,0.999999929094,0.000266643933038,-0.000265462579032,1.55663673717e-05,1793249505944432640
+49,0.816666667,BASELINE,766.56021477,745.56021477,717.56021477,678,661.43978523,636,877,784,812,651,630,654,0.400970078157,-0.00537639918629,0.0598405531532,0.999999929309,0.000266980929189,-0.000264297282943,1.57898188549e-05,1793249505961100032
+50,0.833333333,BASELINE,766.013954585,745,717.013954585,678.013954585,662,636,877,784,812,651,630,654,0.400971412721,-0.00537656702764,0.0598420054211,0.999999929393,0.000267369478734,-0.00026357440389,1.59846232145e-05,1793249505977767424
+51,0.850000000,BASELINE,766.586715429,745,717.586715429,678.586715429,662,636,877,784,812,651,630,654,0.40097027143,-0.00537690360309,0.0598408919361,0.999999929442,0.000265873717368,-0.000264912794653,1.57896553863e-05,1793249505994433792
+52,0.866666667,BASELINE,766.834608267,745.165391733,717.834608267,678.834608267,662,636,877,784,812,651,630,653.834608267,0.400969502615,-0.00537718539406,0.0598401932021,0.999999929611,0.000264461319238,-0.000265694285988,1.56756027914e-05,1793249506011100160
+53,0.883333333,BASELINE,766.240602016,745.759397984,717.240602016,678.240602016,662,636,877,784,812,651,630,653.240602016,0.400969699073,-0.00537732521039,0.0598405693001,0.9999999301,0.000263264957954,-0.000265032566175,1.57712429361e-05,1793249506027766784
+54,0.900000000,BASELINE,766.344655234,745.655344766,717,678,661.655344766,636,877,784,811.655344766,651,630,653.344655234,0.400969033761,-0.00537669192393,0.0598402247238,0.999999929483,0.000264882058338,-0.000265754473628,1.56833542216e-05,1793249506044433664
+55,0.916666667,BASELINE,766.923956032,745.076043968,717,678,661.076043968,636,877,784,811.076043968,651,630,653.923956032,0.400967781745,-0.00537553229948,0.0598393895036,0.999999928101,0.000268414598406,-0.000267418371726,1.54705167769e-05,1793249506061100544
+56,0.933333333,BASELINE,767,745,717,678,661.497555856,636,877,784,811.497555856,651,630,654,0.400966520973,-0.0053750491902,0.0598390247378,0.999999927785,0.000268162559508,-0.000268861666989,1.52672262108e-05,1793249506077767680
+57,0.950000000,BASELINE,767,745,717.072205504,678,662,636,877.072205504,784,811.927794496,651,629.927794496,653.927794496,0.400965495966,-0.00537497285888,0.0598387694725,0.999999927731,0.000267228710247,-0.000269996850123,1.51426552986e-05,1793249506094434560
+58,0.966666667,BASELINE,767,745,717.660516045,678,662,636,877.660516045,784,811.339483955,651,629.339483955,653.339483955,0.400966165598,-0.00537707339581,0.0598387887735,0.999999928406,0.000265508994274,-0.000269167993595,1.55704397828e-05,1793249506111100672
+59,0.983333333,BASELINE,767,745.24618758,718,678.24618758,662,636,877.75381242,784,811.24618758,651,629.24618758,653,0.400967164573,-0.00537801351938,0.0598390041882,0.999999928974,0.000264544207066,-0.000267998483576,1.56451656416e-05,1793249506127767040
+60,1.000000000,BASELINE,767,745.828258698,718,678.828258698,662,636,877.171741302,784,811.828258698,651,629.828258698,653,0.400968612883,-0.00537737044502,0.059839487169,0.9999999294,0.000264609399051,-0.000266364206289,1.52381995913e-05,1793249506144434176
+61,1.016666667,BASELINE,767,745.595226406,717.595226406,678.595226406,661.595226406,636,877.404773594,784,812,651,630,653,0.40096906818,-0.00537585777555,0.0598399343272,0.999999929362,0.000265849362994,-0.000265280291044,1.50328718733e-05,1793249506161100544
+62,1.033333333,BASELINE,767,745.021037069,717.021037069,678.021037069,661.021037069,636,877.978962931,784,812,651,630,653,0.400969107857,-0.00537398114191,0.059840366492,0.999999929128,0.000267581021216,-0.000264426726875,1.49119387847e-05,1793249506177766912
+63,1.050000000,BASELINE,767,745,717,678,661.553950447,636,877.446049553,784,812,651,630,653,0.400966624473,-0.00537510348748,0.0598389807848,0.999999928615,0.000266386486891,-0.000267538338029,1.51921877366e-05,1793249506194434048
+64,1.066666667,BASELINE,767,745,717.132619011,678,662,636,877.132619011,784,812,651,630,653.132619011,0.4009653693,-0.0053762753209,0.0598382614394,0.999999928342,0.000265619710314,-0.000269302281225,1.54590314857e-05,1793249506211101184
+65,1.083333333,BASELINE,767,745,717.723913822,678,662,636,877.723913822,784,812,651,630,653.723913822,0.400968693881,-0.00537722384281,0.0598400858851,0.999999928962,0.000266717271822,-0.000265883624602,1.56267426279e-05,1793249506227767296
+66,1.100000000,BASELINE,767,745,717.692469606,678.307530394,662,636,877.692469606,784,812,651,630,653.692469606,0.4009693695,-0.0053774528822,0.0598402527468,0.999999928894,0.000267287751896,-0.000265552870722,1.5841972243e-05,1793249506244433664
+67,1.116666667,BASELINE,767,745,717.115578311,678.884421689,662,636,877.115578311,784,812,651,630,653.115578311,0.400967724935,-0.00537705173845,0.0598389677575,0.999999928228,0.000267396569803,-0.000267926761122,1.60988225115e-05,1793249506261100288
+68,1.133333333,BASELINE,767,745,717,679,662,636,877,784,812,651,630,653.461197931,0.400969032533,-0.00537758604383,0.0598398789682,0.999999928817,0.000266759381129,-0.000266355516302,1.61415390888e-05,1793249506277766912
+69,1.150000000,BASELINE,767,745,717,679,662,636,877.038645901,784,812,651,630,654,0.400970870771,-0.00537819099022,0.0598411928218,0.999999929592,0.000266150370196,-0.000264047539735,1.61053770926e-05,1793249506294433536
+70,1.166666667,BASELINE,767,745,717,679,662,636,877.626040693,784,812,651,630,654,0.400969741311,-0.00537647108995,0.0598404108766,0.999999928609,0.000268595422327,-0.000265313423379,1.57109771977e-05,1793249506311100160
+71,1.183333333,BASELINE,766.789662048,745,717,678.789662048,662,636,877.789662048,784,812,651,630,654,0.400969380754,-0.00537579226229,0.0598402908545,0.999999928292,0.000269710108274,-0.000265385694218,1.5577280888e-05,1793249506327767040
+72,1.200000000,BASELINE,766.210791867,745,717,678.210791867,662,636,877.210791867,784,812,651,630,654,0.400970367387,-0.00537693749321,0.0598413305851,0.999999929148,0.000268493865713,-0.000263366641365,1.59003621532e-05,1793249506344433920
+73,1.216666667,BASELINE,766,745,717.366269478,678,662.366269478,636,877,783.633730522,812,651,630,653.633730522,0.400970045197,-0.00537696511336,0.0598412053269,0.999999929373,0.000266969148539,-0.000264068737523,1.5791992802e-05,1793249506361100544
+74,1.233333333,BASELINE,766,745,717.9422949,678,662.9422949,636,877,783.0577051,812,651,630,653.0577051,0.400968973468,-0.00537635269785,0.0598404129004,0.999999929232,0.000265267773573,-0.000266329186916,1.54365394203e-05,1793249506377767168
+75,1.250000000,BASELINE,766,745,717.481986399,678.518013601,662.481986399,636,877,783.518013601,812,651,630,653.518013601,0.4009694169,-0.00537665419085,0.0598404392654,0.999999929282,0.000265464364472,-0.00026594216483,1.5461742548e-05,1793249506394434048
+76,1.266666667,BASELINE,766,745,717.095954845,678.904045155,661.904045155,636,877,784,812,651,630,653.904045155,0.400969523536,-0.00537703325596,0.0598403968275,0.999999929251,0.00026584176342,-0.000265676152054,1.55436744877e-05,1793249506411100672
+77,1.283333333,BASELINE,766,745,717.685504561,678.314495439,661.314495439,636,877,784,812,651,630,653.314495439,0.400967029967,-0.00537728796812,0.0598395315518,0.999999928691,0.000266062298588,-0.000267548795939,1.56994230747e-05,1793249506427767040
+78,1.300000000,BASELINE,766.270064342,745,717.729935658,678,661,636,877,784,812,651,630,653.270064342,0.400965537362,-0.00537726696403,0.0598388948133,0.999999928269,0.000266528561602,-0.000268662326757,1.56715057417e-05,1793249506444433152
+79,1.316666667,BASELINE,766.84891862,745,717.15108138,678,661,636,877,784,812,651,630,653.84891862,0.400965189251,-0.00537693070765,0.059838519383,0.999999928007,0.000267275788336,-0.000268907892156,1.54335858957e-05,1793249506461099776
+80,1.333333333,BASELINE,766.574328991,745,717,678,661.425671009,636,877,784,812,651,630,653.574328991,0.400965218139,-0.00537677800151,0.0598383721932,0.999999928012,0.000266926464876,-0.00026922810358,1.55538207975e-05,1793249506477766912
+81,1.350000000,BASELINE,766.001673496,745,717,678,661.998326504,636,877,784,812,651,630,653,0.400965382476,-0.00537668813867,0.059838306962,0.999999928111,0.000266196615277,-0.000269570070668,1.57990018607e-05,1793249506494433792
+82,1.366666667,BASELINE,766.575079043,745,717,678,661.424920957,636,877,784,812,651,630,653,0.400966333233,-0.00537592073834,0.0598387023178,0.999999928025,0.000267774514139,-0.000268337782742,1.55155261956e-05,1793249506511100672
+83,1.383333333,BASELINE,767,745,717,678.153876915,661,636,877,783.846123085,811.846123085,651,630,653.153876915,0.400967149123,-0.00537534389617,0.0598390588964,0.99999992812,0.000268343544049,-0.000267428555411,1.52866359987e-05,1793249506527767296
+84,1.400000000,BASELINE,767,745,717,678.748106233,661,636,877,783.251893767,811.251893767,651,630,653.748106233,0.40096757906,-0.00537531237765,0.0598393045061,0.999999928736,0.000266025475451,-0.000267443836262,1.52139539763e-05,1793249506544433664
+85,1.416666667,BASELINE,767,745,717,678.668994541,661.331005459,636,877.331005459,783.331005459,811.331005459,651,630,653.668994541,0.400967570006,-0.00537620915333,0.0598393710213,0.999999929302,0.000264074742244,-0.000267264838628,1.51523448022e-05,1793249506561100288
+86,1.433333333,BASELINE,767,745,717,678.094432138,661.905567862,636,877.905567862,783.905567862,811.905567862,651,630,653.094432138,0.400967237936,-0.00537778897667,0.0598393057573,0.999999929831,0.000262394298026,-0.00026694288905,1.50988831388e-05,1793249506577767168
+87,1.450000000,BASELINE,767,745,717,678,661.518031939,636,877.518031939,784,811.518031939,651,629.518031939,653,0.400966351715,-0.0053777626779,0.0598385392375,0.999999929145,0.000263990721035,-0.000267931557313,1.52028754718e-05,1793249506594433536
+88,1.466666667,BASELINE,767,745,717,678,661.060007721,636,877,784,811.060007721,651,629.060007721,653,0.400965511212,-0.00537752501516,0.0598378376441,0.999999928374,0.000265842558374,-0.000268967604949,1.53598894347e-05,1793249506611099904
+89,1.483333333,BASELINE,767,745,717,678,661.649320171,636,877,784,811.649320171,651,629.649320171,653,0.400966035334,-0.00537820935769,0.0598389253074,0.999999929008,0.000264262466336,-0.00026814785562,1.57114290832e-05,1793249506627766784
+90,1.500000000,BASELINE,767,745.234351453,717,678,662,636,877,784,812,651,630,653,0.400966948513,-0.00537811491981,0.0598397526986,0.999999929367,0.000263953146255,-0.000267101945776,1.58319969144e-05,1793249506644433664
+91,1.516666667,BASELINE,767,745.813091339,717,678,662,636,877,784,812,651,630,653,0.400968433427,-0.00537687603427,0.0598401976101,0.999999929325,0.000265511274367,-0.000265723684469,1.56131427837e-05,1793249506661100800
+92,1.533333333,BASELINE,766.609857581,745.609857581,717.390142419,678,662,636,877,784,811.609857581,651,630,653,0.400969481468,-0.00537707589112,0.0598404169618,0.999999929508,0.0002655416081,-0.000265000434519,1.56849219944e-05,1793249506677767424
+93,1.550000000,BASELINE,766.033612033,745.033612033,717.966387967,678,662,636,877,784,811.033612033,651,630,653,0.400970321114,-0.00537796204713,0.0598405287185,0.999999929799,0.000264843163708,-0.000264589633586,1.58953371595e-05,1793249506694433792
+94,1.566666667,BASELINE,766,745,717.46015342,678.53984658,662,636,877,784,811.53984658,651,629.46015342,653.53984658,0.400968434445,-0.00537612733174,0.0598397451843,0.99999992907,0.000266443833418,-0.000265755376195,1.55248836563e-05,1793249506711100416
+95,1.583333333,BASELINE,766.116893841,745,717,678.883106159,662,636,877,784,812,650.883106159,629.116893841,653.883106159,0.40096683636,-0.00537489346609,0.0598392973622,0.999999928555,0.000267446898454,-0.000266697054654,1.53196821604e-05,1793249506727767040
+96,1.600000000,BASELINE,766.70923984,745,717,678.29076016,662,636,877,784,812,650.29076016,629.70923984,653.29076016,0.400967098938,-0.00537678899277,0.0598404405729,0.999999929178,0.000265440029117,-0.000266330178445,1.59329700904e-05,1793249506744433408
+97,1.616666667,BASELINE,766.70577315,745,717,678,662,636,877.29422685,783.70577315,812,650.29422685,630,653,0.400967978086,-0.00537759725287,0.0598408437099,0.999999929636,0.000264260369541,-0.000265782796453,1.59508773331e-05,1793249506761100288
+98,1.633333333,BASELINE,766.127881006,745,717,678,662,636,877.872118994,783.127881006,812,650.872118994,630,653,0.40096945167,-0.00537735727476,0.0598405333386,0.999999929937,0.000263878226355,-0.000265061388132,1.53947756171e-05,1793249506777767168
+99,1.650000000,BASELINE,766,745,717,678.446080051,661.553919949,636,877.553919949,783.446080051,811.553919949,651,630,653.446080051,0.400969860625,-0.00537800023776,0.0598405441251,0.999999930226,0.000263437940267,-0.000264406693651,1.54058483616e-05,1793249506794433792
+100,1.666666667,BASELINE,766,745,717.01930696,678.98069304,661,636,877,784,811.01930696,651,630,653.98069304,0.400969961498,-0.00537887045885,0.0598406476273,0.999999930498,0.000263000926984,-0.000263801675853,1.55832700318e-05,1793249506811100672
+101,1.683333333,BASELINE,766,745,717.60374364,678.39625636,661,636,877,784,811.60374364,651,630,653.39625636,0.400969900116,-0.00537904842848,0.0598407936109,0.999999930378,0.000263143341605,-0.000264095809535,1.59121173656e-05,1793249506827767040
+102,1.700000000,BASELINE,766,745,717.811990214,678.188009786,661,636,877.188009786,784.188009786,812,651,629.811990214,653,0.400969398527,-0.00537889675235,0.0598406631311,0.999999930098,0.000263537369495,-0.000264750146674,1.60916868286e-05,1793249506844433664
+103,1.716666667,BASELINE,766,745,717.228083239,678.771916761,661,636,877.771916761,784.771916761,812,651,629.228083239,653,0.400967969982,-0.00537805093237,0.0598399504951,0.999999929481,0.000264461226095,-0.000266162973744,1.59569178807e-05,1793249506861100288
+104,1.733333333,BASELINE,766.352041221,745,717,678.647958779,661.352041221,636,877.647958779,784.647958779,812,651,629.352041221,653.352041221,0.400967995155,-0.00537779490369,0.0598401689081,0.999999929431,0.000264839363209,-0.00026598546158,1.57976485083e-05,1793249506877766656
+105,1.750000000,BASELINE,766.929741142,745,717,678.070258858,661.929741142,636,877.070258858,784.070258858,812,651,629.929741142,653.929741142,0.400968952163,-0.00537791693162,0.0598409841241,0.999999929744,0.000264867693792,-0.000264788540848,1.5622674331e-05,1793249506894433536
+106,1.766666667,BASELINE,766.494758128,745,717,678,661.494758128,636,877,784,811.494758128,651,630,654,0.400968375322,-0.00537704846407,0.0598406317061,0.999999929148,0.000266432215349,-0.000265485899956,1.53279267738e-05,1793249506911100416
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,718,678,662,636,877,783,811,651,630,653,0.400968475415,-0.00537536298333,0.0598393681767,0.999999928915,0.000267426362612,-0.000265368858087,1.52806858325e-05,1793249506953677056
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,717.42163782,678,661.42163782,636,877.57836218,783.57836218,811,651,630,653,0.400968437291,-0.00537579107999,0.0598400136504,0.999999929159,0.00026693878025,-0.000264934606815,1.53538695531e-05,1793249506970343168
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.1557106,745,717.1557106,678,661.1557106,636,877.8442894,784,811,651,629.8442894,653,0.400968655809,-0.00537612764388,0.0598407286086,0.999999929313,0.000266894004971,-0.000264393378749,1.53988492387e-05,1793249506987009792
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.730331811,745,717.730331811,678,661.730331811,636,877.269668189,784,811,651,629.269668189,653,0.400969564776,-0.0053762179559,0.0598416305018,0.999999929226,0.000268040520261,-0.00026356434929,1.53679511931e-05,1793249507003676416
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745,717.696711776,678,661.696711776,636,877.303288224,784,811.303288224,651,629.303288224,653.303288224,0.400969383823,-0.00537682585746,0.0598417799043,0.999999929647,0.000266313696364,-0.000263724256146,1.52805964795e-05,1793249507020342528
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745,717.125227568,678,661.125227568,636,877.874772432,784,811.874772432,651,629.874772432,653.874772432,0.400968239061,-0.00537789146036,0.0598412638836,0.999999930503,0.000262045995539,-0.000264758673588,1.514331747e-05,1793249507037008896
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745,717,678,661.465417369,636,878,784,812,651,630,653.534582631,0.400968187614,-0.00537763954308,0.0598411440359,0.999999930317,0.000262404253482,-0.000265092280535,1.53947677299e-05,1793249507053675520
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.940533298,745.059466702,717,678.059466702,662,636,877.940533298,784,812,651,630,653.059466702,0.400968492598,-0.00537703336019,0.0598411782142,0.999999929848,0.000264133503117,-0.000265123328069,1.5721415683e-05,1793249507070342144
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.363646191,745.636353809,717,678.636353809,662,636,877.363646191,784,812,651,630,653.636353809,0.400969229378,-0.00537656164299,0.0598415852553,0.999999929456,0.000266496753788,-0.000264232942981,1.5753215402e-05,1793249507087009024
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.213026182,745.786973818,717,678.786973818,662,636,877.213026182,783.786973818,812,651,630,653.786973818,0.400972486062,-0.00537637817623,0.0598430541673,0.999999929769,0.000267596971131,-0.000261921803026,1.58167014012e-05,1793249507103675648
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.789332304,745.210667696,717,678.210667696,662,636,877.789332304,783.210667696,812,651,630,653.210667696,0.400980040015,-0.00537668627163,0.0598463339197,0.999999931278,0.000266543299613,-0.00025718780727,1.59342229609e-05,1793249507120342016
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,717,678,662,636,877.627510095,783.372489905,811.627510095,651,630,653,0.401000952535,-0.00537796070749,0.059854541425,0.999999935173,0.000264879905807,-0.000243348750613,1.65311963355e-05,1793249507137008128
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,717,678,662,636,877.040404863,783.959595137,811.040404863,651,630,653,0.401029561781,-0.00537979191408,0.059865588125,0.999999940152,0.000262865211705,-0.000224263683826,1.74044126606e-05,1793249507153675008
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.460630008,745,717,678,662,636,877,784,811.539369992,651,629.460630008,653,0.401087433635,-0.00538141847225,0.0598838658201,0.999999947044,0.000262046334793,-0.000192136099282,1.81130983544e-05,1793249507170341632
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,717,678.117313207,661.882686793,636,877,784,812,651,629.117313207,653,0.40115094568,-0.00538301577234,0.0599018769132,0.999999952513,0.000261594024998,-0.000161831612177,1.87791304178e-05,1793249507187008512
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,717,678.690246982,661.309753018,636,877,784,812,651,629.690246982,653,0.401227963592,-0.00538455818256,0.0599167770075,0.999999955301,0.000262222141803,-0.000142351363971,1.93267314298e-05,1793249507203675136
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,717,678.73464976,661.530700481,636,877,784,812,651,629.73464976,653,0.401312413106,-0.00538647663984,0.0599274797334,0.999999957405,0.000262284945605,-0.000126552303673,1.95085063286e-05,1793249507220341760
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,717,678.156993142,662.686013716,636,877,784,812,651,629.156993142,653,0.401405609304,-0.00538883768904,0.0599332423275,0.999999958953,0.000261682399159,-0.000115085852152,1.92597188301e-05,1793249507237008384
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.432484208,745,717,678,662.567515792,636,877,784,812,651,629,653.432484208,0.401513417525,-0.00539250292607,0.0599378705843,0.999999960588,0.000259353516224,-0.000105867676983,1.87510804616e-05,1793249507253674752
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.974287725,745.025712275,717,678.025712275,662,636,877.025712275,784,811.974287725,650.974287725,629.025712275,654,0.401627747207,-0.00539660771837,0.0599420163775,0.999999962229,0.000256330101768,-9.75153151913e-05,1.81231819119e-05,1793249507270341632
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.395279482,745.604720518,717,678.604720518,662,636,877.604720518,784,811.395279482,650.395279482,629.604720518,654,0.401765063311,-0.0053996974216,0.0599448898857,0.99999996402,0.000252225230286,-8.97385431392e-05,1.7015783224e-05,1793249507287008256
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.181806831,745.818193169,717,679,662,636,878,784,811.181806831,650.181806831,630,654,0.401910291,-0.00540286474789,0.0599463889617,0.999999965399,0.0002488823731,-8.37431183598e-05,1.57297247584e-05,1793249507303675136
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.754758175,745.245241825,717,679,662,636,878,784,811.754758175,650.754758175,630,654,0.402072539888,-0.0054061990743,0.059944931044,0.999999966025,0.000247178936233,-8.15801370079e-05,1.40592925888e-05,1793249507320341760
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.663304262,745,717,678.663304262,662,636,877.663304262,783.663304262,812,651,630,653.663304262,0.402256603301,-0.00541048622906,0.0599448938023,0.999999967656,0.000241813172772,-7.79071595595e-05,1.2018565632e-05,1793249507337008384
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.074641788,745,717,678.074641788,662,636,877.074641788,783.074641788,812,651,630,653.074641788,0.402456991662,-0.00541548643461,0.0599459197252,0.999999969971,0.000233706701782,-7.31041741454e-05,9.70072786677e-06,1793249507353675008
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.505337514,745,717,678,661.494662486,636,877,783.505337514,812,651,630,653.505337514,0.40269549926,-0.00542187871479,0.0599479794704,0.999999972578,0.000225018673939,-6.44348958021e-05,7.64168802421e-06,1793249507370341632
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.916352854,745,717,678.083647146,661.083647146,636,877.083647146,784,812,651,630,654,0.402943708923,-0.00542834629991,0.0599501028972,0.999999975007,0.000216447399727,-5.57311339307e-05,5.45915903055e-06,1793249507387008256
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.340448573,745,717,678.659551427,661.659551427,636,877.659551427,784,812,651,630,654,0.403216439454,-0.00543406744105,0.059951717625,0.999999976888,0.00020906018331,-5.01284128397e-05,2.32874665415e-06,1793249507403675648
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.235354905,745,717.235354905,679,662,636,877.764645095,784,812,651,629.764645095,654,0.403499958895,-0.00544150188742,0.0599488795304,0.999999978544,0.000200285024128,-5.28891913232e-05,-6.65963753694e-07,1793249507420342528
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.811012597,745,717.811012597,679,662,636,877.188987403,784,812,651,629.188987403,654,0.403799078148,-0.00545141362426,0.0599396030406,0.999999979744,0.000189503020463,-6.77428653807e-05,-3.46446069279e-06,1793249507437008896
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,717.604448915,679,662,636,877.395551085,784,812,651,629.395551085,654,0.404124037892,-0.00545840427452,0.0599294942188,0.999999979732,0.000182572279634,-8.45569972737e-05,-7.32567922592e-06,1793249507453675264
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,717.015569902,679,662,636,877.984430098,784,812,651,629.984430098,654,0.404461627319,-0.00546396722618,0.0599189785903,0.999999978938,0.000177523866533,-0.000102329314055,-1.1706309128e-05,1793249507470341888
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,717,679,662,636,878,784,812,651,630,654,0.404834340531,-0.005469521645,0.0599055149668,0.999999977137,0.000172054161872,-0.000125968757463,-1.59614797645e-05,1793249507487008768
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,717,679,662,636,877.858856842,784,812,651,629.858856842,654,0.405226281847,-0.00547605869896,0.0598973885384,0.999999976171,0.000165427590606,-0.000141030939999,-2.00323821755e-05,1793249507503675392
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,717,679,662,636,877.282150294,784,812,651,629.282150294,654,0.405674616749,-0.0054856288484,0.0599059795983,0.999999979331,0.000155266274158,-0.000129132242536,-2.35451523592e-05,1793249507520342272
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745,717,678.707689905,662,636,877.292310095,784,812,651,629.292310095,653.707689905,0.406160555228,-0.00549424554781,0.059926416853,0.999999984389,0.000146258900525,-9.56923905478e-05,-2.5957724721e-05,1793249507537008896
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745,717,678.135381006,662,636,877.864618994,784,812,651,629.864618994,653.135381006,0.406682513578,-0.005501948955,0.0599582013748,0.99999998919,0.00013835686733,-4.1618636162e-05,-2.73164369043e-05,1793249507553675776
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745,717,678.454884876,662,636,878.909769752,784,812,651,629.545115124,653.454884876,0.407235201976,-0.00549162441866,0.0599850304597,0.999999999091,3.0674660132e-05,4.0801917431e-07,-2.96009848052e-05,1793249507570342144
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745,717,679,662.048874513,636.048874513,879.951125487,784,812,650.951125487,629,653.951125487,0.407795016566,-0.00547627209397,0.0600071508159,0.999999994552,-9.37647166184e-05,3.25135385034e-05,-3.23486670556e-05,1793249507587008768
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745,717,679,662.62308517,636.62308517,879.37691483,784,812,650.37691483,629,653.37691483,0.408329083793,-0.00546691885595,0.0599951624376,0.999999997135,-6.60087218981e-05,-1.89770759865e-06,-3.69909871823e-05,1793249507603675392
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745.197947576,717.197947576,679,662.802052424,636.802052424,879,784,812.197947576,650.197947576,629.197947576,653.197947576,0.408878966862,-0.00546686624107,0.059982393838,0.999999997187,-5.18039805981e-05,-3.48897036151e-05,-4.15414812003e-05,1793249507620342016
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745.774055052,717.774055052,679,662.225944948,636.225944948,879,784,812.774055052,650.774055052,629.774055052,653.774055052,0.409459064553,-0.00548458157724,0.059968134701,0.999999994807,-6.34876140116e-05,-6.51703560909e-05,-4.59165500342e-05,1793249507637008640
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.641532161,745.641532161,717.641532161,678.641532161,662.358467839,636.358467839,879,784,812.641532161,650.641532161,630,654,0.410103766948,-0.00549631983452,0.0599696316474,0.999999994658,-6.89836287195e-05,-5.85603364241e-05,-4.99506917556e-05,1793249507653675264
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.051760333,745.051760333,717.051760333,678.051760333,662.948239667,636.948239667,879,784,812.051760333,650.051760333,630,654,0.410790155976,-0.00550420133735,0.0599812953219,0.999999995674,-7.04870368419e-05,-2.81463402258e-05,-5.37648475862e-05,1793249507670342400
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.528242379,745.528242379,717,678.528242379,663,637,879,784,812,650,629.471757621,654,0.411488866398,-0.00551363846311,0.0599858637542,0.999999993908,-9.40674761363e-05,-1.69775952141e-05,-5.51943294166e-05,1793249507687009024
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.893205727,745.893205727,717,679,663.106794273,636.893205727,879.106794273,784,812,650.106794273,629,654.106794273,0.412184080618,-0.00552205382216,0.059984335267,0.999999993972,-9.54318556041e-05,-1.90655097741e-05,-5.08423097416e-05,1793249507703675648
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.316900402,745.316900402,717,679,663.683099598,636.316900402,879.683099598,784,812,650.683099598,629,654.683099598,0.41285871241,-0.00552531910409,0.0599590032725,0.999999997163,1.02123948295e-05,-7.12950457704e-05,-2.20810888179e-05,1793249507720342272
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.259183711,745,717,679.259183711,663.740816289,636.259183711,879.740816289,784,812.259183711,650.740816289,629,654.740816289,0.413551958586,-0.00552129095706,0.0599328238359,0.999999990634,6.29909909751e-05,-0.000121077063414,-1.0207610578e-05,1793249507737008896
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.83499766,745,717,679.83499766,663.16500234,636.83499766,879.16500234,784,812.83499766,650.16500234,629,654.16500234,0.414267945007,-0.0055083528364,0.0599056091234,0.99999998442,5.11865896622e-05,-0.000167869092737,-1.89649390376e-05,1793249507753675520
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745.420191725,717,679.579808275,663,637,879.420191725,784,813,650.420191725,628.579808275,654,0.415102089929,-0.00551309202835,0.0599364907015,0.999999993592,2.10568454979e-05,-0.000108782301677,-2.32371794928e-05,1793249507770341888
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745.991007344,717,679.008992656,663.008992656,636.991007344,880.008992656,784,812.991007344,650.991007344,628.008992656,653.991007344,0.415982973189,-0.00552490767187,0.0599902309925,0.99999999951,-1.58759748403e-05,-8.2439508053e-06,-2.56853130292e-05,1793249507787008512
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745.412380739,717,679.587619261,663.587619261,636.412380739,880.587619261,784,812.412380739,650.412380739,628.587619261,653.412380739,0.416818252918,-0.00553522622317,0.0600138422609,0.999999999197,-1.75076657762e-05,2.4222893052e-05,-2.66972707754e-05,1793249507803675392
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,717,680,663.835091825,636.164908175,881.164908175,784,812.164908175,650.164908175,629,653.164908175,0.417651138581,-0.00554195255862,0.0600253629458,0.999999998602,-1.99404821631e-05,4.0129058113e-05,-2.80567145399e-05,1793249507820342272
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745,717,680,663.26112115,636.73887885,881.73887885,784,812.73887885,650.73887885,629,653.73887885,0.418478085602,-0.00553976823274,0.0600068923671,0.999999999133,-2.4360527911e-05,1.49556772165e-05,-3.0278113733e-05,1793249507837009152
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745,717,680,663,637,882,784,813.320177517,651,629,654,0.419303134085,-0.00553507796343,0.0599865296716,0.999999998918,-2.73461094091e-05,-1.8363260526e-05,-3.28595675916e-05,1793249507853675520
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745,717,680,663,637,882,784,813.907592495,651,629,654,0.420126597906,-0.00552829609841,0.0599645877139,0.999999997227,-2.91344092723e-05,-5.84809189656e-05,-3.5741542394e-05,1793249507870342144
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745,717,680.488486558,663,637,882.488486558,784,813.511513442,651,628.511513442,654,0.420961755209,-0.00552750582648,0.0599236844858,0.999999990861,-2.25559995154e-05,-0.000127626016669,-3.8479484496e-05,1793249507887008768
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745,717,681,663,637,882.931918605,784,813,651,628,654,0.421806906293,-0.00552813238026,0.0598846210908,0.999999980378,-1.72620816448e-05,-0.000193041569387,-4.10041265323e-05,1793249507903675392
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745,717,681,663,637,882.352938749,784,813,651,628,654,0.422710671386,-0.00553099760355,0.0598859267582,0.999999980544,-3.33280670597e-05,-0.000189805697065,-4.21298885183e-05,1793249507920342016
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745,717,681,663.223708814,637,882.447417627,784,813.223708814,651,628,654,0.423646864554,-0.00553329026398,0.0599138021475,0.999999988118,-3.91535921347e-05,-0.000143090576974,-4.18991289169e-05,1793249507937008640
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745,717,681,663.79671484,637,883.593429679,784,813.79671484,651,628,654,0.424633690803,-0.00553468892966,0.0599831632952,0.999999998392,-2.89897436981e-05,-2.84872934585e-05,-3.9550306791e-05,1793249507953675520
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.630821168,745,717,681,664,636.630821168,884,784,814,651,628,654,0.425579426196,-0.00553708915906,0.0600208060228,0.999999997843,-4.08871835967e-05,3.44661783145e-05,-3.8140655958e-05,1793249507970342144
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.058655238,745,717,681,664,636.058655238,884,784,814,651,628,654,0.426502568377,-0.00554004008225,0.0600410088783,0.999999994817,-6.49146719928e-05,6.90208173558e-05,-3.72473937696e-05,1793249507987009024
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,717,681,664,636,883.461889667,784,814,651,628.538110333,654,0.427447975804,-0.00554221397689,0.0600248538229,0.99999999587,-5.9062154612e-05,5.63926606577e-05,-3.98890478106e-05,1793249508003675392
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.13177107,745,717,681,664,636.13177107,883.26354214,784,814,651,628.86822893,654,0.428373893154,-0.0055436292884,0.0600023034193,0.999999997346,-5.01924237855e-05,3.12540533972e-05,-4.25571419904e-05,1793249508020341760
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.705589938,745,717,681,664,636.705589938,884.411179876,784,814,651,628.294410062,654,0.429225896124,-0.00554279755178,0.0599722305061,0.999999997966,-4.26504693506e-05,-1.77732689755e-05,-4.39594132953e-05,1793249508037008640
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.720336175,745,717,681,664,636.720336175,885.279663825,784,814.279663825,651,628,654,0.430083024934,-0.00554094441739,0.0599432868424,0.999999995625,-4.52101812989e-05,-6.8089762937e-05,-4.54945843022e-05,1793249508053675264
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.145993614,745,717,681,664,636.145993614,885.854006386,784,814.854006386,651,628,654,0.430945554734,-0.0055380150473,0.0599155330583,0.99999999001,-5.84139099036e-05,-0.000119764639846,-4.71697901848e-05,1793249508070341888
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.441927026,717,681.883854052,664,636,885.558072974,784,814.558072974,651,628,653.558072974,0.431888438279,-0.00553990235032,0.0599466370278,0.999999995379,-5.8523023429e-05,-6.00399296523e-05,-4.70329310076e-05,1793249508087008512
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,717,682.966387601,664,636.033612399,885,784,814,651,628,653.033612399,0.43285533956,-0.0055431562508,0.0599954959291,0.999999996909,-5.46254404282e-05,3.2484246084e-05,-4.62977611307e-05,1793249508103675392
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,717,682.388673902,664,636.611326098,885,784,814,651,628,653.611326098,0.433767701788,-0.00554195756015,0.0600070347703,0.999999996405,-5.8114624537e-05,4.13396902683e-05,-4.58749049503e-05,1793249508120342016
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,717,682,664,637,885.187923096,784,814.187923096,651,628,654,0.434656877662,-0.00554235510432,0.0600049430391,0.999999996535,-6.15720073289e-05,3.14481833536e-05,-4.63668356788e-05,1793249508137008640
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,717,682,664,637,885.762224214,784,814.762224214,651,628,654,0.435498381554,-0.0055460345762,0.0599748262631,0.999999996558,-6.49640057907e-05,-1.6987865406e-05,-4.87396077696e-05,1793249508153675264
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.654984153,717,682,664,636.654984153,885.654984153,784,815,651,628,654,0.436310675408,-0.00554920689842,0.0599494012894,0.999999994262,-7.2185771286e-05,-6.09366299958e-05,-5.05250189692e-05,1793249508170341888
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.066193486,717,682,664,636.066193486,885.066193486,784,815,651,628,654,0.437102330533,-0.00555202088815,0.0599272913632,0.999999990109,-8.21135014354e-05,-0.000101714850648,-5.18954235849e-05,1793249508187008512
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,717,682.514157841,664,636,885.514157841,784,815,651,628,654,0.437887281636,-0.00554890158429,0.0599089677411,0.999999985475,-7.67743686679e-05,-0.000143005275148,-5.20085656853e-05,1793249508203675136
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.092891272,717,683,664,636.092891272,886,784,815,651,628,654,0.438683430546,-0.00554558604895,0.0598984206374,0.999999981775,-6.95005699277e-05,-0.000170064057333,-5.19336710068e-05,1793249508220342016
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.668770446,717,683,664,636.668770446,886,784,815,651,628,654,0.439542217544,-0.00554515776616,0.0599258139284,0.999999989189,-6.22219552928e-05,-0.000122788128585,-5.17090897967e-05,1793249508237008640
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,717,683,664.244222502,636.755777498,886,784,815,651,628,654,0.440373634148,-0.0055466163245,0.059958865045,0.999999993918,-6.69479857065e-05,-7.17030324732e-05,-5.04105933284e-05,1793249508253675264
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,717,683,664.819096241,636.180903759,886,784,815,651,628,654,0.441167994084,-0.00555062946466,0.0599995762525,0.999999994879,-8.79270265858e-05,-1.54607336434e-05,-4.76581300767e-05,1793249508270341888
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,717,683,664.595565304,636,886,784,815,651,628,654,0.441871299929,-0.00555368086836,0.0599845683215,0.99999999441,-8.64747722869e-05,-3.72170976158e-05,-4.81455638196e-05,1793249508287008256
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,717,683,664.005421591,636,886,784,815,651,628,654,0.44253279547,-0.00555629066061,0.0599439751847,0.99999999146,-7.47224791446e-05,-9.47890161071e-05,-5.01206986825e-05,1793249508303675136
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.426317531,717,682.426317531,664,636,886,784,815,651,628,654,0.443181434712,-0.00555919865787,0.0598955757653,0.99999998142,-8.29320022674e-05,-0.000165146097236,-5.48624195282e-05,1793249508320341760
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,717,682,664,635.848044051,886,783.848044051,815.151955949,651,628,654,0.4438309487,-0.00556117320799,0.0598584251244,0.999999969989,-9.06688656874e-05,-0.000219917568655,-5.86217933744e-05,1793249508337008384
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,717,682,664,635.271803743,886,783.271803743,815.728196257,651,628,654,0.444483238103,-0.00556053371073,0.0598528848878,0.999999966919,-9.65692005175e-05,-0.000230840644923,-5.95666808459e-05,1793249508353675008
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.697255023,745.302744977,717,682.302744977,663.697255023,635,886.302744977,783,816,651,628,654,0.445096219276,-0.00555919842961,0.0598457025051,0.999999962174,-9.78627128433e-05,-0.0002497462456,-6.08486980786e-05,1793249508370341888
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+256,4.266666667,HOLD_POSE2,766,746,717,683,661,632.616666171,887,782,816,651,628,654,0.453322313896,-0.0055680296654,0.0596216734963,0.99999981814,-0.000115924406178,-0.000588767370605,-6.02863921856e-05,1793249509463953664
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745.894364539,717,683,663,636,881.105635461,784,813,651,628.894364539,654,0.434637839239,-0.00539657913938,0.059735294211,0.999999918183,0.000101120612837,-0.00039165857979,-3.3912051273e-06,1793249510484626688
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766.772682428,745,717,682,663.772682428,636,880.772682428,784,813,650,628,653.772682428,0.431124633438,-0.00539022241237,0.0598079412375,0.999999943408,0.000171681667887,-0.000288778340405,1.77811997424e-05,1793249510551292928
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745.555574053,717,681,662.444425947,636,879.444425947,784,812.555574053,650.444425947,628.444425947,653.444425947,0.422936308778,-0.00539007514575,0.0598395346444,0.999999946308,0.000194563379178,-0.000262200376836,2.79219433138e-05,1793249510701292800
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,745,717,678.811284411,662,636,877.622568821,784,812,650.811284411,630,654,0.401341779595,-0.00538297093837,0.0598311868946,0.999999954821,0.000122603776067,-0.000274272524659,1.00636548239e-05,1793249511401293568
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745.39436654,717.39436654,678.60563346,662,636,877.60563346,784,812,651,630,654,0.401268324691,-0.00538046121337,0.0598321834227,0.999999954121,0.000130390862454,-0.000273212658823,1.05660491233e-05,1793249511417959936
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,745.981314387,717.981314387,678.018685613,662,636,877.018685613,784,812,651,630,654,0.401201387532,-0.00537749070734,0.0598318721592,0.999999952465,0.000139651296224,-0.000274673022466,1.1016749902e-05,1793249511434626304
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767.560421152,746,718,678.560421152,662,636,877,784,812,651,629.439578848,654,0.401146293359,-0.00537961480499,0.0598277770928,0.999999938776,0.00020730670678,-0.000281655331237,1.18895921433e-05,1793249511451292928
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767.861031935,745.861031935,717.861031935,679,661.861031935,636,877,784,811.861031935,650.861031935,629.138968065,654,0.401095960891,-0.00538075324691,0.0598244222573,0.999999924294,0.000261617015985,-0.000287771840558,1.25032472256e-05,1793249511467959296
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767.283438402,745.283438402,717.283438402,679,661.283438402,636,877,784,811.283438402,650.283438402,629.716561598,654,0.401059428692,-0.00537825191237,0.0598237965213,0.999999921862,0.000267745555102,-0.000290582527136,1.22550165793e-05,1793249511484626432
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745,717,679,661,636,877,784,811.292048807,650.292048807,629.707951193,654,0.401031002811,-0.00537730337058,0.0598244571491,0.999999921338,0.000270223789033,-0.000290075134504,1.25911457073e-05,1793249511501293568
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,745,717,679,661,636,877,784,811.8655065,650.8655065,629.1344935,654,0.401010387914,-0.00537785104991,0.0598263572757,0.999999922675,0.000269184706424,-0.000286370547261,1.3490345185e-05,1793249511517960448
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.548870277,745,717,679,661,636,877,784,812,650.548870277,629.451129723,654,0.400997586157,-0.00537708111423,0.059827031732,0.999999923097,0.000269504616176,-0.000284592717338,1.34265426255e-05,1793249511534627328
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,717,678.960106324,661,636,877,784,812,650.039893676,630,653.960106324,0.400987374334,-0.00537604886422,0.0598273721223,0.999999923244,0.000270139466307,-0.000283485817223,1.31109304252e-05,1793249511551293696
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,717,678.379296184,661,636,877,784,812,650.620703816,630,653.379296184,0.400979821119,-0.00537693367977,0.0598282747348,0.999999923444,0.000269398910409,-0.000283471684621,1.33816467974e-05,1793249511567960064
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,717,678.199512287,661,636,877,784.199512287,812,651,630,653,0.400974362668,-0.00537775365704,0.0598294207839,0.999999923997,0.000268809727459,-0.00028206383912,1.3655112433e-05,1793249511584626432
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,717,678.774553117,661,636,877,784.774553117,812,651,630,653,0.400972847052,-0.00537845159351,0.0598310250375,0.999999925204,0.000268505463659,-0.000278032701681,1.39337528057e-05,1793249511601293312
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.349322512,745.349322512,717,678.650677488,661.349322512,636,877.349322512,784.650677488,812.349322512,651,630,653.349322512,0.400972244109,-0.00537754504117,0.0598326965146,0.999999925594,0.000270043355603,-0.000275117891016,1.41237698291e-05,1793249511617960192
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.92391684,745.92391684,717,678.07608316,661.92391684,636,877.92391684,784.07608316,812.92391684,651,630,653.92391684,0.400972229734,-0.00537560378275,0.059834411343,0.999999925453,0.000272769220728,-0.000272922979603,1.42566352348e-05,1793249511634626816
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.486170328,746,717,678.513829672,662,636,877.486170328,784,812.486170328,650.486170328,630,654,0.400970868588,-0.00537641947903,0.059834770473,0.999999925506,0.000272218425295,-0.000273268981677,1.44582285043e-05,1793249511651293696
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.103665616,746,717.103665616,678.896334384,662,636,877,784,812,650.103665616,630,654,0.400969519769,-0.00537706593056,0.0598348395975,0.999999925519,0.00027155452719,-0.000273876038641,1.45814375971e-05,1793249511667960576
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.682434222,746,717.682434222,678.317565778,662,636,877,784,812,650.682434222,630,654,0.400969169463,-0.00537500833094,0.0598345278819,0.999999925214,0.000272664189104,-0.000273902235787,1.42973365043e-05,1793249511684627200
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745.74131313,717.74131313,678.25868687,662,636,877,784,812,651,630,654,0.400969067428,-0.00537450462779,0.0598346948811,0.999999925469,0.000272279898968,-0.000273357042051,1.42200984073e-05,1793249511701293824
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745.16811926,717.16811926,678.83188074,662,636,877,784,812,651,630,654,0.400969267239,-0.00537589012467,0.0598354438936,0.999999926401,0.000270079288051,-0.000272117161218,1.43943607055e-05,1793249511717960704
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745.416075786,717,678.583924214,661.583924214,636,877,784,812,651,629.583924214,653.583924214,0.400969663276,-0.00537620297068,0.0598357468858,0.999999926598,0.000270068905358,-0.000271403667916,1.44160800618e-05,1793249511734627072
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745.995222488,717,678,661,636,877,783.995222488,812,651,629,653,0.400970133634,-0.00537608346329,0.0598358721962,0.999999926493,0.000270955148248,-0.000270906929373,1.43775502743e-05,1793249511751293440
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745.413660009,717,678,661,636,877,783.413660009,812,651,629,653,0.400969744261,-0.00537751314374,0.0598368946753,0.999999926844,0.000270345439355,-0.000270203336147,1.47085943651e-05,1793249511767960064
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.834307222,745,717.165692778,678.165692778,661,636,877.165692778,783.165692778,811.834307222,651,629.165692778,653,0.400969129554,-0.00537820308211,0.0598372063103,0.999999926945,0.00027005441814,-0.000270108280436,1.4880816658e-05,1793249511784626688
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.260398469,745,717.739601531,678.739601531,661,636,877.739601531,783.739601531,811.260398469,651,629.739601531,653,0.400967959691,-0.00537707052371,0.0598357666439,0.999999926435,0.000270548545251,-0.000271512473789,1.46617509346e-05,1793249511801293568
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.313724205,745,717.686275795,678.686275795,661,636.313724205,877.686275795,784,811.313724205,651.313724205,629.686275795,653.313724205,0.400967571439,-0.00537635476042,0.0598353770361,0.999999926254,0.000270703112013,-0.000272028411318,1.45413599291e-05,1793249511817960448
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.888024532,745,717.111975468,678.111975468,661,636.888024532,877.111975468,784,811.888024532,651.888024532,629.111975468,653.888024532,0.400967832385,-0.00537598518295,0.0598358595964,0.99999992635,0.000270575643394,-0.000271806572558,1.45029271479e-05,1793249511834627072
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745,717,678.477781254,661.477781254,636.522218746,877.477781254,784,812,651.522218746,629.477781254,654,0.400967068336,-0.00537660167652,0.0598354787147,0.999999926544,0.00026905637532,-0.000272605348962,1.43851414632e-05,1793249511851293696
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,745,717,678.932311685,661.932311685,636,878,784,812,651,630,654,0.400966425944,-0.00537728266062,0.0598351457922,0.999999926773,0.000267650308828,-0.000273156168923,1.42615865253e-05,1793249511867960320
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,745,717,678.368729315,661.368729315,636,878,784,812,651,630,654,0.400968493567,-0.00537668642938,0.0598366963153,0.9999999271,0.000269543178971,-0.000270079448124,1.42365688741e-05,1793249511884626944
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,745,717.202802874,678,661,636,877.797197126,784,812,651,630,654,0.400970214837,-0.00537642375983,0.0598379211543,0.999999927282,0.000271042761148,-0.000267891160154,1.43533134083e-05,1793249511901293568
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,745,717.78937897,678,661,636,877.21062103,784,812,651,630,654,0.400971280685,-0.00537679230434,0.0598385296865,0.999999927207,0.000271798106722,-0.000267384094029,1.47383210532e-05,1793249511917959936
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.621625444,745,717.621625444,678.378374556,661.378374556,636,877,784,811.621625444,651,630,653.621625444,0.40097202061,-0.00537802509416,0.059839193892,0.999999928085,0.000270128117539,-0.000265774588205,1.49927069162e-05,1793249511934626816
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.031274425,745,717.031274425,678.968725575,661.968725575,636,877,784,811.031274425,651,630,653.031274425,0.400972577943,-0.00537974205939,0.0598398892872,0.999999929485,0.00026709938503,-0.000263547463531,1.51739146234e-05,1793249511951293696
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..35e42e2c7ea90044a9a23cb21092810c936261c0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_05/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,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+1,0.016666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+2,0.033333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+3,0.050000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+4,0.066666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+5,0.083333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+6,0.100000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+7,0.116666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+8,0.133333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+9,0.150000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+10,0.166666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+11,0.183333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+12,0.200000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+13,0.216666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+14,0.233333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+15,0.250000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+16,0.266666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+17,0.283333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+18,0.300000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+19,0.316666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+20,0.333333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+21,0.350000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+22,0.366666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+23,0.383333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+24,0.400000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+27,0.450000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+400,6.666666667,pose2_to_pose3_retreat,0.575665955811,0.000150168256355,1.05003364454,0.546236635209,0.00882280511466,1.04970503721
+401,6.683333333,pose2_to_pose3_retreat,0.575665319198,0.000150240723669,1.05003362741,0.546235998868,0.00882287867378,1.04970502477
+402,6.700000000,pose2_to_pose3_retreat,0.575664699939,0.000150157503483,1.05003359827,0.546235380669,0.00882279917596,1.04970499894
+403,6.716666667,pose2_to_pose3_retreat,0.575664365431,0.000150160993875,1.05003359415,0.546235045734,0.008822801286,1.04970499657
+404,6.733333333,pose2_to_pose3_retreat,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511735,1.04970501047
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b4906a5b916856019ef4dfefc829ec4e10fba9ed
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:563ec80ac014cf83cf1238e509b6b0c3a7c98ef14ad4d2973bef78ae741ca97a
+size 25370042
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..370124873bf787ecdd1e6b59b79660d428dfd773
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_01/franka_data.csv
@@ -0,0 +1,400 @@
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+53,0.883333333,BASELINE,766,745.26403774,717,678,663,636,877,784,811,651,630,653,0.400936119247,-0.0054388224309,0.0499270053214,0.999999975735,4.9075583077e-05,-0.000212772265735,-2.91540485019e-05,1793249514099388160
+54,0.900000000,BASELINE,766,745.318520047,717,678.318520047,663,636,877.318520047,784,811,651,630,653,0.400936884763,-0.00543910484666,0.0499272351389,0.999999975857,4.99183289125e-05,-0.000212014979903,-2.90330534182e-05,1793249514116054784
+55,0.916666667,BASELINE,766,745.907066798,717,678.907066798,663,636,877.907066798,784,811,651,630,653,0.400936363957,-0.00543892134874,0.0499273334768,0.999999975604,5.28745657142e-05,-0.000212509701987,-2.88980808673e-05,1793249514132721408
+56,0.933333333,BASELINE,766,745.512421635,717,678.024843271,663,636,878,784,811,651.487578365,629.512421635,653,0.400936480595,-0.00543934662679,0.0499274367636,0.999999975648,5.2723329684e-05,-0.000212358093507,-2.87929904786e-05,1793249514149388032
+57,0.950000000,BASELINE,766,745,717,677.066378132,663,636,878,784.066378132,811,651.933621868,629.066378132,653.066378132,0.400936571552,-0.00543984871063,0.049927445605,0.999999975724,5.18706646714e-05,-0.000212218197758,-2.87139345137e-05,1793249514166054656
+58,0.966666667,BASELINE,766,745,717,677.643599071,663,636,878,784.643599071,811,651.356400929,629.643599071,653.643599071,0.400935544983,-0.00544006337624,0.0499267204578,0.999999975624,5.01041649801e-05,-0.000213101148556,-2.8792115925e-05,1793249514182721280
+59,0.983333333,BASELINE,766,745.220035797,717,678,663,636,878,784.779964203,811,651,630,654,0.400935243679,-0.00544030989452,0.0499263934689,0.999999975588,4.96694028725e-05,-0.000213364176372,-2.88543126893e-05,1793249514199388416
+60,1.000000000,BASELINE,766,745.795206904,717,678,663,636,878,784.204793096,811,651,630,654,0.400936112947,-0.00544060782273,0.0499267091029,0.999999975657,5.13840500083e-05,-0.000212626655588,-2.88907104248e-05,1793249514216056064
+61,1.016666667,BASELINE,766,745.621123844,717,678,663,636,877.621123844,784,811,651,630,653.621123844,0.400935470797,-0.00543905181627,0.0499260999803,0.999999975507,5.25484310931e-05,-0.00021302504446,-2.90677304282e-05,1793249514232722688
+62,1.033333333,BASELINE,766,745.032755748,717,678,663,636,877.032755748,784,811,651,630,653.032755748,0.400933992939,-0.00543647071396,0.0499249795322,0.999999975235,5.34085535436e-05,-0.000214051511744,-2.93225046805e-05,1793249514249389056
+63,1.050000000,BASELINE,766,745.546825836,717,678,663,636,877.546825836,784.546825836,811.546825836,651,630,653.546825836,0.400935114931,-0.0054369815694,0.0499262111672,0.999999975433,5.20250786975e-05,-0.000213441292399,-2.95148903185e-05,1793249514266055680
+64,1.066666667,BASELINE,766,746,717,678,663,636.125289563,877.874710437,784.874710437,811.874710437,651.125289563,629.874710437,654,0.400936173307,-0.00543785374075,0.04992705147,0.999999975581,5.06362183639e-05,-0.000213064728562,-2.96267728641e-05,1793249514282722048
+65,1.083333333,BASELINE,766,746,717,678,663,636.701593916,877.298406084,784.298406084,811.298406084,651.701593916,629.298406084,654,0.400936450935,-0.00543937038647,0.0499259838981,0.999999975459,4.9704113463e-05,-0.000213876614854,-2.9462102295e-05,1793249514299388416
+66,1.100000000,BASELINE,766.275246836,746,717,678,663,636.724753164,877.275246836,784,811,651.724753164,629.275246836,653.724753164,0.400936395615,-0.00543993287408,0.0499256277013,0.999999975429,4.95900871591e-05,-0.000214059029466,-2.93400773201e-05,1793249514316055040
+67,1.116666667,BASELINE,766.846052621,746,717,678,663,636.153947379,877.846052621,784,811,651.153947379,629.846052621,653.153947379,0.400935982779,-0.00543947079044,0.0499260353762,0.999999975499,5.035451043e-05,-0.000213565519862,-2.92638450238e-05,1793249514332721664
+68,1.133333333,BASELINE,767,746,717,678,663,636,877.56489603,784,811,651,630,653.43510397,0.400934909939,-0.0054399912053,0.0499258898759,0.999999975316,5.11248932337e-05,-0.00021427066488,-2.90109099174e-05,1793249514349388288
+69,1.150000000,BASELINE,767,746,717,678,663,636,877,784.029753949,811,651.029753949,630,654,0.400933675958,-0.00544083800239,0.0499255533248,0.999999975053,5.18972196525e-05,-0.0002153548301,-2.86904722172e-05,1793249514366055168
+70,1.166666667,BASELINE,767,746,717,678,663,636,877,784.60356653,811,651.60356653,630,654,0.400933952383,-0.00544101815118,0.0499254588507,0.99999997504,5.26648407942e-05,-0.000215275183314,-2.83289739711e-05,1793249514382721792
+71,1.183333333,BASELINE,766.822314266,746,717.177685734,678.177685734,663,636.177685734,877.177685734,785,811,651.822314266,630,654,0.400934915639,-0.00544047992451,0.0499259840732,0.999999975236,5.30223789451e-05,-0.000214285175055,-2.82473784183e-05,1793249514399388160
+72,1.200000000,BASELINE,766.247509662,746,717.752490338,678.752490338,663,636.752490338,877.752490338,785,811,651.247509662,630,654,0.400937413927,-0.00543833616407,0.0499278942868,0.999999975894,5.24634019434e-05,-0.000211260553695,-2.87913515383e-05,1793249514416054784
+73,1.216666667,BASELINE,766,746,717.661968028,678.661968028,663,636.661968028,878,784.661968028,811.338031972,651.338031972,630,653.661968028,0.400937909593,-0.00543863178506,0.0499280612948,0.999999976006,5.18031241148e-05,-0.000210895463115,-2.87608977793e-05,1793249514432721664
+74,1.233333333,BASELINE,766,746,717.068306784,678.068306784,663,636.068306784,878,784.068306784,811.931693216,651.931693216,630,653.068306784,0.400936890819,-0.00544077213492,0.0499269100415,0.999999975709,5.10662397892e-05,-0.000212541584589,-2.82960462488e-05,1793249514449388288
+75,1.250000000,BASELINE,766,746,717.512432119,678,663,636,877.487567881,784,811.487567881,651.487567881,629.487567881,653.512432119,0.400937370947,-0.00544012827769,0.0499267266109,0.999999975872,5.22548612442e-05,-0.00021148141582,-2.83084888162e-05,1793249514466054912
+76,1.266666667,BASELINE,766,745.909179759,717.909179759,678.090820241,663,636,877.090820241,784.090820241,811.090820241,651.090820241,629.090820241,653.909179759,0.400937791093,-0.00543923208303,0.0499266738894,0.999999976016,5.32686651658e-05,-0.000210523416051,-2.8482572213e-05,1793249514482721280
+77,1.283333333,BASELINE,766,745.334365435,717.334365435,678.665634565,663,636,877.665634565,784.665634565,811.665634565,651.665634565,629.665634565,653.334365435,0.400936853004,-0.0054389203155,0.0499266471342,0.999999975752,5.2016663778e-05,-0.000211985070525,-2.91873470026e-05,1793249514499388160
+78,1.300000000,BASELINE,766,745.240335795,717,678.759664205,663,636,878,785,811.759664205,651.759664205,629.759664205,653.240335795,0.400936686862,-0.00543851289791,0.0499268882148,0.999999975646,5.20650465127e-05,-0.000212431615596,-2.94917534811e-05,1793249514516054528
+79,1.316666667,BASELINE,766,745.814879713,717,678.185120287,663,636,878,785,811.185120287,651.185120287,629.185120287,653.814879713,0.400937594181,-0.00543797247051,0.0499275017447,0.99999997576,5.39217281766e-05,-0.000211466561378,-2.92394124491e-05,1793249514532721408
+80,1.333333333,BASELINE,766,745.59940232,717,678,663,636,878,784.59940232,811,651.40059768,629.40059768,653.59940232,0.400936807241,-0.00543942839748,0.0499270752345,0.99999997568,5.25585787065e-05,-0.000212232460952,-2.89074617913e-05,1793249514549388032
+81,1.350000000,BASELINE,766,745.008372493,717,678,663,636,878,784.008372493,811,651.991627507,629.991627507,653.008372493,0.400935214899,-0.00544183333151,0.0499261543205,0.9999999755,4.96648180511e-05,-0.000213821204062,-2.85376670774e-05,1793249514566054656
+82,1.366666667,BASELINE,766,745,717.570134771,678,663,636,878,784.570134771,811,651.429865229,630,653,0.400935540669,-0.0054402990449,0.0499260106406,0.999999975456,5.141138549e-05,-0.000213596975527,-2.86495137436e-05,1793249514582721536
+83,1.383333333,BASELINE,766,745,717.852745382,678,663.147254618,636,878,784.852745382,811,651,630,653.147254618,0.400935816088,-0.00543894816688,0.0499259093321,0.999999975417,5.2784435819e-05,-0.000213421828026,-2.88259836268e-05,1793249514599388416
+84,1.400000000,BASELINE,766,745,717.279121583,678,663.720878417,636,878,784.279121583,811,651,630,653.720878417,0.40093586591,-0.00543829223601,0.0499258983708,0.999999975393,5.28829178411e-05,-0.000213464223339,-2.91695278954e-05,1793249514616055040
+85,1.416666667,BASELINE,766.292758764,745,717,677.707241236,664,636,877.707241236,784.292758764,811,651.292758764,629.707241236,654,0.400936292649,-0.00543828600592,0.0499258919239,0.999999975416,5.27960501919e-05,-0.000213362734722,-2.92771329663e-05,1793249514632721408
+86,1.433333333,BASELINE,766.86298668,745,717,677.13701332,664,636,877.13701332,784.86298668,811,651.86298668,629.13701332,654,0.400937076622,-0.00543889554538,0.0499258897558,0.999999975484,5.25335129335e-05,-0.000213124876651,-2.91611209743e-05,1793249514649388032
+87,1.450000000,BASELINE,767,745.454576447,717,677.909152893,663.545423553,636,877.454576447,784.545423553,811,651.545423553,629.454576447,654,0.400938044574,-0.00543970523742,0.0499268549993,0.999999975893,5.1034936147e-05,-0.000211574977189,-2.90900223031e-05,1793249514666054912
+88,1.466666667,BASELINE,767,746,717,678.949376265,663,636,878,784,811.050623735,651,630,654,0.400938896602,-0.00544052561219,0.0499279457172,0.999999976334,4.93546644045e-05,-0.000209888613791,-2.90271972114e-05,1793249514682721536
+89,1.483333333,BASELINE,767,746,717,678.377018698,663,636,878,784,811.622981302,651,630,654,0.400937954227,-0.00544080368185,0.0499271762849,0.999999976065,4.98307276846e-05,-0.000211072471415,-2.89032443814e-05,1793249514699388160
+90,1.500000000,BASELINE,767,745.797857893,717,678,663,636,878,784.202142107,812,651,630,653.797857893,0.40093732515,-0.00544074635176,0.0499267793316,0.999999975928,4.97560541871e-05,-0.000211755855549,-2.87717776169e-05,1793249514716054784
+91,1.516666667,BASELINE,767,745.205566393,717,678,663,636,878,784.794433607,812,651,630,653.205566393,0.400937300759,-0.00544004167501,0.0499271012908,0.999999976048,4.86184174473e-05,-0.000211473288268,-2.86258084111e-05,1793249514732721408
+92,1.533333333,BASELINE,766.621919209,745.378080791,717,678,663,636,878,784.621919209,811.621919209,651,630,653,0.400937296786,-0.00544025009904,0.0499267922084,0.999999975932,4.85843201198e-05,-0.000212024476561,-2.8667218002e-05,1793249514749388032
+93,1.550000000,BASELINE,766.042866916,745.957133084,717,678,663,636,878,784.042866916,811.042866916,651,630,653,0.400937303666,-0.00544094388816,0.0499261476914,0.999999975689,4.91368168172e-05,-0.000213018853464,-2.88082300955e-05,1793249514766054656
+94,1.566666667,BASELINE,766,745.463860539,717,678.536139461,663,636,878,784.536139461,811,651.536139461,630,653.536139461,0.400936838488,-0.00544221631886,0.0499258284774,0.999999975657,4.88469285356e-05,-0.00021325223803,-2.86829053091e-05,1793249514782721536
+95,1.583333333,BASELINE,766,745.113614685,717.113614685,678.886385315,663,636,878,784.886385315,811,652,630,653.886385315,0.400936540698,-0.00544289406242,0.0499257149755,0.999999975666,4.87514513134e-05,-0.000213242117913,-2.86267342113e-05,1793249514799388160
+96,1.600000000,BASELINE,766,745.684936486,717.684936486,678.315063514,663,636,878,784.315063514,811,652,630,653.315063514,0.400937069286,-0.00544098968759,0.0499263254306,0.999999975769,4.97104899597e-05,-0.000212496115591,-2.89349361405e-05,1793249514816055040
+97,1.616666667,BASELINE,766,746,718,678.264891451,663,636,877.735108549,784.264891451,811.264891451,652,630,653.264891451,0.400937252725,-0.00544040779741,0.0499265707085,0.999999975748,5.08173765125e-05,-0.000212337918563,-2.88695625746e-05,1793249514832721664
+98,1.633333333,BASELINE,766,746,718,678.855460651,663,636,877.144539349,784.855460651,811.855460651,652,630,653.855460651,0.400937011813,-0.00544145187083,0.0499263670096,0.999999975577,5.21060384979e-05,-0.000212902414228,-2.83448867898e-05,1793249514849388288
+99,1.650000000,BASELINE,766,745.562860228,718,678.562860228,663,636,877.437139772,784.562860228,811.562860228,651.562860228,630,654,0.40093714278,-0.00544176831199,0.049926141605,0.999999975617,5.12453084844e-05,-0.000212905159671,-2.84921953247e-05,1793249514866054656
+100,1.666666667,BASELINE,766.01589603,745.01589603,717.98410397,678.01589603,663,636.01589603,878.01589603,784.01589603,810.98410397,651,630,654,0.400937395707,-0.00544182235982,0.0499259279435,0.999999975723,4.97319640542e-05,-0.000212715701165,-2.88460776965e-05,1793249514882721280
+101,1.683333333,BASELINE,766.593170615,745.593170615,717.406829385,678.593170615,663,636.593170615,878.593170615,784.593170615,810.406829385,651,630,654,0.400937699784,-0.0054409370614,0.0499263774066,0.999999975839,4.97694108434e-05,-0.000212167275336,-2.88048570646e-05,1793249514899387904
+102,1.700000000,BASELINE,766.831035215,746,717,678.831035215,663,636.831035215,878.831035215,785,810.168964785,651,630,654,0.400937826732,-0.00544042877247,0.0499267588613,0.999999975915,4.97868488056e-05,-0.000211804606302,-2.87967485585e-05,1793249514916055040
+103,1.716666667,BASELINE,766.258774677,746,717,678.258774677,663,636.258774677,878.258774677,785,810.741225323,651,630,654,0.400937530897,-0.00544082035358,0.049926977989,0.999999975898,4.97565284385e-05,-0.000211885313326,-2.88676741589e-05,1793249514932721664
+104,1.733333333,BASELINE,766,746,717,678,663,636,878,784.675949526,811.324050474,651,630,653.675949526,0.400936783524,-0.00544035725007,0.0499266409881,0.999999975675,5.07262004111e-05,-0.000212697097154,-2.89374095379e-05,1793249514949388288
+105,1.750000000,BASELINE,766,746,717,678,663,636,878,784.08440349,811.91559651,651,630,653.08440349,0.400935663418,-0.00543918862582,0.049925844917,0.999999975278,5.25213410492e-05,-0.000214112366611,-2.90061624266e-05,1793249514966054912
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,746,718,678,663,637,878,784,811,651,630,654,0.400935908621,-0.00544004300579,0.0499260330629,0.999999975439,5.263894869e-05,-0.000213336433363,-2.89557203939e-05,1793249514997212928
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,717.423527593,678,663,636.423527593,877.423527593,784.576472407,811,651,629.423527593,654,0.400937201605,-0.00544108785723,0.0499267847198,0.999999975964,5.03428564484e-05,-0.000211448656295,-2.87746347591e-05,1793249515013879808
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.152363104,746,717,678,663.152363104,636.152363104,877.152363104,784.847636896,811,651,629.152363104,654,0.400937988313,-0.00544144977384,0.0499270705836,0.999999976217,4.89731364516e-05,-0.000210574531963,-2.87490597018e-05,1793249515030546432
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.726643089,746,717,678,663.726643089,636.726643089,877.726643089,784.273356911,811,651,629.726643089,654,0.400937373067,-0.00543992053902,0.0499260665944,0.999999975737,5.01686832306e-05,-0.000212507367612,-2.9154117323e-05,1793249515047212800
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.689257677,745.689257677,717,677.689257677,663.689257677,636.689257677,877.689257677,784,811,651,630,654,0.400937495836,-0.0054400276601,0.0499262954588,0.999999975734,5.02601290671e-05,-0.000212510182229,-2.90698941943e-05,1793249515063879424
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.096238725,745.096238725,717,677.096238725,663.096238725,636.096238725,877.096238725,784,811,651,630,654,0.400938289013,-0.00544162123805,0.0499276442409,0.999999976165,4.93486155649e-05,-0.000210759776162,-2.85412110801e-05,1793249515080546048
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,717,677.484913277,663,636,877,784.484913277,811,651,630,654,0.400938878342,-0.00544046059129,0.0499268751035,0.999999975969,5.21749971585e-05,-0.000211022232132,-2.84519177313e-05,1793249515097212928
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.063080793,717,678,663,636,877.063080793,784.936919207,811,651.063080793,630,653.936919207,0.400940590497,-0.00543891786842,0.0499261460666,0.999999975849,5.51895264369e-05,-0.000210820100053,-2.84671337771e-05,1793249515113879552
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.635710542,717,678,663,636,877.635710542,784.364289458,811,651.635710542,630,653.364289458,0.400951691525,-0.00543859880646,0.0499290551894,0.999999977389,5.38745931313e-05,-0.000203715317101,-2.86389657741e-05,1793249515130546176
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,717,678,663,636,878,784,811,651.785648779,629.785648779,653,0.400966981455,-0.00543902799814,0.0499327186805,0.999999979469,5.28868539123e-05,-0.000193509488734,-2.86055792786e-05,1793249515147212800
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,717,678,663,636,878,784,811,651.196497863,629.196497863,653,0.400989595809,-0.00544076553432,0.0499377012073,0.999999982404,5.24712237372e-05,-0.000177881387926,-2.82133619244e-05,1793249515163879424
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,746,717,678,663,636,878,784.385848602,811.385848602,651,629.385848602,653,0.401025319664,-0.00544279799743,0.0499447979873,0.999999986207,5.12098765593e-05,-0.000155456984854,-2.82081051111e-05,1793249515180546048
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,746,717,678,663,636,878,784.964789924,811.964789924,651,629.964789924,653,0.401067603994,-0.00544497805291,0.0499529528171,0.999999989968,4.95253016695e-05,-0.000129631462637,-2.83964974247e-05,1793249515197212672
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,717,678.54254197,663,636,878,784.45745803,811.45745803,651.54254197,630,653.54254197,0.40112113854,-0.00544570466341,0.0499571174722,0.99999999283,4.79673780716e-05,-0.000105864647825,-2.8833102676e-05,1793249515213879552
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.880686171,717.119313829,678.880686171,663,636,877.880686171,784,811,652,630,653.880686171,0.401176581925,-0.00544657645015,0.0499606718461,0.999999994696,4.69687644794e-05,-8.69401913852e-05,-2.90247665945e-05,1793249515230546176
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.307350963,717.692649037,678.307350963,663,636,877.307350963,784,811,652,630,653.307350963,0.401236516741,-0.00544835882342,0.0499628871777,0.999999994754,4.80672674594e-05,-8.59349135139e-05,-2.82231991616e-05,1793249515247213056
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,717.726651261,678,663,636,877,784,811,652,630,653.273348739,0.401305660743,-0.00545043526218,0.0499646463621,0.99999999501,4.78411045775e-05,-8.32726367334e-05,-2.74965236264e-05,1793249515263879424
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,717.13744175,678,663,636,877,784,811,652,630,653.86255825,0.401385446167,-0.0054528515003,0.0499658784577,0.999999995481,4.60842596725e-05,-7.8695659554e-05,-2.68563874543e-05,1793249515280546304
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.444117985,717,677.555882015,663,636,877,784,811,652,630,653.555882015,0.401483635671,-0.00545640185255,0.0499663818856,0.999999995604,4.38458426213e-05,-7.85539497978e-05,-2.64332543488e-05,1793249515297212928
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.023287539,746,717,677.023287539,663,636,877.023287539,784.023287539,811.023287539,651.976712461,630,653.023287539,0.401588633424,-0.00546027414895,0.049966625622,0.999999995619,4.14975681736e-05,-7.97538595894e-05,-2.60620445366e-05,1793249515313879808
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.600960335,746,717,677.600960335,663,636,877.600960335,784.600960335,811.600960335,651.399039665,630,653.600960335,0.401722416538,-0.00546359679941,0.0499659645342,0.999999995616,4.00218281797e-05,-8.07698387534e-05,-2.53552695935e-05,1793249515330546432
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.822795069,746,717,678,663,636,878,784.822795069,811.822795069,651.177204931,630,654,0.401865660329,-0.00546783202889,0.0499665920054,0.999999995748,3.82494133296e-05,-8.03057671138e-05,-2.4320836946e-05,1793249515347213056
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.249740931,746,717,678,663,636,878,784.249740931,811.249740931,651.750259069,630,654,0.402030037836,-0.00547410582241,0.0499700979238,0.999999996175,3.58142715995e-05,-7.65354841003e-05,-2.25544662851e-05,1793249515363879680
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.665006821,717.334993179,678,663,636,878.334993179,784.334993179,811,651.665006821,630,654,0.402205649587,-0.00548091600234,0.049968948861,0.99999999605,3.22913551992e-05,-8.00694293894e-05,-2.11296869166e-05,1793249515380546304
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.071250539,717.928749461,678,663,636,878.928749461,784.928749461,811,651.071250539,630,654,0.402389939168,-0.00548814051082,0.0499642040912,0.999999995428,2.7928194715e-05,-8.92454735791e-05,-1.99687671282e-05,1793249515397213184
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.507121785,717.492878215,678,663,636.507121785,878.492878215,784.492878215,811.507121785,651.507121785,630,654,0.402615185122,-0.0054955640636,0.0499639495838,0.999999995567,2.47483190466e-05,-8.8923077735e-05,-1.85916242781e-05,1793249515413879808
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.916518964,717,678,663,636.916518964,878.083481036,784.083481036,811.916518964,651.916518964,630,653.916518964,0.40285456537,-0.00550349176856,0.0499653368919,0.999999995972,2.14858912312e-05,-8.54692024049e-05,-1.70030908941e-05,1793249515430546432
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.339658698,717,678,663,636.339658698,878.660341302,784.660341302,811.339658698,651.339658698,630,653.339658698,0.40314447304,-0.00551423864101,0.0499728086773,0.999999997224,1.67819438168e-05,-7.11629967232e-05,-1.43394806507e-05,1793249515447213056
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.241573566,745.241573566,717.241573566,678,663.241573566,636,878.758426434,785,811,651,630,653.241573566,0.403446201524,-0.00552430967947,0.0499813057401,0.999999998382,1.22645274772e-05,-5.42986376727e-05,-1.17102105522e-05,1793249515463879424
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.829066239,745.829066239,717.829066239,678,663.829066239,636,878.170933761,785,811,651,630,653.829066239,0.403764856699,-0.00553341296284,0.049991270939,0.999999999356,8.014212924e-06,-3.37711546417e-05,-9.13011367689e-06,1793249515480546304
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,717.589479803,678,663.589479803,636.410520197,878,785,811,651,630,654,0.40411574549,-0.00554288235075,0.049998095291,0.999999999802,5.25026803267e-06,-1.80754467717e-05,-6.44315475005e-06,1793249515497212928
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,717.010503828,678,663.010503828,636.989496172,878,785,811,651,630,654,0.404479861245,-0.00555250196838,0.0500036308052,0.999999999979,3.09625074532e-06,-4.36244439475e-06,-3.71234535225e-06,1793249515513879552
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.434197198,746,717,678,663.565802802,637,878.565802802,785,811.565802802,651,630,653.434197198,0.404885958168,-0.00555896146728,0.050009632567,0.999999999915,5.65799165413e-06,1.16815712765e-05,-9.79828907179e-07,1793249515530546432
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.141294721,745.858705279,717,678,664,637,878.858705279,785,812,651,630,653.141294721,0.405296360315,-0.00556239876784,0.0500101600524,0.999999999797,1.18096949381e-05,1.62413445324e-05,1.70030548504e-06,1793249515547213056
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.714447176,745.285552824,717,678,664,637,878.285552824,785,812,651,630,653.714447176,0.405717550144,-0.00555677738931,0.0499939294511,0.999999999476,2.86675537255e-05,-1.44313364911e-05,4.22024076847e-06,1793249515563879680
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745.296848594,717,678,663.703151406,637,878.296848594,785,812,651,629.703151406,653.703151406,0.406147991677,-0.00554942002746,0.0499741581567,0.999999997538,4.75347521116e-05,-5.12775612646e-05,5.90273326136e-06,1793249515580546304
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745.888433223,717,678,663.111566777,637,878.888433223,785,812,651,629.111566777,653.111566777,0.406587619124,-0.00554033903596,0.0499508713651,0.999999993196,6.83969923487e-05,-9.42533985985e-05,6.75374302697e-06,1793249515597212928
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,717,678.46930288,663.46930288,637,879,784.53069712,812,651.46930288,629.46930288,653.46930288,0.407085184101,-0.00554284475163,0.0499395759609,0.999999990243,7.98542057097e-05,-0.000114178764514,9.97627386357e-06,1793249515613879552
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.952589272,745.952589272,717,678.952589272,663.952589272,637,879,784.047410728,812,651.952589272,630,654,0.407603794859,-0.00554796641758,0.0499335817171,0.99999998831,8.90046771202e-05,-0.000123560479782,1.3810536575e-05,1793249515630546176
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.377501799,745.377501799,717,678.377501799,663.377501799,637,879,784.622498201,812,651.377501799,630,654,0.408206768609,-0.00555223045017,0.0499555691147,0.999999992317,9.68106022473e-05,-7.5220189601e-05,1.83185825444e-05,1793249515647212800
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.201729599,745,717,678,663.201729599,637,879,785,812,651,629.798270401,654,0.408821665853,-0.00555642707689,0.0499787832328,0.999999993862,0.000104105730088,-2.99967104241e-05,2.31936995857e-05,1793249515663879424
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.78887823,745,717,678,663.78887823,637,879,785,812,651,629.21112177,654,0.409459343762,-0.00556049491951,0.0500043410881,0.999999993446,0.000110424942452,9.2718721145e-06,2.87701323145e-05,1793249515680546304
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745,717,678.37080874,664,637,879.37080874,785,812,651.37080874,629,654,0.410093345536,-0.00556223654826,0.0500106388186,0.999999993378,0.00010990471993,1.57951119166e-05,3.02436852607e-05,1793249515697212928
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745,717,678.949809494,664,637,879.949809494,785,812,651.949809494,629,654,0.410725283308,-0.005562672115,0.0500061228759,0.99999999399,0.000105544469818,3.93334982713e-06,2.94136601544e-05,1793249515713879552
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745.528792193,717.528792193,679,663.471207807,637,880.528792193,784.471207807,812,652,629,654,0.411347159899,-0.00555699508413,0.0499716486627,0.999999991449,0.00010657261909,-7.08024985245e-05,2.70600846846e-05,1793249515730546176
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.893071581,746,717.893071581,679,663.106928419,637,880.893071581,784.106928419,812,652,629.106928419,654,0.411992868417,-0.00555204249562,0.0499431583876,0.999999985479,0.000108261616612,-0.000129154791864,2.52887101696e-05,1793249515747213056
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.318628994,746,717.318628994,679,663.681371006,637,880.318628994,784.681371006,812,652,629.681371006,654,0.412746950249,-0.00555279391102,0.0499532631679,0.999999989497,0.000110603929381,-8.97833595695e-05,2.66950828539e-05,1793249515763879424
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.261606531,745.738393469,717,679,664.261606531,637,880.261606531,784.738393469,812.261606531,651.738393469,629.738393469,654,0.413513950105,-0.00555587444372,0.04996869931,0.999999992019,0.00011029679207,-5.4478338383e-05,2.87952252099e-05,1793249515780546304
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.849057534,745.150942466,717,679,664.849057534,637,880.849057534,784.150942466,812.849057534,651.150942466,629.150942466,654,0.414297040131,-0.00556185601268,0.0499907759403,0.999999993511,0.000106689627974,-2.4238237457e-05,3.17594938076e-05,1793249515797212928
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745.4303792,717,679.4303792,664.5696208,637,880.5696208,784,813,651,629,654.4303792,0.415056417531,-0.00556433436644,0.0499748166829,0.999999992741,0.000104058788757,-5.16317315702e-05,3.20055097573e-05,1793249515813879552
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745.990459452,717,679.990459452,664,637,880.009540548,784.019081095,813,651,629,654.990459452,0.415808427765,-0.00556558382312,0.049946052984,0.999999989501,0.000101766447359,-9.82894274685e-05,3.13089435899e-05,1793249515830546432
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745.413722969,717,679.413722969,664,637,880.586277031,785.172554062,813,651,629,654.413722969,0.416609936232,-0.00556579272318,0.049937988736,0.999999989029,9.95269940864e-05,-0.000105400039853,3.04563804919e-05,1793249515847213056
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.837476179,745.162523821,717,679,664.162523821,637,881,785.674952359,813,651,629,654,0.417430796417,-0.00556656671463,0.0499412467318,0.999999990289,9.72136114109e-05,-9.50838628994e-05,3.04936248536e-05,1793249515863879680
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.26247225,745.73752775,717,679,664.73752775,637,881,784.524944499,813,651,629,654,0.418300770577,-0.00556877488938,0.0499732402102,0.999999994155,9.47125983026e-05,-4.0539067409e-05,3.27891712659e-05,1793249515880546304
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.320254127,746,717,679.320254127,665,637,881,784.320254127,813,651,629,654.320254127,0.419144906977,-0.00557025424049,0.0499816736879,0.999999994505,9.29302509205e-05,-3.42176933079e-05,3.43956756732e-05,1793249515897212928
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.909465985,746,717,679.909465985,665,637,881,784.909465985,813,651,629,654.909465985,0.419967344111,-0.00557112150648,0.0499703208637,0.999999992824,9.17514578911e-05,-6.83956035549e-05,3.54235046254e-05,1793249515913879552
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.509973881,746,717.490026119,680,664.509973881,637.490026119,881.980052238,785,813,651,629,654.509973881,0.420860802847,-0.00556958753612,0.0499729238863,0.999999994022,9.29761436607e-05,-4.5720677435e-05,3.49342165071e-05,1793249515930546432
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,717.931301964,680,664.137396073,637.931301964,883,785,813,651,629,654,0.421766706111,-0.00556830978583,0.0499798036839,0.999999994902,9.40388409324e-05,-1.28289572828e-05,3.44764256137e-05,1793249515947212800
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,717.354976531,680,665.290046937,637.354976531,883,785,813,651,629,654,0.422669288846,-0.00557214658401,0.0499995638217,0.999999995044,9.06802834487e-05,1.92888659831e-05,3.62865971717e-05,1793249515963879680
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,717,680,665.550135968,637,883,785,813.224932016,651,628.775067984,654,0.423562958996,-0.00557364215612,0.0500046476319,0.999999994977,8.93595043263e-05,2.60318387267e-05,3.71957723016e-05,1793249515980546304
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,717,680,664.37882623,637,883,785,813.810586885,651,628.189413115,654,0.424442336202,-0.00557138311103,0.0499861950593,0.999999995128,9.13067042637e-05,-7.91876124796e-06,3.6660022249e-05,1793249515997212928
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.393914974,745.606085026,717,680.393914974,664.393914974,637,883.393914974,785,814,651,628.393914974,654,0.425356621121,-0.00557306453145,0.0499915674255,0.99999999526,8.98189638884e-05,9.99118396522e-07,3.75607525967e-05,1793249516013879552
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.97613077,745.02386923,717,680.97613077,664.97613077,637,883.97613077,785,814,651,628.97613077,654,0.426287592713,-0.0055766295892,0.050008328686,0.999999995014,8.66892393582e-05,3.04091633901e-05,3.91481551101e-05,1793249516030546176
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745.55157156,717.55157156,681,665.55157156,637,884,785,814,651,629,654,0.42715860014,-0.00557725814295,0.0500067773526,0.999999995623,8.41631856868e-05,3.64991318256e-06,4.07065838021e-05,1793249516047213056
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.873171636,746,717.873171636,681,665.873171636,636.873171636,884,785,814,651.126828364,628.873171636,654.126828364,0.428022576566,-0.00557725536576,0.0499968133329,0.999999995232,8.30220301529e-05,-3.03331199489e-05,4.15097845219e-05,1793249516063879680
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.297541023,746,717.297541023,681,665.297541023,636.297541023,884,785,814,651.702458977,628.297541023,654.702458977,0.428870743844,-0.00557546274984,0.0499598499669,0.999999992145,8.66902346031e-05,-8.13815231311e-05,3.96448745116e-05,1793249516080546304
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,717.285137315,680.714862685,665.285137315,636.285137315,884.285137315,785,814.285137315,652,628,654.714862685,0.429763871432,-0.00557589595373,0.0499480739315,0.999999991401,8.72700749573e-05,-8.97488749364e-05,3.90694919394e-05,1793249516097213440
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,717.875356305,680.124643695,665.875356305,636.875356305,884.875356305,785,814.875356305,652,628,654.124643695,0.430705104093,-0.00557871066589,0.0499632469953,0.999999994256,8.45455307741e-05,-5.24497814506e-05,3.98738349164e-05,1793249516113881088
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.544569001,717.544569001,680.455430999,665.544569001,636.544569001,885,785,815,652,628,654,0.43156742931,-0.00557956081845,0.0499515625058,0.999999993063,8.14474779695e-05,-7.52079320409e-05,3.98053937002e-05,1793249516130547456
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.032643192,745.032643192,717,681,665,636,885,784.967356808,815,652,628,654,0.432410410635,-0.0055800324371,0.0499341832156,0.999999990054,7.80637165662e-05,-0.000110623371102,3.95078381939e-05,1793249516147213568
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.607418736,745.607418736,717,681,665,636,885,784.392581264,815,652,628,654,0.433282972549,-0.0055829523384,0.0499416408899,0.999999992685,7.15956725786e-05,-8.92197296508e-05,3.92858039287e-05,1793249516163880192
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.635604837,746,717,681.182197581,665,636,885,784,815,651.817802419,628,654,0.434150664284,-0.00558531417291,0.0499557370452,0.999999994936,6.72728524691e-05,-6.33285654739e-05,3.99093948173e-05,1793249516180547072
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.486032699,746,717,681.756983651,665,636,885,784,815,651.243016349,628,654,0.43500786221,-0.0055864735189,0.0499841374052,0.999999996434,6.75724316835e-05,-2.77679507853e-05,4.23550883422e-05,1793249516197213952
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.684574156,746,717,681.657712922,665.342287078,636,885,784,815,651,628.342287078,654,0.435819846596,-0.0055848643732,0.0499827546441,0.999999995485,7.11191576986e-05,-4.54179176438e-05,4.36840875028e-05,1793249516213880832
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.870588556,746,717,681.064705722,665.935294278,636,885,784,815,651,628.935294278,654,0.436598712693,-0.00558122734903,0.0499595561943,0.999999990849,7.70443696077e-05,-0.000102043834829,4.41951246579e-05,1793249516230547456
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.486395585,746,717.513604415,681,665.486395585,636.513604415,885,784.513604415,815,651.513604415,629,654,0.437402250529,-0.005581162901,0.0499582730384,0.999999991781,7.66298323441e-05,-9.30604545948e-05,4.3662557257e-05,1793249516247214080
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,717.909851442,681.090148558,665.090148558,636.909851442,885.090148558,785,815.090148558,651.909851442,629,654,0.438205776491,-0.00558220672124,0.0499622615712,0.999999993561,7.47632294669e-05,-7.35835629879e-05,4.32981213273e-05,1793249516263880448
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,717.333123335,681.666876665,665.666876665,636.333123335,885.666876665,785,815.666876665,651.333123335,629,654,0.438992928284,-0.00558687068366,0.0499802163751,0.999999995777,6.92501586888e-05,-4.08408143584e-05,4.45310891828e-05,1793249516280546816
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,717.248123649,682,665.751876351,636,886.248123649,784.751876351,815.751876351,651,629,654.248123649,0.439734756852,-0.0055886188954,0.0499804820973,0.999999996047,6.6947862925e-05,-3.75841813642e-05,4.48528281781e-05,1793249516297213440
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,717.835550034,682,665.164449966,636,886.835550034,784.164449966,815.164449966,651,629,654.835550034,0.440414607009,-0.00558637989233,0.0499565584517,0.999999993866,6.90362202561e-05,-7.46490592656e-05,4.39284849456e-05,1793249516313880064
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,718,681.582878172,665,636,886.582878172,784,815.417121828,651,628.582878172,654.582878172,0.441119404267,-0.00558631277724,0.049951129262,0.99999999323,6.85766147738e-05,-8.32049046851e-05,4.37538577982e-05,1793249516330546944
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,718,681.003582549,665,636,886.003582549,784,815.996417451,651,628.003582549,654.003582549,0.441833900824,-0.00558709007549,0.0499528905741,0.99999999353,6.71263809227e-05,-8.06766581889e-05,4.38707145013e-05,1793249516347213824
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.572821052,745.427178948,717.427178948,681.572821052,665,636,886,784,816,651,628.572821052,654,0.442498061598,-0.00558747926541,0.0499649402258,0.999999995225,6.68462005724e-05,-5.59267201844e-05,4.419902679e-05,1793249516363879936
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.851389643,745.148610357,717,682,665,636,886,784.148610357,816,651,629,654,0.443136616364,-0.0055879708727,0.0499682313874,0.999999995672,6.60089783322e-05,-4.84184518911e-05,4.42014170504e-05,1793249516380546048
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.277307409,745.722692591,717,682,665,636,886,784.722692591,816,651,629,654,0.443702757986,-0.0055887626158,0.0499462636731,0.999999992934,6.35560979729e-05,-9.06690270439e-05,4.32669244352e-05,1793249516397212928
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,717,682,665,636,886,784.694664331,816,651,628.694664331,654,0.444234923232,-0.00558924305799,0.0499103766862,0.999999985802,6.03574440854e-05,-0.000151777903014,4.14356393152e-05,1793249516413879552
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,717,682,665,636,886,784.104022005,816,651,628.104022005,654,0.444735340806,-0.00558943261953,0.0498614834864,0.999999971088,5.64619368907e-05,-0.00023050803441,3.87663882331e-05,1793249516430546176
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.477100169,746,717.477100169,682,665,635.522899831,886,784.477100169,816,651.477100169,628.477100169,654,0.445271656196,-0.00559087200731,0.0498479186247,0.999999969301,5.54046283607e-05,-0.000238397662278,3.86619906318e-05,1793249516447212800
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.944210116,746,717.944210116,682,665,635,886.055789884,784.944210116,816,652,628.944210116,654,0.445812318485,-0.0055913968771,0.0498438666648,0.999999971498,5.59426610341e-05,-0.0002288189324,3.89462112544e-05,1793249516463879424
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.369218645,746,717.369218645,682,665,635,886.630781355,784.369218645,816,652,628.369218645,654,0.446322020636,-0.00558092453278,0.049858064206,0.999999977608,6.56813101093e-05,-0.000197601072789,3.77446163749e-05,1793249516480546048
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.205583902,746,717,682.205583902,665,635,886.588832195,784,816,651.794416098,628.205583902,654,0.446794799959,-0.0055755256071,0.0498603274117,0.999999978786,7.08530183518e-05,-0.000189836029241,3.70035872637e-05,1793249516497213184
+197,3.283333333,POSE1_TO_POSE2_PRESS,766.780047399,746,717,682.780047399,665,635,885.439905202,784,816,651.219952601,628.780047399,654,0.447201328529,-0.00557922992745,0.0498411768141,0.99999997189,6.78302548068e-05,-0.000224152422529,3.70889523621e-05,1793249516513880576
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,717,682.635276972,664.635276972,635,885,784,816,651.364723028,629,654.364723028,0.447570271388,-0.00558426581459,0.0498101736879,0.999999960564,6.18146136203e-05,-0.00027159135343,3.59126751526e-05,1793249516530547456
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,717,682.044265274,664.044265274,635,885,784,816,651.955734726,629,654.955734726,0.447915894619,-0.00559012785909,0.0497718167796,0.999999944448,5.39420717095e-05,-0.000327172031279,3.39536248194e-05,1793249516547213824
+200,3.333333333,POSE1_TO_POSE2_PRESS,766.46423077,746,717.53576923,682.53576923,664,635,885.53576923,784,816,652,629,655,0.448267296316,-0.00559066800718,0.0497590942627,0.999999937438,5.13886139579e-05,-0.000348411047992,3.30556030378e-05,1793249516563880192
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,717.311215186,682.311215186,664,634.311215186,886,784,816,651.311215186,628.311215186,654.311215186,0.448947408061,-0.00558470423287,0.0497667066479,0.999999941004,5.88447987418e-05,-0.00033673945639,3.37001815367e-05,1793249516597213440
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+204,3.400000000,POSE1_TO_POSE2_PRESS,766.83930045,746,717.83930045,682.83930045,664,634,886,784,816,651.83930045,628,654,0.449528322873,-0.00557645199268,0.0497820785146,0.999999948131,6.42446752111e-05,-0.0003138178033,3.36146112674e-05,1793249516630546944
+205,3.416666667,POSE1_TO_POSE2_PRESS,766.574511665,746,718,682.574511665,664,634,886,784,816,651.574511665,628,654,0.449771699731,-0.00557956988653,0.0497809059799,0.999999946912,5.95164916433e-05,-0.000318547078718,3.40772791832e-05,1793249516647213568
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.015538036,746,717.984461964,682.015538036,664,634,886,784,816,651,628,654,0.450002046012,-0.00558526692425,0.0497771026517,0.999999944202,5.27677783641e-05,-0.000328017386797,3.4874937151e-05,1793249516663880960
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.594735402,746,717.405264598,682.594735402,664,634,886,784,816,651,628,654,0.450203855046,-0.0055875244099,0.0497721747068,0.999999941171,5.13423122642e-05,-0.000337354142172,3.48558041858e-05,1793249516680547328
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.834080513,746,717,682.834080513,663.834080513,634,886,783.834080513,815.834080513,651,628,654,0.450394554009,-0.00558908037163,0.0497684567482,0.999999938765,5.01119547801e-05,-0.000344595743931,3.4811331569e-05,1793249516697213952
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+212,3.533333333,POSE1_TO_POSE2_PRESS,766.50123577,746,717,682.49876423,664,634,885.50123577,784,816,651.49876423,628,654,0.450941988854,-0.00558694819427,0.0497630464356,0.999999930973,5.3119650505e-05,-0.000366118462524,3.4482476495e-05,1793249516763880192
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+225,3.750000000,POSE1_TO_POSE2_PRESS,766,746,717,682,663,633,885.960090452,783.960090452,816,651.960090452,628,654,0.451460516475,-0.005586105892,0.0497358482136,0.999999911371,4.51537579543e-05,-0.000417305583452,3.27913771447e-05,1793249516980547072
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,746,717,682,663,633,885.382370385,783.382370385,816,651.382370385,628,654,0.451461886459,-0.00558522394334,0.0497340951027,0.999999909754,4.74275092136e-05,-0.000420930110959,3.25544026788e-05,1793249516997213696
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,717,682.19407226,663,633,885.19407226,783.19407226,816,651.19407226,628,654,0.451463990748,-0.00558454400201,0.0497332002462,0.999999908951,4.91680996814e-05,-0.000422646918811,3.24018212135e-05,1793249517013880576
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,717,682.768014492,663,633,885.768014492,783.768014492,816,651.768014492,628,654,0.451467532341,-0.00558425946253,0.0497339853059,0.999999909767,4.98651005041e-05,-0.000420629625501,3.2414427548e-05,1793249517030547456
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,717,682.64914322,663.35085678,633,886,784,816,651.64914322,628,654,0.451468957526,-0.005585307381,0.0497340328892,0.999999909949,4.8271263177e-05,-0.000420373031014,3.25322347219e-05,1793249517047213824
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,746,717,682.060263104,663.939736896,633,886,784,816,651.060263104,628,654,0.451468946926,-0.00558725924692,0.049733580164,0.999999909695,4.51233075327e-05,-0.000421310905206,3.27214107728e-05,1793249517063880192
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,717,682.522049466,664,633,886,783.477950534,816,651.522049466,628,654,0.45146870633,-0.00558679518131,0.0497325776984,0.999999909041,4.63706183228e-05,-0.000422756358286,3.23362744197e-05,1793249517080546816
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746,717.102008416,682.897991584,664,633,885.897991584,783,816.102008416,652,628,654,0.451468477781,-0.00558604036833,0.0497316087429,0.999999908429,4.77546370188e-05,-0.000424071202089,3.20038426551e-05,1793249517097213440
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,717.674564018,682.325435982,664,633,885.325435982,783,816.674564018,652,628,654,0.451468425749,-0.00558521485159,0.0497310834555,0.999999908248,4.74579309052e-05,-0.000424516647443,3.22165412518e-05,1793249517113880320
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,746,717.752127036,682.247872964,664,633,885,783,816.752127036,652,628,654,0.451468984167,-0.0055842719702,0.0497309423078,0.999999908237,4.82552691675e-05,-0.000424459680524,3.21130306e-05,1793249517130546944
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,717.177825917,682.822174083,664,633,885,783,816.177825917,652,628,654,0.451470346497,-0.0055831745292,0.0497313070403,0.999999908448,5.04933731812e-05,-0.000423741078331,3.15930985981e-05,1793249517147213568
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.410694369,746,717,683,664,633.410694369,885,783,816.410694369,652,628,654.410694369,0.451470712159,-0.00558336652003,0.0497312368826,0.999999908172,5.01889028609e-05,-0.000424421261252,3.16778690414e-05,1793249517163880192
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,746,717.005419622,682.994580378,664,633.994580378,885,783.005419622,817,651.994580378,628,655,0.451470642084,-0.0055841247013,0.0497309790129,0.999999907687,4.87666270072e-05,-0.000425700948588,3.20308773572e-05,1793249517180546816
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746,717.581962922,682.418037078,664,633.418037078,885,783.581962922,817,651.418037078,628,655,0.45147176135,-0.00558360337434,0.04973149504,0.999999908343,4.97241119815e-05,-0.000424043192521,3.20696922741e-05,1793249517197213184
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746,718,682,663.842014758,633,885,784,816.842014758,651.157985242,628,654.842014758,0.451472121716,-0.00558322951942,0.0497315856211,0.99999990861,5.0119239994e-05,-0.000423374683296,3.19748291448e-05,1793249517213880064
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746,718,682,663.267366478,633,885,784,816.267366478,651.732633522,628,654.267366478,0.451470480594,-0.00558324460053,0.0497305541507,0.999999907854,4.90312334693e-05,-0.000425315168461,3.15274096612e-05,1793249517230546944
+241,4.016666667,HOLD_POSE2,767,746,717,682,664,633,886,784,816,652,628,655,0.451470781471,-0.00558376936439,0.0497297854859,0.999999907616,4.82604197852e-05,-0.000425980773441,3.13079211609e-05,1793249517266596352
+242,4.033333333,HOLD_POSE2,767,746,717,682,663.42073478,633.57926522,886,784,816,652,628,654.42073478,0.451469747857,-0.00558191525215,0.0497288494455,0.999999906648,4.84549561178e-05,-0.000428235911061,3.11354796122e-05,1793249517283263488
+243,4.050000000,HOLD_POSE2,767,746,717.157806982,682.157806982,663,633.842193018,886,783.842193018,816,652,628,654,0.45146938281,-0.0055808632426,0.0497284306563,0.999999906208,4.87899111662e-05,-0.000429235018089,3.1013151069e-05,1793249517299930368
+244,4.066666667,HOLD_POSE2,767,746,717.734428832,682.734428832,663,633.265571168,886,783.265571168,816,652,628,654,0.451470792123,-0.00558193998846,0.0497293846357,0.999999907172,4.94975332041e-05,-0.00042690065911,3.10238208614e-05,1793249517316596224
+245,4.083333333,HOLD_POSE2,766.690244731,746,717.690244731,683,663,633,886,783.309755269,816,652,628,654.309755269,0.45147177071,-0.00558324480798,0.0497300048908,0.999999907566,4.89796694438e-05,-0.000426008353495,3.13828452898e-05,1793249517333262592
+246,4.100000000,HOLD_POSE2,766.116024336,746,717.116024336,683,663,633,886,783.883975664,816,652,628,654.883975664,0.451472381548,-0.00558474435383,0.0497303402161,0.999999907477,4.7415501384e-05,-0.000426347254922,3.20392904949e-05,1793249517349928704
+247,4.116666667,HOLD_POSE2,766,746,717,683,663.470591942,633,886.470591942,784,816,652,628,654.529408058,0.451472183644,-0.00558394764321,0.0497303501623,0.999999907269,4.7526137962e-05,-0.000426846433094,3.17163007196e-05,1793249517366595328
+248,4.133333333,HOLD_POSE2,766,746,717.059202578,683,664,633,886.940797422,784,816,652,628,654.059202578,0.451472037516,-0.00558265866065,0.0497303706488,0.999999907135,4.83027854392e-05,-0.000427110360753,3.12108469665e-05,1793249517383262208
+249,4.150000000,HOLD_POSE2,766,746,717.637772645,683,664,633,886.362227355,784,816,652,628,654.637772645,0.451474142156,-0.00558215207957,0.0497312064079,0.999999907907,5.12017035338e-05,-0.000424954459202,3.12804307545e-05,1793249517399929344
+250,4.166666667,HOLD_POSE2,766,746,717.784643463,683,664,633,886,783.784643463,816,652,628,654.784643463,0.451474746363,-0.00558192565035,0.0497314265028,0.99999990816,5.19093159054e-05,-0.000424274780585,3.1251095025e-05,1793249517416596224
+251,4.183333333,HOLD_POSE2,766,746,717.208710804,683,664,633,886,783.208710804,816,652,628,654.208710804,0.451472838361,-0.0055821682855,0.0497306157777,0.999999907553,4.89479772664e-05,-0.000426066774274,3.10561361946e-05,1793249517433262592
+252,4.200000000,HOLD_POSE2,766,746.36512865,717,682.63487135,663.63487135,633,886,783,816,651.63487135,628,654,0.451471503187,-0.00558296028174,0.0497297878075,0.99999990696,4.72604781838e-05,-0.000427637251164,3.11915790469e-05,1793249517449928960
+253,4.216666667,HOLD_POSE2,766,746.937778482,717,682.062221518,663.062221518,633,886,783,816,651.062221518,628,654,0.45147049358,-0.00558406450786,0.0497289500359,0.999999906376,4.62969666329e-05,-0.00042908182896,3.15148059623e-05,1793249517466595328
+254,4.233333333,HOLD_POSE2,766,746.471736357,717,682.528263643,663,633,886,783,816,651,628,654,0.45147193785,-0.00558231450353,0.0497297507634,0.999999907082,4.80119527924e-05,-0.000427263341571,3.12402183792e-05,1793249517483261952
+255,4.250000000,HOLD_POSE2,766,746,717.117971908,682.882028092,663.117971908,633,885.882028092,783,816,651.117971908,628,654,0.451473165053,-0.0055808052344,0.0497303111875,0.999999907618,4.93634415985e-05,-0.000425877007945,3.09333231386e-05,1793249517499928832
+256,4.266666667,HOLD_POSE2,766,746,717.696167976,682.303832024,663.696167976,633,885.303832024,783,816,651.696167976,628,654,0.451472378509,-0.00558159243554,0.049729154967,0.999999906897,4.80231183599e-05,-0.000427728315498,3.07846823044e-05,1793249517516595712
+257,4.283333333,HOLD_POSE2,766,746,718,682,663.726928678,633,885,783,816,652,628,654.273071322,0.451472340968,-0.00558089246682,0.0497288251624,0.999999906483,4.90924729084e-05,-0.000428573118305,3.08015584056e-05,1793249517533262592
+258,4.300000000,HOLD_POSE2,766,746,718,682,663.151456931,633,885,783,816,652,628,654.848543069,0.451473132878,-0.0055785455994,0.0497294105347,0.999999906402,5.28303156864e-05,-0.00042830331306,3.10017287233e-05,1793249517549929728
+259,4.316666667,POSE2_TO_POSE3_RETREAT,766,746,717,682,663,633,886,783,816,651,628,654,0.451474321284,-0.00558092768039,0.0497306133425,0.999999907867,4.62368415172e-05,-0.000425627930413,3.11180425395e-05,1793249517582536448
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766,746,717,682,663,633,885.422185758,783.577814242,816,651.577814242,628,654.577814242,0.451473214665,-0.00558120933217,0.0497297754989,0.999999907163,4.79420882485e-05,-0.00042708447213,3.1201772924e-05,1793249517599202816
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,746,717.154895123,682,663,633,885.154895123,783.845104877,816.154895123,652,628,655,0.451472956924,-0.00558123547746,0.0497294719121,0.999999906886,4.89551007694e-05,-0.000427625122952,3.11050529176e-05,1793249517615869440
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,746,717.729986685,682,663,633,885.729986685,783.270013315,816.729986685,652,628,655,0.451475002,-0.00558056848985,0.0497306176466,0.999999907776,4.80902343501e-05,-0.000425681163332,3.05188106669e-05,1793249517632536064
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,746,718,682,663,633,885.695472283,783,816.695472283,652,628,654.695472283,0.451474261976,-0.00558028207547,0.0497304918281,0.999999907505,4.78085902354e-05,-0.000426360222193,3.03524626587e-05,1793249517649202688
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,746,718,682,663,633,885.121418537,783,816.121418537,652,628,654.121418537,0.451471056964,-0.00558033249217,0.0497292406057,0.999999906204,4.80431342979e-05,-0.000429360816169,3.05577472866e-05,1793249517665869312
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,746,718,682,663,633,885,783,816,651.53227621,628,654.46772379,0.451473123951,-0.00557950082349,0.0497302292348,0.999999906947,5.14010003904e-05,-0.000427243353212,3.04576097431e-05,1793249517682536192
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766.059212359,746,717.940787641,682,663,633.059212359,885,783,816,651,628,654.940787641,0.451475766652,-0.00557873239353,0.0497314514613,0.999999907924,5.47781217148e-05,-0.000424536305404,3.0342784399e-05,1793249517699202816
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766.635835152,746,717.364164848,682,663,633.635835152,885,783,816,651,628,654.364164848,0.451471082453,-0.00558058417416,0.0497294646787,0.999999906344,5.1002401325e-05,-0.000428674114372,3.08155265197e-05,1793249517715869440
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766.78735522,746,717,682,663.21264478,633.78735522,885.21264478,783,816,651.21264478,628,654,0.451461489711,-0.0055812224972,0.0497251196594,0.999999903181,4.91275259242e-05,-0.000436203288558,3.08536726771e-05,1793249517732536064
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766.210225406,746,717,682,663.789774594,633.210225406,885.789774594,783,816,651.789774594,628,654,0.451443483449,-0.00557978088592,0.0497167324906,0.999999897224,5.05108054243e-05,-0.000449545451755,3.01468970206e-05,1793249517749202432
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,717,682.373226685,664,633,886,783,816,652,628,654,0.451408052425,-0.00557855924961,0.0497027443462,0.999999885877,4.9876809149e-05,-0.00047424819277,2.91114703753e-05,1793249517765869312
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,717,682.96030131,664,633,886,783,816,652,628,654,0.45136263752,-0.00557746365238,0.0496855470064,0.99999987071,4.80869731397e-05,-0.000505460212444,2.78877362687e-05,1793249517782536192
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745.464563018,717.535436982,682.464563018,664,633,886,783.535436982,816,652,628,654,0.451296204119,-0.00557481275075,0.0496662362579,0.999999856676,4.93459914508e-05,-0.000532457536199,2.65097675515e-05,1793249517799202304
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745.111469959,718,682,663.888530041,633,886,784,816,652,628,654,0.451226088647,-0.00557175557091,0.0496482561544,0.999999843678,5.11310956967e-05,-0.000556236988055,2.51011548554e-05,1793249517815868928
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.694969473,718,682,663.305030527,633,886,784,816,652,628,654,0.45114683621,-0.00556745562681,0.0496365598412,0.999999837119,5.42076080604e-05,-0.000567684480715,2.36101449547e-05,1793249517832536064
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,746,717.725785173,682,663.274214827,633,886,783.725785173,816.274214827,652,628,654,0.451059126519,-0.00556370188704,0.0496291986642,0.999999832363,5.66603187999e-05,-0.000575808265395,2.25340015985e-05,1793249517849202944
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,746,717.151199793,682,663.848800207,633,886,783.151199793,816.848800207,652,628,654,0.450962152893,-0.00556054645105,0.049626586127,0.999999829684,5.8429727001e-05,-0.000580291312687,2.19122965363e-05,1793249517865869568
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,717.979382671,683,663,633.020617329,885.020617329,783,816,651.020617329,628,654.979382671,0.450744518209,-0.0055522603713,0.0496339114915,0.999999839063,6.77681081375e-05,-0.000562887197065,2.09669635621e-05,1793249517899202816
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,746,717.400072082,683,663,633.599927918,885.599927918,783,816,651.599927918,628,654.400072082,0.450601488768,-0.00554903178163,0.0496405292842,0.999999845141,6.83909172545e-05,-0.000551916663156,2.06948441182e-05,1793249517915869440
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,746,717,682.821748527,663.178251473,633.821748527,886,783.178251473,816,651.821748527,628,654,0.450448370081,-0.00554441718355,0.0496454584469,0.999999849889,7.03852686537e-05,-0.000543015220952,2.00601694912e-05,1793249517932536064
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..702d363a33e42b050dc928e5ebc5f35b3cdf186d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,400 @@
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+263,4.383333333,pose2_to_pose3_retreat,0.617560782585,0.000150202014989,1.04003339522,0.588131460181,0.00882283457089,1.03970479603
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+265,4.416666667,pose2_to_pose3_retreat,0.617560215339,0.000150185155835,1.040033281,0.588130893114,0.00882281836222,1.039704683
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+346,5.766666667,pose2_to_pose3_retreat,0.580453279261,0.00015033886478,1.04003375156,0.551023954499,0.00882296173002,1.03970514662
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+348,5.800000000,pose2_to_pose3_retreat,0.57962658093,0.000150196205272,1.04003367386,0.550197258104,0.0088228253175,1.03970506084
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+352,5.866666667,pose2_to_pose3_retreat,0.578317933632,0.000149996173447,1.04003361185,0.548888614742,0.00882263876502,1.03970500218
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+358,5.966666667,pose2_to_pose3_retreat,0.57687658534,0.00015015905161,1.04003356305,0.547447262664,0.00882278914688,1.03970496252
+359,5.983333333,pose2_to_pose3_retreat,0.576697987511,0.000150091962629,1.04003345561,0.547268666171,0.00882272651775,1.03970485312
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+363,6.050000000,pose2_to_pose3_retreat,0.576187517613,0.000150156412862,1.04003353265,0.546758196361,0.00882279105734,1.03970492472
+364,6.066666667,pose2_to_pose3_retreat,0.576097773085,0.000150094610529,1.04003358548,0.546668451145,0.00882272706265,1.03970498211
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+366,6.100000000,pose2_to_pose3_retreat,0.575948508894,0.000150036382367,1.04003364532,0.54651918777,0.00882267145212,1.03970503765
+367,6.116666667,pose2_to_pose3_retreat,0.575888780231,0.000150111316996,1.04003361893,0.546459458212,0.00882274343988,1.03970501349
+368,6.133333333,pose2_to_pose3_retreat,0.575838311378,0.000150094228906,1.04003355544,0.546408989181,0.00882272548983,1.03970494326
+369,6.150000000,pose2_to_pose3_retreat,0.57579724545,0.000150101937592,1.04003349881,0.546367924154,0.00882273672633,1.03970489903
+370,6.166666667,pose2_to_pose3_retreat,0.575764891224,0.000150163292784,1.0400335544,0.546335569364,0.00882279635053,1.03970495943
+371,6.183333333,pose2_to_pose3_retreat,0.575739632788,0.00015004637678,1.04003361672,0.546310312018,0.00882268295703,1.03970501717
+372,6.200000000,pose2_to_pose3_retreat,0.575719638424,0.000149894489484,1.04003361399,0.546290318902,0.00882253501811,1.03970500689
+373,6.216666667,pose2_to_pose3_retreat,0.575703552094,0.000150197937776,1.04003341115,0.546274228181,0.00882282371191,1.03970480795
+374,6.233333333,pose2_to_pose3_retreat,0.575691032573,0.000150086144783,1.04003349306,0.546261711646,0.00882272189432,1.03970488574
+375,6.250000000,pose2_to_pose3_retreat,0.575681671633,0.000150104306984,1.04003359245,0.546252349945,0.00882273742227,1.03970498379
+376,6.266666667,pose2_to_pose3_retreat,0.575675283445,0.000150147100639,1.04003364715,0.546245960231,0.00882277508842,1.03970503993
+377,6.283333333,pose2_to_pose3_retreat,0.575671300608,0.000149985652171,1.04003363876,0.546241980662,0.00882262483308,1.03970503403
+378,6.300000000,pose2_to_pose3_retreat,0.575668983709,0.000149990790688,1.04003355383,0.546239663748,0.00882262991908,1.03970494912
+379,6.316666667,pose2_to_pose3_retreat,0.57566773823,0.000150035756429,1.04003347407,0.546238417444,0.00882267206006,1.03970486875
+380,6.333333333,pose2_to_pose3_retreat,0.575667025983,0.000150061470821,1.04003342845,0.546237704725,0.00882269615906,1.0397048228
+381,6.350000000,pose2_to_pose3_retreat,0.575666696314,0.00015007337294,1.04003340734,0.546237374837,0.00882270731349,1.03970480152
+382,6.366666667,pose2_to_pose3_retreat,0.57566637391,0.000150074599091,1.04003344441,0.546237052663,0.00882270933592,1.03970483902
+383,6.383333333,pose2_to_pose3_retreat,0.575666087987,0.000150074986189,1.04003348116,0.546236766973,0.00882271053193,1.03970487619
+384,6.400000000,pose2_to_pose3_retreat,0.575666083187,0.000150074992687,1.04003348178,0.546236762177,0.008822710552,1.03970487681
+385,6.416666667,pose2_to_pose3_retreat,0.575665947025,0.00015007517703,1.04003349928,0.546236626126,0.00882271112157,1.03970489451
+386,6.433333333,pose2_to_pose3_retreat,0.575665808001,0.000150075365247,1.04003351715,0.546236487217,0.00882271170309,1.03970491258
+387,6.450000000,pose2_to_pose3_retreat,0.575665560485,0.000150075700347,1.04003354897,0.546236239903,0.00882271273844,1.03970494476
+388,6.466666667,pose2_to_pose3_retreat,0.575665207642,0.000150076178044,1.04003359433,0.546235887348,0.00882271421437,1.03970499063
+389,6.483333333,pose2_to_pose3_retreat,0.57566513002,0.000150076283133,1.04003360431,0.54623580979,0.00882271453906,1.03970500072
+390,6.500000000,pose2_to_pose3_retreat,0.575664845589,0.000150077526995,1.04003361824,0.546235525367,0.00882271579733,1.03970501428
+391,6.516666667,pose2_to_pose3_retreat,0.575664720434,0.000150079291142,1.04003359231,0.546235399899,0.00882271644806,1.03970498706
+392,6.533333333,pose2_to_pose3_retreat,0.575664574072,0.000150081354233,1.04003356199,0.546235253169,0.00882271720906,1.03970495522
+393,6.550000000,pose2_to_pose3_retreat,0.575664398937,0.000150089709336,1.04003358903,0.546235077405,0.00882272336026,1.03970498048
+394,6.566666667,pose2_to_pose3_retreat,0.575664376354,0.000150093408312,1.04003362073,0.546235054656,0.00882272648742,1.03970501195
+395,6.583333333,pose2_to_pose3_retreat,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.0088227301551,1.03970504886
+396,6.600000000,pose2_to_pose3_retreat,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015509,1.03970504886
+397,6.616666667,pose2_to_pose3_retreat,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015509,1.03970504886
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b562ba3c300d2a5972c4309a8aef00ed818ce050
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e74b5b3b5fac4189a4d702d57be792cd509fa2198602936fb60fd25373c807c7
+size 25543064
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ac035628f921e2da563a804b4f7f0334258a0d9c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_02/franka_data.csv
@@ -0,0 +1,403 @@
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+27,0.450000000,BASELINE,766,745.327297906,717.327297906,678,662,636,877.672702094,784,811,652,629,653.327297906,0.400989077385,-0.0054354728333,0.0498537915696,0.999999966041,5.73090092674e-05,-0.000251382996132,-3.79506045512e-05,1793249520503474944
+28,0.466666667,BASELINE,766,745,717,678,662.257661418,636,878,784,811,652,629,653.257661418,0.400988533361,-0.00543380147238,0.049853764468,0.999999965946,5.92992853481e-05,-0.000251272496612,-3.81185323237e-05,1793249520520141824
+29,0.483333333,BASELINE,766,745,717,678,662.836373196,636,878,784,811,652,629,653.836373196,0.400987822476,-0.00543021813839,0.0498535613611,0.99999996578,6.33205038242e-05,-0.000250890905074,-3.8530400072e-05,1793249520536808448
+30,0.500000000,BASELINE,766,745,717.41228767,678,663,636,878,784.41228767,811,652,628.58771233,654,0.40098730512,-0.00543104244734,0.0498530496882,0.999999965497,6.29662330633e-05,-0.000252144492551,-3.8271509975e-05,1793249520553475072
+31,0.516666667,BASELINE,766,745,717.987099431,678,663,636,878,784.987099431,811,652,628.012900569,654,0.400986864053,-0.00543360425234,0.0498524163783,0.999999965165,6.08871412643e-05,-0.000254042668756,-3.77482066526e-05,1793249520570141952
+32,0.533333333,BASELINE,766,745,717.426051159,678,663,636,878,784.426051159,811.573948841,652,628.573948841,654,0.400987324246,-0.00543432775974,0.0498527917373,0.999999965529,6.03224644954e-05,-0.00025274091353,-3.77396659346e-05,1793249520586808320
+33,0.550000000,BASELINE,766.158855025,745.158855025,717,678,663,636,878,784,812,652,629,654,0.400988139235,-0.00543474994104,0.0498534095376,0.999999965879,6.02577138863e-05,-0.000251371436035,-3.77321294244e-05,1793249520603474944
+34,0.566666667,BASELINE,766.737890178,745.737890178,717,678,663,636,878,784,812,652,629,654,0.400989837944,-0.00543448673119,0.0498546073553,0.999999966149,6.14233304848e-05,-0.000250017149216,-3.76959895468e-05,1793249520620141568
+35,0.583333333,BASELINE,766.68395363,745.68395363,717.31604637,678,663,636,878,784,811.68395363,652,629,654,0.400990144975,-0.00543422916219,0.0498546242558,0.999999966042,6.19223555247e-05,-0.000250327098372,-3.76544437437e-05,1793249520636808960
+36,0.600000000,BASELINE,766.106524309,745.106524309,717.893475691,678,663,636,878,784,811.106524309,652,629,654,0.400989301033,-0.00543397625837,0.0498536644909,0.999999965623,6.18700828929e-05,-0.000252013436893,-3.76084270209e-05,1793249520653476352
+37,0.616666667,BASELINE,766.468262236,745.468262236,717.531737764,678,662.531737764,636,877.531737764,784,811.468262236,652,629,654,0.400988815009,-0.00543314102278,0.0498535988729,0.999999965718,6.19138314651e-05,-0.000251594156382,-3.78294968009e-05,1793249520670142976
+38,0.633333333,BASELINE,766.956458247,745.956458247,717,678,662,636,877.043541753,784,812,652,629,654,0.400988507183,-0.00543236406798,0.0498537534252,0.999999965941,6.18818315332e-05,-0.00025067826427,-3.80555906246e-05,1793249520686809344
+39,0.650000000,BASELINE,766.367514976,745.367514976,717,678,662,636,877.632485024,784,812,652,629,654,0.400989417274,-0.00543396718118,0.0498541322395,0.999999966328,6.06289324765e-05,-0.000249508150452,-3.75878213771e-05,1793249520703475968
+40,0.666666667,BASELINE,766.217752281,745.217752281,717.217752281,678,662.217752281,636,878,784,812,652,629,654,0.400989692159,-0.00543445536163,0.0498541279053,0.999999966381,6.03631821731e-05,-0.000249376604356,-3.7493287762e-05,1793249520720142336
+41,0.683333333,BASELINE,766.796918248,745.796918248,717.796918248,678,662.796918248,636,878,784,812,652,629,654,0.400988912761,-0.00543309303576,0.0498534876414,0.999999965879,6.17358490899e-05,-0.000250968817954,-3.80182308822e-05,1793249520736808960
+42,0.700000000,BASELINE,766.625717279,745.625717279,717.625717279,678,663,636,877.625717279,784,811.625717279,652,629,654,0.400990286314,-0.00543323485664,0.0498543568257,0.999999966202,6.21720621012e-05,-0.000249582907297,-3.79410825756e-05,1793249520753475584
+43,0.716666667,BASELINE,766.049325615,745.049325615,717.049325615,678,663,636,877.049325615,784,811.049325615,652,629,654,0.400992822441,-0.00543418890185,0.0498560410968,0.999999966964,6.21025992811e-05,-0.000246588839135,-3.75388108749e-05,1793249520770142464
+44,0.733333333,BASELINE,766,745.526765209,717.526765209,678,663,636,877,784,811,652,629,654,0.400990529384,-0.00543312648731,0.0498551083777,0.999999966433,6.06915840078e-05,-0.000249044454744,-3.77785495779e-05,1793249520786809600
+45,0.750000000,BASELINE,766,745.895024344,717.895024344,678,663,636,877,784,811,652,629,654,0.400988391953,-0.00543224556981,0.0498541911233,0.999999965952,5.94993303663e-05,-0.000251215775198,-3.80422555719e-05,1793249520803476736
+46,0.766666667,BASELINE,766,745.306929572,717.306929572,678,663,636,877,784,811,652,629,654,0.400989050666,-0.00543306842434,0.0498544721742,0.999999966296,5.98916665666e-05,-0.000249731542016,-3.81397510318e-05,1793249520820143104
+47,0.783333333,BASELINE,766,745,717,678,663,636.277701803,877,784,811.277701803,652,629,654,0.400988750717,-0.0054335867959,0.0498543618258,0.99999996625,6.01792416644e-05,-0.000249853452513,-3.81057612479e-05,1793249520836809472
+48,0.800000000,BASELINE,766,745,717,678,663,636.858552487,877,784,811.858552487,652,629,654,0.400987404259,-0.00543377278344,0.0498538242125,0.999999965776,6.03524559721e-05,-0.000251728684759,-3.79282376412e-05,1793249520853475840
+49,0.816666667,BASELINE,766,745.433976415,717.433976415,678,663,636.566023585,877,784,812,652,629,654,0.400989734801,-0.00543430706639,0.0498545080678,0.999999966386,5.91698959654e-05,-0.000249607276683,-3.7733964478e-05,1793249520870142208
+50,0.833333333,BASELINE,766,746,718,678,662.992329096,636,877,784,812,652.007670904,628.992329096,654,0.40099317764,-0.00543491940997,0.0498555618763,0.999999967313,5.76071290346e-05,-0.000246264811904,-3.75430934997e-05,1793249520886808832
+51,0.850000000,BASELINE,766,746,718,678,662.417339295,636,877,784,812,652.582660705,628.417339295,654,0.400991342837,-0.00543301288118,0.0498548963531,0.999999966772,6.02028249825e-05,-0.000247766150298,-3.80026020104e-05,1793249520903475712
+52,0.866666667,BASELINE,766.162768036,746,718,678,662.162768036,636,877.162768036,784.162768036,812,652.837231964,628.162768036,654,0.400989881909,-0.00543213338457,0.0498542667479,0.999999966335,6.17973920292e-05,-0.000249089077744,-3.82760118055e-05,1793249520920142848
+53,0.883333333,BASELINE,766.756422682,746,718,678,662.756422682,636,877.756422682,784.756422682,812,652.243577318,628.756422682,654,0.400989410715,-0.00543397269225,0.0498537322264,0.999999966196,6.07417270276e-05,-0.000249939707897,-3.80567729737e-05,1793249520936809728
+54,0.900000000,BASELINE,766.660699053,746,718,678,663,636,878,784.660699053,812,652,629,653.660699053,0.400990305241,-0.00543403860758,0.0498543978866,0.999999966401,6.13062570422e-05,-0.000249012087235,-3.78464581878e-05,1793249520953476352
+55,0.916666667,BASELINE,766.085318818,746,718,678,663,636,878,784.085318818,812,652,629,653.085318818,0.40099215001,-0.00543287062942,0.0498558986109,0.99999996684,6.29980886592e-05,-0.000246847192695,-3.76423525961e-05,1793249520970142720
+56,0.933333333,BASELINE,766.490342066,746,717.509657934,678,662.509657934,636,877.509657934,784,812,652,628.509657934,653.490342066,0.400992043036,-0.00543258017821,0.0498558562158,0.999999966865,6.27647012685e-05,-0.000246764267468,-3.79183711394e-05,1793249520986809344
+57,0.950000000,BASELINE,766.932247944,746,717,677.932247944,662.067752056,636,877.067752056,784,812,652,628.067752056,653.932247944,0.400991394879,-0.00543263938423,0.0498554795081,0.999999966796,6.19409706863e-05,-0.000247211213656,-3.81814682641e-05,1793249521003475456
+58,0.966666667,BASELINE,766.341719114,746,717,677.341719114,662.658280886,636,877.658280886,784,812,652,628.658280886,653.341719114,0.400989192817,-0.0054342177323,0.0498545961795,0.999999966552,5.9148372386e-05,-0.000248949855787,-3.76998899779e-05,1793249521020142080
+59,0.983333333,BASELINE,766,745.756193701,717,677.243806299,662.756193701,636,877.756193701,784,812,652,629,653,0.400988471953,-0.00543443896124,0.0498543136386,0.999999966485,5.76292449036e-05,-0.000249595319362,-3.75526966459e-05,1793249521036808704
+60,1.000000000,BASELINE,766,745.177539975,717,677.822460025,662.177539975,636,877.177539975,784,812,652,629,653,0.400989785389,-0.00543279630153,0.0498548562289,0.999999966674,5.78591219873e-05,-0.000248739394467,-3.78647528303e-05,1793249521053475840
+61,1.016666667,BASELINE,766,745,717.397864213,678,662.397864213,636,877,784,811.602135787,652,629,653.397864213,0.400990280069,-0.0054338733726,0.0498549279056,0.999999966835,5.72363846857e-05,-0.000248223557561,-3.79464276958e-05,1793249521070143232
+62,1.033333333,BASELINE,766,745,717.971830065,678,662.971830065,636,877,784,811.028169935,652,629,653.971830065,0.400990412352,-0.00543615424403,0.0498547911475,0.999999966983,5.62362653767e-05,-0.000247858249578,-3.79261317536e-05,1793249521086810368
+63,1.050000000,BASELINE,766,745,717.455387586,678,663,636,877,784,811.544612414,652,629,654,0.40099098426,-0.00543504373989,0.0498551793384,0.99999996699,5.77930896393e-05,-0.000247466134942,-3.7951045522e-05,1793249521103476224
+64,1.066666667,BASELINE,766.121753821,745.121753821,717.121753821,678,663,636,877.121753821,784,812,652,629,654,0.400991197231,-0.00543410471081,0.0498554697538,0.999999966962,5.8879530433e-05,-0.000247315779398,-3.79917246259e-05,1793249521120142848
+65,1.083333333,BASELINE,766.716050357,745.716050357,717.716050357,678,663,636,877.716050357,784,812,652,629,654,0.400989929052,-0.00543451054356,0.0498552755348,0.999999966835,5.76281557558e-05,-0.000248109092725,-3.80845348891e-05,1793249521136809216
+66,1.100000000,BASELINE,767,746,717.698348063,678,663,636,878,784.301651937,812,652,629,654,0.40098950981,-0.00543380060027,0.049854938487,0.99999996662,5.94840263643e-05,-0.000248546039582,-3.80264157273e-05,1793249521153475584
+67,1.116666667,BASELINE,767,746,717.120701901,678,663,636,878,784.879298099,812,652,629,654,0.400989867295,-0.00543206978588,0.049854470759,0.99999996631,6.4182848287e-05,-0.000248656931508,-3.78302047912e-05,1793249521170142208
+68,1.133333333,BASELINE,766.545058432,746,717.454941568,678,663,636,877.545058432,784.545058432,812,652,629,654,0.400988689168,-0.0054329692368,0.0498539475295,0.999999966104,6.23763359148e-05,-0.000249925308212,-3.79231820998e-05,1793249521186808832
+69,1.150000000,BASELINE,766,746,717.969300329,678,662.969300329,636,877,784,812,652,629,653.969300329,0.400987280648,-0.0054344373812,0.0498535041836,0.999999965963,5.90400250079e-05,-0.000251271641285,-3.80826738659e-05,1793249521203475712
+70,1.166666667,BASELINE,766,746,717.381870693,678,662.381870693,636,877,784,812,652,629,653.381870693,0.400989050049,-0.00543361888861,0.0498547753754,0.999999966655,5.91236839531e-05,-0.000248487002095,-3.80630911232e-05,1793249521220142592
+71,1.183333333,BASELINE,766,745.797325069,717.202674931,678,662,636,877.202674931,784,812,652,629,653.202674931,0.400990381831,-0.00543363454759,0.0498557327147,0.99999996708,5.94733603584e-05,-0.000246717203066,-3.78586825276e-05,1793249521236809728
+72,1.200000000,BASELINE,766,745.218137028,717.781862972,678,662,636,877.781862972,784,812,652,629,653.781862972,0.400990900642,-0.0054351998258,0.0498561070044,0.999999967022,6.03172225199e-05,-0.000246832691609,-3.73109193941e-05,1793249521253476352
+73,1.216666667,BASELINE,766.359602191,745,717.640397809,678,662.359602191,636,878,784.359602191,812,652,629,653.640397809,0.400989977573,-0.0054355071649,0.0498553914052,0.999999966642,6.02908483122e-05,-0.000248375723341,-3.7279881665e-05,1793249521270142976
+74,1.233333333,BASELINE,766.936466036,745,717.063533964,678,662.936466036,636,878,784.936466036,812,652,629,653.063533964,0.400988183362,-0.00543505449203,0.0498540173254,0.999999966065,5.97387014135e-05,-0.000250781237003,-3.75610351037e-05,1793249521286809344
+75,1.250000000,BASELINE,767,745.511433697,717,678,662.488566303,636,877.488566303,784.488566303,812,652,629,653.511433697,0.400988551795,-0.00543425163181,0.0498543943384,0.999999966222,6.0349265863e-05,-0.000250013707776,-3.75200720213e-05,1793249521303475968
+76,1.266666667,BASELINE,766.911636019,746,717,678,662,636,877.088363981,784.088363981,811.911636019,652,629,654,0.400989129041,-0.00543360575223,0.049854862377,0.999999966425,6.10041056921e-05,-0.000249048027977,-3.74537389547e-05,1793249521320142336
+77,1.283333333,BASELINE,766.32224696,746,717,678,662,636,877.67775304,784.67775304,811.32224696,652,629,654,0.400989372581,-0.00543409570553,0.0498546176718,0.999999966385,6.10940338866e-05,-0.000249185571659,-3.74696087896e-05,1793249521336808704
+78,1.300000000,BASELINE,766.263289393,746,717.263289393,678,662.263289393,636,878,784.736710607,811,651.736710607,628.736710607,653.736710607,0.40098928574,-0.00543390793147,0.0498543915239,0.999999966276,6.22154812148e-05,-0.000249324051281,-3.76087035196e-05,1793249521353475328
+79,1.316666667,BASELINE,766.844178279,746,717.844178279,678,662.844178279,636,878,784.155821721,811,651.155821721,628.155821721,653.155821721,0.400988800369,-0.0054329026316,0.0498541877616,0.999999966081,6.45812245974e-05,-0.000249463659895,-3.78964413964e-05,1793249521370142976
+80,1.333333333,BASELINE,767,745.578730943,717.578730943,678,663,636,877.578730943,784,811.421269057,651.421269057,628.421269057,653,0.400988683676,-0.00543368544419,0.0498543846639,0.999999966154,6.30988006706e-05,-0.000249583876909,-3.76738520136e-05,1793249521386809344
+81,1.350000000,BASELINE,767,745.003032434,717.003032434,678,663,636,877.003032434,784,811.996967566,651.996967566,628.996967566,653,0.400988702135,-0.00543512374569,0.0498547284426,0.999999966319,6.02057099036e-05,-0.00024969698533,-3.726418611e-05,1793249521403475200
+82,1.366666667,BASELINE,766.431278098,745.568721902,717,678.568721902,662.431278098,636,877.568721902,784,811.431278098,652,629,653.568721902,0.400990228546,-0.00543529660683,0.0498546946347,0.999999966753,5.92302998189e-05,-0.000248122547968,-3.76891124168e-05,1793249521420142080
+83,1.383333333,BASELINE,766,746,717.146284088,678.853715912,662.146284088,636,878,784,811,652,629,654,0.400991266092,-0.0054353383006,0.0498548645091,0.999999967061,5.8553282754e-05,-0.000246993769562,-3.79942656392e-05,1793249521436808704
+84,1.400000000,BASELINE,766,746,717.741743961,678.258256039,662.741743961,636,878,784,811,652,629,654,0.400990778027,-0.0054349978111,0.0498556659434,0.999999966986,5.87613219561e-05,-0.000247260857353,-3.79180770024e-05,1793249521453475072
+85,1.416666667,BASELINE,766,745.673651404,717.673651404,678,663,636,878,784,811.326348596,652,629,654,0.400990101521,-0.00543433117004,0.0498556716233,0.999999966766,6.00668848458e-05,-0.000247830857513,-3.79368677022e-05,1793249521470141696
+86,1.433333333,BASELINE,766,745.097360561,717.097360561,678,663,636,878,784,811.902639439,652,629,654,0.400989280695,-0.00543341473766,0.0498550678547,0.999999966433,6.22130137311e-05,-0.000248632850683,-3.80284007104e-05,1793249521486808320
+87,1.450000000,BASELINE,766,745.477827123,717.477827123,678,663,636,877.522172877,784,811.522172877,651.522172877,628.522172877,654,0.400989672292,-0.00543387997467,0.0498551777369,0.999999966579,6.12545937944e-05,-0.000248310798193,-3.78413046589e-05,1793249521503474944
+88,1.466666667,BASELINE,766,746,717.945856123,678,663,636,877.054143877,784,811.054143877,651.054143877,628.054143877,654,0.400990214349,-0.00543452416399,0.0498553631432,0.999999966783,5.97318519937e-05,-0.000247884703629,-3.76608127868e-05,1793249521520141824
+89,1.483333333,BASELINE,766,746,717.356153005,678,663,636,877.643846995,784,811.643846995,651.643846995,628.643846995,654,0.400989806708,-0.00543416018273,0.0498548605809,0.999999966618,5.88697993099e-05,-0.000248689717654,-3.81059129369e-05,1793249521536808448
+90,1.500000000,BASELINE,766.229254917,745.770745083,717,678,662.770745083,636,878,784,811.770745083,652,629,654,0.400990097268,-0.00543354381915,0.0498550230778,0.999999966663,5.92166721958e-05,-0.000248403095636,-3.82482217487e-05,1793249521553475072
+91,1.516666667,BASELINE,766.808112814,745.191887186,717,678,662.191887186,636,878,784,811.191887186,652,629,654,0.400991452549,-0.00543254258444,0.0498561997585,0.999999967026,6.1407099864e-05,-0.000246451779857,-3.79287879526e-05,1793249521570141696
+92,1.533333333,BASELINE,766.615123278,745.384876722,717,678,662.384876722,636,878,784,811,652,629,654,0.400990910693,-0.00543289030768,0.04985616047,0.999999966986,6.14373857982e-05,-0.000246636509242,-3.77236384381e-05,1793249521586808576
+93,1.550000000,BASELINE,766.039397663,745.960602337,717,678,662.960602337,636,878,784,811,652,629,654,0.400989428102,-0.00543390693888,0.0498555182187,0.999999966748,6.03965220443e-05,-0.000247880439568,-3.75751590632e-05,1793249521603475456
+94,1.566666667,BASELINE,766.53583443,746,717,678.53583443,663,636,878,784,811.53583443,652,629,654,0.400989197039,-0.00543386152145,0.0498551680697,0.999999966559,6.11995194887e-05,-0.000248436490432,-3.76347722894e-05,1793249521620141824
+95,1.583333333,BASELINE,766.886136761,746,717.113863239,678.886136761,663,636,877.886136761,784,811.886136761,652,629,654,0.400988730852,-0.00543370858435,0.0498548052891,0.999999966325,6.21614062475e-05,-0.000249126963237,-3.76969924192e-05,1793249521636808448
+96,1.600000000,BASELINE,766.296264448,746,717.703735552,678.296264448,663,636,877.296264448,784,811.296264448,652,629,654,0.400986897388,-0.00543343230667,0.049854299999,0.999999965893,6.32212961575e-05,-0.000250590635467,-3.77062067719e-05,1793249521653475072
+97,1.616666667,BASELINE,766,746,717.711795604,678.288204396,663,636,877.288204396,784,811,652,629,654,0.400987247254,-0.00543398569299,0.0498548885003,0.999999966133,6.23221568081e-05,-0.000249889970731,-3.74770269351e-05,1793249521670141696
+98,1.633333333,BASELINE,766,746,717.132779154,678.867220846,663,636,877.867220846,784,811,652,629,654,0.400989800204,-0.00543537625007,0.0498565806896,0.999999967042,5.9446262939e-05,-0.000247005386132,-3.70072959297e-05,1793249521686808320
+99,1.650000000,BASELINE,766.442005269,746,717.442005269,679,663,636,877.557994731,784,811.442005269,652,629,654,0.400990557252,-0.00543566823979,0.0498563741688,0.999999967213,5.8818627196e-05,-0.0002464366055,-3.71854808383e-05,1793249521703475200
+100,1.666666667,BASELINE,766.984062704,745.984062704,718,678.984062704,662.984062704,636,877,784,812,652,628.984062704,654,0.40099076399,-0.00543563112346,0.04985560307,0.999999967159,5.8854009013e-05,-0.00024659187811,-3.75511250301e-05,1793249521720141824
+101,1.683333333,BASELINE,766.395512393,745.395512393,718,678.395512393,662.395512393,636,877,784,812,652,628.395512393,654,0.40099039821,-0.00543551409161,0.0498548459299,0.999999966814,5.86753277222e-05,-0.000248003926165,-3.77252705383e-05,1793249521736808448
+102,1.700000000,BASELINE,766,745,718,678,662.190044908,636,877.190044908,784,812,652,628.190044908,653.809955092,0.400990422545,-0.00543565288536,0.0498546484718,0.999999966734,5.82438631379e-05,-0.000248420457953,-3.77872048374e-05,1793249521753475072
+103,1.716666667,BASELINE,766,745,718,678,662.769469806,636,877.769469806,784,812,652,628.769469806,653.230530194,0.400991246184,-0.00543631583616,0.0498555977375,0.999999967197,5.7294474905e-05,-0.000246797292117,-3.7619231353e-05,1793249521770141696
+104,1.733333333,BASELINE,766,745.347672697,718,678,662.652327303,636,877.652327303,784,811.652327303,652,629,653.347672697,0.400991752048,-0.00543566342755,0.0498562135763,0.999999967393,5.8000520076e-05,-0.000245856981313,-3.74814466176e-05,1793249521786808320
+105,1.750000000,BASELINE,766,745.92506821,718,678,662.07493179,636,877.07493179,784,811.07493179,652,629,653.92506821,0.400992047945,-0.00543414190253,0.0498566091052,0.999999967411,5.98003836446e-05,-0.000245367863044,-3.7363608915e-05,1793249521803474944
+106,1.766666667,BASELINE,766,745.50006868,717.50006868,678.49993132,662.49993132,636,877.49993132,784,811.49993132,652,629,654,0.400991941819,-0.00543407328879,0.049856361596,0.999999967337,5.97148335283e-05,-0.000245643663862,-3.76745034849e-05,1793249521820141568
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,717,679,663,636,878,784,811,652,629,654,0.400989201759,-0.0054327424042,0.049854955693,0.999999966387,6.3067844308e-05,-0.000248625612289,-3.78663836268e-05,1793249521862958848
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,717,678.420966577,663,636,877.420966577,784,811.579033423,652,629,654,0.400989779899,-0.00543269652698,0.0498555128147,0.999999966718,6.24736725985e-05,-0.000247436927368,-3.79077269024e-05,1793249521879625216
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,717,678,663,636,877,784,811.842348193,652,629,653.842348193,0.400990086408,-0.00543326184982,0.049855828413,0.999999966949,6.1193018041e-05,-0.000246833303129,-3.78135842994e-05,1793249521896291840
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,717,678,663,636,877,784,811.264835017,652,629,653.264835017,0.400989669504,-0.00543545493258,0.0498555007816,0.999999966916,5.80841088428e-05,-0.000247787823647,-3.73586130709e-05,1793249521912958464
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.309985523,745,717,678,662.690014477,636,877.309985523,784,811,652,629,653.309985523,0.400989563849,-0.00543561647633,0.0498553015283,0.999999966837,5.75003567344e-05,-0.000248250778339,-3.72903899716e-05,1793249521929625344
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.882525394,745,717,678,662.117474606,636,877.882525394,784,811,652,629,653.882525394,0.400989721819,-0.00543405732862,0.0498552110099,0.999999966725,5.90553852578e-05,-0.000248297382096,-3.75497383366e-05,1793249521946292992
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.531010224,745.468989776,717,677.531010224,662.468989776,636,877.531010224,784,811.468989776,652,629,654,0.40098960201,-0.00543374934664,0.0498553294864,0.99999996671,6.00338679821e-05,-0.000248120063863,-3.75858842073e-05,1793249521962959872
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.942151551,717.057848449,677.057848449,662.942151551,636,877.057848449,784.057848449,811.942151551,652,629,654,0.400989565181,-0.00543378571234,0.0498555402574,0.999999966726,6.08094651264e-05,-0.000247871665767,-3.75541878059e-05,1793249521979626240
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.364086873,717.635913127,677.635913127,662.364086873,636,877.635913127,784.635913127,811.364086873,652,629,654,0.400990919423,-0.0054340141683,0.0498560958355,0.999999966804,6.10989964383e-05,-0.000247503892187,-3.74305604827e-05,1793249521996292864
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.212865495,745.212865495,717.787134505,678,662,636,877.787134505,784.787134505,811.212865495,652,629,653.787134505,0.40099830118,-0.00543471895819,0.0498588084691,0.999999968032,6.08784676412e-05,-0.000242598754003,-3.70925804479e-05,1793249522012959232
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.787925189,745.787925189,717.212074811,678,662,636,877.212074811,784.212074811,811.787925189,652,629,653.212074811,0.401015938853,-0.00543623423819,0.0498651913685,0.999999971107,5.97900630055e-05,-0.000229973214099,-3.63898756995e-05,1793249522029625600
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.638841946,745.638841946,717,678,662,636,877.361158054,784,811.638841946,652,629,653.361158054,0.401050160881,-0.00543676692761,0.0498771761621,0.999999976516,5.94292963133e-05,-0.00020532598722,-3.57381656007e-05,1793249522046292480
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.066676355,745.066676355,717,678,662,636,877.933323645,784,811.066676355,652,629,653.933323645,0.401094072363,-0.00543672553605,0.0498924338776,0.999999982536,5.94936538419e-05,-0.000173655056971,-3.51162491656e-05,1793249522062959104
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.526883466,717,677.473116534,662.526883466,636,878,784.526883466,811,652,629,654,0.401161105623,-0.00544004652876,0.0499094641831,0.999999987638,5.87122200031e-05,-0.000141916072725,-3.37114121137e-05,1793249522079625728
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,717,677.119571573,663,636,878,784.880428427,811.119571573,652,629,654,0.401232633161,-0.00544326068632,0.0499250775824,0.999999991211,5.84025354214e-05,-0.000114571816781,-3.22413576786e-05,1793249522096292352
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,717,677.698082652,663,636,878,784.301917348,811.698082652,652,629,654,0.401309704649,-0.00544436249561,0.0499343551983,0.999999992281,6.03317222943e-05,-0.000104129848406,-3.09173596065e-05,1793249522112959232
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.72620317,717.27379683,677.72620317,663,636,877.72620317,784.27379683,812,652,629,654,0.401394048792,-0.00544753146201,0.0499400487223,0.999999993003,5.89575350351e-05,-9.81455942593e-05,-2.97512571065e-05,1793249522129626112
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.153541999,717.846458001,677.153541999,663,636,877.153541999,784.846458001,812,652,629,654,0.401486331433,-0.00545295684433,0.0499418300117,0.999999993423,5.39775326072e-05,-9.70271816843e-05,-2.87575064141e-05,1793249522146293248
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,717.566542413,677.433457587,663,636,877,785,812,652,629,654,0.401593812248,-0.00545669287389,0.0499412020186,0.999999993369,5.0553190235e-05,-9.96363517779e-05,-2.79268639555e-05,1793249522162959872
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,717,678,662.974881803,636,877,784.974881803,812,652,629,654,0.401708559317,-0.00545989844895,0.0499398771572,0.999999993154,4.78028592838e-05,-0.000103294959381,-2.71343985779e-05,1793249522179625984
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,717,678,662.396261259,636,877,784.396261259,812,652,629,654,0.401860734168,-0.0054650526734,0.0499426456662,0.999999993546,4.73465520877e-05,-9.99870946479e-05,-2.58664701524e-05,1793249522196292608
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.181389441,745.181389441,717.181389441,678,662.181389441,636,877.181389441,784.181389441,812,652,629,653.818610559,0.402020033625,-0.005470515409,0.0499441778532,0.999999993779,4.56986067228e-05,-9.87315284234e-05,-2.46193871817e-05,1793249522212958976
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.756932625,745.756932625,717.756932625,678,662.756932625,636,877.756932625,784.756932625,812,652,629,653.243067375,0.402194814613,-0.00547664852927,0.0499430235497,0.999999993671,4.14612678884e-05,-0.000101935544924,-2.34176009161e-05,1793249522229625856
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.661384761,745.661384761,718,678,663,636,878,784.661384761,812,652,629,653.338615239,0.402389095182,-0.00548433832039,0.0499433094888,0.999999993897,3.70137783699e-05,-0.000101746846111,-2.19683226423e-05,1793249522246292480
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.075213653,745.075213653,718,678,663,636,878,784.075213653,812,652,629,653.924786347,0.402597631581,-0.00549316616786,0.0499446483647,0.99999999436,3.24126508038e-05,-9.90777909018e-05,-2.03381070261e-05,1793249522262959616
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.504706506,718,678,663,636,877.495293494,784,812,652,629,653.495293494,0.402841124109,-0.00550215575877,0.0499449672503,0.99999999428,2.73353766731e-05,-0.000101814905327,-1.80572024093e-05,1793249522279626496
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.083753332,745.916246668,717.916246668,678,663,636,877,784,812,652,629,653,0.403098934232,-0.00551108168201,0.0499463737596,0.999999994401,2.28310446851e-05,-0.00010212726999,-1.57074201417e-05,1793249522296293120
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.663077407,745.336922593,717.336922593,678,663,636,877,784,812,652,629,653,0.403411015456,-0.00551949000805,0.0499551041741,0.999999996187,2.21315459466e-05,-8.33835806986e-05,-1.35168326238e-05,1793249522312959744
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.75975807,745.24024193,717.24024193,677.75975807,663,636,877.24024193,784,811.75975807,652,629,653.24024193,0.403737592932,-0.00552835010772,0.049964995531,0.99999999773,2.01861610006e-05,-6.3324700187e-05,-1.10702827576e-05,1793249522329626368
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.18559522,745.81440478,717.81440478,677.18559522,663,636,877.81440478,784,811.18559522,652,629,653.81440478,0.404084319252,-0.00553783814334,0.0499765005229,0.999999998971,1.6509073937e-05,-4.14377891106e-05,-8.26796172706e-06,1793249522346292992
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.602403545,717.602403545,677.397596455,663,636,877.602403545,784.397596455,811,652,628.602403545,654,0.404448122523,-0.00554715301224,0.0499833951733,0.999999999528,1.435617549e-05,-2.66311065915e-05,-5.34392721541e-06,1793249522362959616
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.014899364,717.014899364,677.985100636,663,636,877.014899364,784.985100636,811,652,628.014899364,654,0.404820082408,-0.00555638516961,0.0499880877427,0.999999999798,1.29312896643e-05,-1.52062207222e-05,-2.36175763214e-06,1793249522379626240
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+140,2.333333333,POSE1_TO_POSE2_PRESS,766.856970941,745.856970941,717,678.143029059,663,636.143029059,878,784.143029059,812,652,629,654,0.405661676786,-0.00555621416645,0.0499774816445,0.999999998823,3.54831087547e-05,-3.28890034304e-05,3.74238912018e-06,1793249522412960000
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.27819516,745.27819516,717,678.72180484,663,636.72180484,878,784.72180484,812,652,629,654,0.406095054486,-0.00553996319277,0.0499554125912,0.999999994685,6.68850159317e-05,-7.83476515879e-05,4.20853214712e-06,1793249522429626880
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.298113832,745.298113832,717,679,663,636.701886168,878,784.701886168,812,652,629,654,0.406554803788,-0.00552923172699,0.0499377297923,0.999999989743,9.01034367207e-05,-0.000111220332562,5.01521697878e-06,1793249522446293504
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+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745.543169237,717.456830763,678.543169237,663.456830763,636,878.456830763,784,812,652,629,654,0.407570274741,-0.00552638607661,0.0499272852265,0.999999985808,0.000114211581835,-0.00012350646856,9.27907514705e-06,1793249522479626240
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745.044102951,717.955897049,678.044102951,663.955897049,636,879,784.044102951,812.044102951,652,629,654,0.408121658777,-0.00553151789768,0.0499367263473,0.999999987266,0.000120908335625,-0.000103321631076,1.31660194016e-05,1793249522496293376
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745.625586886,717.374413114,678.625586886,663.374413114,636,879,784.625586886,812.625586886,652,629,654,0.408752926053,-0.00553600524486,0.0499638045669,0.999999989896,0.000131148388266,-5.14169471393e-05,1.90760185279e-05,1793249522512960000
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.795822047,745.795822047,717,678.795822047,663.204177953,636,879,784.795822047,812.795822047,652,629,654,0.409391422126,-0.0055384265924,0.0499855086277,0.99999998935,0.000143316992998,-1.28948648856e-05,2.43705157104e-05,1793249522529626112
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.222461726,745.222461726,717,678.222461726,663.777538274,636,879,784.222461726,812.222461726,652,629,654,0.41004298884,-0.00553711232262,0.0499974954545,0.999999986955,0.000158972690217,1.42959377885e-06,2.8552098796e-05,1793249522546292480
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.353465376,745.353465376,717.353465376,678.353465376,664,636.353465376,879,784.353465376,812,652,629,654,0.410671985939,-0.00553389335774,0.049987086021,0.999999984033,0.00017370160405,-2.7493570113e-05,3.171633605e-05,1793249522562958848
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.931019738,745.931019738,717.931019738,678.931019738,664,636.931019738,879,784.931019738,812,652,629,654,0.411286674392,-0.00552946685967,0.049962477869,0.999999978257,0.000187842957328,-8.38347406692e-05,3.42355990152e-05,1793249522579625472
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,717.479621567,679,663.479621567,637,879.520378433,785,812.520378433,652,628.479621567,654,0.411946586951,-0.00552263741118,0.0499399836627,0.99999997282,0.000198205802871,-0.000118236368582,3.30978583148e-05,1793249522596292096
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,717,678.891166439,663.217667122,636.891166439,880,785,812.891166439,651.891166439,628.108833561,654.108833561,0.412638930461,-0.0055181793177,0.0499279312846,0.999999972085,0.000194434253565,-0.000130974304633,2.95130918431e-05,1793249522612958720
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,717,678.313500957,664.372998086,636.313500957,880,785,812.313500957,651.313500957,628.686499043,654.686499043,0.41344455566,-0.00552534052974,0.0499596249491,0.999999989139,0.000131982448968,-6.32085879684e-05,1.7523790561e-05,1793249522629625344
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.737134904,746,717.262865096,678.262865096,665,636.262865096,880,784.737134904,812,651,628.737134904,654.737134904,0.414232380683,-0.005530634531,0.049973618422,0.999999993977,0.00010243864004,-3.72510120643e-05,1.28610971603e-05,1793249522646291968
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.162310892,746,717.837689108,678.837689108,665,636.837689108,880,784.162310892,812,651,628.162310892,654.162310892,0.414999081199,-0.00553371259404,0.0499666059431,0.999999991736,0.000111948858941,-6.09098374159e-05,1.68933591263e-05,1793249522662958592
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.421773274,746,717.578226726,679,664.578226726,636.578226726,880,784,812.421773274,651,628.421773274,654,0.415760995786,-0.00553302103771,0.0499476872821,0.999999988211,0.000121484822433,-9.20697309404e-05,1.85230457187e-05,1793249522679625472
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,717,679,664,636,880.009356816,784.009356816,813,651,628.990643184,654,0.416522341936,-0.00553088170856,0.0499247389637,0.999999983432,0.000130866192261,-0.000125066076863,1.92082717651e-05,1793249522696291840
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,717,679,664,636,880.588166446,784.588166446,813,651,628.411833554,654,0.417363701637,-0.00553090005524,0.0499416566615,0.999999987254,0.000130222594646,-9.02051624902e-05,1.99468768166e-05,1793249522712958464
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.83383601,746,717,679,664,636.16616399,881,784.83383601,813,651,628,654.16616399,0.418210458084,-0.00553184058312,0.049959128924,0.999999989792,0.000128569006647,-5.8674999877e-05,2.10589545918e-05,1793249522729625088
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.257841443,746,717,679,664,636.742158557,881,784.257841443,813,651,628,654.742158557,0.419070525139,-0.00553505559928,0.0499779689763,0.999999991368,0.000124424356142,-3.53598800604e-05,2.309217383e-05,1793249522746291712
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.68238927,717.31761073,679.635221461,664,637,881.31761073,784,813,651,628,654.68238927,0.419931474213,-0.00553503671161,0.0499751848626,0.999999991135,0.000125135485667,-3.89410561696e-05,2.3566778525e-05,1793249522762958592
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.107376696,717.892623304,680.785246608,664,637,881.892623304,784,813,651,628,654.107376696,0.420793138062,-0.00553239696519,0.0499548758359,0.99999998925,0.000129781894036,-6.43198475657e-05,2.27782322898e-05,1793249522779625216
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.482188209,745.482188209,717.517811791,680.517811791,664.482188209,637,882.482188209,784,813,651,628.482188209,654,0.421703889204,-0.00553375063958,0.0499737043743,0.999999991266,0.000127795152985,-2.3626407947e-05,2.40642744368e-05,1793249522796292096
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.926743487,746,717,680.073256513,665.073256513,637,883,784.073256513,813,651,628.926743487,654,0.422619787352,-0.00553612119745,0.0499970510515,0.9999999917,0.000124161214895,2.28978333723e-05,2.56765914059e-05,1793249522812958720
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.348349674,746,717,680.651650326,665.651650326,637,883,784.651650326,813,651,628.348349674,654,0.423493455691,-0.00553918081752,0.0499895855371,0.999999992482,0.000119671419346,5.01540910488e-06,2.62540102418e-05,1793249522829625344
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.227985492,746,717.227985492,681,665.772014508,637,883.227985492,785,813,651.227985492,628,654,0.424379269056,-0.00554177085183,0.0499831471851,0.999999992838,0.000116531520041,-6.29854839408e-06,2.65356904871e-05,1793249522846292224
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.801203393,746,717.801203393,681,665.198796607,637,883.801203393,785,813,651.801203393,628,654,0.425283473446,-0.00554364980528,0.0499782642371,0.99999999296,0.000115435732322,-7.66605289364e-06,2.63695416954e-05,1793249522862958848
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,718,680.615453968,665,637,884,784.615453968,813.384546032,651.615453968,628,654,0.42620328549,-0.00554560404109,0.0499930495326,0.999999993118,0.000113723666632,6.71470948576e-06,2.80364946364e-05,1793249522879625472
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,718,680.026735699,665,637,884,784.026735699,813.973264301,651.026735699,628,654,0.427131384262,-0.00554759824746,0.0500182775556,0.999999992859,0.000111684392142,2.9456912744e-05,3.06767211255e-05,1793249522896292096
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,717.447537422,680.552462578,665,637,884,784.552462578,814,651,628.552462578,654,0.427968519232,-0.00554352461002,0.0499804883576,0.999999991665,0.000115866312011,-4.85574372779e-05,2.9779968831e-05,1793249522912958464
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.868748158,746,717.131251842,681,664.868748158,637,884.131251842,785,814.131251842,651,628.868748158,654,0.42882173388,-0.00554030271745,0.0499484692186,0.999999986635,0.00011902285639,-0.000108314044099,2.88532584155e-05,1793249522929625344
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.289809224,746,717.710190776,681,664.289809224,637,884.710190776,785,814.710190776,651,628.289809224,654,0.42974455537,-0.00554097067108,0.0499463569797,0.999999988673,0.000117672435789,-8.94455333887e-05,2.83983095158e-05,1793249522946291968
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,717.713996991,681,664.572006018,636.713996991,885,785,815,651,628.286003009,654,0.430645129397,-0.00554240145363,0.049944436484,0.999999989542,0.000115239346666,-8.26671016879e-05,2.83230501489e-05,1793249522962958592
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,717.141318844,681,665.717362311,636.141318844,885,785,815,651,628.858681156,654,0.431523403623,-0.00554459685777,0.0499427081823,0.999999989477,0.000111721044776,-8.80071627819e-05,2.86283726489e-05,1793249522979625216
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.443364028,746,717.443364028,681,665.556635972,636.443364028,885,784.556635972,815,651,629,654,0.432395459675,-0.00554705596154,0.0499346532826,0.999999988967,0.000106915506361,-9.92116261627e-05,2.81435399305e-05,1793249522996292096
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.96844793,746,717.96844793,681,665,636.96844793,885,784.03155207,815,651,629,654,0.433266866239,-0.00554955540428,0.0499266601421,0.999999988475,0.000101838786902,-0.000109179671801,2.75388840599e-05,1793249523012958720
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.387705749,746,717.387705749,681,665,636.387705749,885,784.612294251,815,651,629,654,0.434162425061,-0.0055512532631,0.0499558186193,0.999999992571,9.93822475954e-05,-6.41857976685e-05,2.9354368486e-05,1793249523029625344
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,717,681,665,636,885,785,815,651,629,654,0.43502782017,-0.00555163663399,0.0499754723343,0.999999993785,9.99417761146e-05,-3.84161500812e-05,3.10804582589e-05,1793249523046291968
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,717,681,665,636,885,785,815,651,629,654,0.435832632844,-0.00554937990945,0.0499760361247,0.999999992477,0.000106558954553,-5.12575747634e-05,3.26270029165e-05,1793249523062958592
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.658620644,717,681,665,636,885.341379356,784.658620644,815,651.341379356,629,654.341379356,0.436627464067,-0.00554758956272,0.0499620132481,0.999999990138,0.000109020983243,-8.22679348961e-05,3.27276188389e-05,1793249523079625216
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.082942552,717,681,665,636,885.917057448,784.082942552,815,651.917057448,629,654.917057448,0.437415444678,-0.00554611930499,0.049937979111,0.999999985687,0.000108631209369,-0.000125748171254,3.18358510192e-05,1793249523096291840
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.506200432,745.506200432,717.506200432,681,665.506200432,636,886,784,815,651.493799568,629,655,0.438251959589,-0.00554885557737,0.0499606404452,0.999999991428,0.000102080151246,-7.54273842665e-05,3.21495855814e-05,1793249523112958720
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,717.904508271,681,665.904508271,636,886,784,815,651.095491729,629,654.904508271,0.439078652979,-0.00555191948721,0.0499841064403,0.999999994617,9.55953006766e-05,-2.40680742923e-05,3.23777709789e-05,1793249523129625344
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,717.325932961,681,665.325932961,636,886,784,815,651.674067039,629,654.325932961,0.439814329895,-0.00555305873167,0.049971878706,0.999999993911,9.46921504805e-05,-4.73330531546e-05,3.11466029774e-05,1793249523146291968
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.749311432,746,717,681.250688568,665,636,886,784.250688568,815.250688568,652,629,654,0.440532187382,-0.00555411980823,0.0499584517131,0.999999992754,9.31703785119e-05,-6.9828061949e-05,3.05690713433e-05,1793249523162958848
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.175210511,746,717,681.824789489,665,636,886,784.824789489,815.824789489,652,629,654,0.441227056035,-0.00555508004059,0.0499434775623,0.999999991227,9.08505250758e-05,-9.13297335402e-05,3.08347935627e-05,1793249523179625472
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,717,681.601210095,665,636,886,785,816,651.601210095,628.601210095,654,0.441925389383,-0.00555473505822,0.0499502760319,0.999999992118,9.31164388352e-05,-7.78415062103e-05,3.21618379099e-05,1793249523196292096
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,717,681.027253776,665,636,886,785,816,651.027253776,628.027253776,654,0.442625244641,-0.00555381676706,0.0499666380117,0.999999993481,9.73966269897e-05,-4.89841475845e-05,3.39550625458e-05,1793249523212958720
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.434749904,717,681,665,636,886,785,816,651,628.565250096,654,0.443255631246,-0.00555376206583,0.0499602072366,0.99999999247,0.000101716181684,-5.92707555074e-05,3.46658599035e-05,1793249523229625344
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.153934569,745.153934569,717,681.153934569,665,636,886,784.846065431,816,651.153934569,629,654,0.443856083554,-0.0055533766528,0.0499405850966,0.999999989563,0.000105304346984,-9.26228223355e-05,3.47342558337e-05,1793249523246291968
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.729621445,745.729621445,717,681.729621445,665,636,886,784.270378555,816,651.729621445,629,654,0.444384009801,-0.0055519671987,0.0498879341541,0.999999976842,0.000106883263976,-0.000183823588616,3.31904316369e-05,1793249523262958848
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.694740804,746,717,682,665.305259196,635.694740804,886.305259196,784,816,651.694740804,629,654,0.444917421999,-0.00555087463706,0.0498532443756,0.999999965915,0.000109151178983,-0.000234943496839,3.25187532097e-05,1793249523279625216
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+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,717.467244408,682,665.532755592,635,886.532755592,784,816,651,629,654,0.445989579162,-0.0055481714644,0.049843453882,0.99999996719,0.000118117233654,-0.000224803670466,3.36509759561e-05,1793249523312958720
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,717.369601474,682,665,635,886,784,816,651.630398526,629,654.630398526,0.44698659181,-0.00554450321736,0.0498451223851,0.999999968513,0.00012475841728,-0.000215008365705,3.43507347547e-05,1793249523346292224
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,717,681.794200316,664.794200316,634.794200316,885.794200316,784,816,652,629,655,0.447424362541,-0.0055443317088,0.0498231406035,0.999999962003,0.000112311490436,-0.000249997154967,2.96904561709e-05,1793249523362958592
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,717,681.218580583,664.218580583,634.218580583,885.218580583,784,816,652,629,655,0.447803755442,-0.00554664545728,0.0497830067488,0.999999948936,7.68761713237e-05,-0.000309701915068,1.73979758665e-05,1793249523379625216
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,717,681.363573462,664.363573462,634.363573462,885,784,816,652,629,654.636426538,0.448171104523,-0.00555166129465,0.0497585282221,0.999999938178,5.37154261389e-05,-0.000347303679962,1.17740178402e-05,1793249523396292096
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,717,681.949727892,664.949727892,634.949727892,885,784,816,652,629,654.050272108,0.448531080372,-0.00555833136069,0.049743633939,0.999999930264,3.80692155012e-05,-0.000371373918704,1.02325517341e-05,1793249523412958976
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,717.885322439,682.885322439,664,634.885322439,885.114677561,784,816,652,629,654,0.44926473672,-0.00555421378435,0.0497667682967,0.999999941515,5.4313762021e-05,-0.000337389502034,1.36919972108e-05,1793249523446291968
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,717.306534297,682.306534297,664,634.306534297,885.693465703,784,816,652,629,654,0.449580805959,-0.00555234992132,0.0497788692027,0.999999947069,6.08812144327e-05,-0.000319244626389,1.54287683932e-05,1793249523462958592
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,717.270278897,682,664,634,885.729721103,784,816,652,628.729721103,654,0.449871281935,-0.00555307449167,0.0497833898668,0.999999948644,6.35918983755e-05,-0.000313653009672,1.70043006109e-05,1793249523479625472
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,717.844868437,682,664,634,885.155131563,784,816,652,628.155131563,654,0.450132942096,-0.00555671341406,0.0497793758337,0.999999946006,6.19601945026e-05,-0.000322195277023,1.83982916118e-05,1793249523496292096
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.420070792,746,717.579929208,682,664,634,885.420070792,784,816,652,628.420070792,654,0.450360092691,-0.00555719319831,0.0497726144753,0.999999941306,6.24915981209e-05,-0.000336330021061,1.91094202604e-05,1793249523512958720
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.995499777,746,717.004500223,682,664,634,885.995499777,784,816,652,628.995499777,654,0.450574480326,-0.00555650461276,0.0497648370512,0.999999935632,6.38230013731e-05,-0.00035253307591,1.95680003446e-05,1793249523529625600
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.410776767,746,717.589223233,682.589223233,664,634,885.410776767,784,816,652,629,654,0.450762574346,-0.00555276522324,0.0497611241667,0.999999931727,7.02559338006e-05,-0.00036222553516,2.00870214793e-05,1793249523546292224
+209,3.483333333,POSE1_TO_POSE2_PRESS,766.355401853,746,717.822299074,682.822299074,664,633.822299074,885,784,816,652,629,654.177700926,0.450940736318,-0.00555009879485,0.0497582578357,0.999999928553,7.50064472037e-05,-0.00036992528799,2.05973144928e-05,1793249523562958592
+210,3.500000000,POSE1_TO_POSE2_PRESS,767.508171587,746,717.245914207,682.245914207,664,633.245914207,885,784,816,652,629,654.754085793,0.451097080035,-0.00554989357892,0.0497572189258,0.999999927233,7.58921222331e-05,-0.000373269405361,2.10869564501e-05,1793249523579625472
+211,3.516666667,POSE1_TO_POSE2_PRESS,767.670006997,745.670006997,717.329993003,682.329993003,664,633.329993003,885.329993003,784,816,652,629,654.670006997,0.451228622153,-0.0055502175595,0.0497509952646,0.999999922207,7.61087839595e-05,-0.000386448477825,2.12553766468e-05,1793249523596292352
+212,3.533333333,POSE1_TO_POSE2_PRESS,767.094455167,745.094455167,717.905544833,682.905544833,664,633.905544833,885.905544833,784,816,652,629,654.094455167,0.451341708587,-0.00555093533287,0.0497409134566,0.999999914098,7.58276105883e-05,-0.00040694606941,2.11847650366e-05,1793249523612958976
+213,3.550000000,POSE1_TO_POSE2_PRESS,766.50788419,745.49211581,717.50788419,682.50788419,664,633.50788419,886,783.50788419,816,651.50788419,628.50788419,654,0.45144123634,-0.00555359551991,0.0497367589041,0.999999910894,7.32565761037e-05,-0.000415176780837,2.1772992867e-05,1793249523629625344
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.920486153,717,682.079513847,664,633,885.920486153,783.079513847,816,651.079513847,628,654,0.451535353739,-0.00555656529665,0.049733764773,0.999999908555,7.00975458145e-05,-0.000421277756167,2.23788140887e-05,1793249523646291968
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745.341482623,717,682.658517377,664,633,885.341482623,783.658517377,816,651.658517377,628,654,0.451612206684,-0.00555908422865,0.0497307499438,0.999999905493,6.60689854615e-05,-0.000429129204513,2.22825912937e-05,1793249523662958592
+216,3.600000000,POSE1_TO_POSE2_PRESS,766.235477232,745.235477232,717.235477232,682.764522768,664,633,885.235477232,784,816,652,628.235477232,654,0.451682819868,-0.0055597926426,0.0497295428435,0.999999903872,6.54123299562e-05,-0.000432995463333,2.21741098719e-05,1793249523679625216
+217,3.616666667,POSE1_TO_POSE2_PRESS,766.809498869,745.809498869,717.809498869,682.190501131,664,633,885.809498869,784,816,652,628.809498869,654,0.451744462172,-0.00555789808392,0.049730934706,0.999999904397,6.96034449559e-05,-0.000431132235225,2.20480042931e-05,1793249523696292096
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,745.607369442,717.607369442,682,663.607369442,633,885.607369442,783.607369442,816,652,628.607369442,654,0.451790456855,-0.00555833764465,0.0497303987619,0.999999903513,6.98629132163e-05,-0.000433126561244,2.22579679182e-05,1793249523712958720
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,745.019712653,717.019712653,682,663.019712653,633,885.019712653,783.019712653,816,652,628.019712653,654,0.451828679098,-0.00555993660198,0.0497289052437,0.99999990192,6.81694660037e-05,-0.00043703699961,2.2634862797e-05,1793249523729625600
+220,3.666666667,POSE1_TO_POSE2_PRESS,766.440358909,745.559641091,717,682,663.559641091,633,885,783,816,651.440358909,628,654,0.451859815574,-0.00555944278929,0.0497285763115,0.999999901917,6.79801136732e-05,-0.000437080658729,2.24686795967e-05,1793249523746292224
+221,3.683333333,POSE1_TO_POSE2_PRESS,766.138620496,746,717.138620496,682,664,633,885,783,816,651.138620496,628,654,0.451888139313,-0.00555878093888,0.0497283913804,0.999999901898,6.80653142785e-05,-0.000437122822163,2.22588553184e-05,1793249523762958848
+222,3.700000000,POSE1_TO_POSE2_PRESS,766.717326281,746,717.717326281,682,664,633,885,783,816,651.717326281,628,654,0.451908314101,-0.00555781621684,0.0497285352896,0.999999901647,6.88564128254e-05,-0.000437586324144,2.19703242982e-05,1793249523779625472
+223,3.716666667,POSE1_TO_POSE2_PRESS,766.706433175,746,717.706433175,682,664,633,885,783,816,651.706433175,628.293566825,654,0.451922004676,-0.00555706929914,0.0497279272687,0.999999900896,6.91494723586e-05,-0.00043926268185,2.17892829705e-05,1793249523796291840
+224,3.733333333,POSE1_TO_POSE2_PRESS,766.13254656,746,717.13254656,682,664,633,885,783,816,651.13254656,628.86745344,654,0.451929503637,-0.00555653035735,0.0497266012483,0.999999899661,6.89669666978e-05,-0.000442097165911,2.171088089e-05,1793249523812958720
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,746,717,683,663.039167387,633,885,783.039167387,816,652,628,654.960832613,0.451936748806,-0.00555614385582,0.0497237505475,0.999999897575,6.88908968898e-05,-0.000446794265635,2.18755513109e-05,1793249523846291712
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,717,683,663.618131194,633,885,783.618131194,816,652,628,654.381868806,0.451938223078,-0.0055572519679,0.0497212072547,0.999999895802,6.77501582651e-05,-0.000450903150648,2.21933871098e-05,1793249523862958592
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,717,683,663.803588151,633,885.196411849,783.803588151,816,652,628,654.196411849,0.451939532714,-0.0055565692021,0.0497193486929,0.999999894546,6.84767510952e-05,-0.000453571790387,2.21640941903e-05,1793249523879625472
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,717,683,663.226631128,633,885.773368872,783.226631128,816,652,628,654.773368872,0.451940523371,-0.0055524166357,0.0497188167879,0.99999989431,7.28212722356e-05,-0.000453449975072,2.14622442781e-05,1793249523896293120
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,746,717,683,663.349522507,633,885.650477493,783,816,651.650477493,628,654.650477493,0.4519410963,-0.00555022359815,0.0497182956513,0.999999894097,7.46036063538e-05,-0.000453659276496,2.08263853923e-05,1793249523912959744
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,717,683,663.925156394,633,885.074843606,783,816,651.074843606,628,654.074843606,0.451941398994,-0.00554929820951,0.049717781481,0.999999893908,7.47284228743e-05,-0.000454082782339,2.02332171243e-05,1793249523929626112
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746,717,682.488581299,663.488581299,633,885,783,816,651.511418701,628,654,0.451942176193,-0.00554973232403,0.0497177973544,0.999999893779,7.47037570756e-05,-0.000454351496848,2.06584017251e-05,1793249523946292736
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,717,682,663.098262064,633,885,783.098262064,816,652,628,654,0.451943089574,-0.00554996910761,0.0497180490042,0.999999893768,7.48906458756e-05,-0.000454325445681,2.10689721638e-05,1793249523962959360
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,746,717,682,663.680147175,633,885,783.680147175,816,652,628,654,0.451944324183,-0.00554823467364,0.0497190712105,0.999999894294,7.62287109449e-05,-0.000452962485053,2.06585521328e-05,1793249523979625984
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+236,3.933333333,POSE1_TO_POSE2_PRESS,766.831589475,746,717.831589475,682.831589475,663.168410525,633,885,783.168410525,816,651.168410525,628.831589475,654,0.451943559495,-0.00554923885525,0.0497168253911,0.999999892693,7.52446585789e-05,-0.000456631399629,2.09567456657e-05,1793249524012959488
+237,3.950000000,POSE1_TO_POSE2_PRESS,766.594388945,746,718,682.594388945,663,632.594388945,885,783,816,651.405611055,628.594388945,654,0.451944021933,-0.00554949146751,0.0497167882577,0.999999892616,7.54354239252e-05,-0.000456765890628,2.10513334834e-05,1793249524029626368
+238,3.966666667,POSE1_TO_POSE2_PRESS,766.020102662,746,718,682.020102662,663,632.020102662,885,783,816,651.979897338,628.020102662,654,0.45194509053,-0.0055492878277,0.0497175407475,0.999999893049,7.61985773649e-05,-0.00045568948825,2.10350664085e-05,1793249524046292992
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,717.4267089,682.5732911,663,632.5732911,885,783,816,652,628,654,0.451943698711,-0.00554826992539,0.0497161730488,0.999999892363,7.62331154175e-05,-0.000457203484111,2.06817553523e-05,1793249524062959616
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.162485554,746,717,683,663,633,885,783.162485554,816,652,628.162485554,654,0.451942996882,-0.00554755128448,0.0497154246844,0.999999891946,7.65326372233e-05,-0.000458072542298,2.05017638118e-05,1793249524079626496
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.739207374,746,717,683,663,633,885,783.739207374,816,652,628.739207374,654,0.451944281628,-0.00554767087298,0.0497164513028,0.999999892324,7.75750815145e-05,-0.00045705786179,2.07947971462e-05,1793249524096293376
+242,4.033333333,HOLD_POSE2,766,746,717,683,663,633,885,783,816,651,628,654,0.45194483691,-0.00554597864765,0.0497153613883,0.999999892015,7.79668986068e-05,-0.000457685270215,2.03835800355e-05,1793249524132855552
+243,4.050000000,HOLD_POSE2,766.589804136,746,717.589804136,682.410195864,663.589804136,633,885.589804136,783.589804136,816,651.589804136,628,654.589804136,0.4519428894,-0.00554489475201,0.0497143760431,0.999999891221,7.7946196911e-05,-0.000459447210716,1.9746828431e-05,1793249524149521664
+244,4.066666667,HOLD_POSE2,766.823765915,746,718,682,664,633,886,784,816,652,628,654.823765915,0.451942199486,-0.00554420956081,0.0497142271588,0.999999890892,7.77829227649e-05,-0.000460208720433,1.93521856655e-05,1793249524166188032
+245,4.083333333,HOLD_POSE2,766.245041945,746,718,682,664,633,886,784,816,652,628,654.245041945,0.451944381713,-0.00554443494531,0.0497159886143,0.999999891626,7.72940364081e-05,-0.000458685409873,1.95104798472e-05,1793249524182854656
+246,4.100000000,HOLD_POSE2,766,746,717.668428477,682,663.668428477,632.668428477,886,783.668428477,816,652,628,654,0.451944762189,-0.00554379719563,0.0497156809982,0.999999891424,7.83722619237e-05,-0.00045895132931,1.93204735427e-05,1793249524199521024
+247,4.116666667,HOLD_POSE2,766,746,717.093364909,682,663.093364909,632.093364909,886,783.093364909,816,652,628,654,0.451943819537,-0.00554252559684,0.0497138539438,0.999999890529,8.06013078784e-05,-0.000460531183362,1.88746901427e-05,1793249524216187648
+248,4.133333333,HOLD_POSE2,766,746,717,682,663.480894694,632.480894694,886,783.480894694,816,651.519105306,628,654.480894694,0.451944178665,-0.00554264584198,0.0497144789633,0.999999890936,7.91321762427e-05,-0.000459904598082,1.8826634976e-05,1793249524232854272
+249,4.150000000,HOLD_POSE2,766,746,717.056689981,682,663.943310019,633,885.886620039,784,816,651.056689981,628,654.943310019,0.451944820065,-0.00554325411904,0.0497154807014,0.999999891549,7.7115496726e-05,-0.000458906680826,1.89472767742e-05,1793249524249521920
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+256,4.266666667,HOLD_POSE2,766.866200584,746,717,682,663,633,886,783.133799416,816,651.133799416,628,654,0.451944593917,-0.00554279117756,0.0497135494528,0.999999890672,7.92554757801e-05,-0.000460438613767,1.92703664807e-05,1793249524366188032
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+260,4.333333333,POSE2_TO_POSE3_RETREAT,767,746,717,682,663,633,885,783,816,651,629,654,0.451945806043,-0.00554117545854,0.049715014108,0.999999890534,8.1438174985e-05,-0.000460348435948,1.94567792641e-05,1793249524448894720
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,766.82163955,746,717.82163955,682.82163955,663.17836045,632.17836045,885.17836045,783.17836045,816.82163955,651.82163955,628,654,0.45194648633,-0.00554547030386,0.0497145613514,0.999999891601,7.66288796542e-05,-0.000458822867748,2.02062964588e-05,1793249524482225664
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766.244648017,746,717.244648017,682.244648017,663.755351983,632.755351983,885.755351983,783.755351983,816.244648017,651.244648017,628,654,0.451947515892,-0.00554528111769,0.0497157094821,0.999999892015,7.67965554543e-05,-0.00045790099827,1.99984206386e-05,1793249524498892288
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,766.909650876,746,717,682,663.090349124,633,885.090349124,783.090349124,816,651.909650876,628,654,0.451947752388,-0.00554331496173,0.0497150377302,0.999999891697,8.05785173845e-05,-0.000457951948915,1.98211753665e-05,1793249524532225280
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,766.341064054,746,717.658935946,683,664,633,885,784,816,652,628.341064054,654.658935946,0.451941566925,-0.00554254938138,0.0497125864435,0.999999889692,8.06298120236e-05,-0.000462351569734,1.86118471088e-05,1793249524582225664
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,746,717.763568122,682.763568122,663.763568122,633,885,784,816,652,628,654.763568122,0.451929940784,-0.00554161039673,0.0497075171753,0.999999885849,8.00773276238e-05,-0.000470707437868,1.80258894557e-05,1793249524598892288
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,717.386846393,682.386846393,663,633,885,783.613153607,816,651.613153607,628,654,0.451863788435,-0.00553976258329,0.0496811998637,0.999999863165,7.98430985666e-05,-0.000516713334387,1.74119663541e-05,1793249524632225792
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2bdc776961585e07612094c310548217e16facb8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,403 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4d45ce256106a58ca03bb41266c66e3a17648222
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdca7807885ba454cb5f752b5d5414a522c13f67ed957e211ac7686fb7e6da21
+size 25546288
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..27de8a814848febc0676ab4be3c5b1244094d507
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_03/franka_data.csv
@@ -0,0 +1,403 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,767,746,717,678,662,636,877,784,812,652,629,653,0.400994936252,-0.00540476893081,0.0498553357896,0.999999963334,0.000102447040965,-0.000247019289309,-4.26305882637e-05,1793249526919062016
+1,0.016666667,BASELINE,767,746,717,678.574196057,662.574196057,636,877.574196057,784,812,652,629,653.574196057,0.400996176979,-0.00540699353908,0.0498563332503,0.999999964023,0.000100252508667,-0.00024516722565,-4.23788060169e-05,1793249526935728896
+2,0.033333333,BASELINE,766.852142566,746,717,678.852142566,663,636,878,784.147857434,812,652,629,654,0.400996753612,-0.00540833273481,0.049856936466,0.999999964467,9.85998164011e-05,-0.000244042723228,-4.22862945896e-05,1793249526952395520
+3,0.050000000,BASELINE,766.280015295,746,717,678.280015295,663,636,878,784.719984705,812,652,629,654,0.400995424662,-0.00540713128209,0.0498564084149,0.999999964225,9.85019076933e-05,-0.000245005922575,-4.2650803107e-05,1793249526969062144
+4,0.066666667,BASELINE,766,746,717,678,662.694957253,636,877.694957253,784.694957253,812,652,629,654,0.400995280799,-0.00540716054033,0.0498563680991,0.99999996436,9.73773671645e-05,-0.000244878279533,-4.28154291082e-05,1793249526985729024
+5,0.083333333,BASELINE,766,746,717,678,662.097503952,636,877.097503952,784.097503952,812,652,629,654,0.400996272949,-0.00540836954434,0.0498567953209,0.99999996485,9.5268708904e-05,-0.000243704967166,-4.27884499517e-05,1793249527002395904
+6,0.100000000,BASELINE,766,745.517689367,717,678,662.482310633,636,877.482310633,784,812,652,629.482310633,654,0.400996199562,-0.00540745764759,0.0498558759928,0.999999964756,9.6006472199e-05,-0.000243753699622,-4.3077177854e-05,1793249527019062272
+7,0.116666667,BASELINE,766.058500713,745.058500713,717,678,662.941499287,636,878,784,812,652,629.941499287,654,0.400995922247,-0.00540628516805,0.0498548505619,0.99999996453,9.73528396995e-05,-0.000244097280791,-4.33446416755e-05,1793249527035728896
+8,0.133333333,BASELINE,766.633063531,745.633063531,717,678,662.366936469,636,878,784,812,652,629.366936469,654,0.400995679169,-0.00540646282742,0.0498552057935,0.999999964165,9.91709198979e-05,-0.000244939417472,-4.28813732095e-05,1793249527052395520
+9,0.150000000,BASELINE,767,746,717.212926174,678.212926174,662.212926174,636,877.787073826,784,812,652,629,654,0.40099548379,-0.0054066413958,0.0498555363502,0.999999963953,9.99879378541e-05,-0.000245513515472,-4.26670407478e-05,1793249527069062144
+10,0.166666667,BASELINE,767,746,717.802155093,678.802155093,662.802155093,636,877.197844907,784,812,652,629,654,0.400995372711,-0.00540682157063,0.0498558232994,0.999999964013,9.90357862237e-05,-0.000245613910738,-4.28926509699e-05,1793249527085728768
+11,0.183333333,BASELINE,767,745.615797848,718,679,662.615797848,636,877.384202152,784,812,652,629,654,0.400996495734,-0.00540791444563,0.0498564185685,0.999999964395,9.76965607733e-05,-0.000244625791161,-4.26958536016e-05,1793249527102395392
+12,0.200000000,BASELINE,767,745.037381172,718,679,662.037381172,636,877.962618828,784,812,652,629,654,0.400998242597,-0.00540946869138,0.0498571696935,0.999999964937,9.61616690821e-05,-0.000243087426388,-4.2285528847e-05,1793249527119062272
+13,0.216666667,BASELINE,766.459496215,745,717.459496215,678.459496215,662,636,878,784,812,652,629,654,0.400996475459,-0.00540755973354,0.049856854197,0.999999964575,9.70954609837e-05,-0.000244118248338,-4.27683867083e-05,1793249527135729152
+14,0.233333333,BASELINE,766,745,717,678,662.11691079,636,878.11691079,784.11691079,812,652.11691079,629,654,0.400995118197,-0.00540574844245,0.0498567010072,0.999999964264,9.83320932874e-05,-0.000244819730899,-4.31911239815e-05,1793249527152395776
+15,0.250000000,BASELINE,766,745,717,678,662.687722518,636,878.687722518,784.687722518,812,652.687722518,629,654,0.400996294882,-0.00540524532883,0.0498574640829,0.999999964402,0.000100082275221,-0.00024355339365,-4.3140853037e-05,1793249527169062144
+16,0.266666667,BASELINE,766.268380116,745,717.268380116,678,662.731619884,636,878.731619884,784.731619884,812,652.731619884,629,654,0.400995869419,-0.005405426787,0.0498569866169,0.999999964147,0.000101063153097,-0.000244235472869,-4.29168101136e-05,1793249527185728512
+17,0.283333333,BASELINE,766.860930274,745,717.860930274,678,662.139069726,636,878.139069726,784.139069726,812,652.139069726,629,654,0.400993508758,-0.00540643512339,0.0498550107298,0.999999963414,0.00010111480655,-0.000247270998683,-4.24828720983e-05,1793249527202395136
+18,0.300000000,BASELINE,766.556889421,745.443110579,717.556889421,678,662,636,877.556889421,784,812,652,628.556889421,654,0.400993868181,-0.00540830445844,0.0498550983929,0.999999963731,9.88816748894e-05,-0.000246943265578,-4.218281598e-05,1793249527219061504
+19,0.316666667,BASELINE,766,746,717,678,662,636,877.044442117,784,812,652,628.022221058,654,0.400995038884,-0.00541029895279,0.0498558306533,0.999999964348,9.60870289626e-05,-0.000245584194111,-4.19424994785e-05,1793249527235728384
+20,0.333333333,BASELINE,766,746,717,678,662,636,878.208220559,784,812,652,628.604110279,654,0.400995633018,-0.00540879544087,0.0498568592142,0.999999964602,9.6797451095e-05,-0.000244227106659,-4.21727097851e-05,1793249527252395520
+21,0.350000000,BASELINE,766.186260956,745.813739044,717,678.186260956,662.186260956,636,878.627478089,784,811.813739044,652,629,654,0.400995699889,-0.00540777806124,0.049857257996,0.999999964687,9.72030110559e-05,-0.000243693225752,-4.23296510919e-05,1793249527269062144
+22,0.366666667,BASELINE,766.768968051,745.231031949,717,678.768968051,662.768968051,636,877.462063898,784,811.231031949,652,629,654,0.400994644511,-0.00540779538751,0.0498563163277,0.999999964413,9.69596886606e-05,-0.000244911494603,-4.23306433572e-05,1793249527285728000
+23,0.383333333,BASELINE,767,745.349551658,717.349551658,678.650448342,663.349551658,636,877.349551658,784,811.349551658,652,629,653.650448342,0.400994966095,-0.00540769158556,0.0498563564008,0.999999964603,9.61968572978e-05,-0.000244393822517,-4.25768677392e-05,1793249527302394368
+24,0.400000000,BASELINE,767,745.928740303,717.928740303,678.071259697,663.928740303,636,877.928740303,784,811.928740303,652,629,653.071259697,0.40099619227,-0.00540750820876,0.049857041426,0.999999965095,9.50927359421e-05,-0.000242735728989,-4.29841966768e-05,1793249527319060992
+25,0.416666667,BASELINE,767,745.493768174,717.493768174,678,662.987536348,636,878,784,811.493768174,652,629,653.506231826,0.400995046922,-0.00540798975023,0.0498564869399,0.999999964577,9.71146774574e-05,-0.000244121345534,-4.26484277311e-05,1793249527335727616
+26,0.433333333,BASELINE,766.917012092,745.082987908,717.082987908,678,662,636,878,784.082987908,811.082987908,652,629,654,0.400993776396,-0.00540847757842,0.0498558581536,0.999999964022,9.89852212841e-05,-0.000245701583374,-4.23002575243e-05,1793249527352394240
+27,0.450000000,BASELINE,766.343197279,745.656802721,717.656802721,678,662,636,878,784.656802721,811.656802721,652,629,654,0.400993733321,-0.00540845086413,0.0498558184248,0.999999964122,9.73664395631e-05,-0.000245907336886,-4.24953364566e-05,1793249527369060864
+28,0.466666667,BASELINE,766.236772421,745.763227579,717.763227579,678,662.236772421,636,878,785,811.763227579,652,629,654,0.400994261172,-0.00540788626751,0.049856090099,0.999999964216,9.74061390794e-05,-0.000245495435049,-4.25756242655e-05,1793249527385727488
+29,0.483333333,BASELINE,766.825901581,745.174098419,717.174098419,678,662.825901581,636,878,785,811.174098419,652,629,654,0.400995638656,-0.00540652121255,0.0498568251924,0.999999964298,9.99139345883e-05,-0.000244164359321,-4.24850837806e-05,1793249527402394112
+30,0.500000000,BASELINE,766.592152798,745,717.407847202,678,663,636,878,785,811.407847202,652,629,654,0.400996061647,-0.00540882947134,0.0498572714571,0.999999964732,9.71919534802e-05,-0.000243541241153,-4.21668672175e-05,1793249527419060736
+31,0.516666667,BASELINE,766.013220566,745,717.986779434,678,663,636,878,785,811.986779434,652,629,654,0.400996084243,-0.00541267862343,0.049857596563,0.999999965294,9.22761691098e-05,-0.000243215099285,-4.17531443762e-05,1793249527435727360
+32,0.533333333,BASELINE,766,745.542266414,717.457733586,678,662.457733586,636,877.457733586,785,812,652,629,654,0.400994970328,-0.00540995093333,0.0498567635226,0.999999964618,9.63376889106e-05,-0.000244383224971,-4.19602275237e-05,1793249527452394240
+33,0.550000000,BASELINE,766.104496592,745.895503408,717.104496592,678,662,636,877,784.895503408,812,652,629,654,0.400994082444,-0.00540766600261,0.0498560387443,0.999999964046,9.95730310415e-05,-0.000245386523741,-4.21748897552e-05,1793249527469061120
+34,0.566666667,BASELINE,766.701059901,745.298940099,717.701059901,678,662,636,877,784.298940099,812,652,629,654,0.400994383992,-0.00540818975315,0.0498559512142,0.999999964185,9.79300403566e-05,-0.000245449225326,-4.23569236612e-05,1793249527485727744
+35,0.583333333,BASELINE,767,745,718,678,662.29645162,636,877,784,812,652,629,654,0.400994272129,-0.00540792282456,0.0498559598975,0.999999964182,9.73954716504e-05,-0.000245656221223,-4.24693106373e-05,1793249527502394112
+36,0.600000000,BASELINE,767,745,718,678,662.890666638,636,877,784,812,652,629,654,0.400993745026,-0.00540686171819,0.0498560652198,0.999999964037,9.79742294136e-05,-0.000246008149931,-4.2511742523e-05,1793249527519060736
+37,0.616666667,BASELINE,766.529852014,745.470147986,717.529852014,678,662.529852014,636,877.940295972,784.470147986,811.529852014,652,629,654,0.400994501124,-0.00540722548972,0.0498566769928,0.999999964343,9.73327821308e-05,-0.000245039996197,-4.23650912709e-05,1793249527535727360
+38,0.633333333,BASELINE,766,745.953851341,717,678,662.046148659,636,878.907702682,785,811.046148659,652,629,654,0.40099547282,-0.00540784680274,0.049857300806,0.99999996471,9.65005613689e-05,-0.000243897821001,-4.22048458938e-05,1793249527552394240
+39,0.650000000,BASELINE,766,745.379663355,717,678,662.620336645,636,877.75932671,785,811.620336645,652,629,654,0.400995600738,-0.00540773871913,0.0498567557296,0.999999964623,9.66336445643e-05,-0.000244170314704,-4.23768939909e-05,1793249527569060864
+40,0.666666667,BASELINE,766.199820768,745.199820768,717,678,662.800179232,636,877.199820768,785,812,652,628.800179232,653.800179232,0.400995510244,-0.00540801633686,0.0498566070359,0.99999996458,9.68154761597e-05,-0.000244270186257,-4.24134888633e-05,1793249527585727744
+41,0.683333333,BASELINE,766.789641588,745.789641588,717,678,662.210358412,636,877.789641588,785,812,652,628.210358412,653.210358412,0.400994993465,-0.00540904674696,0.0498572319819,0.999999964621,9.70924524047e-05,-0.000244033142628,-4.2185712982e-05,1793249527602394368
+42,0.700000000,BASELINE,767,746,717,678,662.372237247,636,877.627762753,784.627762753,812,652,628.372237247,653.372237247,0.400995310953,-0.00540945188541,0.0498577529042,0.999999964877,9.64010428362e-05,-0.00024328010888,-4.20468405448e-05,1793249527619060992
+43,0.716666667,BASELINE,767,746,717,678,662.950827555,636,877.049172445,784.049172445,812,652,628.950827555,653.950827555,0.400996090923,-0.00540951039887,0.0498582161599,0.999999965251,9.51727998872e-05,-0.000242241031383,-4.19572525372e-05,1793249527635727616
+44,0.733333333,BASELINE,766.472894377,745.472894377,717.527105623,678,663,636,877.527105623,784,812,652,629,653.472894377,0.400996487121,-0.0054092183199,0.0498580775877,0.999999965246,9.4621957387e-05,-0.000242391228788,-4.24392609314e-05,1793249527652394240
+45,0.750000000,BASELINE,766,745.10229605,717.89770395,678,663,636,878,784,811.89770395,652,629,653.10229605,0.400996668635,-0.00540908369893,0.0498578787599,0.999999965207,9.41039495901e-05,-0.000242692864508,-4.27878505124e-05,1793249527669061120
+46,0.766666667,BASELINE,766,745.673485295,717.326514705,678,663,636,878,784,811.326514705,652,629,653.673485295,0.400996029492,-0.00540982007553,0.0498576599585,0.999999965171,9.3448053616e-05,-0.000243182331468,-4.22815417097e-05,1793249527685728512
+47,0.783333333,BASELINE,766,745.746025766,717,678,663,636,877.746025766,784,811.253974234,652,629,654,0.400995892136,-0.00540972178615,0.0498574843042,0.999999965088,9.45836463558e-05,-0.00024310970241,-4.21369054257e-05,1793249527702395392
+48,0.800000000,BASELINE,766,745.153126435,717,678,663,636,877.153126435,784,811.846873565,652,629,654,0.400996424406,-0.00540850964669,0.0498573662292,0.999999964934,9.81099558785e-05,-0.000242286964067,-4.2474916037e-05,1793249527719062016
+49,0.816666667,BASELINE,766.429859778,745,717,678,662.570140222,636,877.429859778,784,812,652,629,654,0.400996516271,-0.00540839511692,0.0498573181956,0.999999964871,9.85926214245e-05,-0.000242359001013,-4.24196210349e-05,1793249527735728896
+50,0.833333333,BASELINE,766.990666689,745,717,678,662.009333311,636,878,784,812,652,629,653.990666689,0.400996434316,-0.00540865546272,0.0498572908942,0.999999964845,9.79872172134e-05,-0.000242743425068,-4.22349159283e-05,1793249527752395520
+51,0.850000000,BASELINE,766.414892464,745,717,678,662.585107536,636,878,784,812,652,629,653.414892464,0.400995109865,-0.00540847241096,0.0498570417213,0.999999964953,9.56648756169e-05,-0.00024317830927,-4.25076133795e-05,1793249527769061632
+52,0.866666667,BASELINE,766.163575547,745,717,678,663,636,877.836424453,784,812,652,629,653.163575547,0.400994408039,-0.00540810275064,0.0498569557182,0.999999964981,9.49563083618e-05,-0.000243322811785,-4.26058981555e-05,1793249527785728000
+53,0.883333333,BASELINE,766.74899044,745,717,678,663,636,877.25100956,784,812,652,629,653.74899044,0.40099531188,-0.00540725185195,0.0498572905079,0.999999964809,9.8409448328e-05,-0.000242718458941,-4.22543960731e-05,1793249527802394624
+54,0.900000000,BASELINE,767,745.332505974,717.332505974,678,663,636,877.332505974,784,812,652,629,654,0.400995086611,-0.00540742145937,0.0498571752105,0.999999964638,9.81322600689e-05,-0.000243547969854,-4.21681978289e-05,1793249527819061504
+55,0.916666667,BASELINE,767,745.914595795,717.914595795,678,663,636,877.914595795,784,812,652,629,654,0.400994013814,-0.00540835707364,0.0498567220709,0.999999964465,9.50550327383e-05,-0.000245453759897,-4.2281140541e-05,1793249527835728384
+56,0.933333333,BASELINE,767,746,717.508503475,678.491496525,663,636,877.508503475,784.491496525,812,652,629,654,0.40099528096,-0.00540920941219,0.0498573520598,0.999999964982,9.51181014137e-05,-0.000243350231926,-4.20681802746e-05,1793249527852395264
+57,0.950000000,BASELINE,766.932777027,745.932777027,717,678.932777027,663,636,877.067222973,784.932777027,812,652,629,654,0.400996711656,-0.00540970519065,0.0498580888087,0.999999965479,9.59487583572e-05,-0.000240998257006,-4.18942913477e-05,1793249527869062144
+58,0.966666667,BASELINE,766.359175339,745.359175339,717,678.359175339,663,636,877.640824661,784.359175339,812,652,629,654,0.400996343531,-0.00540762292828,0.0498582268335,0.999999964975,9.84940358173e-05,-0.000241967867506,-4.24368476045e-05,1793249527885728512
+59,0.983333333,BASELINE,766,745,717,678,663,636,877.779190414,784,812.220809586,652,629,653.779190414,0.400996053,-0.00540667626381,0.0498581469135,0.999999964679,9.95405132102e-05,-0.000242721099078,-4.26573487326e-05,1793249527902395136
+60,1.000000000,BASELINE,766,745,717,678,663,636,877.188513137,784,812.811486863,652,629,653.188513137,0.400995892444,-0.00540763178533,0.0498577019244,0.999999964743,9.80764219287e-05,-0.000243111884703,-4.23383906389e-05,1793249527919061504
+61,1.016666667,BASELINE,766.393989652,745,717,678,662.606010348,636,877.393989652,784,812.606010348,652,629,653.393989652,0.400995983925,-0.00540834053227,0.0498578961466,0.999999964955,9.64869384913e-05,-0.000242901568825,-4.21739006697e-05,1793249527935728128
+62,1.033333333,BASELINE,766.972660642,745,717,678,662.027339358,636,877.972660642,784,812.027339358,652,629,653.972660642,0.400996193548,-0.00540893360438,0.0498583899971,0.999999965236,9.4838677986e-05,-0.000242409488594,-4.20818171384e-05,1793249527952394752
+63,1.050000000,BASELINE,767,745.549519936,717,678,662.549519936,636,878,784,811.450480064,652,629,654,0.400995464652,-0.00540975192749,0.0498576730739,0.999999965117,9.55261600088e-05,-0.000242659796491,-4.19115114507e-05,1793249527969061376
+64,1.066666667,BASELINE,767,745.875029172,717.124970828,678.124970828,663,636,878,784,811.124970828,652,629,654,0.400994909875,-0.00541016324786,0.0498570908553,0.999999964992,9.6362005183e-05,-0.000242846355768,-4.19010059589e-05,1793249527985728000
+65,1.083333333,BASELINE,767,745.304281692,717.695718308,678.695718308,663,636,878,784,811.695718308,652,629,654,0.400995142198,-0.00540908292793,0.049857203298,0.999999964918,9.7313917231e-05,-0.000242674205561,-4.24743511822e-05,1793249528002394624
+66,1.100000000,BASELINE,766.723028711,745.276971289,718,679,662.723028711,636,878,784.276971289,812,652,629,654,0.400995370535,-0.00540813150407,0.049857328598,0.999999964857,9.861015922e-05,-0.000242373381363,-4.26264607545e-05,1793249528019061248
+67,1.116666667,BASELINE,766.129779366,745.870220634,718,679,662.129779366,636,878,784.870220634,812,652,629,654,0.400995594321,-0.00540732726883,0.04985746858,0.999999964811,0.000100299597148,-0.000241925622238,-4.22975543915e-05,1793249528035727616
+68,1.133333333,BASELINE,766,746,717.546591217,678.546591217,662,636,878,785,812,652,629,653.546591217,0.400996221207,-0.00540791860391,0.0498583144886,0.999999965319,9.81203185793e-05,-0.000240734221557,-4.2207509899e-05,1793249528052394496
+69,1.150000000,BASELINE,766.033473437,745.966526563,717,678,662.033473437,636,878,784.966526563,812,652,629,653.033473437,0.400996897394,-0.0054088514423,0.0498592552062,0.999999965915,9.50695492063e-05,-0.000239485249974,-4.21841313587e-05,1793249528069061120
+70,1.166666667,BASELINE,766.608582838,745.391417162,717,678,662.608582838,636,878,784.391417162,812,652,629,653.608582838,0.400996544867,-0.00540898687997,0.0498585315009,0.999999965594,9.54461719244e-05,-0.000240674139383,-4.21572030954e-05,1793249528085727744
+71,1.183333333,BASELINE,767,745,717,678,663,636,877.812345215,784,812,652,629,654,0.400996169682,-0.00540900888758,0.0498578791811,0.999999965316,9.57809239804e-05,-0.000241692463129,-4.2182069569e-05,1793249528102394880
+72,1.200000000,BASELINE,767,745,717,678,663,636,877.224829644,784,812,652,629,654,0.400995746217,-0.00540878919484,0.0498573789716,0.999999965128,9.60264567685e-05,-0.000242347340356,-4.23173019115e-05,1793249528119062528
+73,1.216666667,BASELINE,766.64381816,745,717,678,662.64381816,636,877,784,811.64381816,652,628.64381816,654,0.400995568307,-0.00540880788867,0.0498573858135,0.99999996512,9.58725333043e-05,-0.000242432054983,-4.2370597543e-05,1793249528135728896
+74,1.233333333,BASELINE,766.066838607,745,717,678,662.066838607,636,877,784,811.066838607,652,628.066838607,654,0.400995542617,-0.00540897435873,0.0498577069774,0.999999965223,9.54709862319e-05,-0.000242163324829,-4.23731004634e-05,1793249528152394496
+75,1.250000000,BASELINE,766,745,717,678,662,636,877,784.512088495,811.512088495,652,628,654,0.400995070058,-0.0054089329729,0.0498572740948,0.999999965061,9.56836827847e-05,-0.000242778647102,-4.22022244833e-05,1793249528169061120
+76,1.266666667,BASELINE,766.092222731,745.092222731,717.092222731,678,662,636,877.092222731,784.907777269,812,652,628.092222731,654,0.400994932119,-0.00540887337186,0.0498570284347,0.999999964964,9.60477409384e-05,-0.000243060754658,-4.20455291919e-05,1793249528185727744
+77,1.283333333,BASELINE,766.67744594,745.67744594,717.67744594,678,662,636,877.67744594,784.32255406,812,652,628.67744594,654,0.400996895961,-0.00540886197909,0.0498583117559,0.999999965404,9.67907250421e-05,-0.000240942385752,-4.20860751479e-05,1793249528202394368
+78,1.300000000,BASELINE,767,746,717.740214276,678,662,636,877.740214276,784,812,652,629,654,0.400997672171,-0.00540951133483,0.0498587704608,0.999999965562,9.65264910187e-05,-0.000240409916888,-4.19635360855e-05,1793249528219061504
+79,1.316666667,BASELINE,767,746,717.16141534,678,662,636,877.16141534,784,812,652,629,654,0.400996989986,-0.00541097208044,0.0498582165482,0.999999965378,9.50254072646e-05,-0.0002418249111,-4.16407309145e-05,1793249528235728896
+80,1.333333333,BASELINE,767,745.582907278,717,678.417092722,662.417092722,636,877.417092722,784.417092722,812,652,629,654,0.400997669454,-0.00541044323216,0.0498585091746,0.999999965579,9.58148992835e-05,-0.000240662155998,-4.1744393669e-05,1793249528252395520
+81,1.350000000,BASELINE,767,745.004511659,717,678.995488341,662.995488341,636,877.995488341,784.995488341,812,652,629,654,0.400998875515,-0.00540914494534,0.0498591291842,0.999999965924,9.74902290027e-05,-0.000238502504132,-4.2012984981e-05,1793249528269061888
+82,1.366666667,BASELINE,766.428988502,745.571011498,717,678.428988502,663,636,878,785,812,652,629,654,0.400997482332,-0.00540835920761,0.0498587025919,0.999999965545,9.72582914749e-05,-0.000240143609774,-4.22152241931e-05,1793249528285728000
+83,1.383333333,BASELINE,766.149303054,745.850696946,717.149303054,678,662.850696946,636,878,784.850696946,812,652,629,653.850696946,0.400996655974,-0.00540803925366,0.0498584442177,0.999999965346,9.68158046526e-05,-0.000241134399684,-4.22907812434e-05,1793249528302394112
+84,1.400000000,BASELINE,766.735766764,745.264233236,717.735766764,678,662.264233236,636,878,784.264233236,812,652,629,653.264233236,0.400997549117,-0.00540907132024,0.0498587024789,0.999999965697,9.58007307836e-05,-0.00024013357055,-4.19969392105e-05,1793249528319060992
+85,1.416666667,BASELINE,767,745.319955841,717.680044159,678.319955841,662,636,877.680044159,784.319955841,811.680044159,652,629,653.319955841,0.400996637126,-0.00540980812015,0.049858213474,0.999999965507,9.60349933949e-05,-0.000240872247141,-4.17609895741e-05,1793249528335727616
+86,1.433333333,BASELINE,767,745.902279655,717.097720345,678.902279655,662,636,877.097720345,784.902279655,811.097720345,652,629,653.902279655,0.400994244902,-0.00541030279748,0.0498571117012,0.999999964869,9.72937283164e-05,-0.000243037341231,-4.15725124771e-05,1793249528352394240
+87,1.450000000,BASELINE,766.521198153,746,717.478801847,678.521198153,662.478801847,636,877.478801847,784.521198153,811.478801847,652,629,653.521198153,0.400994271665,-0.00540999132311,0.049857170381,0.999999965002,9.5915475652e-05,-0.000242978345143,-4.19239279355e-05,1793249528369060864
+88,1.466666667,BASELINE,766,746,718,678,663,636,878,784.05414947,812,652,629,653.05414947,0.400994780018,-0.00540961163183,0.0498574788795,0.999999965285,9.42837266462e-05,-0.000242386133201,-4.23029351364e-05,1793249528385727488
+89,1.483333333,BASELINE,766,746,718,678,663,636,878,784.629452153,812,652,629,653.629452153,0.400995228709,-0.00541013993654,0.0498579395701,0.999999965543,9.53299758699e-05,-0.000240978471478,-4.18996981295e-05,1793249528402394112
+90,1.500000000,BASELINE,766,745.790081262,717.790081262,678.209918738,663,636,877.790081262,784.790081262,812,652,629,654,0.400995551122,-0.00541009553809,0.0498581355909,0.999999965599,9.62026955793e-05,-0.000240426380278,-4.17513215003e-05,1793249528419060736
+91,1.516666667,BASELINE,766,745.200269549,717.200269549,678.799730451,663,636,877.200269549,784.200269549,812,652,629,654,0.400995645006,-0.00540901471038,0.0498578526349,0.999999965291,9.67613763055e-05,-0.00024142262757,-4.20641694238e-05,1793249528435727360
+92,1.533333333,BASELINE,766,745.382196783,717.382196783,678.617803217,662.617803217,636,877.382196783,784,812,652,629,654,0.400996594519,-0.00540822252453,0.0498583584899,0.999999965277,9.82294366414e-05,-0.00024087319637,-4.21654709851e-05,1793249528452394240
+93,1.550000000,BASELINE,766,745.960886794,717.960886794,678.039113206,662.039113206,636,877.960886794,784,812,652,629,654,0.400997983923,-0.00540757873379,0.0498592698846,0.999999965408,0.000100165023035,-0.000239529108237,-4.21580133449e-05,1793249528469061120
+94,1.566666667,BASELINE,766.536951826,745.463048174,718,678,663.073903652,636,877.463048174,784,812,652,628.463048174,654,0.400998848394,-0.00540784373163,0.0498596722945,0.999999965855,9.80633560148e-05,-0.000238549884641,-4.20322452406e-05,1793249528485727744
+95,1.583333333,BASELINE,767,745,718,678,663.774732645,636,877.112633678,784,812,652,628.112633678,654,0.400999226146,-0.00540794856976,0.0498598436141,0.999999966131,9.64003129761e-05,-0.000238079591787,-4.20000495747e-05,1793249528502394112
+96,1.600000000,BASELINE,767,745,718,678,662.624951933,636,877.687524033,784,812,652,628.687524033,654,0.40099776253,-0.00540712573767,0.049859217945,0.999999965624,9.77384910679e-05,-0.00023958944013,-4.23870790659e-05,1793249528519060736
+97,1.616666667,BASELINE,766.731608271,745.268391729,718,678,662.268391729,636,877.731608271,784,812,652,629,653.731608271,0.400996850753,-0.00540753671262,0.0498590024442,0.999999965443,9.7669283856e-05,-0.0002403534003,-4.24791151852e-05,1793249528535727872
+98,1.633333333,BASELINE,766.143622957,745.856377043,718,678,662.856377043,636,877.143622957,784,812,652,629,653.143622957,0.40099659609,-0.00540941687157,0.0498592753607,0.999999965653,9.59242003423e-05,-0.000240229176987,-4.22198811806e-05,1793249528552395520
+99,1.650000000,BASELINE,766.439142148,745.560857852,718,678,663,636,877.878284296,784,812,652,629,653,0.400996542333,-0.0054097959134,0.0498588439114,0.999999965643,9.56594061998e-05,-0.000240413999275,-4.20156293574e-05,1793249528569062400
+100,1.666666667,BASELINE,766.980064221,745,717.980064221,678,663,636,878.980064221,784,812,652,629,653.019935779,0.400996525272,-0.00540971176684,0.0498582323066,0.999999965565,9.58842485928e-05,-0.000240680144595,-4.18308237156e-05,1793249528585728512
+101,1.683333333,BASELINE,766.407154547,745,717.407154547,678,663,636,878.407154547,784,812,652,629,653.592845453,0.400995724912,-0.00541023756513,0.0498589383419,0.999999965579,9.64194825172e-05,-0.00024043136589,-4.16924875137e-05,1793249528602394624
+102,1.700000000,BASELINE,766.171080042,745,717,678,663,636,877.828919958,784.171080042,812,652,629,653.828919958,0.400995390407,-0.00541011381931,0.0498592282351,0.99999996558,9.66022414672e-05,-0.000240343026729,-4.17636218275e-05,1793249528619060992
+103,1.716666667,BASELINE,766.762394461,745,717,678,663,636,877.237605539,784.762394461,812,652,629,653.237605539,0.400996200213,-0.00540839455844,0.0498584959331,0.999999965547,9.59191944897e-05,-0.000240648785078,-4.23492914077e-05,1793249528635727616
+104,1.733333333,BASELINE,766.653915109,745,717,677.653915109,662.653915109,636,877,784.653915109,812,652,629,653.346084891,0.400996320064,-0.00540805287641,0.0498578907064,0.999999965359,9.61712773981e-05,-0.000241314012083,-4.24279713314e-05,1793249528652394240
+105,1.750000000,BASELINE,766.075346072,745,717,677.075346072,662.075346072,636,877,784.075346072,812,652,629,653.924653928,0.400995976434,-0.00540863658923,0.049857370843,0.999999965066,9.70515381204e-05,-0.000242220713872,-4.21660786365e-05,1793249528669060864
+106,1.766666667,BASELINE,766,745.500752985,717,677.500752985,662,636,877,784,812,652,629,654,0.400997375136,-0.00541008702777,0.0498584810089,0.999999965833,9.57980760043e-05,-0.000239556783289,-4.20655029821e-05,1793249528685727488
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,717,678,663,636,877,785,812,652,629,654,0.400995482024,-0.00540681714922,0.0498582938958,0.999999965396,9.65249246042e-05,-0.000240921179148,-4.29810453409e-05,1793249528729185792
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.410152947,745.589847053,717,678,662.410152947,636,877.589847053,784.410152947,812,652,629,654,0.400996504619,-0.00540802034618,0.0498588113814,0.999999965649,9.62201958086e-05,-0.000240085497799,-4.24677370981e-05,1793249528745852416
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.176161037,746,717,678,662.176161037,636,878,784,812,652,628.823838963,654,0.40099757813,-0.0054087541643,0.0498593961061,0.999999965848,9.64997723772e-05,-0.00023922526411,-4.1984036702e-05,1793249528762519296
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.754410887,746,717,678,662.754410887,636,878,784,812,652,628.245589113,654,0.400998767857,-0.00540841662213,0.0498601343047,0.999999965927,9.81130300056e-05,-0.000238308989363,-4.15679163239e-05,1793249528779186688
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.668722264,745.668722264,717,678,662.668722264,636,878,784,812,652,628.662555473,654,0.400998649679,-0.00540878095221,0.0498599767875,0.99999996594,9.74696042883e-05,-0.000238536221317,-4.14865654598e-05,1793249528795853568
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.092876458,745.092876458,717,678,662.092876458,636,878,784,812,652,629.814247085,654,0.400997565932,-0.00540966344433,0.0498591580018,0.999999965899,9.516016646e-05,-0.000239607655018,-4.16523605187e-05,1793249528812519680
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+114,1.900000000,POSE1_TO_POSE2_PRESS,766.944118755,746,717.944118755,679,663,636,878,784.944118755,811.944118755,652,629,654,0.400994959404,-0.00540989544741,0.0498579748057,0.999999964928,9.64955720298e-05,-0.000243045201685,-4.19772699213e-05,1793249528845852928
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+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.190908566,717,678.190908566,662.190908566,636,877.190908566,784,811.809091434,652,629,654,0.401017498637,-0.00541056566654,0.0498672886855,0.999999968971,9.72325635779e-05,-0.000225604889801,-4.13065268477e-05,1793249528895853824
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,717,678,662.385572257,636,877,784,812,652,629,653.614427743,0.401047692671,-0.00541059515393,0.0498771965668,0.999999973433,9.73774509595e-05,-0.000204861948039,-4.10343334904e-05,1793249528912519936
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,717,678,662.964182129,636,877,784,812,652,629,653.035817871,0.401085983088,-0.00541100387597,0.0498894666951,0.999999978525,9.63426058187e-05,-0.000178942401669,-4.05833447174e-05,1793249528929185536
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.553500205,745,717,678,662.446499795,636,877.553500205,784,811.446499795,652.553500205,629,653.553500205,0.401149851197,-0.00541363210417,0.0499072051519,0.999999984386,9.53045958739e-05,-0.000143603709333,-3.90275874144e-05,1793249528945852416
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.859834212,745.140165788,717,678,662.140165788,636,878,784,811.140165788,652.859834212,629,654,0.401217564495,-0.00541653832663,0.0499234313978,0.999999988294,9.44030338324e-05,-0.000114465412076,-3.73794027153e-05,1793249528962519296
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.283618528,745.716381472,717,678,662.716381472,636,878,784,811.716381472,652.283618528,629,654,0.401291989274,-0.00541985374352,0.0499338306496,0.999999989276,9.39266052549e-05,-0.00010654989989,-3.56704741053e-05,1793249528979186688
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,717,678.293713423,663,636.293713423,878,784,812,652,629,654,0.401373769083,-0.00542367985517,0.0499400625995,0.999999990088,9.2208145271e-05,-0.000100766512284,-3.416776975e-05,1793249528995853824
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,717,678.872127355,663,636.872127355,878,784,812,652,629,654,0.40146267822,-0.00542800099016,0.0499422551252,0.999999990765,8.92857669954e-05,-9.70498231775e-05,-3.28649615373e-05,1793249529012520448
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.551585682,746,717,679,663,636.551585682,878,784.448414318,812,652,629,654,0.401571077455,-0.00543177284573,0.0499433085394,0.999999991067,8.74401627411e-05,-9.58454727709e-05,-3.21690354711e-05,1793249529029187328
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.024628344,746,717.024628344,678.975371656,662.975371656,636,878,784.975371656,811.975371656,652,629,654,0.401686102532,-0.00543535843705,0.04994399531,0.999999991253,8.59318350631e-05,-9.54369619192e-05,-3.16435381735e-05,1793249529045853952
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.612990999,746,717.612990999,678.387009001,662.387009001,636,878,784.387009001,811.387009001,652,629,654,0.40182617266,-0.00543824892192,0.0499436900214,0.999999991195,8.51483428866e-05,-9.69234279972e-05,-3.1076460605e-05,1793249529062520320
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.801418366,718,678,662,636,878,784.198581634,811.198581634,652,629,654,0.401977278733,-0.00544243653524,0.0499436833838,0.999999991263,8.32847437784e-05,-9.81304989252e-05,-3.01255597435e-05,1793249529079186688
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.221155719,718,678,662,636,878,784.778844281,811.778844281,652,629,654,0.402149596271,-0.00544911727557,0.0499442507638,0.999999991567,7.93451405479e-05,-9.88005621949e-05,-2.84369368297e-05,1793249529095853056
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.353997277,745,717.646002723,678,662,636,878,784.646002723,812,652,628.646002723,653.646002723,0.402341580617,-0.00545593090983,0.0499433514996,0.999999991747,7.59875740646e-05,-0.000100010890074,-2.70162047156e-05,1793249529112519680
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.926003554,745,717.073996446,678,662,636,878,784.073996446,812,652,628.073996446,653.073996446,0.402545676771,-0.00546282638738,0.0499415490036,0.999999991848,7.29884541624e-05,-0.000101553939639,-2.57604528177e-05,1793249529129186304
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.502015687,745.497984313,717,678,662.497984313,636,878,784,812,652.497984313,628.497984313,653.497984313,0.402778338471,-0.00547066688861,0.049942081756,0.999999992007,6.83026233027e-05,-0.000103582364838,-2.43338353023e-05,1793249529145853440
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.073271103,746,717,678.073271103,662.926728897,636,878,784,812,652.926728897,629,654,0.403023934494,-0.00547880625474,0.0499440529555,0.999999992391,6.38276014776e-05,-0.000103092158497,-2.26995190596e-05,1793249529162520576
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.672308218,746,717,678.672308218,662.327691782,636,878,784,812,652.327691782,629,654,0.403331886332,-0.00548808259707,0.0499538561062,0.999999994312,6.26636105207e-05,-8.40116955993e-05,-1.97570082066e-05,1793249529179186944
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745.737777744,717,678.737777744,662.262222256,636,878.262222256,784,812,652,628.737777744,654,0.403646428978,-0.00549777253888,0.0499625390548,0.999999995875,5.96225214518e-05,-6.63937417554e-05,-1.69390689706e-05,1793249529195853312
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745.158881279,717,678.158881279,662.841118721,636,878.841118721,784,812,652,628.158881279,654,0.403968931034,-0.00550796196592,0.0499698691842,0.999999997146,5.43145441778e-05,-5.05419965042e-05,-1.42715695409e-05,1793249529212519680
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745.41342972,717,678.41342972,663,636,878.58657028,784.41342972,811.58657028,652,628,654,0.404337439156,-0.00551680776201,0.0499766599268,0.999999997787,5.40134042457e-05,-3.71998137657e-05,-1.11926548406e-05,1793249529229186560
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745.983249587,717,678.983249587,663,636,878.016750413,784.983249587,811.016750413,652,628,654,0.404723350217,-0.00552514529581,0.0499832466325,0.999999998115,5.56062260768e-05,-2.48069362699e-05,-7.95811206792e-06,1793249529245853184
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.425721165,746,717,679,663,636.574278835,878,784.425721165,811.574278835,652,628,654,0.405133488076,-0.0055293472587,0.0499858275218,0.999999998036,5.99684579865e-05,-1.77164347205e-05,-4.19237364435e-06,1793249529262519552
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.162423125,745.837576875,717,678.837576875,663,636.837576875,878.162423125,784,812,652,628.162423125,654,0.405549404432,-0.00552744961036,0.0499816939232,0.999999997102,7.20145924197e-05,-2.46472723526e-05,-1.39353362319e-06,1793249529279186176
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.741518534,745.258481466,717,678.258481466,663,636.258481466,878.741518534,784,812,652,628.741518534,654,0.405978262294,-0.00551022563205,0.0499606465395,0.999999992384,0.000103557461985,-6.71357962494e-05,-1.11639893178e-06,1793249529295852800
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745.318836918,717,678,663,636,878.681163082,784,812.318836918,652,629,653.681163082,0.406431170374,-0.00550043972728,0.0499414276419,0.999999986994,0.000125523191495,-0.000101275409047,-2.32056366691e-07,1793249529312519680
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745.894722712,717,678,663,636,878.105277288,784,812.894722712,652,629,653.105277288,0.406903467978,-0.0054966504551,0.0499236828822,0.999999981952,0.000139767757501,-0.000128684067513,1.14182207802e-06,1793249529329187328
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,717.466415222,678,663,636.466415222,878,784.466415222,812.533584778,651.533584778,628.533584778,653,0.407430046139,-0.00550220512372,0.0499228507815,0.99999998092,0.000146646235399,-0.000128972374673,4.64836412475e-06,1793249529345853952
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745.96134875,717.96134875,678,663,636.96134875,878.03865125,785,812,651.03865125,628,653.03865125,0.407973562996,-0.00550965745767,0.0499273435767,0.999999981201,0.000151990462013,-0.000120085604637,8.69100829474e-06,1793249529362520576
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745.367843615,717.367843615,678,663,636.367843615,878.632156385,785,812,651.632156385,628,653.632156385,0.408585927181,-0.00551434470278,0.0499539645869,0.999999985056,0.000158965128734,-6.65804033635e-05,1.35808462853e-05,1793249529379186432
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745,717,678.22063972,663.22063972,636.22063972,879.22063972,785,812.22063972,651.77936028,628.22063972,654,0.409215483866,-0.00551716996135,0.0499767857,0.999999985256,0.000168859178546,-2.50244169896e-05,1.86725152448e-05,1793249529395852800
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745,717,678.800937143,663.800937143,636.800937143,879.800937143,785,812.800937143,651.199062857,628.800937143,654,0.409873065456,-0.00551696005533,0.0499934127218,0.999999982867,0.000183512020842,-2.94646448563e-06,2.40931821196e-05,1793249529412519936
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745.377570026,717.377570026,679,663.622429974,636.622429974,879.622429974,785,812.622429974,651,629,654,0.410503980377,-0.00551475604009,0.0499880444654,0.999999979972,0.000197050385565,-2.12633264834e-05,2.78566371351e-05,1793249529429186816
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745.952289439,717.952289439,679,663.047710561,636.047710561,879.047710561,785,812.047710561,651,629,654,0.411120971191,-0.00551151079439,0.0499711913041,0.999999975635,0.000210006821597,-6.06724697225e-05,3.07547735169e-05,1793249529445853696
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745.460695699,717.460695699,679,663,636.539304301,879,784.460695699,812.539304301,651.539304301,628.460695699,654,0.411761108247,-0.00550701741747,0.0499436915655,0.999999967258,0.000228094436456,-0.000111245259931,3.2872564454e-05,1793249529462520320
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745.125520501,717.125520501,679,663.125520501,636.874479499,879,784.125520501,813,651.874479499,628.125520501,654,0.412436537757,-0.00550483826196,0.0499275709079,0.999999960205,0.000243894708033,-0.000137231871225,3.56713053985e-05,1793249529479186944
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745.704825064,717.704825064,679,663.704825064,636.295174936,879,784.704825064,813,651.295174936,628.704825064,654,0.413231981548,-0.00551143402346,0.0499560726295,0.999999965467,0.000249746352861,-7.06803200358e-05,4.11872276157e-05,1793249529495853056
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.717192471,745.717192471,717.717192471,679,664.282807529,636,879.282807529,785,812.717192471,651,628.717192471,654,0.414017363962,-0.00551571493723,0.049968386122,0.999999977783,0.000203282424416,-4.59382496321e-05,3.16186885826e-05,1793249529512519424
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.140583428,745.140583428,717.140583428,679,664.859416572,636,879.859416572,785,812.140583428,651,628.140583428,654,0.414792293966,-0.00551759101566,0.0499638820807,0.999999992641,0.000102469183607,-6.46309720236e-05,6.3792887736e-06,1793249529529186048
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.435281733,745.435281733,717.435281733,679,664.564718267,636.435281733,880,785,812.435281733,651,628,654.435281733,0.415561948999,-0.00552774465195,0.04994626377,0.999999992624,7.79456437897e-05,-9.30726683765e-05,3.700392196e-06,1793249529545852672
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,718,679,664.011135156,636.988864844,880.022270312,785,813,651.011135156,628,655,0.416330892917,-0.00554024492351,0.0499250861178,0.999999989256,7.8468319899e-05,-0.000123537121084,8.31122209875e-06,1793249529562519296
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,718,679,664.598800648,636.401199352,881.197601295,785,813,651.598800648,628,655,0.417151078684,-0.00553606228799,0.0499385444015,0.999999990073,0.000102232156546,-9.59865507785e-05,1.37383859777e-05,1793249529579185920
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,717.815512208,679.184487792,665,636,881.815512208,785,813.184487792,651.815512208,628,654.815512208,0.417988385864,-0.00553273461877,0.0499547798708,0.999999990453,0.000120143696859,-6.5732865237e-05,1.84283618901e-05,1793249529595852544
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,717.2340817,679.7659183,665,636,881.2340817,785,813.7659183,651.2340817,628,654.2340817,0.418862531316,-0.00553124648968,0.0499769907135,0.999999991458,0.000125463473647,-2.96631765728e-05,2.15322087217e-05,1793249529612519168
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.656538078,745.656538078,717,680,665,636,881.343461922,785,813.656538078,651,628,654,0.41971920264,-0.00553024138153,0.0499722619934,0.999999990718,0.000128037577543,-4.07927894995e-05,2.25086121043e-05,1793249529629185792
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.08161389,745.08161389,717,680,665,636,881.91838611,785,813.08161389,651,628,654,0.420564097947,-0.00552956178586,0.0499493784441,0.999999987962,0.000128761345963,-8.37304634298e-05,2.2051310908e-05,1793249529645852416
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.503830092,717,680,665,636.503830092,882,785,813,651,628,654,0.421472948965,-0.00553107674341,0.0499678268296,0.999999990678,0.000129935077113,-3.54116835458e-05,2.25227324728e-05,1793249529662519040
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.087969113,746,717,680.087969113,665.087969113,636.912030887,882.087969113,784.912030887,813,651,628,654.087969113,0.422384369366,-0.00553286220163,0.0499892265153,0.999999991102,0.000130201949951,1.74358177865e-05,2.32182033862e-05,1793249529679185664
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.655505931,746,717,680.655505931,665.655505931,636.344494069,882.655505931,784.344494069,813,651,628,654.655505931,0.423252114181,-0.00553414301482,0.0499894376216,0.999999991797,0.00012511921813,1.26666431761e-05,2.42974647463e-05,1793249529695852544
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745.768163981,717.231836019,680.768163981,665.536327963,636,883,784,813.231836019,651,628,654.768163981,0.424140317955,-0.0055360663548,0.0499841439167,0.999999992366,0.000120980851588,1.87858516819e-06,2.50553846448e-05,1793249529712519168
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745.178252417,717.821747583,680.178252417,664.356504835,636,883,784,813.821747583,651,628,654.178252417,0.42506012115,-0.00553898209096,0.0499703479166,0.999999992516,0.00011830107603,-1.82057639681e-05,2.53169861419e-05,1793249529729185536
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.599064888,745.400935112,717.599064888,680.400935112,664.801870223,636,883,784.400935112,813.599064888,651,628,654,0.426000872376,-0.00554219833683,0.0499835152123,0.999999992991,0.000115055216139,-6.49620487017e-06,2.71829311888e-05,1793249529745852416
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.024521005,745.975478995,717.024521005,680.975478995,665.950957989,636,883,784.975478995,813.024521005,651,628,654,0.426950694247,-0.00554554470615,0.0500083578762,0.999999993154,0.00011156423638,1.89804244461e-05,2.97435724434e-05,1793249529762519040
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.438134504,717.561865496,680.438134504,665.438134504,636.561865496,883.561865496,785,813.561865496,651,628,654,0.427779834055,-0.00554233525512,0.0499823582739,0.999999991966,0.00011535651303,-4.34227555174e-05,2.95960537111e-05,1793249529779185664
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.147665545,717.852334455,680.147665545,665,636.852334455,884,785,814,651,628,654,0.428626826941,-0.00553977562831,0.0499577811705,0.999999988201,0.000118215175861,-9.36856466361e-05,2.90933881521e-05,1793249529795852544
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.730183769,717.269816231,680.730183769,665,636.269816231,884,785,814,651,628,654,0.429542238333,-0.00553999032721,0.0499440680225,0.999999988052,0.000117368294177,-9.66597777059e-05,2.79004144762e-05,1793249529812519168
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,717,681,665.307332809,636,884,785,814.307332809,651,628,654,0.430453037184,-0.00554126253519,0.0499421439344,0.999999988887,0.000115981337798,-8.94519881381e-05,2.77949277367e-05,1793249529829186048
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,717,681,665.879848996,636,884,785,814.879848996,651,628,654,0.431359856037,-0.0055434472192,0.0499503920858,0.999999990379,0.000114128375771,-7.34586863055e-05,2.86277836288e-05,1793249529845853696
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.454588789,745.545411211,717,680.545411211,665.545411211,636,884.454588789,784.545411211,815,651,628,654,0.432249219975,-0.00554538351021,0.0499385517733,0.999999989519,0.000109153410566,-9.0846340411e-05,2.82023329621e-05,1793249529862520320
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.969222813,745.030777187,717,680.030777187,665,636.030777187,885,784.030777187,815,651,628.030777187,654,0.433133889454,-0.00554728030075,0.0499236222655,0.999999987809,0.000103608702408,-0.000113521019891,2.75650939808e-05,1793249529879186944
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.377394335,745.622605665,717,680.622605665,665,636.622605665,885,784.622605665,815,651,628.622605665,654,0.434017494442,-0.00554965969989,0.0499496438927,0.999999991775,0.000102794190911,-7.09494615772e-05,2.91596103978e-05,1793249529895853568
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.790753145,717.209246855,681,665,636.790753145,885.209246855,785,815,651,629.209246855,654,0.434883539363,-0.00555079146035,0.0499700894114,0.999999993402,0.00010249799539,-4.18264371638e-05,3.06705163067e-05,1793249529912520192
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.21324125,717.78675875,681,665,636.21324125,885.78675875,785,815,651,629.78675875,654,0.435718679503,-0.0055497274333,0.0499807212347,0.999999993509,0.000103114012777,-3.63722198763e-05,3.20342718263e-05,1793249529929187072
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.363356168,745.363356168,717.636643832,681,665,636,886,784.636643832,815.363356168,651,629.636643832,654,0.436523238057,-0.00554750897767,0.0499665246687,0.999999991334,0.000105253659662,-7.23011399898e-05,3.20332774009e-05,1793249529945853440
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.939418224,745.939418224,717.060581776,681,665,636,886,784.060581776,815.939418224,651,629.060581776,654,0.437309894337,-0.00554461472853,0.0499377937552,0.999999984877,0.000108285227115,-0.000132455428505,3.12333687463e-05,1793249529962520064
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.474544777,745.474544777,717.525455223,681,665,636,886,784.525455223,815.474544777,651,629,654,0.438157070128,-0.00554753402207,0.0499595817525,0.999999991087,0.000103346174619,-7.84629359184e-05,3.14483368099e-05,1793249529979186688
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+184,3.066666667,POSE1_TO_POSE2_PRESS,766.689963014,745,717.310036986,681,665.689963014,636,885.310036986,785,815.689963014,651,629,654.689963014,0.439746965703,-0.00555263850912,0.0499728790319,0.999999994141,9.26884865731e-05,-4.62394357139e-05,3.14589732334e-05,1793249530012519680
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.731454729,745.268545271,717,681,665.731454729,636,885,785,816,651,629,654.731454729,0.440482983064,-0.00555453708143,0.0499606435166,0.999999993162,9.01434631578e-05,-6.75339672581e-05,3.14458749492e-05,1793249530029186304
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.153231902,745.846768098,717,681,665.153231902,636,885,785,816,651,629,654.153231902,0.441197441966,-0.00555650307731,0.0499431111424,0.999999991195,9.03809874205e-05,-9.18561195762e-05,3.16687233856e-05,1793249530045853440
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.422067543,746,717,681.422067543,665,636,885.422067543,785,816,651,629,654,0.441914956787,-0.00555555105489,0.0499509976089,0.999999992036,9.54784270509e-05,-7.56323631347e-05,3.30418787711e-05,1793249530062520064
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.996313,746,717,681.996313,665,636,885.996313,785,816,651,629,654,0.442633573489,-0.00555354693101,0.049968048925,0.999999993155,0.000102328125947,-4.47896407992e-05,3.48297813048e-05,1793249530079186944
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.428972147,746,717,681.428972147,665,636,886,785,816,651,628.428972147,654,0.443283586746,-0.0055525624664,0.0499603681098,0.999999991964,0.000106914902356,-5.80276415827e-05,3.56867856585e-05,1793249530095853824
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,717,681,665,636,886,784.848992828,816,651,628.151007172,654,0.443904600934,-0.00555110826861,0.0499407208972,0.999999988945,0.000111317060496,-9.18254941554e-05,3.58743856486e-05,1793249530112520448
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,717,681,665,636,886,784.253527445,816,651,628.746472555,654,0.44444156737,-0.00554825211493,0.0498863234813,0.999999975613,0.000115218874061,-0.000185298591012,3.41094386181e-05,1793249530129186560
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.329452875,746,717,681,665,635.670547125,885.670547125,784.329452875,816,651,628.670547125,654,0.444990407573,-0.0055476885507,0.049852031518,0.99999996529,0.00011879238862,-0.00023277477394,3.35328769427e-05,1793249530145853184
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.903176199,746,717,681,665,635.096823801,885.096823801,784.903176199,816,651,628.096823801,654,0.445548051465,-0.00554882481049,0.0498326466003,0.999999961676,0.000122122488543,-0.000246146873427,3.38374352402e-05,1793249530162520064
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.511628489,746,717,681,665,635,885.488371511,784.511628489,816,651.488371511,628,654,0.446114182849,-0.00554663085887,0.0498419519968,0.999999966872,0.000127944998999,-0.00022064442781,3.46627373798e-05,1793249530179187200
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,717,681,664.925195687,635,886,784,816,651.925195687,628.074804313,654,0.446668589575,-0.0055441326685,0.0498530517266,0.999999971343,0.000133778433076,-0.000195318901841,3.56085359439e-05,1793249530195853824
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,717,681,664.346121821,635,886,784,816,651.346121821,628.653878179,654,0.447132341867,-0.00554414143173,0.0498369804826,0.999999964867,0.000136274276795,-0.000224391540955,3.66539088387e-05,1793249530212520448
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.76718562,717,681.23281438,664,634.76718562,886,784,815.76718562,651,629,654,0.447572699718,-0.00554533939035,0.0498119087056,0.999999955006,0.000137177577087,-0.000264200785137,3.69883428036e-05,1793249530229187328
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.188454013,717,681.811545987,664,634.188454013,886,784,815.188454013,651,629,654,0.447978297905,-0.00554830426374,0.0497734638754,0.999999938945,0.000135714664882,-0.000319962548982,3.62664586199e-05,1793249530245853440
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.38711328,717,681.61288672,664,634,885.61288672,784,815.38711328,651,628.61288672,654.38711328,0.448372080508,-0.00554808215856,0.0497530926577,0.999999928913,0.000137110237808,-0.000349422920707,3.57643574067e-05,1793249530262519808
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.961152666,717,681.038847334,664,634,885.038847334,784,815.961152666,651,628.038847334,654.961152666,0.448760157734,-0.00554632115139,0.0497414486752,0.999999922545,0.000139886092714,-0.000366183095733,3.53683831666e-05,1793249530279186432
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,717,682,664,634,885.133696586,784,816,651,629,654.866303414,0.449512534803,-0.00554521878878,0.0497668003685,0.999999944392,5.24380788868e-05,-0.000329237750008,8.26149172432e-06,1793249530312519936
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+204,3.400000000,POSE1_TO_POSE2_PRESS,766.290671275,746,717,682,664,634,886,784,816,651,628.709328725,654.290671275,0.450149166762,-0.0055619270931,0.0497792393922,0.999999948092,2.48761974718e-05,-0.000321116925473,9.00944012398e-06,1793249530345853184
+205,3.416666667,POSE1_TO_POSE2_PRESS,766.868106022,746,717,682,664,634,886,784,816,651,628.131893978,654.868106022,0.450429277375,-0.00556290645352,0.0497790365986,0.999999946842,2.78382630965e-05,-0.000324703897056,1.03978124313e-05,1793249530362520064
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.556793336,746,717,682,664,634,885.556793336,784,816,651.443206664,628,654.556793336,0.450669410184,-0.0055602259445,0.0497722979165,0.999999941961,3.2709841805e-05,-0.000338954228693,1.08476793118e-05,1793249530379186944
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,717.018051439,682,664,633.981948561,885,784,816,652,628,654.018051439,0.450896719711,-0.0055565096436,0.0497636374758,0.999999935716,3.82068258543e-05,-0.000356350557041,1.10577664625e-05,1793249530395853568
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,717.606648579,682,664,633.393351421,885,784,816,652,628,654.606648579,0.451092782917,-0.00555429920052,0.0497553900857,0.999999929165,4.56043167089e-05,-0.000373408997231,1.24703979895e-05,1793249530412519936
+209,3.483333333,POSE1_TO_POSE2_PRESS,766.193045765,746,718,681.806954235,664,633,885.193045765,784,816,652,628,654.806954235,0.451277012839,-0.00555177018316,0.0497468074234,0.999999922198,5.20562048655e-05,-0.000390781197045,1.35377417001e-05,1793249530429186304
+210,3.500000000,POSE1_TO_POSE2_PRESS,766.775010748,746,718,681.224989252,664,633,885.775010748,784,816,652,628,654.224989252,0.45143740284,-0.00554859935109,0.049737549307,0.999999914749,5.66030357945e-05,-0.000408785510045,1.39094519214e-05,1793249530445852928
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+212,3.533333333,POSE1_TO_POSE2_PRESS,766.074656013,745.074656013,718,681,664,633.925343987,885.074656013,784,816,652,628.925343987,654.925343987,0.451710418449,-0.00554992879945,0.0497249923587,0.999999901393,5.9248442243e-05,-0.000439850285322,1.53615284772e-05,1793249530479186176
+213,3.550000000,POSE1_TO_POSE2_PRESS,766.51119801,745.51119801,718,681.51119801,664,633.48880199,885.51119801,783.48880199,816,652,628.48880199,654.48880199,0.451828117187,-0.00555230461741,0.0497260900014,0.999999900985,6.09635355292e-05,-0.000440494611139,1.66432036771e-05,1793249530495853312
+214,3.566666667,POSE1_TO_POSE2_PRESS,766.902539006,746,717.902539006,682,664,633,885.902539006,783.097460994,816,652,628,654,0.451939854021,-0.00555434419809,0.0497273166651,0.999999901186,6.21316658191e-05,-0.00043983334354,1.77011732787e-05,1793249530512520192
+215,3.583333333,POSE1_TO_POSE2_PRESS,766.323364289,746,717.323364289,682,664,633,885.323364289,783.676635711,816,652,628,654,0.452031802752,-0.00555413606884,0.0497242533939,0.999999899812,5.97347020395e-05,-0.000443292833431,1.73052723366e-05,1793249530529186816
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+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745.949288936,717.949288936,682,663.949288936,633,885.949288936,783.949288936,816,652,628.050711064,654.949288936,0.452423089547,-0.00554080164211,0.0497034201239,0.99999988505,7.29618753371e-05,-0.000473614116205,1.62878187321e-05,1793249530795853312
+232,3.866666667,POSE1_TO_POSE2_PRESS,766.535497947,746,717.464502053,682,663.464502053,633,885.464502053,783.464502053,816,652,628.535497947,655,0.452423155419,-0.00554169705379,0.0497021281542,0.999999884406,7.22192278637e-05,-0.000475079212199,1.64802451498e-05,1793249530812520448
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,746,717,682,663,633,885,783.121015552,816,652,628.878984448,655,0.452423418407,-0.00554239981134,0.0497013960191,0.999999884066,7.14073331134e-05,-0.000475914814245,1.65758024139e-05,1793249530829187072
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,746,717,682,663,633,885,783.699838991,816,652,628.300161009,655,0.452424745862,-0.00554128988018,0.049703162271,0.999999884924,7.14011814917e-05,-0.000474120790549,1.62178374132e-05,1793249530845853440
+235,3.916666667,POSE1_TO_POSE2_PRESS,766.721581165,746,717.278418835,682,663.278418835,633,885.278418835,784,816,652,628.278418835,655,0.4524253384,-0.00554077291971,0.0497036191811,0.999999885137,7.15992668524e-05,-0.000473643947095,1.61819595484e-05,1793249530862520064
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.143263637,746,717.856736363,682,663.856736363,633,885.856736363,784,816,652,628.856736363,655,0.452425139323,-0.00554089467717,0.0497026657345,0.999999884655,7.20173459642e-05,-0.000474585903381,1.64930176176e-05,1793249530879186688
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,717.567276975,681.567276975,663.567276975,633,885.567276975,783.567276975,816.432723025,652,628.567276975,654.567276975,0.452423684825,-0.00554071705327,0.0497004548349,0.999999883514,7.14526189133e-05,-0.000477075903417,1.62921694699e-05,1793249530895853312
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,717,681.008095738,663,633,885.016191475,783.008095738,817,652,628.008095738,654,0.452421874906,-0.00554042525387,0.0496978947649,0.999999882178,7.06181071235e-05,-0.000480003721118,1.59300872302e-05,1793249530912520192
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,717,681.594442586,663,633,886.188885172,783.594442586,817,652,628.594442586,654,0.452424207035,-0.00553901998725,0.0496999709828,0.999999883017,7.36302155293e-05,-0.000477792083536,1.60920665494e-05,1793249530929187072
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.179499093,746,717,682,663.179499093,633,886.641001814,784,816.820500907,652,628.820500907,654,0.452425881844,-0.00553780367063,0.0497014905431,0.999999883517,7.6411361955e-05,-0.000476301808947,1.62139027426e-05,1793249530945853952
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.761660997,746,717,682,663.761660997,633,885.476678005,784,816.238339003,652,628.238339003,654,0.452426082116,-0.00553701121776,0.0497017613764,0.999999883281,7.86744008482e-05,-0.000476429737945,1.62456875295e-05,1793249530962520576
+242,4.033333333,POSE1_TO_POSE2_PRESS,766.661081831,746,717.338918169,682,664,633,885.338918169,784,816.338918169,652,628,654.338918169,0.452426039244,-0.00553697179884,0.0497016225551,0.999999883126,7.88166356341e-05,-0.000476733143758,1.61638397216e-05,1793249530979187200
+243,4.050000000,POSE1_TO_POSE2_PRESS,766.087224659,746,717.912775341,682,664,633,885.912775341,784,816.912775341,652,628,654.912775341,0.452425827825,-0.00553745438515,0.0497011997599,0.99999988303,7.74887231019e-05,-0.000477158190577,1.60032214857e-05,1793249530995853312
+244,4.066666667,HOLD_POSE2,766,746,718,682,663,632,885,784,816,652,628,654,0.452424960908,-0.00553884545409,0.0497007457638,0.999999882878,7.54832771278e-05,-0.000477793906462,1.61026686385e-05,1793249531027348224
+245,4.083333333,HOLD_POSE2,766,746,717.408952839,682,663,632.591047161,885,783.408952839,816,652,628,654,0.452426297475,-0.00553808234608,0.0497011894198,0.999999883218,7.68360165101e-05,-0.000476857006279,1.63785798471e-05,1793249531044014592
+246,4.100000000,HOLD_POSE2,766,746,717,682,663,633,885,783,816,652,628,654,0.452426700074,-0.0055374022394,0.0497010607578,0.999999883056,7.74518012574e-05,-0.000477095216352,1.64099978766e-05,1793249531060681216
+247,4.116666667,HOLD_POSE2,766,746,717,682,663,633,885,783,816,652,628,654,0.452425005141,-0.00553690853948,0.049699646767,0.999999881767,7.64125111762e-05,-0.000479972524535,1.58923257561e-05,1793249531077347840
+248,4.133333333,HOLD_POSE2,766.332890207,746,717,682,663.332890207,633,885,783.332890207,816,652,628,654,0.452424168885,-0.0055360039455,0.0496989478655,0.999999881089,7.71289457012e-05,-0.000481280251624,1.55898938567e-05,1793249531094014208
+249,4.150000000,HOLD_POSE2,766.907320129,746,717,682,663.907320129,633,885,783.907320129,816,652,628,654,0.45242395567,-0.0055348012135,0.0496987678215,0.999999880854,7.91193054848e-05,-0.000481449116048,1.54436367891e-05,1793249531110680832
+250,4.166666667,HOLD_POSE2,766.518012063,746,717,682,663.518012063,632.518012063,885,784,816,651.518012063,628,654,0.452425388318,-0.0055350831666,0.0497000153695,0.999999881907,7.80759104157e-05,-0.000479427236435,1.54803869285e-05,1793249531127347712
+251,4.183333333,HOLD_POSE2,766,746,717.058334144,682,663,632.058334144,885,783.941665856,816,651,628,654,0.452427006582,-0.00553557138116,0.0497014076819,0.999999883066,7.67525530545e-05,-0.000477215537568,1.55701666134e-05,1793249531144014080
+252,4.200000000,HOLD_POSE2,766,746,717.649595749,682,663,632.649595749,885,783.350404251,816,651,628,654,0.452427427896,-0.0055353345377,0.0497016134585,0.999999882995,7.82035148414e-05,-0.000477120046254,1.58227669271e-05,1793249531160680960
+253,4.216666667,HOLD_POSE2,766.235732661,746,718,682,663,633,885,783.235732661,816.235732661,651,628,654,0.452428121522,-0.00553555880817,0.0497019385856,0.999999883325,7.83751437539e-05,-0.000476394087752,1.59892776817e-05,1793249531177347584
+254,4.233333333,HOLD_POSE2,766.814414012,746,718,682,663,633,885,783.814414012,816.814414012,651,628,654,0.452429211312,-0.00553645391661,0.0497024373463,0.999999884237,7.66855729366e-05,-0.000474750912714,1.60305435651e-05,1793249531194013952
+255,4.250000000,HOLD_POSE2,766.610256833,746,718,682,663,632.610256833,885,783.610256833,816.610256833,651,628,654,0.452428792968,-0.00553611963957,0.0497019646139,0.999999883805,7.70531763078e-05,-0.000475605970607,1.5864885684e-05,1793249531210680576
+256,4.266666667,HOLD_POSE2,766.036510248,746,718,682,663,632.036510248,885,783.036510248,816.036510248,651,628,654,0.452427662611,-0.00553520495185,0.0497010332255,0.999999882735,7.83920013842e-05,-0.000477640480455,1.56015360878e-05,1793249531227347456
+257,4.283333333,HOLD_POSE2,766,745.462084956,717.462084956,682,663.537915044,632,885,783,816,651.537915044,628,654,0.452427405523,-0.0055371459814,0.0496999140734,0.999999882321,7.56218986907e-05,-0.000478957930403,1.54152997091e-05,1793249531244014592
+258,4.300000000,HOLD_POSE2,766.116448729,745.116448729,717,681.883551271,663.883551271,632,885.116448729,783,816.116448729,651.883551271,628,654,0.452427425578,-0.00553845877968,0.0496992130677,0.999999882111,7.35600707006e-05,-0.000479721844309,1.53166179997e-05,1793249531260681728
+259,4.316666667,HOLD_POSE2,766.711684901,745.711684901,717,681.288315099,663.288315099,632,885.711684901,783,816.711684901,651.288315099,628,654,0.452428341121,-0.00553639061558,0.0497002837656,0.999999882586,7.55584812876e-05,-0.00047841021563,1.55563766752e-05,1793249531277348096
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766,746,717,682,663,632,885,783,816,651,628,654,0.452426665931,-0.00553602879431,0.04969946301,0.999999882251,7.35117844059e-05,-0.000479441246158,1.51613513565e-05,1793249531314364160
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766.574414673,746,717.574414673,682,663.574414673,632,885,783,816,651,628,654,0.45242800691,-0.00553533679248,0.0497009490894,0.999999882924,7.54055370516e-05,-0.000477724336769,1.56795608669e-05,1793249531331030784
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766.846901677,746,718,682,663.846901677,632,885,783,816,651,628,654,0.45242905172,-0.00553474469341,0.0497019127231,0.999999883396,7.68504526876e-05,-0.000476494976769,1.59516384329e-05,1793249531347697152
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766.256010524,746,718,682,663.256010524,632,885,783,816,651,628,654,0.452429249614,-0.0055344382715,0.0497013823956,0.999999883312,7.70118953653e-05,-0.000476659789886,1.55198886797e-05,1793249531364363520
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,746,717.672290867,682,663,632.327709133,885,783,816,651.327709133,628,654,0.452429580293,-0.00553414644951,0.0497014113809,0.999999883375,7.77736978603e-05,-0.000476410105249,1.53153913884e-05,1793249531381029888
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,746,717.094053732,682,663,632.905946268,885,783,816,651.905946268,628,654,0.452430012483,-0.00553386578893,0.0497018679514,0.99999988355,7.89944651132e-05,-0.000475843544187,1.52846247266e-05,1793249531397696512
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745.519188487,717,682,663,633,885,783,816,652,628,654,0.452429372136,-0.0055359743236,0.0497012928627,0.999999883365,7.61997764978e-05,-0.000476675698973,1.55864435314e-05,1793249531414363392
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766.056365417,745.056365417,717,682,663,632.943634583,885,783.056365417,816,652,628,654,0.452428537539,-0.00553818796561,0.0497005574246,0.999999883085,7.31673039097e-05,-0.000477726950623,1.58970662474e-05,1793249531431030016
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766.644598161,745.644598161,717,682,663,632.355401839,885,783.644598161,816,652,628,654,0.452427835926,-0.00553701406977,0.0497001999258,0.999999882669,7.52513211351e-05,-0.000478281800789,1.56811420999e-05,1793249531447696384
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766.770931008,746,717.229068992,682,663,632.229068992,885.229068992,783.770931008,816,651.770931008,628.229068992,654.229068992,0.452423681973,-0.00553549482699,0.0496983445024,0.999999881303,7.73646174656e-05,-0.000480805113671,1.53581517827e-05,1793249531464362752
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766.192202556,746,717.807797444,682,663,632.807797444,885.807797444,783.192202556,816,651.192202556,628.807797444,654.807797444,0.45241425824,-0.00553344843383,0.0496942025908,0.999999878468,7.95226063228e-05,-0.00048633316145,1.48717316876e-05,1793249531481029376
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,717.614112541,682,663.385887459,632.614112541,885.614112541,783,816,651.385887459,628.614112541,655,0.452385886278,-0.00553194078861,0.0496828012508,0.999999868173,8.02053806744e-05,-0.000506971225852,1.42099720662e-05,1793249531497696256
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,717.036339943,682,663.963660057,632.036339943,885.036339943,783,816,651.963660057,628.036339943,655,0.452348092182,-0.00553070103924,0.0496677901107,0.999999853519,8.01545948102e-05,-0.000535122848049,1.34610236302e-05,1793249531514362880
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766.536550739,746,717,682,663.463449261,632.536550739,885,783.536550739,816,652,628,655,0.452289534611,-0.00552831432573,0.0496497667795,0.999999838311,8.0808908965e-05,-0.000562761107362,1.21782437531e-05,1793249531531029504
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766.887450526,746,717,682,663,632.887450526,885,783.887450526,816,651.887450526,628,654.887450526,0.452225853549,-0.00552584152092,0.0496319946501,0.999999823158,8.13785208882e-05,-0.000589020990858,1.07978011111e-05,1793249531547696128
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766.296858752,746,717,682,663,632.296858752,885,783.296858752,816,651.296858752,628,654.296858752,0.452146330159,-0.00552333002486,0.0496161481758,0.999999810857,8.13873612077e-05,-0.000609572723181,9.1547287782e-06,1793249531564362496
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,746,717,682,663,632.289560317,885,783.289560317,816,651.289560317,628,654.289560317,0.452061612028,-0.0055208894878,0.0496067315932,0.999999802734,8.31552681513e-05,-0.000622533125035,8.34815272255e-06,1793249531581029120
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,746,717,682,663,632.871762243,885,783.871762243,816,651.871762243,628,654.871762243,0.451971643883,-0.00551852066497,0.0496038133255,0.999999799126,8.67009604616e-05,-0.000627821413898,8.38697443571e-06,1793249531597695744
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,717,681.552946577,663,633,885,783.552946577,816,652,628,654.552946577,0.451868743445,-0.00551499425823,0.0496044596099,0.999999799152,8.90238981542e-05,-0.000627463505719,7.73309392376e-06,1793249531614362368
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+282,4.700000000,POSE2_TO_POSE3_RETREAT,766.226399464,746,717,681.773600536,663,632.773600536,885,783,816,651,628.773600536,655,0.451319625299,-0.00549473388656,0.0496139204116,0.999999809015,0.000105532767575,-0.000608935591248,5.46091646419e-06,1793249531681028608
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf5cc9fad4713e40517f2e5b4e3345f6c5c43a9a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,403 @@
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+229,3.816666667,pose1_to_pose2_press,0.619558221304,0.000150229839696,1.04003349522,0.590128896837,0.00882285594557,1.03970488967
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+231,3.850000000,pose1_to_pose2_press,0.619559062484,0.000150271939845,1.04003342807,0.590129736359,0.00882289234442,1.03970482032
+232,3.866666667,pose1_to_pose2_press,0.619559444092,0.000150253781295,1.04003340985,0.590130118657,0.00882287655877,1.03970480281
+233,3.883333333,pose1_to_pose2_press,0.619559801638,0.000150214210631,1.04003340019,0.590130477724,0.00882284221396,1.03970479485
+234,3.900000000,pose1_to_pose2_press,0.619560031673,0.000150188751966,1.04003339398,0.590130708737,0.00882282011747,1.03970478973
+235,3.916666667,pose1_to_pose2_press,0.619560091085,0.000150182176628,1.04003339237,0.590130768402,0.0088228144105,1.03970478841
+236,3.933333333,pose1_to_pose2_press,0.619560264304,0.00015016300601,1.04003338769,0.590130942358,0.00882279777162,1.03970478455
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+238,3.966666667,pose1_to_pose2_press,0.619560385762,0.000150149563968,1.04003338441,0.590131064332,0.00882278610479,1.03970478185
+239,3.983333333,pose1_to_pose2_press,0.619560484309,0.000150153173551,1.04003338987,0.590131162954,0.00882278998702,1.03970478778
+240,4.000000000,pose1_to_pose2_press,0.619560694839,0.000150237273563,1.04003344423,0.590131371833,0.0088228685246,1.0397048432
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+261,4.350000000,pose2_to_pose3_retreat,0.619560885816,0.000150316498373,1.04003337935,0.590131560568,0.00882294020023,1.03970478003
+262,4.366666667,pose2_to_pose3_retreat,0.619560673562,0.000150347459753,1.04003338992,0.590131348763,0.0088229726171,1.03970478888
+263,4.383333333,pose2_to_pose3_retreat,0.619560360851,0.000150363174444,1.04003341916,0.590131036164,0.00882298866711,1.03970481696
+264,4.400000000,pose2_to_pose3_retreat,0.619560215826,0.000150364565301,1.04003343543,0.590130891082,0.00882298985668,1.03970483296
+265,4.416666667,pose2_to_pose3_retreat,0.619560161205,0.000150365089136,1.04003344155,0.59013083644,0.00882299030471,1.03970483898
+266,4.433333333,pose2_to_pose3_retreat,0.619560011031,0.000150366529365,1.04003345839,0.590130686208,0.00882299153651,1.03970485554
+267,4.450000000,pose2_to_pose3_retreat,0.619559371593,0.000150363373839,1.04003352463,0.590130046688,0.00882298806113,1.03970492075
+268,4.466666667,pose2_to_pose3_retreat,0.619557361885,0.000150140041512,1.04003360724,0.590128040524,0.00882277676638,1.03970500362
+269,4.483333333,pose2_to_pose3_retreat,0.619551136494,0.000150325219757,1.04003327302,0.590121811465,0.00882294965521,1.03970467341
+270,4.500000000,pose2_to_pose3_retreat,0.619538830338,0.00015010256468,1.04003334768,0.590109508306,0.00882273706056,1.03970474464
+271,4.516666667,pose2_to_pose3_retreat,0.619516919091,0.000150129865179,1.04003353404,0.590087596734,0.008822763399,1.03970493633
+272,4.533333333,pose2_to_pose3_retreat,0.61948487549,0.000150003488719,1.04003335596,0.590055554867,0.00882264318827,1.0397047616
+273,4.550000000,pose2_to_pose3_retreat,0.619440883165,0.000150096790806,1.04003335379,0.590011560289,0.00882272871081,1.03970475847
+274,4.566666667,pose2_to_pose3_retreat,0.619387180781,0.00015006476126,1.04003344687,0.589957859005,0.00882269987835,1.03970484241
+275,4.583333333,pose2_to_pose3_retreat,0.619324427733,0.000150185606836,1.04003374197,0.589895103983,0.00882281363579,1.03970512737
+276,4.600000000,pose2_to_pose3_retreat,0.619253987163,0.0001501459279,1.04003373806,0.5898246641,0.00882277639052,1.03970512495
+277,4.616666667,pose2_to_pose3_retreat,0.619175917124,0.000149901953369,1.04003341552,0.589746597526,0.00882254453412,1.03970481347
+278,4.633333333,pose2_to_pose3_retreat,0.619087976033,0.00014991778964,1.04003331669,0.589658655943,0.00882255879808,1.03970471825
+279,4.650000000,pose2_to_pose3_retreat,0.618989780908,0.000150117190053,1.04003350955,0.589560458949,0.00882275175647,1.0397049096
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+281,4.683333333,pose2_to_pose3_retreat,0.618755545499,0.000150138958845,1.04003356609,0.589326222068,0.00882276801662,1.03970495417
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+283,4.716666667,pose2_to_pose3_retreat,0.618462391202,0.000150139076951,1.04003354361,0.589033068854,0.00882277170143,1.03970493319
+284,4.733333333,pose2_to_pose3_retreat,0.618294877658,0.000150101758825,1.04003359973,0.588865555701,0.00882273585281,1.03970499468
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+286,4.766666667,pose2_to_pose3_retreat,0.617907526294,0.000149955614434,1.04003370238,0.588478206679,0.00882259690462,1.03970508174
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+288,4.800000000,pose2_to_pose3_retreat,0.617443283827,0.000150009530074,1.04003354488,0.588013963553,0.00882264899466,1.03970493961
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+321,5.350000000,pose2_to_pose3_retreat,0.59870358566,0.000150068438285,1.04003357049,0.569274264354,0.00882270282816,1.03970496113
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+325,5.416666667,pose2_to_pose3_retreat,0.595652605107,0.000150116409975,1.04003349315,0.566223284029,0.00882275193908,1.03970489302
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+331,5.516666667,pose2_to_pose3_retreat,0.591082179902,0.000150150838223,1.04003358913,0.561652858276,0.0088227842067,1.03970498071
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+335,5.583333333,pose2_to_pose3_retreat,0.588278678828,0.000150141803137,1.04003337262,0.558849356408,0.00882277288443,1.03970477485
+336,5.600000000,pose2_to_pose3_retreat,0.587609295298,0.000150171628692,1.04003351153,0.558179972769,0.00882280198402,1.03970490429
+337,5.616666667,pose2_to_pose3_retreat,0.586949244248,0.000149985778367,1.04003353861,0.557519924471,0.00882262541274,1.0397049297
+338,5.633333333,pose2_to_pose3_retreat,0.586303226835,0.000150031627455,1.04003369623,0.556873906055,0.00882266766735,1.03970508283
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+342,5.700000000,pose2_to_pose3_retreat,0.58387981648,0.000150167198247,1.04003351772,0.554450494704,0.00882280026879,1.03970491537
+343,5.716666667,pose2_to_pose3_retreat,0.583324237929,0.000150190247296,1.0400334814,0.55389491649,0.00882282469372,1.03970488508
+344,5.733333333,pose2_to_pose3_retreat,0.582791168157,0.00015018806958,1.04003343368,0.553361846761,0.00882282218127,1.0397048248
+345,5.750000000,pose2_to_pose3_retreat,0.582285472059,0.000150116144979,1.04003361203,0.552856151168,0.00882275185307,1.0397050004
+346,5.766666667,pose2_to_pose3_retreat,0.581803563088,0.000150114389421,1.04003357013,0.552374241058,0.00882274643214,1.03970496383
+347,5.783333333,pose2_to_pose3_retreat,0.581332543919,0.000150144904697,1.04003356977,0.551903222079,0.00882277769819,1.03970496577
+348,5.800000000,pose2_to_pose3_retreat,0.580871738557,0.000150130216316,1.04003354419,0.551442417396,0.00882276533542,1.03970494026
+349,5.816666667,pose2_to_pose3_retreat,0.580425970247,0.000150104339522,1.04003337829,0.550996648045,0.00882273602725,1.03970477695
+350,5.833333333,pose2_to_pose3_retreat,0.580000399027,0.000150167365772,1.04003337899,0.550571076473,0.00882279785502,1.03970477765
+351,5.850000000,pose2_to_pose3_retreat,0.579598351579,0.000150106624758,1.04003337438,0.550169030493,0.00882274215844,1.03970477497
+352,5.866666667,pose2_to_pose3_retreat,0.579232180259,0.000150199440692,1.04003335472,0.549802856873,0.00882282726943,1.03970475811
+353,5.883333333,pose2_to_pose3_retreat,0.578898300905,0.000150183422186,1.04003366501,0.549468979117,0.00882281659651,1.03970506651
+354,5.900000000,pose2_to_pose3_retreat,0.578589517485,0.000150357433557,1.04003348271,0.549160193745,0.00882298408355,1.0397048869
+355,5.916666667,pose2_to_pose3_retreat,0.578299083088,0.00015017216483,1.04003336651,0.548869761728,0.00882280686077,1.03970476956
+356,5.933333333,pose2_to_pose3_retreat,0.578023538811,0.000149976086634,1.04003339878,0.548594219604,0.00882261780868,1.03970479417
+357,5.950000000,pose2_to_pose3_retreat,0.577757411337,0.000150137755181,1.04003348545,0.548328089276,0.00882276944203,1.0397048715
+358,5.966666667,pose2_to_pose3_retreat,0.577501545841,0.000150089100739,1.04003363451,0.54807222435,0.00882272277095,1.03970502188
+359,5.983333333,pose2_to_pose3_retreat,0.57726258656,0.000150008380852,1.04003339829,0.547833266628,0.00882264771292,1.03970479566
+360,6.000000000,pose2_to_pose3_retreat,0.57704255693,0.00015004876463,1.04003365713,0.547613237484,0.00882268951356,1.03970504844
+361,6.016666667,pose2_to_pose3_retreat,0.576847331435,0.000150024349501,1.04003349111,0.547418010675,0.00882266111518,1.039704895
+362,6.033333333,pose2_to_pose3_retreat,0.576674700108,0.000150095856581,1.04003363688,0.547245378108,0.00882272795098,1.03970502851
+363,6.050000000,pose2_to_pose3_retreat,0.576524899645,0.000150143009889,1.04003346576,0.54709557784,0.00882277596509,1.0397048627
+364,6.066666667,pose2_to_pose3_retreat,0.576393485686,0.000150108962124,1.04003345137,0.546964164806,0.00882274512451,1.03970485009
+365,6.083333333,pose2_to_pose3_retreat,0.576279139802,0.000150094098975,1.04003345084,0.546849819516,0.00882273223829,1.03970484859
+366,6.100000000,pose2_to_pose3_retreat,0.576178802522,0.000150112156447,1.04003341282,0.54674948203,0.00882274955341,1.0397048098
+367,6.116666667,pose2_to_pose3_retreat,0.576089778487,0.000150081530552,1.04003351343,0.546660457126,0.00882271584245,1.03970490777
+368,6.133333333,pose2_to_pose3_retreat,0.576011096158,0.000150117772848,1.04003353671,0.546581774324,0.00882275039748,1.03970492814
+369,6.150000000,pose2_to_pose3_retreat,0.575941431179,0.000150142466739,1.04003351232,0.54651210815,0.00882277119782,1.03970490802
+370,6.166666667,pose2_to_pose3_retreat,0.575881129594,0.000150134786918,1.04003350595,0.546451806784,0.00882276431139,1.03970490289
+371,6.183333333,pose2_to_pose3_retreat,0.575831192558,0.000150154961407,1.04003358493,0.546401870405,0.00882278665486,1.03970498022
+372,6.200000000,pose2_to_pose3_retreat,0.575790944207,0.000150143124732,1.04003355027,0.54636162263,0.00882277675232,1.03970494509
+373,6.216666667,pose2_to_pose3_retreat,0.575759482249,0.000150083686611,1.04003341399,0.54633016086,0.00882271800716,1.03970481016
+374,6.233333333,pose2_to_pose3_retreat,0.575734754787,0.000150069933724,1.04003351729,0.546305432518,0.0088227012545,1.03970491313
+375,6.250000000,pose2_to_pose3_retreat,0.575716160719,0.000150187964048,1.0400335193,0.546286839196,0.00882282182773,1.03970491557
+376,6.266666667,pose2_to_pose3_retreat,0.575700674144,0.00015019014384,1.04003356199,0.546271353214,0.0088228261666,1.03970496213
+377,6.283333333,pose2_to_pose3_retreat,0.575688336794,0.000150121075665,1.04003361387,0.546259015824,0.00882275699747,1.03970501505
+378,6.300000000,pose2_to_pose3_retreat,0.57567977264,0.000150079393076,1.04003363382,0.546250450912,0.0088227125491,1.03970502996
+379,6.316666667,pose2_to_pose3_retreat,0.575674061138,0.00015022521902,1.04003362971,0.546244738637,0.00882285579731,1.0397050272
+380,6.333333333,pose2_to_pose3_retreat,0.575670733717,0.000150159845966,1.04003360313,0.546241411246,0.00882279033689,1.03970499546
+381,6.350000000,pose2_to_pose3_retreat,0.575668923426,0.000150065166453,1.04003357917,0.546239601161,0.00882269616601,1.03970496634
+382,6.366666667,pose2_to_pose3_retreat,0.575668299784,0.000150032549518,1.04003357091,0.546238977589,0.0088226637243,1.03970495631
+383,6.383333333,pose2_to_pose3_retreat,0.575667938594,0.000150029199971,1.0400335684,0.546238616468,0.00882266059631,1.03970495342
+384,6.400000000,pose2_to_pose3_retreat,0.575667782348,0.000150031719851,1.04003356788,0.54623846026,0.00882266324269,1.03970495291
+385,6.416666667,pose2_to_pose3_retreat,0.575667608475,0.000150034524016,1.04003356732,0.546238286429,0.00882266618764,1.03970495235
+386,6.433333333,pose2_to_pose3_retreat,0.575667437446,0.000150037282327,1.04003356676,0.54623811544,0.00882266908442,1.0397049518
+387,6.450000000,pose2_to_pose3_retreat,0.575667305502,0.000150039410272,1.04003356633,0.546237983528,0.0088226713192,1.03970495137
+388,6.466666667,pose2_to_pose3_retreat,0.575667048126,0.00015004356115,1.04003356549,0.546237726213,0.00882267567846,1.03970495054
+389,6.483333333,pose2_to_pose3_retreat,0.575666670631,0.000150049649275,1.04003356425,0.546237348808,0.00882268207223,1.03970494932
+390,6.500000000,pose2_to_pose3_retreat,0.575666461033,0.00015005302961,1.04003356357,0.54623713926,0.00882268562227,1.03970494864
+391,6.516666667,pose2_to_pose3_retreat,0.575666299674,0.000150055631943,1.04003356304,0.54623697794,0.00882268835525,1.03970494812
+392,6.533333333,pose2_to_pose3_retreat,0.575665929231,0.000150061606339,1.04003356183,0.546236607585,0.00882269462958,1.03970494693
+393,6.550000000,pose2_to_pose3_retreat,0.575665552695,0.000150073766474,1.04003355734,0.546236231045,0.00882270681053,1.03970494337
+394,6.566666667,pose2_to_pose3_retreat,0.575665294582,0.000150092407466,1.04003354875,0.54623597277,0.00882272498492,1.03970493698
+395,6.583333333,pose2_to_pose3_retreat,0.575665055535,0.000150109671466,1.04003354079,0.546235733573,0.00882274181678,1.03970493106
+396,6.600000000,pose2_to_pose3_retreat,0.575664898331,0.000150121024779,1.04003353555,0.54623557627,0.00882275288591,1.03970492717
+397,6.616666667,pose2_to_pose3_retreat,0.575664870991,0.000150122999285,1.04003353464,0.546235548913,0.00882275481099,1.03970492649
+398,6.633333333,pose2_to_pose3_retreat,0.575664711777,0.000150134497786,1.04003352934,0.546235389599,0.00882276602167,1.03970492254
+399,6.650000000,pose2_to_pose3_retreat,0.575664458844,0.000150114088124,1.04003351671,0.546235137821,0.00882274961426,1.03970491209
+400,6.666666667,pose2_to_pose3_retreat,0.575664300118,0.000150096489028,1.04003353897,0.546234979644,0.00882273388947,1.0397049346
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dcb875c22294412ba552470a563b9dbba60c3a86
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0acbb5bb0bb0de180f0ed46971a5ede102dbbbae266f6338721e70a521d952d
+size 25682246
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..34843559d53eea8cd03e2d3d8fe258f3a83a050d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_04/franka_data.csv
@@ -0,0 +1,405 @@
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+25,0.416666667,BASELINE,767,745,717,678,663,636,878,784.496083847,812,652,629,653.503916153,0.400993706016,-0.00540359321845,0.0498548264217,0.999999962228,0.000116305402985,-0.000245810293394,-3.99199058241e-05,1793249534230278144
+26,0.433333333,BASELINE,766.919310565,745,717,678,663,636,877.919310565,784,811.919310565,652,629,654,0.400992670262,-0.00540397265129,0.0498543750744,0.99999996214,0.000116577541341,-0.000246066341466,-3.97742310879e-05,1793249534246945536
+27,0.450000000,BASELINE,766.331216312,745,717,678,663,636,877.331216312,784,811.331216312,652,629,654,0.400994002619,-0.00540286267962,0.0498549514031,0.999999962075,0.000119333482231,-0.000244996919309,-3.98271321521e-05,1793249534263611648
+28,0.466666667,BASELINE,766,745,717,678,662.746004828,636,877,784,811.253995172,652,629,654,0.400994338669,-0.00540305630249,0.0498549807583,0.999999962104,0.000119444144659,-0.000244826514541,-3.98175913182e-05,1793249534280277760
+29,0.483333333,BASELINE,766,745,717,678,662.164510398,636,877,784,811.835489602,652,629,654,0.400993390089,-0.00540493076936,0.0498543048505,0.999999962254,0.000116144006923,-0.000245815295363,-3.97275384182e-05,1793249534296944384
+30,0.500000000,BASELINE,766,745,717,678,662.411838815,636,877,784.411838815,812,652,629,654,0.400994254774,-0.00540533469737,0.0498552638262,0.999999962616,0.000115774314293,-0.000244553187198,-3.94761637493e-05,1793249534313611264
+31,0.516666667,BASELINE,766,745,717,678,662.986158101,636,877,784.986158101,812,652,629,654,0.400995834836,-0.00540515846185,0.0498568678033,0.99999996306,0.000116560753903,-0.000242403048332,-3.91611437047e-05,1793249534330278400
+32,0.533333333,BASELINE,766,745.561258496,717,678.561258496,663,636,877.561258496,784.438741504,812,652,629,653.438741504,0.400995762001,-0.00540649535761,0.0498562183249,0.99999996318,0.000114095188909,-0.000243032112748,-3.94681095101e-05,1793249534346945280
+33,0.550000000,BASELINE,766.139606495,746,717,678.860393505,662.860393505,636,877.860393505,784,811.860393505,652,629,653.139606495,0.400995558628,-0.00540708278318,0.0498556352741,0.9999999632,0.00011252248349,-0.000243624118834,-3.98348225738e-05,1793249534363611648
+34,0.566666667,BASELINE,766.728340168,746,717,678.271659832,662.271659832,636,877.271659832,784,811.271659832,652,629,653.728340168,0.400995066627,-0.00540513887237,0.0498554449672,0.999999962941,0.000114080567639,-0.000243876093215,-4.03443304881e-05,1793249534380278016
+35,0.583333333,BASELINE,766.686612354,746,717.313387646,678,662,636,877.313387646,784,811.313387646,652,628.686612354,654,0.40099499076,-0.00540406182195,0.0498554070917,0.999999962684,0.000116112049259,-0.000243977382562,-4.03142193253e-05,1793249534396944640
+36,0.600000000,BASELINE,766.104723037,746,717.895276963,678,662,636,877.895276963,784,811.895276963,652,628.104723037,654,0.400995271424,-0.00540372747277,0.0498554998152,0.999999962424,0.000118549124616,-0.000243949569262,-3.98217778566e-05,1793249534413611520
+37,0.616666667,BASELINE,766.47107965,745.52892035,717.52892035,678,662,636,877.52892035,784.47107965,812,652,628.47107965,653.52892035,0.400995265401,-0.00540360089975,0.049855773191,0.999999962442,0.000118738503537,-0.000243811195341,-3.96538790558e-05,1793249534430278144
+38,0.633333333,BASELINE,766.954499738,745,717,678.045500262,662,636,877,784.954499738,811.954499738,652,629,653.045500262,0.400995177173,-0.00540358907133,0.049856012954,0.999999962527,0.000118295302661,-0.000243694414185,-3.95677896554e-05,1793249534446945024
+39,0.650000000,BASELINE,766.380615791,745,717,678.619384209,662,636,877,784.380615791,811.380615791,652,629,653.619384209,0.400994864974,-0.00540438019839,0.0498554019629,0.999999962666,0.000116234665642,-0.00024411016342,-3.96045917739e-05,1793249534463611648
+40,0.666666667,BASELINE,766,745,717,678.800532671,662,636,877,784,811.199467329,652,629,654,0.400994528765,-0.00540530537702,0.0498551218249,0.999999962817,0.000114213963987,-0.000244440162826,-3.96274389323e-05,1793249534480278272
+41,0.683333333,BASELINE,766,745,717,678.208241145,662,636,877,784,811.791758855,652,629,654,0.400994145272,-0.00540649455224,0.0498554932576,0.999999962998,0.000112271909811,-0.000244601289402,-3.96228036627e-05,1793249534496944640
+42,0.700000000,BASELINE,766.372809351,745,717,677.627190649,662,636,877,784.372809351,811.627190649,652,629,654,0.400993978709,-0.00540697661008,0.0498555170944,0.999999962987,0.000112415181569,-0.000244573364934,-3.96668208045e-05,1793249534513611264
+43,0.716666667,BASELINE,766.947764677,745,717,677.052235323,662,636,877,784.947764677,811.052235323,652,629,654,0.40099392977,-0.00540707525225,0.0498553524566,0.999999962872,0.000113689166025,-0.000244442932551,-3.9737218425e-05,1793249534530277888
+44,0.733333333,BASELINE,766.476279701,745.523720299,717,677,662.523720299,636,877,784.476279701,811.523720299,652,629.523720299,654,0.400993182875,-0.00540625569542,0.0498548665749,0.999999962734,0.000112836536522,-0.000245357666107,-3.99958265384e-05,1793249534546944512
+45,0.750000000,BASELINE,766,745.897831708,717,677.102168292,662.897831708,636,877,784,812,652,629.897831708,654,0.400992822017,-0.00540546523706,0.049854629686,0.99999996266,0.000112370346508,-0.000245848333629,-4.01388025943e-05,1793249534563611136
+46,0.766666667,BASELINE,766,745.307963738,717,677.692036262,662.307963738,636,877,784,812,652,629.307963738,654,0.400994636836,-0.00540525167446,0.0498557346007,0.999999962906,0.000114763248721,-0.000243816165163,-3.96400305704e-05,1793249534580277760
+47,0.783333333,BASELINE,766,745,717.276029637,678,662,636,877,784,812,652,629,654,0.400995578878,-0.00540464526897,0.0498560617521,0.999999963106,0.000115456039698,-0.000242643704405,-3.97848735945e-05,1793249534596944384
+48,0.800000000,BASELINE,766,745,717.853605435,678,662,636,877,784,812,652,629,654,0.400995567463,-0.00540360970566,0.0498555392427,0.999999963262,0.000114291559334,-0.000242410423558,-4.06328281827e-05,1793249534613611264
+49,0.816666667,BASELINE,766,745.430751068,717.569248932,677.569248932,662,636,877,784,811.569248932,652.430751068,629,654,0.400994866866,-0.0054046880833,0.049855379532,0.999999963131,0.000113556493357,-0.000243348318298,-4.02930878526e-05,1793249534630278144
+50,0.833333333,BASELINE,766.007728162,746,717,677.007728162,662,636,877.007728162,784,811.007728162,652.992271838,629,653.992271838,0.400993941041,-0.00540644875746,0.0498553496929,0.999999962903,0.000112998118654,-0.000244662187335,-3.95602011545e-05,1793249534646945024
+51,0.850000000,BASELINE,766.58305616,746,717,677.58305616,662,636,877.58305616,784,811.58305616,652.41694384,629,653.41694384,0.400993658801,-0.00540560738664,0.0498558115222,0.999999962776,0.000114708961088,-0.000244385009285,-3.95690806174e-05,1793249534663611392
+52,0.866666667,BASELINE,766.836782687,746,717,678,662.163217313,636,877.836782687,784,812,651.836782687,629,653,0.400993602421,-0.00540496086347,0.0498560474736,0.999999962677,0.000115608800567,-0.000244348330952,-3.96705308312e-05,1793249534680277760
+53,0.883333333,BASELINE,766.243898366,746,717,678,662.756101634,636,877.243898366,784,812,651.243898366,629,653,0.400994140614,-0.00540482727371,0.049855688805,0.99999996266,0.000114373687427,-0.000244944764361,-4.00156720894e-05,1793249534696944128
+54,0.900000000,BASELINE,766,746,717,678.339596375,663,635.660403625,877.339596375,784,811.660403625,651.339596375,629,653.339596375,0.400994132609,-0.0054052681707,0.0498553358228,0.999999962643,0.000114223237168,-0.000245096438621,-3.99274589295e-05,1793249534713610752
+55,0.916666667,BASELINE,766,746,717,678.916528927,663,635.083471073,877.916528927,784,811.083471073,651.916528927,629,653.916528927,0.400993742877,-0.00540611056342,0.0498549868149,0.999999962628,0.000114830833162,-0.000244937280807,-3.95363842145e-05,1793249534730277632
+56,0.933333333,BASELINE,766,745.50783964,717.49216036,678.50783964,662.50783964,635.49216036,877.50783964,784,811.49216036,652,629,654,0.400995255847,-0.00540517218035,0.0498562072677,0.99999996297,0.000115940557523,-0.00024300482048,-3.95882206526e-05,1793249534746944256
+57,0.950000000,BASELINE,766,745,717.930987439,678,662,636,877,784,811.930987439,652,629,654,0.400996783905,-0.00540398593385,0.0498574423687,0.999999963277,0.000117117976651,-0.000241148891053,-3.9699854411e-05,1793249534763611136
+58,0.966666667,BASELINE,766,745,717.343306675,678,662,636,877,784,811.343306675,652,629,654,0.400996006476,-0.0054032007353,0.0498567923201,0.999999962919,0.000118165809227,-0.000242122515154,-3.96978306053e-05,1793249534780278272
+59,0.983333333,BASELINE,766,745.240702099,717,678.240702099,662.240702099,636,877,784,811,652,629,653.759297901,0.400995466736,-0.0054037623611,0.0498564913289,0.999999962775,0.000118174017119,-0.000242738458718,-3.953788999e-05,1793249534796944896
+60,1.000000000,BASELINE,766,745.819552396,717,678.819552396,662.819552396,636,877,784,811,652,629,653.180447604,0.400995260911,-0.00540621606098,0.0498566807078,0.999999962933,0.000116721717689,-0.000242851918104,-3.91561013517e-05,1793249534813611520
+61,1.016666667,BASELINE,766,745.601674655,717,678.601674655,663,636,877.398325345,784,811,652,629,653.398325345,0.400994490385,-0.00540559061408,0.0498562012542,0.999999962675,0.000117491121703,-0.000243498806957,-3.94349832925e-05,1793249534830278144
+62,1.033333333,BASELINE,766,745.022936772,717,678.022936772,663,636,877.977063228,784,811,652,629,653.977063228,0.400993464092,-0.00540357053652,0.0498554188678,0.999999962225,0.000119266796579,-0.000244387300722,-4.00131011862e-05,1793249534846944512
+63,1.050000000,BASELINE,766.551266784,745.551266784,717.551266784,678,663,636,878,784.551266784,811,652,629,653.448733216,0.40099378017,-0.00540435794432,0.0498556586696,0.999999962496,0.00011731224634,-0.000244257367501,-3.98071570272e-05,1793249534863611136
+64,1.066666667,BASELINE,767,746,717.871110765,678,663,636,878,784.871110765,811,652,629,653.128889235,0.400994142591,-0.00540506669865,0.0498560109845,0.999999962767,0.000115655603093,-0.000243968936931,-3.96066700742e-05,1793249534880277760
+65,1.083333333,BASELINE,767,746,717.280572492,678,663,636,878,784.280572492,811,652,629,653.719427508,0.400994472577,-0.00540507875731,0.0498566152019,0.999999962946,0.00011561735848,-0.00024326334367,-3.95416228583e-05,1793249534896944640
+66,1.100000000,BASELINE,767,745.697566831,717.302433169,678.302433169,662.697566831,636,877.697566831,784.302433169,811.302433169,652,629,653.697566831,0.400995303944,-0.00540506267895,0.0498571256133,0.999999963032,0.00011656169645,-0.00024246283093,-3.95026392631e-05,1793249534913611520
+67,1.116666667,BASELINE,767,745.121379514,717.878620486,678.878620486,662.121379514,636,877.121379514,784.878620486,811.878620486,652,629,653.121379514,0.400996589148,-0.00540502113175,0.0498575511143,0.999999963032,0.000118395441032,-0.000241576399738,-3.94872477408e-05,1793249534930278400
+68,1.133333333,BASELINE,767,745.452550584,718,678.547449416,662,636,877,784.547449416,812,652,629,653.452550584,0.400994618478,-0.00540507641027,0.0498564219347,0.999999962773,0.000116984230845,-0.000243323268773,-3.9537271644e-05,1793249534946945024
+69,1.150000000,BASELINE,767,746,717.973324413,678.026675587,662,636,877.026675587,784,812,652,629,654,0.400991949669,-0.00540518459369,0.0498549254497,0.999999962449,0.000114812069277,-0.000245664370121,-3.96051913041e-05,1793249534963611648
+70,1.166666667,BASELINE,767,746,717.382333336,678.617666664,662,636,877.617666664,784,812,652,629,654,0.400992893915,-0.00540586530838,0.0498544361231,0.999999962429,0.000114862536797,-0.000245709220299,-3.96823688085e-05,1793249534980277760
+71,1.183333333,BASELINE,767,745.79580328,717,678.79580328,662,636,878,784,812,652,629,654,0.400993688464,-0.00540632892996,0.0498543455686,0.999999962558,0.000114403342328,-0.00024540322153,-3.9672494928e-05,1793249534996944128
+72,1.200000000,BASELINE,767,745.217447261,717,678.217447261,662,636,878,784,812,652,629,654,0.400994208717,-0.0054063947617,0.0498549857029,0.999999962955,0.000113010270116,-0.000244454345661,-3.95031126946e-05,1793249535013611008
+73,1.216666667,BASELINE,766.639095863,745,717,678,662.360904137,636,877.639095863,784,811.639095863,652,629,654,0.400994602337,-0.00540650053604,0.0498554279763,0.999999963042,0.000113763018336,-0.000243755982636,-3.94708718328e-05,1793249535030277888
+74,1.233333333,BASELINE,766.060747285,745,717,678,662.939252715,636,877.060747285,784,811.060747285,652,629,654,0.400994919661,-0.00540663037577,0.0498557510388,0.999999962938,0.000115808621664,-0.000243208553448,-3.95212585429e-05,1793249535046945024
+75,1.250000000,BASELINE,766.512835137,745,717,678,662.487164863,636,877.512835137,784.512835137,811.512835137,652,629,654,0.400995318866,-0.00540538442374,0.0498559412361,0.999999962876,0.000116821519518,-0.000242975114324,-3.9547049313e-05,1793249535063611648
+76,1.266666667,BASELINE,767,745,717,677.911772834,662.088227166,636,877.911772834,784.911772834,811.911772834,652,629,654,0.40099530423,-0.00540430676007,0.0498558818864,0.999999962757,0.000117351695461,-0.000243202022896,-3.95972040526e-05,1793249535080278272
+77,1.283333333,BASELINE,767,745,717,677.322939087,662.677060913,636,877.322939087,784.322939087,811.322939087,652,629,654,0.400992886904,-0.00540510015039,0.0498544950703,0.999999962283,0.000115830581468,-0.00024583187969,-3.98019805791e-05,1793249535096944896
+78,1.300000000,BASELINE,767,745,717,677.26311858,663,636,877.26311858,784,811.26311858,652,629,653.73688142,0.400991944163,-0.0054053680464,0.0498541796546,0.999999962135,0.000115535762725,-0.000246560305055,-3.98625331736e-05,1793249535113611776
+79,1.316666667,BASELINE,767,745,717,677.845804549,663,636,877.845804549,784,811.845804549,652,629,653.154195451,0.400992792361,-0.0054049977098,0.049855165495,0.99999996239,0.000116730325695,-0.000244979370408,-3.97479203757e-05,1793249535130278400
+80,1.333333333,BASELINE,766.577342212,745.422657788,717,678,662.577342212,635.577342212,877.577342212,784,811.577342212,652,629,653.422657788,0.400993513756,-0.00540404009938,0.0498556435864,0.999999962434,0.000117992818713,-0.00024416326501,-3.99354483481e-05,1793249535146945024
+81,1.350000000,BASELINE,766.002587877,745.997412123,717,678,662.002587877,635.002587877,877.002587877,784,811.002587877,652,629,653.997412123,0.40099418952,-0.00540287115408,0.0498559389606,0.999999962401,0.000119279756962,-0.000243622388972,-4.02317039133e-05,1793249535163611648
+82,1.366666667,BASELINE,766.572505129,746,717,678,662,635.572505129,877.572505129,784,811,652,629,653.427494871,0.400993852036,-0.00540359650065,0.0498554813469,0.999999962504,0.000117127570494,-0.000244224657737,-4.03485567162e-05,1793249535180278272
+83,1.383333333,BASELINE,766.848649184,745.848649184,717,678,662.151350816,636,878,784,811,652,629,653.151350816,0.400994085758,-0.00540446965378,0.0498553977756,0.999999962709,0.000115609114491,-0.000244114277472,-4.03138299064e-05,1793249535196944896
+84,1.400000000,BASELINE,766.258938853,745.258938853,717,678,662.741061147,636,878,784,811,652,629,653.741061147,0.400995987148,-0.00540574608635,0.0498564074129,0.999999963218,0.000115971192585,-0.000241924866814,-3.98424310961e-05,1793249535213612032
+85,1.416666667,BASELINE,766,745.325155533,717,678,662.674844467,636,878,784,811.325155533,652,629.325155533,653.674844467,0.400995080027,-0.00540630054561,0.0498560142826,0.999999963067,0.000115557451968,-0.000242788959286,-3.95674866467e-05,1793249535230278656
+86,1.433333333,BASELINE,766,745.904853537,717,678,662.095146463,636,878,784,811.904853537,652,629.904853537,653.095146463,0.400991974312,-0.00540628982031,0.0498545230194,0.999999962394,0.000114536374863,-0.000246043434795,-3.94463331752e-05,1793249535246945280
+87,1.450000000,BASELINE,766,745.520835373,717,678,662,636,877.520835373,784,811.520835373,652,629.520835373,653,0.400993356252,-0.00540691467881,0.049855326593,0.999999962907,0.000113555517478,-0.000244424565499,-3.93301197178e-05,1793249535263612160
+88,1.466666667,BASELINE,766,745,717,678,662,636,877,784,811.052604158,652,629,653.052604158,0.400995293322,-0.00540752554793,0.0498564227557,0.999999963544,0.000112740128157,-0.000242200343937,-3.9259635638e-05,1793249535280278784
+89,1.483333333,BASELINE,766,745,717,678,662,636,877,784,811.627893973,652,629,653.627893973,0.40099399053,-0.00540675734633,0.0498559487526,0.999999963136,0.000113490391719,-0.000243469462574,-3.96338896707e-05,1793249535296944896
+90,1.500000000,BASELINE,766,745,717,678,662.417909639,636,877.20895482,784,812,652,628.79104518,654,0.400993129646,-0.00540556435137,0.0498553852589,0.999999962686,0.000114945868672,-0.000244577900228,-3.99516990657e-05,1793249535313611264
+91,1.516666667,BASELINE,766,745,717,678,663.60116907,636,877.800584535,784,812,652,628.199415465,654,0.400993078062,-0.00540359340001,0.0498546578744,0.999999962159,0.000117692856608,-0.000245392070405,-4.016613705e-05,1793249535330277888
+92,1.533333333,BASELINE,766,745,717,678,663.232332691,636,878,784,811.616166346,652,628.383833654,654,0.400992906618,-0.00540377370778,0.0498545546787,0.999999962169,0.000117490506044,-0.000245487725273,-3.99242056914e-05,1793249535346944768
+93,1.550000000,BASELINE,766,745,717,678,662.074356324,636,878,784,811.037178162,652,628.962821838,654,0.400992674233,-0.00540504779117,0.0498547688424,0.999999962452,0.000115788608308,-0.00024521806176,-3.94502401281e-05,1793249535363612160
+94,1.566666667,BASELINE,766,745,717,678,662,636,878,784,811,652,629,654,0.400994262186,-0.005405643022,0.0498554772692,0.999999962781,0.000115705859377,-0.000243919784914,-3.94169758175e-05,1793249535380278528
+95,1.583333333,BASELINE,766,745,717,678,662,636,877.885209746,784,811,652,629,653.885209746,0.400995573192,-0.00540589759307,0.0498559819778,0.999999963068,0.000115611356899,-0.000242774628554,-3.94679955377e-05,1793249535396945152
+96,1.600000000,BASELINE,766,745,717,678,662,636,877.294719601,784,811,652,629,653.294719601,0.400995218882,-0.00540493348201,0.0498555019135,0.99999996318,0.000115007725208,-0.000242556511937,-3.97429770178e-05,1793249535413611520
+97,1.616666667,BASELINE,766.289935247,745.289935247,717,678,662.289935247,636,877.289935247,784,811.289935247,652,629,653.289935247,0.400995002541,-0.00540483323425,0.049855548619,0.999999963258,0.000113959523659,-0.000242711159444,-3.98597002526e-05,1793249535430277888
+98,1.633333333,BASELINE,766.868775498,745.868775498,717,678,662.868775498,636,877.868775498,784,811.868775498,652,629,653.868775498,0.400994923681,-0.00540559378021,0.0498561202225,0.9999999633,0.000112468332003,-0.000243237246524,-3.98187275736e-05,1793249535446944256
+99,1.650000000,BASELINE,766.555420363,745.555420363,717.444579637,678,662.555420363,635.555420363,877.555420363,784,811.555420363,652,629,653.555420363,0.400995148228,-0.0054056460184,0.0498563799774,0.999999963185,0.000114445284627,-0.000242803457008,-3.97257322952e-05,1793249535463611136
+100,1.666666667,BASELINE,766.019437822,745,718,678.019437822,662,635.019437822,877,784,811,652,628.980562178,653,0.400995415447,-0.00540544948714,0.0498565371995,0.999999963018,0.000117300052806,-0.000242144756934,-3.96331444382e-05,1793249535480277760
+101,1.683333333,BASELINE,766.592704131,745,718,678.592704131,662,635.592704131,877,784,811,652,628.407295869,653,0.400994364149,-0.00540408136279,0.0498563778649,0.999999962902,0.000116196755535,-0.000243095587794,-3.99867044828e-05,1793249535496944640
+102,1.700000000,BASELINE,766.828654202,745,717.828654202,678.828654202,662.171345798,636,877,784,811,652,628.171345798,653,0.40099337194,-0.00540336215126,0.0498561697162,0.999999962688,0.000116064115874,-0.00024401303575,-4.0128106873e-05,1793249535513611776
+103,1.716666667,BASELINE,766.236821353,745,717.236821353,678.236821353,662.763178647,636,877,784,811,652,628.763178647,653,0.400992524734,-0.00540423538888,0.0498558417762,0.999999962236,0.000118313495432,-0.00024484856105,-3.97488687997e-05,1793249535530278400
+104,1.733333333,BASELINE,766.348306052,745,717.348306052,678,662.651693948,636,877.348306052,784,811,652,629,653,0.400993534523,-0.0054048239341,0.0498560567744,0.999999962415,0.000118256684518,-0.000244130338973,-3.98190345136e-05,1793249535546945024
+105,1.750000000,BASELINE,766.928960444,745,717.928960444,678,662.071039556,636,877.928960444,784,811,652,629,653,0.400995783078,-0.00540522256651,0.0498566339565,0.999999963014,0.000116661458052,-0.000242375641673,-4.01889889036e-05,1793249535563611392
+106,1.766666667,BASELINE,766.49671895,745.50328105,717.49671895,678,662,636,878,784,811,652,629,653,0.400996059601,-0.00540625572561,0.049856717777,0.999999963376,0.000115856067739,-0.000241325221278,-3.98341724822e-05,1793249535580278272
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,717,679,662,636,878,784,811,652,629,654,0.400992947682,-0.00540675660723,0.0498549288004,0.999999962912,0.000111037980152,-0.000245499249667,-3.96994348396e-05,1793249535623866112
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.403446215,745.596553785,717.596553785,678.403446215,662,636,878,784,811.596553785,652,629,653.403446215,0.400992218224,-0.00540572361542,0.0498548959707,0.999999962417,0.000114540627208,-0.000245877322769,-3.98870940736e-05,1793249535640532736
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,717.813757936,678,662,636,877.813757936,784,811.813757936,652,629,653,0.400991939086,-0.0054052640838,0.0498549713952,0.99999996216,0.000116691449176,-0.000245897777903,-3.99605206042e-05,1793249535657199616
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,717.238413175,678,662,636,877.238413175,784,811.238413175,652,629,653,0.400992600769,-0.00540600264284,0.0498552729875,0.999999962424,0.0001160179969,-0.000245171086561,-3.97952886631e-05,1793249535673866240
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,717,678,662,636,877.334771368,784,811.334771368,652,629,653.334771368,0.400993263224,-0.00540560738748,0.0498557443648,0.999999962667,0.000115570372469,-0.000244374526407,-3.98871861272e-05,1793249535690532608
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,717,678,662,636,877.906427305,784,811.906427305,652,629,653.906427305,0.400993926226,-0.00540440984383,0.049856335882,0.999999962895,0.000115282544096,-0.000243528527051,-4.0161028636e-05,1793249535707198720
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.502717287,717.497282713,678,662,636,877.502717287,784,812,652,629,654,0.400993523372,-0.00540466808505,0.0498558759223,0.999999962786,0.000115422316192,-0.000243951526023,-3.99046774629e-05,1793249535723865344
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.08948887,745.08948887,718,678,662,636,877,784,812,652,629,654,0.400993343739,-0.00540507996066,0.0498554954077,0.999999962685,0.000115599555683,-0.000244328968747,-3.9622542701e-05,1793249535740531712
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.668527186,745.668527186,718,678,662,636,877,784,812,652,629,654,0.400995526465,-0.00540477356617,0.0498566753286,0.999999962988,0.00011552392334,-0.000243098462468,-3.97670440203e-05,1793249535757198336
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.753836456,746,717.753836456,678,662.246163544,636,877.246163544,784,812,651.753836456,629,654,0.401003562118,-0.00540488615095,0.0498596694914,0.999999964285,0.000115314501767,-0.000237820109341,-3.96727114333e-05,1793249535773865216
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.178077269,746,717.178077269,678,662.821922731,636,877.821922731,784,812,651.178077269,629,654,0.401019434428,-0.00540555971949,0.0498650927964,0.999999966833,0.000114925945837,-0.000227121974538,-3.9258597057e-05,1793249535790532352
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.595996935,717.404003065,678.404003065,663,636,878,784,811.595996935,651.404003065,629,653.595996935,0.401055689949,-0.00540752557831,0.0498776394458,0.999999972416,0.000114063684526,-0.000201734029665,-3.82326918889e-05,1793249535807198976
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.011086015,717.988913985,678.988913985,663,636,878,784,811.011086015,651.988913985,629,653.011086015,0.401101072833,-0.00541007010967,0.0498933758461,0.999999978524,0.000112989303349,-0.000169768158265,-3.69328338795e-05,1793249535823865600
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,717.431593064,678.431593064,663,636,878,784,811.568406936,652,629,653.568406936,0.401166760442,-0.00541212130366,0.0499097926618,0.999999983104,0.000111937709799,-0.000141375773175,-3.57129017222e-05,1793249535840531968
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.147399901,745,717,678,663,636,878,784,812,652,628.852600099,653.852600099,0.401236266663,-0.00541448753691,0.0499246686791,0.999999986356,0.000111147552823,-0.00011727069143,-3.43805949672e-05,1793249535857198592
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.725238604,745,717,678,663,636,878,784,812,652,628.274761396,653.274761396,0.401315778516,-0.00541780158437,0.0499350068566,0.999999987728,0.000111119560145,-0.000105483827848,-3.27156212854e-05,1793249535873865216
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.699233931,745,717,678,662.699233931,636,878,784,811.699233931,652,628.300766069,653,0.401402748811,-0.00541998475086,0.049940939367,0.99999998852,0.000111493151473,-9.75976397474e-05,-3.17010925131e-05,1793249535890531840
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.125801804,745,717,678,662.125801804,636,878,784,811.125801804,652,628.874198196,653,0.401496480715,-0.00542114269228,0.0499428778229,0.999999988865,0.000112230807578,-9.32476950401e-05,-3.12762389034e-05,1793249535907198464
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.449555178,745,717,678,662,636,878,784,811,652,629,653,0.401607617696,-0.00542696269411,0.0499430318743,0.999999989365,0.000107268709287,-9.41025200735e-05,-3.01350996635e-05,1793249535923865344
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.97377252,745.02622748,717,678,662,636,877.97377252,784.02622748,811,652,629,653.02622748,0.401725198657,-0.00543393591811,0.0499428655123,0.999999989866,0.00010099421457,-9.61196522937e-05,-2.88039408896e-05,1793249535940531968
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.380353849,745.619646151,717,678,662,636,877.380353849,784.619646151,811,652,629,653.619646151,0.401876353066,-0.00543751386673,0.0499466150421,0.999999990319,0.00010097952654,-9.1639546669e-05,-2.77168298373e-05,1793249535957198848
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.792594437,717,678,662.207405563,636,877.207405563,784.792594437,811,652,629,654,0.402036027737,-0.00544220960322,0.0499486166215,0.999999990663,9.91517667847e-05,-9.02292400993e-05,-2.64729397402e-05,1793249535973865472
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.214937744,717,678,662.785062256,636,877.785062256,784.214937744,811,652,629,654,0.402210912383,-0.00544890076421,0.0499474978375,0.999999990816,9.40873925321e-05,-9.42990018949e-05,-2.49491748252e-05,1793249535990532096
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.359686755,717,678,662.640313245,635.640313245,878,784,811,652,629,653.640313245,0.402405197827,-0.00545435691549,0.0499453894462,0.999999990693,9.1689737891e-05,-9.81636824471e-05,-2.39099963863e-05,1793249536007198720
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.93251451,717,678,662.06748549,635.06748549,878,784,811,652,629,653.06748549,0.402610979695,-0.00545908123281,0.0499426946391,0.99999999041,9.08723113374e-05,-0.000101906837586,-2.31579711234e-05,1793249536023865344
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,717.52247388,678,662,635.52247388,878,784,811.52247388,652,629,653,0.402862101006,-0.00546673401183,0.0499455014128,0.999999990714,8.98678117534e-05,-0.000100260132613,-2.10763920222e-05,1793249536040531968
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.887923745,717.887923745,678,662,636,877.887923745,784,812,652,629,653,0.403127316855,-0.0054753965119,0.0499493992174,0.999999991334,8.78743977251e-05,-9.62219777294e-05,-1.87207594549e-05,1793249536057198336
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.309330244,717.309330244,678,662,636,877.309330244,784,812,652,629,653,0.403425998111,-0.00548663411171,0.0499547802342,0.99999999289,8.18686180985e-05,-8.52255158167e-05,-1.59634477223e-05,1793249536073865472
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,717,678,662.266900792,636,877.266900792,784,811.733099208,652,629,653.266900792,0.403746024305,-0.00549780700123,0.0499620514319,0.999999994548,7.65435570563e-05,-6.98084503527e-05,-1.31058184402e-05,1793249536090532352
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,717,678,662.840417788,636,877.840417788,784,811.159582212,652,629,653.840417788,0.40409057159,-0.00550890555074,0.0499714940734,0.999999996141,7.20005073324e-05,-4.93129866804e-05,-1.01329443049e-05,1793249536107198976
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.421825384,745.421825384,717,678,662.578174616,636,878,784,811.421825384,652,629,654,0.404456799408,-0.00551604406166,0.0499800019344,0.999999996789,7.3033998934e-05,-3.2196353833e-05,-7.16603088748e-06,1793249536123865600
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.993704408,746,717,678,662,636,878,784,812,652,628.993704408,653.993704408,0.404832023355,-0.00552158086439,0.0499880302284,0.999999996942,7.63134631239e-05,-1.65739447448e-05,-4.19795310574e-06,1793249536140531968
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.407335934,746,717,678,662,636,878,784,812,652,628.407335934,653.407335934,0.405266009259,-0.0055202058987,0.0499850768192,0.999999995915,8.84453723372e-05,-1.86054336775e-05,-9.10848102887e-07,1793249536157198336
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+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.250261413,717,678.749738587,662,636,878.749738587,784,811.250261413,652,628.749738587,653.749738587,0.40611343349,-0.00549891103488,0.0499537193384,0.999999987745,0.000134251659413,-8.05230394656e-05,1.53013544249e-06,1793249536190531840
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,717,679,662.324207994,636,878.675792006,784,811.324207994,652,629,653.675792006,0.406567349464,-0.00549491494978,0.0499347098779,0.999999982129,0.000149839790308,-0.000115242790964,3.17705773938e-06,1793249536207198976
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,717,679,662.898754546,636,878.101245454,784,811.898754546,652,629,653.101245454,0.407048809335,-0.00549986506127,0.049918357804,0.999999977977,0.000155353385578,-0.000140979483265,6.00248328306e-06,1793249536223866112
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,717,678.512724815,663,636,878,784,812,651.512724815,629,653.487275185,0.407587464323,-0.00550651219302,0.0499230986909,0.999999978724,0.000160151168973,-0.000129633397943,9.89632423658e-06,1793249536240532736
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.077069324,745.077069324,717,678,663.077069324,636,878.077069324,784.077069324,812,651,629,654,0.408151151468,-0.00551308292813,0.0499353247618,0.999999980742,0.000165194685281,-0.000105005671636,1.41851777415e-05,1793249536257199104
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.655697838,745.655697838,717,678,663.655697838,636,878.655697838,784.655697838,812,651,629,654,0.408798122718,-0.00551679401838,0.0499668995733,0.999999983835,0.000172833908604,-4.55663034218e-05,1.955736466e-05,1793249536273865984
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.768204773,745.768204773,717.231795227,678.231795227,663.768204773,636.231795227,879.231795227,785,812,651,629,654,0.409436886438,-0.00551834755197,0.0499893808984,0.999999982861,0.000183406888493,-6.63486355994e-06,2.44087930715e-05,1793249536290532352
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.195826469,745.195826469,717.804173531,678.804173531,663.195826469,636.804173531,879.804173531,785,812,651,629,654,0.410063590569,-0.00551673092824,0.0499985009128,0.999999979932,0.00019829051752,2.16371160058e-06,2.84950565e-05,1793249536307198464
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.388175029,745,717.611824971,679,663,636.611824971,879.611824971,784.611824971,812,651,628.611824971,654,0.410673732303,-0.00551387983636,0.0499862566697,0.999999976494,0.000212319746744,-3.02227534253e-05,3.19354483179e-05,1793249536323865088
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.978221173,745,717.021778827,679,663,636.021778827,879.021778827,784.021778827,812,651,628.021778827,654,0.411275260714,-0.00551038675718,0.0499629019062,0.999999970339,0.000225904642847,-8.40275720215e-05,3.50399532509e-05,1793249536340531456
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745.55764665,717,679,663,636.55764665,879,784.55764665,812,651,628.55764665,654,0.411961113782,-0.00550910352045,0.0499413481203,0.999999963901,0.000240169032468,-0.000114688965441,3.69178841986e-05,1793249536357197824
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,717.136354467,679,663.136354467,636.863645533,879,784.863645533,812.136354467,651,628.863645533,654,0.412680203517,-0.00550929709018,0.0499322757761,0.999999959993,0.000251990622319,-0.000122342325074,3.93213559494e-05,1793249536373864192
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,717.714056751,679,663.714056751,636.285943249,879,784.285943249,812.714056751,651,628.285943249,654,0.413496412107,-0.00551399661167,0.049963379562,0.999999964623,0.000255821141915,-5.8394923561e-05,4.35780364929e-05,1793249536390531072
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,717.709518798,679,664.290481202,636,879.290481202,784,813,651,628.290481202,654,0.414278412278,-0.00552137486877,0.0499732421476,0.999999978416,0.000200995241473,-4.06062755793e-05,3.34639781132e-05,1793249536407197952
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,717.134346639,679,664.865653361,636,879.865653361,784,813,651,628.865653361,654,0.415026886012,-0.00553137846603,0.0499622869437,0.999999993709,8.86821353591e-05,-6.8056277412e-05,9.26563716875e-06,1793249536423864576
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,717,679,664.100130957,636,880.449934521,784.449934521,813,651,628.550065479,654.449934521,0.415781448889,-0.00553361267215,0.0499426796332,0.999999992346,7.51607609701e-05,-9.81061533231e-05,5.78636252681e-06,1793249536440531456
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745.963540774,717,679,663.036459226,636.036459226,881,784.963540774,813,651,628,654.963540774,0.416544314455,-0.00553339967897,0.0499231473995,0.999999988,9.17781313062e-05,-0.000124493359983,8.8074577797e-06,1793249536457198080
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745.384934196,717,679,663.615065804,636.615065804,881,784.384934196,813,651,628,654.384934196,0.417403046701,-0.00553200618708,0.0499439410795,0.999999990387,0.000108853957243,-8.4634748922e-05,1.45943169684e-05,1793249536473864704
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,717,679,664,636.806097209,881.193902791,784.193902791,813,651,628,654,0.418267864748,-0.00553112921395,0.0499621946346,0.999999990985,0.00012167557687,-5.33552558715e-05,1.94500329104e-05,1793249536490531328
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745,717,679,664,636.226802306,881.773197694,784.773197694,813,651,628,654,0.419144778596,-0.00553127884942,0.0499753995549,0.999999991039,0.000126041734455,-3.91272188816e-05,2.24550518139e-05,1793249536507197952
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.651307466,745.348692534,717,679.348692534,664,636,882,785,813,651,628,654,0.419999439459,-0.00553116324446,0.0499683807849,0.999999990451,0.000127102191647,-4.91534013682e-05,2.29532062695e-05,1793249536523864832
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.078257703,745.921742297,717,679.921742297,664,636,882,785,813,651,628,654,0.420839782178,-0.00553087697737,0.0499483496018,0.999999989023,0.000126035680839,-7.47853372127e-05,2.18383832369e-05,1793249536540531456
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.510529085,746,717.510529085,680,664.510529085,636.510529085,882.510529085,785,813,651.510529085,628,654.510529085,0.421751750369,-0.00553170264181,0.0499704385474,0.999999991587,0.000124537460596,-2.84821562292e-05,2.24853974327e-05,1793249536557198080
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,717.900337651,680,665.099662349,637,883,785,813,652,628,654.900337651,0.422669279698,-0.00553308270338,0.0499928511791,0.999999992027,0.000123037169017,1.60763001766e-05,2.34604927953e-05,1793249536573864448
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,717.321505749,680,665.678494251,637,883,785,813,652,628,654.321505749,0.423559079716,-0.00553628271462,0.0499847904133,0.999999992268,0.000121855207999,-2.45580331869e-06,2.46732154459e-05,1793249536590531072
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.744580223,745.744580223,717,680,665.744580223,636.744580223,883.255419777,784.744580223,813.255419777,651.744580223,628,654,0.42446877337,-0.00553955986042,0.0499791062419,0.999999992562,0.00011863265042,-1.23935185921e-05,2.54532281086e-05,1793249536607198464
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.170036463,745.170036463,717,680,665.170036463,636.170036463,883.829963537,784.170036463,813.829963537,651.170036463,628,654,0.425403322449,-0.00554293337935,0.0499763914096,0.999999993234,0.00011286055131,-1.15933232101e-05,2.56926088283e-05,1793249536623866112
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.413007511,717,680,665,636,884.413007511,784.413007511,813.586992489,651.413007511,628.413007511,654.413007511,0.426317528699,-0.00554526865652,0.0499904601887,0.999999993651,0.000109338038249,1.92235151193e-06,2.72031786193e-05,1793249536640532480
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.999624553,717,680,665,636,884.999624553,784.999624553,813.000375447,651.999624553,628.999624553,654.999624553,0.427223183695,-0.00554716750397,0.050011584033,0.999999993657,0.000106761148937,2.07830341055e-05,2.924809833e-05,1793249536657198592
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,717.578179754,680,664.421820246,636.578179754,884.421820246,785,813.578179754,651.421820246,629,654.421820246,0.428062665048,-0.00554224587972,0.0499744398844,0.999999991502,0.000114151909022,-5.59525169138e-05,2.88948702224e-05,1793249536673865728
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,717.843174864,680,664.156825136,636.843174864,884,785,814,651,628.843174864,654,0.428930848721,-0.00553976723484,0.049946749018,0.999999986968,0.000117549634501,-0.000106935562628,2.84801209754e-05,1793249536690532864
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,717.264272909,680,664.735727091,636.264272909,884,785,814,651,628.264272909,654,0.429876395399,-0.00554387534433,0.0499446010086,0.999999989629,0.000110183386997,-8.84439243386e-05,2.79039286232e-05,1793249536707199232
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.312653724,745.687346276,717,680.312653724,665.312653724,636.312653724,884.625307447,785,814,651,628,654,0.430803224356,-0.0055462425816,0.0499434432283,0.999999990426,0.000106757409533,-8.34507000943e-05,2.80534980123e-05,1793249536723865600
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.887921155,745.112078845,717,680.887921155,665.887921155,636.887921155,885.77584231,785,814,651,628,654,0.431714331303,-0.00554714757187,0.0499431171916,0.999999989867,0.00010664106496,-8.97954788427e-05,2.88126715037e-05,1793249536740531456
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745,717,681,665.055664141,636.52783207,885.52783207,785,814.47216793,651,628.47216793,654,0.432582029557,-0.00554741632363,0.0499327936568,0.999999988605,0.000106604310412,-0.000103097826514,2.82375316022e-05,1793249536757197824
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.941801123,745,717,681,664.058198877,636,885.058198877,785,815,651,629,654,0.433444260302,-0.00554790419576,0.0499243977969,0.999999987758,0.000106015775424,-0.000111717787381,2.76256166958e-05,1793249536773864448
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.359271401,745,717,681,664.640728599,636,885.640728599,785,815,651,629,654,0.434351863043,-0.00555175318809,0.0499551634879,0.99999999255,0.000100282581535,-6.29852310436e-05,2.95911894366e-05,1793249536790531072
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,717,681,665.22029159,636,885.77970841,784.77970841,815,651,628.77970841,654,0.435225453814,-0.00555264706976,0.0499717616746,0.999999993735,9.84246440426e-05,-4.33999617076e-05,3.09590077906e-05,1793249536807197952
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,717,681,665.795080554,636,885.204919446,784.204919446,815,651,628.204919446,654,0.436044312027,-0.00554878553232,0.0499655612514,0.999999991723,0.000102802841435,-7.07190476633e-05,3.13649089212e-05,1793249536823864576
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,717,681,665.262195009,636,885.368902495,784.368902495,815,651.368902495,628.368902495,654,0.436874191728,-0.0055477645394,0.0499553964119,0.999999989792,0.000104193710056,-9.25921221657e-05,3.13995324609e-05,1793249536840531200
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,717,681,664.115622717,636,885.942188642,784.942188642,815,651.942188642,628.942188642,654,0.437710177634,-0.00554831729821,0.0499430351607,0.999999987901,0.000103929503784,-0.00011144793242,3.12284564468e-05,1793249536857197824
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,717,681,664.532838117,636,885.467161883,784.467161883,815,651.467161883,629,654,0.438544252457,-0.00555044667195,0.0499633739289,0.999999992293,0.000100142425237,-6.63429070475e-05,3.13596011791e-05,1793249536873864704
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.122658909,745.122658909,717,681,665.122658909,636.122658909,885.122658909,784.122658909,815,651,629,654,0.439359377096,-0.00555230893972,0.049978678708,0.999999994318,9.68663751391e-05,-3.14282270321e-05,3.15123261798e-05,1793249536890531328
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.702140886,745.702140886,717,681,665.702140886,636.702140886,885.702140886,784.702140886,815,651,629,654,0.440104723079,-0.00555251787765,0.0499615767265,0.999999992927,9.69650385132e-05,-6.11816642098e-05,3.16191888534e-05,1793249536907197952
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.721163449,746,717,681,665.721163449,636.721163449,886,784.721163449,815,651.278836551,629,654,0.440843988535,-0.00555226102069,0.0499494171381,0.999999991487,9.7592064229e-05,-8.0625645734e-05,3.16388446247e-05,1793249536923864576
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.147414771,746,717,681,665.147414771,636.147414771,886,784.147414771,815,651.852585229,629,654,0.44157682286,-0.00555151151466,0.0499424848846,0.999999990648,9.87779136639e-05,-8.91658056135e-05,3.15662658264e-05,1793249536940531200
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,717,681,665,636,886,784,815,651.563783428,629,654.436216572,0.442298847696,-0.00555219303625,0.04995139929,0.999999991924,0.00010080061797,-6.99742559692e-05,3.3078370527e-05,1793249536957198080
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.0229467,746,717,681,665.0229467,636,886.0229467,784,815.0229467,651,629,654.9770533,0.443013242719,-0.0055532830864,0.0499643416902,0.99999999309,0.000103180431939,-4.40755587603e-05,3.50789738429e-05,1793249536973864448
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.601960529,746,717,681,665.601960529,636,886.601960529,784,815.601960529,651,629,654.398039471,0.44363331711,-0.00555228225831,0.0499421134494,0.999999989746,0.000107201974895,-8.80098499012e-05,3.56391110747e-05,1793249536990531072
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.819355967,746,717,681.180644033,665.638711935,635.819355967,886.819355967,784.180644033,815.819355967,651,629,654,0.444233196682,-0.00555104262452,0.0499097628153,0.99999998272,0.000111179770936,-0.000144686814718,3.55603246232e-05,1793249537007197952
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.24139888,746,717,681.75860112,664.482797761,635.24139888,886.24139888,784.75860112,815.24139888,651,629,654,0.444788659378,-0.00554927775524,0.0498551487291,0.99999996649,0.000115061349547,-0.000229390346566,3.40762733278e-05,1793249537023864576
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,717,682,664.668262651,635,886,784.665868675,815,651,629,654.334131325,0.445363103798,-0.00554793166235,0.0498297060909,0.999999959117,0.000119666287903,-0.000257551793548,3.33771184402e-05,1793249537040531200
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,717,682,665.815841596,635,886,784.092079202,815,651,629,654.907920798,0.445951162965,-0.00554688594001,0.0498251868913,0.99999996161,0.000124790061524,-0.000245158010683,3.32409364733e-05,1793249537057197824
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.505788133,717,682,665.505788133,635,886,784,815,651,629,654.505788133,0.446516024711,-0.00554632389784,0.0498360801549,0.999999966585,0.000128005636613,-0.000221910995559,3.46289565513e-05,1793249537073864448
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745.081999932,717,681.918000068,664.918000068,635,886,784,815.081999932,651,629,654,0.44706149777,-0.00554580889077,0.0498432395687,0.999999969278,0.000130840851906,-0.000207438189496,3.59740428678e-05,1793249537090531072
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.664341041,717,681.335658959,664.335658959,635,886,784,815.664341041,651,629,654,0.447515722647,-0.00554501673933,0.0498096397455,0.999999956873,0.000133580840721,-0.000259161862174,3.52794081754e-05,1793249537107197952
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+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,717.818719657,681.818719657,664.818719657,635,886,784,816,651,629,654,0.448362232782,-0.00554531340317,0.049748541629,0.999999925203,0.000140113267031,-0.000358819029664,3.48062035165e-05,1793249537140531200
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,717.607871373,681.607871373,664.607871373,634.607871373,885.607871373,784,815.607871373,651,629,654,0.448777699005,-0.00554652117597,0.0497434155984,0.999999922114,0.000138852859901,-0.000367785842962,3.501993582e-05,1793249537157198592
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,717.854469446,682,664,633.854469446,886.145530554,784,816,651.145530554,629,654.145530554,0.449952076694,-0.00555171718064,0.0497739975611,0.999999946745,4.55232313969e-05,-0.00032298048458,1.10390100407e-05,1793249537207199488
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,717.276324945,682,664,633.276324945,886.723675055,784,816,651.723675055,629,654.723675055,0.450288979917,-0.00555781643001,0.0497794489396,0.999999949206,2.4335608661e-05,-0.000317702665854,7.81901311058e-06,1793249537223866112
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,717.299497081,681.700502919,664,633,886.700502919,784,816,651.700502919,629,654.700502919,0.450588611089,-0.00556122555306,0.0497777060487,0.999999946654,1.57028806631e-05,-0.00032618871409,6.82021523671e-06,1793249537240532480
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,717.873192777,681.126807223,664,633,886.126807223,784,816,651.126807223,629,654.126807223,0.450854118553,-0.0055621717839,0.0497693765865,0.999999939497,1.85645388888e-05,-0.000347275998136,7.85499231231e-06,1793249537257198848
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.458263686,746,718,681.458263686,664,633.458263686,885.541736314,784,816,651,629,654,0.451093334541,-0.00556071201073,0.0497584157296,0.999999931536,2.59844416814e-05,-0.000369008940751,9.23073094495e-06,1793249537273865728
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,717.954217678,681.954217678,664,633.954217678,885,784,816,651.045782322,629,654,0.451321989441,-0.00555857726819,0.0497466451192,0.999999922849,3.42558269882e-05,-0.000391173527845,1.05913078921e-05,1793249537290532608
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,717.375774638,681.375774638,664,633.375774638,885,784,816,651.624225362,629,654,0.451514568535,-0.00555653267499,0.0497341405958,0.999999912621,3.73853310346e-05,-0.000416228571551,1.06498350647e-05,1793249537307199232
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,717.202146551,681,664,633,885.202146551,784,816,652,629,654.202146551,0.451697278042,-0.00555555843392,0.049723255082,0.999999903236,4.01991439049e-05,-0.000437938514216,1.10532407752e-05,1793249537323865856
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,717.779100094,681,664,633,885.779100094,784,816,652,629,654.779100094,0.45186168798,-0.00555656877043,0.0497153714316,0.99999989622,4.24276224041e-05,-0.000453446185568,1.20960978494e-05,1793249537340532224
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.646223852,746,718,681.353776148,664,633,885.646223852,783.646223852,816,651.646223852,629,654.646223852,0.452015850838,-0.00555498037364,0.0497127627941,0.999999893546,4.6257517478e-05,-0.000458922665952,1.26088946497e-05,1793249537357198336
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.072960722,746,718,681.927039278,664,633,885.072960722,783.072960722,816,651.072960722,629,654.072960722,0.452163656302,-0.00555177969152,0.0497134268373,0.999999893651,5.10809508937e-05,-0.000458175676247,1.27928357775e-05,1793249537373864960
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,746,717.484705807,681.484705807,664,632.484705807,885.515294193,783,816,651.515294193,629,654,0.45229693048,-0.00555396514389,0.0497191313667,0.999999897254,5.29275859299e-05,-0.000449969716914,1.47564375025e-05,1793249537390532352
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,746,717,681.103787288,664,632.103787288,886,783.103787288,816,652,628.896212712,654.103787288,0.452421291436,-0.00555610139534,0.0497238856774,0.999999900513,5.41536287372e-05,-0.000442457791675,1.65007933653e-05,1793249537407199232
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,746,717,681.683350124,664,632.683350124,886,783.683350124,816,652,628.316649876,654.683350124,0.452514507427,-0.00555441136455,0.0497209143878,0.99999990021,5.45248394528e-05,-0.000443113884857,1.60503571309e-05,1793249537423865600
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,746,717,682,663.738792125,633,886,784,816,652,628,655,0.452594619894,-0.00555309063451,0.049717347415,0.999999898318,5.5611262328e-05,-0.000447239133884,1.57446538623e-05,1793249537440532480
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,717,682,663.162987998,633,886,784,816,652,628,655,0.452658950597,-0.00555221468682,0.0497130630074,0.999999894462,5.75590798219e-05,-0.000455542600769,1.56132656114e-05,1793249537457199104
+218,3.633333333,POSE1_TO_POSE2_PRESS,766.41085153,746,717,682,663.41085153,633,886,783.58914847,816,651.58914847,628,654.58914847,0.452711784879,-0.00555105321368,0.0497096827162,0.999999891744,5.95135135243e-05,-0.000461223526066,1.55650918811e-05,1793249537473865472
+219,3.650000000,POSE1_TO_POSE2_PRESS,766.983915382,746,717,682,663.983915382,633,886,783.016084618,816,651.016084618,628,654.016084618,0.452760080145,-0.00554977900945,0.0497066593883,0.999999889473,6.14705593904e-05,-0.000465869019802,1.55497728947e-05,1793249537490532096
+220,3.666666667,POSE1_TO_POSE2_PRESS,766.421501676,746,717.578498324,682,664,633,886.578498324,783,816,651.578498324,628,654,0.452797879534,-0.00554970425582,0.0497057070099,0.999999889488,6.14884770263e-05,-0.000465831320059,1.56567262466e-05,1793249537507198720
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,717.831742307,682,663.831742307,632.831742307,886.831742307,783,816.168257693,652,628,654,0.452831828517,-0.00554971628223,0.0497050903286,0.99999988953,6.15020549087e-05,-0.000465733093183,1.58404800469e-05,1793249537523865344
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,746,717.255195717,682,663.255195717,632.255195717,886.255195717,783,816.744804283,652,628,654,0.452857169723,-0.00554985483468,0.0497051431173,0.999999889477,6.16409869006e-05,-0.000465816168825,1.62020271559e-05,1793249537540531712
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,746,717.319562026,682,663,632.319562026,886,783,816.680437974,652,628,654,0.452876222661,-0.00554873808001,0.0497047560115,0.99999988911,6.24058881449e-05,-0.000466505618564,1.6086316681e-05,1793249537557198592
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,746,717.892899245,682,663,632.892899245,886,783,816.107100755,652,628,654,0.452890281871,-0.00554662444282,0.0497040195703,0.999999888491,6.3667893112e-05,-0.000467676610834,1.55915995864e-05,1793249537573865728
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745.930003948,718,682,663.930003948,632.069996052,885,783.069996052,816,652,628.930003948,654,0.452902603175,-0.00554717120309,0.0496998130705,0.999999885099,6.6511176237e-05,-0.000474468252224,1.60385196143e-05,1793249537607198976
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745.351332301,718,682,663.351332301,632.648667699,885,783.648667699,816,652,628.351332301,654,0.452904877944,-0.00554467914714,0.0496972997538,0.999999883509,6.67279392214e-05,-0.000477790411587,1.56477555766e-05,1793249537623865600
+228,3.800000000,POSE1_TO_POSE2_PRESS,766.22511817,745.22511817,717.77488183,682,663.22511817,633,885,783.77488183,816,652,628,654,0.452906866198,-0.00554219020894,0.0496953996285,0.999999882255,6.78915030116e-05,-0.000480257460917,1.52703523685e-05,1793249537640531968
+229,3.816666667,POSE1_TO_POSE2_PRESS,766.798135982,745.798135982,717.201864018,682,663.798135982,633,885,783.201864018,816,652,628,654,0.45290841167,-0.00553970608909,0.049694447135,0.999999881528,7.05182612551e-05,-0.00048140301533,1.49135971299e-05,1793249537657198336
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+231,3.850000000,POSE1_TO_POSE2_PRESS,767,746,717,682,663.050991857,633,885.949008143,783,816,652,628,654,0.452908508546,-0.00554007885509,0.0496916582139,0.99999987974,7.22817083465e-05,-0.000484838975094,1.50355602145e-05,1793249537690531840
+232,3.866666667,POSE1_TO_POSE2_PRESS,766.46049495,746,717,682,663,632.46049495,886,783.53950505,816,652,628,654,0.45290909348,-0.00554031363717,0.049691713176,0.999999879837,7.05348568996e-05,-0.000484902722137,1.48055699555e-05,1793249537707198720
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745.871449152,717,681.871449152,663.128550848,632,885.871449152,783.871449152,816,651.871449152,628,654,0.45290953562,-0.00554018844886,0.0496915936435,0.999999879729,6.95417744277e-05,-0.000485274271814,1.46506552239e-05,1793249537723865600
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745.292438682,717,681.292438682,663.707561318,632,885.292438682,783.292438682,816,651.292438682,628,654,0.45290918584,-0.00553897973869,0.0496903371518,0.999999878555,7.19577068138e-05,-0.000487329115512,1.48882536152e-05,1793249537740532480
+235,3.916666667,POSE1_TO_POSE2_PRESS,766.284118864,745.284118864,717.284118864,681.284118864,664,632,885,783,816,651.284118864,628.284118864,654,0.452909988027,-0.00553849131631,0.049690245653,0.999999878601,7.30933156946e-05,-0.000487060641083,1.50435616236e-05,1793249537757199104
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.858173336,745.858173336,717.858173336,681.858173336,664,632,885,783,816,651.858173336,628.858173336,654,0.452911965766,-0.00553873792797,0.0496913429977,0.999999879895,7.29223893941e-05,-0.000484421283656,1.5114894553e-05,1793249537773865216
+237,3.950000000,POSE1_TO_POSE2_PRESS,766.565615429,745.565615429,718,681.565615429,663.565615429,632,885,783,816,651.565615429,628.565615429,654,0.452910509395,-0.00553821722498,0.049690325528,0.999999878717,7.31960483708e-05,-0.000486808692714,1.50308695412e-05,1793249537790531840
+238,3.966666667,POSE1_TO_POSE2_PRESS,766.011612448,745.011612448,717.988387552,681.011612448,663,632,885.011612448,783,816,651.011612448,628,654,0.45290803671,-0.00553746425876,0.0496887016969,0.999999876794,7.36084835683e-05,-0.000490684177533,1.49006924301e-05,1793249537807198464
+239,3.983333333,POSE1_TO_POSE2_PRESS,766.6043014,745.6043014,717.3956986,681.6043014,663,632,885.6043014,783,816,651.6043014,628,654,0.452911094306,-0.00553768781749,0.049691459855,0.99999987884,7.36653775978e-05,-0.000486485652074,1.50119742842e-05,1793249537823864832
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746,717,682,663,632,885.808825098,783,816,651.808825098,628,654,0.452912781808,-0.00553776832221,0.0496925247472,0.999999879769,7.37852569239e-05,-0.000484552271393,1.50601229728e-05,1793249537840531712
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746,717,682,663,632,885.233633243,783,816,651.233633243,628,654,0.452911717173,-0.00553756147142,0.0496901883413,0.999999878481,7.40316561071e-05,-0.000487168933812,1.4981454769e-05,1793249537857199104
+242,4.033333333,POSE1_TO_POSE2_PRESS,766.657176451,746,717,682,663,632,885.342823549,783,816,651,628,654,0.45291137307,-0.00553698139184,0.0496892865075,0.999999877918,7.44814142393e-05,-0.000488258446265,1.4838278712e-05,1793249537873865984
+243,4.050000000,POSE1_TO_POSE2_PRESS,766.07985444,746,717,682,663,632,885.92014556,783,816,651,628,654,0.452911521827,-0.005536146016,0.0496893659511,0.999999877855,7.5070274127e-05,-0.000488303356159,1.46509779403e-05,1793249537890532864
+244,4.066666667,HOLD_POSE2,766,746,717,682,664,632,885,783,817,651,628,654,0.452914465289,-0.0055373759755,0.0496920104086,0.999999879362,7.40603501916e-05,-0.000485358150658,1.47752502732e-05,1793249537921159168
+245,4.083333333,HOLD_POSE2,766,746,717,682,663.423358459,632,885,783,816.423358459,651.576641541,628,654,0.452913380794,-0.00553738679777,0.0496902860645,0.999999878454,7.37665443799e-05,-0.000487263886333,1.49689135495e-05,1793249537937825280
+246,4.100000000,HOLD_POSE2,766,746,717.152982291,682,663,632,885,783,816,652,628,654,0.452912706083,-0.00553726817521,0.049689205275,0.999999877825,7.38346159078e-05,-0.000488537740806,1.5112170214e-05,1793249537954491392
+247,4.116666667,HOLD_POSE2,766,746,717.728492405,682,663,632,885,783,816,652,628,654,0.45291316317,-0.00553679203391,0.049689901944,0.999999877976,7.49021706655e-05,-0.000488066378107,1.51162069136e-05,1793249537971157760
+248,4.133333333,HOLD_POSE2,766,746,717.69776573,682,663,632,885,783,816,651.69776573,628,654,0.452912857397,-0.00553643459377,0.0496897927613,0.999999877956,7.38667976503e-05,-0.000488273783355,1.48719917349e-05,1793249537987824384
+249,4.150000000,HOLD_POSE2,766,746,717.125603139,682,663,632,885,783,816,651.125603139,628,654,0.452911870306,-0.0055361831668,0.0496889638644,0.999999877776,7.09532796373e-05,-0.000489087402783,1.44060604261e-05,1793249538004491264
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+251,4.183333333,HOLD_POSE2,767,745.940501181,717,681.940501181,663,632,886,783,816,652,628.940501181,654,0.452915904847,-0.00553763993209,0.0496918457275,0.999999879268,7.27848038329e-05,-0.000485731518368,1.51773567866e-05,1793249538037824256
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746,717,681.512050123,664.512050123,636,880.756025062,785,813,651.243974938,629,654,0.43055956358,-0.00538068783137,0.0498012686239,0.999999941919,0.000138680549781,-0.000310376565341,-2.44096766073e-05,1793249539192272896
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,717,680.355125909,663.355125909,636,880.177562955,785,813,651.822437045,629,654,0.429583023276,-0.00537062946656,0.0497652948944,0.999999921279,0.000131244454062,-0.000373104699847,-3.17770230612e-05,1793249539208940544
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,745.057899571,717.942100429,680.057899571,662.057899571,636,879.057899571,785,812.057899571,652,629,654.057899571,0.41710453101,-0.0053594671372,0.0497706240723,0.999999923438,8.91278994652e-05,-0.000377512036544,-5.16316475132e-05,1793249539442273024
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745.760794986,718,678.239205014,662.760794986,635,877,784,811.239205014,652,629,653.239205014,0.40099963114,-0.00540097022695,0.049853346558,0.999999960479,0.000127673101555,-0.000247502582518,-3.85361806938e-05,1793249540442273536
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.240562067,745,717.240562067,678,662.759437933,636,877,784,811,652,629,653.240562067,0.400997907836,-0.00540163825276,0.0498524749883,0.999999960514,0.000126259013742,-0.000248027468487,-3.88953176482e-05,1793249540542274304
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.028112522,745,717.028112522,678,662.971887478,635.028112522,877,784,811,652,629,654,0.400998626492,-0.00540279596737,0.0498542785556,0.999999961248,0.000124173203344,-0.000246209842337,-3.82751176623e-05,1793249540592273408
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..24670a7c44aedad67c49a78fbb012c20e9ecb50b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,405 @@
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+402,6.700000000,pose2_to_pose3_retreat,0.575664345441,0.000150097634775,1.04003364732,0.546235023675,0.00882273048738,1.03970503869
+403,6.716666667,pose2_to_pose3_retreat,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015506,1.03970504886
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1e6b144b7c96d823021494a0c29b16d5eb471afe
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adc96bdf78122fc0a064805064e21964685c932e0b360068ade2fd7ec5cc006e
+size 25745693
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..558c8f5819d37480e88b09d2e8d8f0300b6f88e5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_05/franka_data.csv
@@ -0,0 +1,406 @@
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+54,0.900000000,BASELINE,766,745,717,677.340065581,662,635,877.340065581,784,811,651.659934419,629,653.340065581,0.401000851464,-0.00540238849451,0.0498566988415,0.999999962533,0.000124122020418,-0.000240887123818,-3.87462073485e-05,1793249541608103936
+55,0.916666667,BASELINE,766,745,717,677.916783544,662,635,877.916783544,784,811,651.083216456,629,653.916783544,0.401001684038,-0.00540260157621,0.0498582627775,0.999999962972,0.000124658129846,-0.000238795327018,-3.86287326684e-05,1793249541624770816
+56,0.933333333,BASELINE,766,745,717,678,662.4915265,635,878,784,811,651.4915265,629,653.5084735,0.400999072348,-0.00540224515914,0.04985708639,0.999999962474,0.000124921989769,-0.000240708635334,-3.88122592302e-05,1793249541641437184
+57,0.950000000,BASELINE,766.067630687,745.067630687,717,678,662.932369313,635.067630687,878,784,811,652,629,653,0.400996388008,-0.00540202700384,0.0498556241144,0.999999961931,0.000124891151792,-0.00024294011114,-3.8996057452e-05,1793249541658103808
+58,0.966666667,BASELINE,766.656800013,745.656800013,717,678,662.343199987,635.656800013,878,784,811,652,629,653,0.400997622215,-0.005403615617,0.0498555206007,0.999999962307,0.000122941753045,-0.000242417079431,-3.87905406571e-05,1793249541674770688
+59,0.983333333,BASELINE,766.757908721,746,717,678,662,635.757908721,878,784,811.242091279,652,629,653.242091279,0.400999125974,-0.00540391755664,0.0498561620047,0.999999962691,0.000122530320865,-0.000241063401185,-3.86458758377e-05,1793249541691437312
+60,1.000000000,BASELINE,766.178028412,746,717,678,662,635.178028412,878,784,811.821971588,652,629,653.821971588,0.401001005838,-0.00540242420592,0.0498578427897,0.999999963081,0.000124264807228,-0.000238550724954,-3.85861175156e-05,1793249541708103680
+61,1.016666667,BASELINE,766.398866349,746,717.398866349,678,662,635.398866349,877.601133651,784,811.601133651,652,628.601133651,653.601133651,0.401000570997,-0.0054032631848,0.0498572782548,0.999999962985,0.000123582729851,-0.000239307147469,-3.85923758483e-05,1793249541724770304
+62,1.033333333,BASELINE,766.974438417,746,717.974438417,678,662,635.974438417,877.025561583,784,811.025561583,652,628.025561583,653.025561583,0.400999110695,-0.00540513543215,0.0498557189986,0.999999962669,0.000121830066601,-0.000241511845856,-3.86278808748e-05,1793249541741436928
+63,1.050000000,BASELINE,766.437877145,745.437877145,717.437877145,678,662.562122855,635.437877145,877,784,811,652,628.562122855,653.562122855,0.400999215066,-0.00540537425695,0.0498563283885,0.999999962801,0.000121962135229,-0.000240919095939,-3.84813709426e-05,1793249541758103552
+64,1.066666667,BASELINE,766,745,717.148022296,678,662.851977704,635,877.148022296,784,811,652,629,653.851977704,0.400999026451,-0.00540533861203,0.0498567306468,0.999999962861,0.000122016191804,-0.000240651246647,-3.84294898023e-05,1793249541774770432
+65,1.083333333,BASELINE,766,745,717.727084593,678,662.272915407,635,877.727084593,784,811,652,629,653.272915407,0.400997772908,-0.00540472477069,0.0498562362478,0.999999962649,0.000121588009285,-0.000241708096105,-3.867779995e-05,1793249541791437056
+66,1.100000000,BASELINE,766,745,717.695222828,678,662,635,878,784,811,652,629,653,0.400997834745,-0.00540477249551,0.0498559658959,0.999999962606,0.00012137812636,-0.00024199373016,-3.86684447471e-05,1793249541808103680
+67,1.116666667,BASELINE,766,745,717.118751318,678,662,635,878,784,811,652,629,653,0.40099906918,-0.00540540997507,0.0498558952714,0.999999962714,0.000121362847152,-0.000241591862346,-3.84293931393e-05,1793249541824770304
+68,1.133333333,BASELINE,766,745,717,677.542632825,662,635.457367175,877.542632825,784,811,652,629,653,0.401000180187,-0.0054054271679,0.0498562492176,0.999999963056,0.000121093169581,-0.000240295478825,-3.850197971e-05,1793249541841436928
+69,1.150000000,BASELINE,766.03406579,745,717,677.03406579,662,636,877.03406579,784.03406579,811.03406579,652,629,653.03406579,0.401001082414,-0.00540517526252,0.049856617576,0.999999963386,0.000120989228305,-0.000238945997027,-3.86534814308e-05,1793249541858103552
+70,1.166666667,BASELINE,766.621678531,745,717,677.621678531,662,636,877.621678531,784.621678531,811.621678531,652,629,653.621678531,0.400999112462,-0.00540316565724,0.0498554302417,0.999999962558,0.000124650873213,-0.000240504755002,-3.87735156809e-05,1793249541874770176
+71,1.183333333,BASELINE,767,745.206860655,717.206860655,677.793139345,662,636,878,784.793139345,812,652,629,653.793139345,0.400998365671,-0.00540196771665,0.0498552309565,0.999999962161,0.000126646815191,-0.00024110089886,-3.8847107078e-05,1793249541891437056
+72,1.200000000,BASELINE,767,745.78764922,717.78764922,677.21235078,662,636,878,784.21235078,812,652,629,653.21235078,0.400999829906,-0.00540223696663,0.0498568177,0.999999962565,0.000125631780115,-0.000239956991046,-3.8836746916e-05,1793249541908103936
+73,1.216666667,BASELINE,767,746,718,677.364212009,662,636,877.635787991,784,811.635787991,652,628.635787991,653.364212009,0.400998821246,-0.00540238306905,0.0498563619897,0.999999962167,0.000125365171885,-0.000241731805124,-3.89353266113e-05,1793249541924770560
+74,1.233333333,BASELINE,767,746,718,677.938339218,662,636,877.061660782,784,811.061660782,652,628.061660782,653.938339218,0.40099638732,-0.0054024581948,0.0498547291021,0.999999961298,0.000125529922832,-0.000245188837525,-3.9096694275e-05,1793249541941436928
+75,1.250000000,BASELINE,766.474623343,745.474623343,717.474623343,678.525376657,662,636,877,784,811,652,628.525376657,653.474623343,0.40099704185,-0.00540418183617,0.0498551926937,0.999999962022,0.000122586892259,-0.000243730478702,-3.90473581055e-05,1793249541958103552
+76,1.266666667,BASELINE,766,745,717,678.887932714,662,636,877,784,811,652,629,653,0.400997876061,-0.00540570057594,0.0498557684392,0.999999962746,0.00012003479285,-0.000242048133751,-3.89012637803e-05,1793249541974770432
+77,1.283333333,BASELINE,766,745,717,678.309155541,662,636,877,784,811,652,629,653,0.400997910984,-0.00540553994541,0.0498557607397,0.999999962723,0.000120668010163,-0.00024189601814,-3.84577958369e-05,1793249541991437056
+78,1.300000000,BASELINE,766,745.268811992,717.268811992,678,662.268811992,636,877,784,811.268811992,651.731188008,629,653,0.400998856479,-0.00540496377372,0.0498564524444,0.999999962876,0.000121867924917,-0.000240694718092,-3.82496333961e-05,1793249542008104192
+79,1.316666667,BASELINE,766,745.84585113,717.84585113,678,662.84585113,636,877,784,811.84585113,651.15414887,629,653,0.40100084606,-0.00540391113122,0.0498579461049,0.999999963222,0.000123717630331,-0.00023829039462,-3.83112786786e-05,1793249542024771584
+80,1.333333333,BASELINE,766,746,717.578435016,678,663,636,877,784,812,651.421564984,629,653,0.401000759002,-0.00540296792794,0.0498576298273,0.999999963021,0.000124345380467,-0.000238764116485,-3.85714365036e-05,1793249542041438208
+81,1.350000000,BASELINE,766,746,717.003204197,678,663,636,877,784,812,651.996795803,629,653,0.400999914982,-0.00540206461657,0.0498566538043,0.999999962621,0.000124527712408,-0.000240286922531,-3.89039546973e-05,1793249542058104576
+82,1.366666667,BASELINE,766,746,717,678,662.415673179,636,877,784,812,652,629,653.584326821,0.400998194493,-0.0054027223648,0.0498562221989,0.999999962361,0.000123996614692,-0.000241635371777,-3.8934643735e-05,1793249542074771200
+83,1.383333333,BASELINE,766.17015824,746,717,678,662,635.82984176,877.17015824,784,812,652,629,653.82984176,0.400997209918,-0.00540329162924,0.0498558454838,0.999999962233,0.000123336186467,-0.00024250569989,-3.89073597331e-05,1793249542091437824
+84,1.400000000,BASELINE,766.751714022,746,717,678,662,635.248285978,877.751714022,784,812,652,629,653.248285978,0.400998016458,-0.00540362582222,0.0498555941061,0.999999962426,0.000122372733133,-0.000242222419355,-3.87439999286e-05,1793249542108104192
+85,1.416666667,BASELINE,766.671011729,746,717,678,662,635.328988271,877.671011729,784,812,652,629,653.328988271,0.400998689002,-0.0054040441883,0.0498555016291,0.999999962456,0.000122791849264,-0.000241923981835,-3.85177065071e-05,1793249542124771072
+86,1.433333333,BASELINE,766.096927255,746,717,678,662,635.903072745,877.096927255,784,812,652,629,653.903072745,0.400999261719,-0.0054045252633,0.0498555275332,0.999999962362,0.000124240979448,-0.000241614252381,-3.82445275623e-05,1793249542141438208
+87,1.450000000,BASELINE,766,746,717,678,662,636,877,784,811.52061215,652,629,653.52061215,0.400999909585,-0.00540454964618,0.0498565705969,0.999999962648,0.000124134766138,-0.000240468886541,-3.83390834321e-05,1793249542158105088
+88,1.466666667,BASELINE,766.057423061,746,717,678,662,636,877.057423061,784,811.057423061,652,629,653.057423061,0.401000412109,-0.00540442071067,0.0498576100046,0.999999962941,0.000123796384739,-0.000239395560104,-3.84939554171e-05,1793249542174771712
+89,1.483333333,BASELINE,766.647204286,746,717,678,662,636,877.647204286,784,811.647204286,652,629,653.647204286,0.400999425674,-0.00540373044339,0.049856699977,0.999999962606,0.000124234677892,-0.000240563787634,-3.85154794706e-05,1793249542191437824
+90,1.500000000,BASELINE,767,746,717,678,662,636,877.767796088,784,811.767796088,652,629,653.767796088,0.400999359264,-0.00540341242016,0.0498564504599,0.99999996258,0.000124704854111,-0.000240415258287,-3.85794877548e-05,1793249542208104448
+91,1.516666667,BASELINE,767,746,717,678,662,636,877.18991479,784,811.18991479,652,629,653.18991479,0.40100066248,-0.0054036485494,0.0498571842318,0.999999963016,0.00012522249398,-0.000238306498827,-3.87067414734e-05,1793249542224770816
+92,1.533333333,BASELINE,766.613512501,746,717.386487499,678,662,636,877.386487499,784,811.386487499,652,629,653.386487499,0.400999780322,-0.00540396586118,0.0498567439879,0.999999962902,0.000124218544552,-0.000239314736208,-3.86528308526e-05,1793249542241437440
+93,1.550000000,BASELINE,766.037834156,746,717.962165844,678,662,636,877.962165844,784,811.962165844,652,629,653.962165844,0.400997828395,-0.00540432291294,0.0498557290474,0.999999962514,0.000122469756671,-0.000241848785424,-3.85102378534e-05,1793249542258104064
+94,1.566666667,BASELINE,766,745.464503911,718,678,662,636,877.464503911,784,811.464503911,652,629,654,0.400997572237,-0.00540402742819,0.0498556427621,0.999999962336,0.000122908728915,-0.000242357411897,-3.85158182122e-05,1793249542274771200
+95,1.583333333,BASELINE,766.112307556,745.112307556,717.887692444,678.112307556,662,636,877.112307556,784,811,652,629,654,0.40099769493,-0.00540380802344,0.0498558347952,0.999999962276,0.000123362180183,-0.000242378240245,-3.84965963582e-05,1793249542291438336
+96,1.600000000,BASELINE,766.704706801,745.704706801,717.295293199,678.704706801,662,636,877.704706801,784,811,652,629,654,0.400998927207,-0.00540411006691,0.0498569373295,0.999999962652,0.000123219652858,-0.000240922889842,-3.83267934661e-05,1793249542308104960
+97,1.616666667,BASELINE,766.711058995,746,717,678.711058995,662,636,877.711058995,784,811,652,629,653.711058995,0.400999729096,-0.00540410397017,0.0498576820686,0.999999962884,0.000123433429542,-0.000239828248157,-3.84507150501e-05,1793249542324771584
+98,1.633333333,BASELINE,766.134940048,746,717,678.134940048,662,636,877.134940048,784,811,652,629,653.134940048,0.401000103223,-0.00540379161342,0.0498580711955,0.999999962974,0.000124001336146,-0.000239092114302,-3.88665688704e-05,1793249542341438208
+99,1.650000000,BASELINE,766,745.558717447,717,677.558717447,662,635.558717447,877.441282553,784,811,652,629,653,0.40100029203,-0.00540450851261,0.0498573687083,0.99999996319,0.000121789796219,-0.000239317413246,-3.89266426398e-05,1793249542358104576
+100,1.666666667,BASELINE,766,745.017902011,717,677.017902011,662,635.017902011,878,784,811,652,629,653,0.401000353469,-0.00540552618901,0.0498563471259,0.999999963412,0.000118848976698,-0.000239876861834,-3.88690487979e-05,1793249542374771200
+101,1.683333333,BASELINE,766,745.606155435,717,677.606155435,662,635.606155435,878,784,811,652,629,653,0.400998162928,-0.00540609676321,0.0498557967038,0.999999962874,0.000119758349095,-0.000241713355347,-3.85295653632e-05,1793249542391437824
+102,1.700000000,BASELINE,766,745.808168428,717.191831572,678,662,636,877.808168428,784.191831572,811.191831572,652,629,653,0.400997395828,-0.00540609035527,0.0498556624664,0.999999962664,0.00012056848754,-0.000242198814316,-3.84093666066e-05,1793249542408104448
+103,1.716666667,BASELINE,766,745.227713573,717.772286427,678,662,636,877.227713573,784.772286427,811.772286427,652,629,653,0.400999512412,-0.00540491506412,0.0498563713595,0.999999963121,0.000121177592104,-0.000239947270637,-3.87334072327e-05,1793249542424771328
+104,1.733333333,BASELINE,766.350109989,745,718,678,662,636,877,784.649890011,812,652,629,653,0.400999684858,-0.00540401017432,0.0498566996789,0.999999962919,0.00012315917201,-0.00023977750378,-3.87315520279e-05,1793249542441438208
+105,1.750000000,BASELINE,766.926234964,745,718,678,662,636,877,784.073765036,812,652,629,653,0.400998602258,-0.00540327984314,0.0498567823172,0.999999962288,0.000126026759252,-0.000240951636552,-3.85193134198e-05,1793249542458104832
+106,1.766666667,BASELINE,767,745.50081839,718,678,662.50081839,636,877.50081839,784,812,652,629,653,0.400999043838,-0.00540292706043,0.0498566407675,0.999999962606,0.00012473010709,-0.000240258746274,-3.87995826841e-05,1793249542474771456
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,718,678,662,636,878,784,812,652,629,654,0.400998825564,-0.00540305620487,0.0498570327199,0.999999962701,0.000122754854773,-0.000240900313519,-3.86906459025e-05,1793249542517441792
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.421475326,746,717.421475326,678,662,636,877.421475326,784,812,652,629,654,0.400998712509,-0.00540300144054,0.0498568254816,0.999999962785,0.000122384479885,-0.000240739323741,-3.86859582269e-05,1793249542534108416
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.843944857,717,678,662,636,877,784,812,652,629,653.843944857,0.400998438201,-0.00540295187165,0.0498565982635,0.99999996279,0.00012221472301,-0.000240804646866,-3.86853918856e-05,1793249542550775040
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.26908242,717,678,662,636,877,784,812,652,629,653.26908242,0.400997731133,-0.00540291624581,0.0498563174254,0.999999962582,0.00012258336732,-0.000241477328946,-3.86958860238e-05,1793249542567441664
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.302985811,745.302985811,717,678,662.302985811,636,877.302985811,784,811.697014189,652,629,653,0.400997203944,-0.00540358686031,0.0498560739895,0.999999962415,0.00012307599207,-0.000241942539214,-3.85502166368e-05,1793249542584108032
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.872595145,745.872595145,717,678,662.872595145,636,877.872595145,784,811.127404855,652,629,653,0.400996835046,-0.00540487895701,0.0498558634671,0.999999962283,0.000123677717948,-0.00024222517698,-3.82671254044e-05,1793249542600774400
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.536400043,745.536400043,717,678,663,636,878,784,811.463599957,652,629,653.463599957,0.400996883637,-0.0054038951303,0.0498555555667,0.999999962203,0.000123573489037,-0.00024255713621,-3.85908024814e-05,1793249542617440768
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,717,678,662.941175277,636,877.941175277,784,811.941175277,652,629,653.941175277,0.400997173538,-0.00540246214732,0.0498553045234,0.999999962168,0.000123266165091,-0.000242788081622,-3.90233539825e-05,1793249542634106880
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,717,678,662.363113065,636,877.363113065,784,811.363113065,652,629,653.363113065,0.400998531729,-0.0054028525005,0.0498558029945,0.999999962402,0.00012296148664,-0.000242001961409,-3.88738324111e-05,1793249542650773760
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.206685403,745,717.206685403,678,662.206685403,636,877.206685403,784,811.206685403,652,629,653.206685403,0.401003459185,-0.00540315962448,0.0498579074557,0.999999963295,0.000122953703788,-0.000238329038486,-3.86095389906e-05,1793249542667440384
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.762523891,745,717.762523891,678,662.762523891,636,877.762523891,784,811.762523891,652,629,653.762523891,0.40101441619,-0.00540332614958,0.0498627249115,0.999999965253,0.000123447465881,-0.000229779447714,-3.81513618121e-05,1793249542684107008
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.649171568,745,717.649171568,678,662.649171568,636,877.649171568,784,811.649171568,652,629,654,0.401041491188,-0.00540385912637,0.0498722685745,0.999999969474,0.000123552927985,-0.000210650754179,-3.75982793567e-05,1793249542700773632
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.036649556,745,717.036649556,678,662.036649556,636,877.036649556,784,811.036649556,652,629,654,0.401080589086,-0.00540466545062,0.0498853376595,0.999999974846,0.00012336874532,-0.000183630785625,-3.69744041052e-05,1793249542717440256
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.544161568,717.544161568,678,662,636,877,784,811.544161568,652,629,653.455838432,0.401142790369,-0.00540707209722,0.0499022714543,0.999999980639,0.00012210919919,-0.000150123231726,-3.56897613977e-05,1793249542734107136
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,718,678,662,636,877.122057791,784,811.877942209,652,629,653,0.401208649215,-0.00541015077066,0.0499181526386,0.999999984732,0.000120641008501,-0.000121692737766,-3.42358045159e-05,1793249542750773504
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,718,678,662,636,877.696629537,784,811.303370463,652,629,653,0.401282616935,-0.00541534331366,0.0499292195511,0.999999985985,0.000118653019849,-0.000113615504612,-3.23100404081e-05,1793249542767440384
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.277088525,746,717.722911475,678,662,636,878,784,811,652,629,653,0.401364807904,-0.00541860992325,0.0499369044782,0.999999987156,0.000116493953159,-0.000105599702004,-3.10702360915e-05,1793249542784106752
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.864133048,746,717.135866952,678,662,636,878,784,811,652,629,653,0.401456197537,-0.00541972215025,0.0499408062574,0.99999998825,0.000114143515748,-9.76526171519e-05,-3.05977583332e-05,1793249542800773632
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.555211083,746,717.444788917,677.555211083,662,635.555211083,878,784,811,652,629,653.444788917,0.401563168116,-0.0054237800735,0.0499413582769,0.999999988466,0.000113142029564,-9.69258328654e-05,-2.95196291284e-05,1793249542817440512
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.023527716,746,717.976472284,677.023527716,662,635.023527716,877.976472284,784,811,652,629,654,0.401675962043,-0.00542870427667,0.0499409780006,0.999999988446,0.000112470349686,-9.82782226895e-05,-2.82648706642e-05,1793249542834107136
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.602427238,746,717.397572762,677.602427238,662,635.602427238,877.397572762,784,811,652,629,654,0.401815460933,-0.00543313790526,0.0499424022348,0.99999998884,0.000109994895924,-9.73849131598e-05,-2.71459757199e-05,1793249542850773760
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.819968229,745.819968229,717,678,662,636,877,784,811,652,629,654,0.401964337063,-0.00543801637998,0.049943719251,0.999999989195,0.000107566859058,-9.67603088035e-05,-2.60008357964e-05,1793249542867440128
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.245203131,745.245203131,717,678,662,636,877,784,811,652,629,654,0.402133773487,-0.00544387021303,0.0499448011836,0.999999989477,0.000105242787669,-9.67248610578e-05,-2.47981519112e-05,1793249542884107008
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,717,678,662,636,877.336240403,784,811.336240403,652,629,653.663759597,0.402323512928,-0.00545012368682,0.0499448799122,0.999999989597,0.00010290452651,-9.83377571959e-05,-2.33774022623e-05,1793249542900773632
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,717,678,662,636,877.922652939,784,811.922652939,652,629,653.077347061,0.402528358393,-0.00545667450495,0.0499442122295,0.999999989588,0.000100555707528,-0.000101177066636,-2.17944055457e-05,1793249542917440256
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.50539265,717,678,662,635.49460735,878,784,811.49460735,652,629,653.50539265,0.402764189955,-0.00546470123986,0.0499451031508,0.999999989983,9.61217121891e-05,-0.000101917302102,-2.01694552375e-05,1793249542934107136
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.086325792,745.913674208,717,678.086325792,662,635.086325792,878,784,811.086325792,652,629,653.913674208,0.403011784097,-0.00547314200745,0.0499467043692,0.999999990536,9.17820387748e-05,-0.000100817657887,-1.84220597502e-05,1793249542950773760
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.660207683,745.339792317,717,678.660207683,662,635.660207683,878,784,811.660207683,652,629,653.339792317,0.403299221593,-0.00548265464583,0.0499509797596,0.999999991691,8.9764437606e-05,-9.11279115112e-05,-1.60191119482e-05,1793249542967440640
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.765766571,745.234233429,717,678.765766571,662.234233429,636,878,784,811.765766571,652.234233429,629,653.234233429,0.403605605313,-0.00549196316008,0.0499570928498,0.999999993169,8.68193412418e-05,-7.70841444588e-05,-1.34969130267e-05,1793249542984107008
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.19153205,745.80846795,717,678.19153205,662.80846795,636,878,784,811.19153205,652.80846795,629,653.80846795,0.403939490372,-0.00550097537776,0.0499658734495,0.999999994928,8.25279410787e-05,-5.67203074628e-05,-1.08016155089e-05,1793249543000773632
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.605497058,717,678.394502942,663,636,877.605497058,784.394502942,811.394502942,652.605497058,629,654,0.404305655592,-0.00550999651727,0.0499745301259,0.999999995948,7.99752021809e-05,-4.05824903117e-05,-7.76579804261e-06,1793249543017440512
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.013556272,717,678.986443728,663,636,877.013556272,784.986443728,811.986443728,652.013556272,629,654,0.404687976133,-0.00551902212163,0.0499831247818,0.999999996572,7.82926154274e-05,-2.65596801665e-05,-4.55955981334e-06,1793249543034106880
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.565786098,717,679,663,636,877.565786098,784.434213902,812,652,629,654,0.405102091999,-0.00551891097783,0.0499856222186,0.999999995836,8.9127725612e-05,-1.95711444667e-05,-1.03036436049e-06,1793249543050773760
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,717.143705353,679,663,636,878,784,812,652,629,653.856294647,0.40551599257,-0.00551553060332,0.0499817475033,0.999999994237,0.000104332589582,-2.52385955192e-05,1.75442838897e-06,1793249543067440384
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,717.71824323,679,663,636,878,784,812,652,629,653.28175677,0.405927013405,-0.00550299101037,0.0499591973451,0.999999988981,0.000131758494395,-6.83547513033e-05,2.28478745979e-06,1793249543084107264
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.703387616,717.703387616,678.406775232,663,636,878,784.296612384,812,652,628.703387616,653.296612384,0.4063601853,-0.00549619873582,0.0499388576797,0.999999983182,0.000150604110032,-0.00010460795118,3.44373830732e-06,1793249543100773888
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.121331378,717.121331378,677.242662756,663,636,878,784.878668622,812,652,628.121331378,653.878668622,0.406814674236,-0.00549493737084,0.0499206452715,0.999999977983,0.000161192518815,-0.000134256615428,5.20761224072e-06,1793249543117440512
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.461737909,745,717,677.461737909,663,636.461737909,878,784.538262091,812.461737909,652,628.461737909,654,0.407349891223,-0.00550114876311,0.0499183434536,0.99999997688,0.000165602964144,-0.000136883819267,8.88817507187e-06,1793249543134107136
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745,717,678,663,636.955396703,878.044603297,784,812.955396703,651.955396703,629,654,0.407911369811,-0.00550901598226,0.0499223798587,0.999999977444,0.000168817169242,-0.000128216219757,1.31415775228e-05,1793249543150774016
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745,717,678,663,636.378151654,878.621848346,784,812.378151654,651.378151654,629,654,0.408532581008,-0.00551315600116,0.0499520693905,0.999999981713,0.000177174924401,-6.96472137974e-05,1.82079987673e-05,1793249543167440640
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745.198438302,717.198438302,678,663,636,879,784.198438302,812,651,629,654,0.409158675035,-0.00551620045438,0.0499775122346,0.999999981984,0.000186896468316,-2.35664272296e-05,2.33558198731e-05,1793249543184107008
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745.773783962,717.773783962,678,663,636,879,784.773783962,812,651,629,654,0.409794043312,-0.00551716402494,0.0499948890547,0.999999979747,0.00019920834932,-1.20536854012e-06,2.86582490588e-05,1793249543200773632
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745.643363431,717.643363431,678,663,636,879,784.643363431,812.356636569,651,629,654,0.410413228207,-0.00551464304686,0.0499924725738,0.999999976541,0.000213814617353,-1.28185739937e-05,3.21974114492e-05,1793249543217440512
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745.055646775,717.055646775,678,663,636,879,784.055646775,812.944353225,651,629,654,0.411021927172,-0.00550986428062,0.049977231166,0.999999971894,0.000229907516227,-4.6445159264e-05,3.45940776278e-05,1793249543234107136
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.473210746,745.526789254,717,678.526789254,663,636,879,784.526789254,813,651,629,654,0.411691594213,-0.00550858940872,0.0499461706863,0.999999963712,0.000245262779755,-0.000105050661529,3.72449779299e-05,1793249543250773760
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.107803828,746,717,679,663.107803828,636.107803828,879,785,813,651,629,654,0.412388407702,-0.00550875645917,0.0499245855586,0.999999955828,0.000257693046197,-0.000142605819293,4.00358133488e-05,1793249543267440640
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.685033443,746,717,679,663.685033443,636.685033443,879,785,813,651,629,654,0.413175663129,-0.00551360656665,0.0499514645231,0.999999962877,0.000257722501316,-7.71227148344e-05,4.33202069732e-05,1793249543284107264
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,717,679,664.265499019,637,879.265499019,784.734500981,812.734500981,651.265499019,628.734500981,654,0.413940285263,-0.00552103709216,0.0499689384223,0.999999977711,0.000203755825507,-4.37112774832e-05,3.39287972508e-05,1793249543300773888
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,717,679,664.849850922,637,879.849850922,784.150149078,812.150149078,651.849850922,628.150149078,654,0.414677725894,-0.00553156658919,0.049975117247,0.999999995158,8.4942121423e-05,-4.88165216584e-05,9.31429403001e-06,1793249543317440512
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,717,679,664.139971761,637,880.43001412,784.43001412,812.43001412,651.56998588,628,654,0.415439339383,-0.00553443784156,0.0499527838398,0.999999994159,6.62748991591e-05,-8.52516858034e-05,4.70941738815e-06,1793249543334107136
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,717.00873388,679,663.00873388,637,881,785,813,651,628.00873388,654.00873388,0.416210721027,-0.0055346130486,0.0499212605072,0.999999987951,8.23192147404e-05,-0.000131419519962,7.067541598e-06,1793249543350774016
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,717.587784644,679,663.587784644,637,881,785,813,651,628.587784644,654.587784644,0.41707411791,-0.0055316673642,0.0499334692596,0.999999988973,0.000103619071589,-0.000105670607476,1.22721885332e-05,1793249543367440640
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,717.834471248,679,664.165528752,637,881,785,813,651,628.834471248,654.834471248,0.417936622935,-0.00552940543802,0.0499483840827,0.99999998953,0.000121304954768,-7.70406729179e-05,1.70437694865e-05,1793249543384107264
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,717.259955646,679,664.740044354,637,881,785,813,651,628.259955646,654.259955646,0.418796924313,-0.00552883293522,0.0499699850387,0.999999990474,0.000130061465431,-4.12923384479e-05,2.07453348808e-05,1793249543400773632
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745.678846917,717.321153083,679,664.678846917,637,881.321153083,784.678846917,813,651.321153083,628,654,0.419624539228,-0.00552743196847,0.0499672808079,0.9999999896,0.000133127244531,-5.0965944837e-05,2.18935076643e-05,1793249543417440256
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745.092289586,717.907710414,679,664.092289586,637,881.907710414,784.092289586,813,651.907710414,628,654,0.420425141666,-0.00552534635051,0.0499444905171,0.999999986317,0.000131490143336,-9.81767171684e-05,2.09315300404e-05,1793249543434106880
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.509096232,745.490903768,718,679.490903768,664,636.509096232,882.490903768,784,813.490903768,651.509096232,628.490903768,654,0.421358883403,-0.00552875885655,0.0499614589184,0.999999990181,0.000128329472234,-5.19783905103e-05,2.16145216804e-05,1793249543450773760
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.072407984,746,718,680,664.144815968,636,883,784,813.927592016,651,628.927592016,654,0.422311717583,-0.00553293629635,0.0499827811753,0.999999991912,0.000125106317453,3.30238792508e-06,2.26403476047e-05,1793249543467440384
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.646559713,746,718,680,665.293119426,636,883,784,813.353440287,651,628.353440287,654,0.423224587344,-0.00553530048401,0.049982830997,0.999999992097,0.000123421473005,6.61136830009e-07,2.39134554427e-05,1793249543484107008
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.778938118,745.778938118,717.778938118,680,665.557876236,636,883.221061882,784.221061882,813.221061882,651,628,654,0.424132251836,-0.00553716407482,0.0499786112068,0.999999992166,0.000122525393814,-6.42644857506e-06,2.47865210702e-05,1793249543500773632
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+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,717,680,664.38157401,636,884,784.61842599,813.61842599,651,628,654,0.425941663475,-0.00554186014265,0.0499772775488,0.999999992537,0.000118392504665,-1.35734562568e-05,2.69072831632e-05,1793249543534107136
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,717,680,664.972726731,636,884,784.027273269,813.027273269,651,628,654,0.426857652308,-0.00554690701587,0.0499984144764,0.999999993361,0.00011121943565,5.16907855948e-06,2.97050723175e-05,1793249543550774016
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.551853817,717,680,665,636,884.551853817,784.551853817,813.551853817,651,628,654.551853817,0.427729729831,-0.00554233099649,0.049979319762,0.999999991778,0.000115537368495,-4.70230495031e-05,2.97265506594e-05,1793249543567440384
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.870187287,717.129812713,680.129812713,665,636.129812713,885,785,814.129812713,651,628,654.870187287,0.428616620903,-0.00553886042376,0.0499596898542,0.99999998839,0.000118743473864,-9.08749132241e-05,2.93667237456e-05,1793249543584107008
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.294244214,717.705755786,680.705755786,665,636.705755786,885,785,814.705755786,651,628,654.294244214,0.429561721145,-0.00554078852756,0.0499449081276,0.999999988407,0.000116218448773,-9.42725036764e-05,2.81579478531e-05,1793249543600773632
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.285642728,717.714357272,681.285642728,665.285642728,636.714357272,885,784.714357272,815,651,628.285642728,654,0.430479319703,-0.00554231161246,0.0499401795178,0.999999988964,0.000114460377273,-9.05325550941e-05,2.78178566757e-05,1793249543617440256
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.869649141,717.130350859,681.869649141,665.869649141,636.130350859,885,784.130350859,815,651,628.869649141,654,0.431368191744,-0.00554341164102,0.0499459517363,0.999999990008,0.000113503415411,-7.93372005294e-05,2.83851367257e-05,1793249543634107136
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,717,681.54902665,665.54902665,636,885.45097335,784,815,651,629,654,0.432247508958,-0.00554301923036,0.0499308462374,0.999999988246,0.000111526144646,-0.000101625897075,2.72491265307e-05,1793249543650773760
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,717.031457043,681,665,636,886,784.031457043,815,651,629,654,0.433126666113,-0.00554253188798,0.0499126152694,0.999999985396,0.000109025461215,-0.000129046305193,2.58401628994e-05,1793249543667440128
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,717.610723954,681,665,636,886,784.610723954,815,651,629,654,0.434050845151,-0.00554785921636,0.0499444235738,0.999999991283,0.000102515210527,-7.82856850606e-05,2.82007613575e-05,1793249543684107008
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.180978993,745.819021007,717.819021007,681.180978993,665,636,886,784.819021007,815,651,629,654,0.434946940026,-0.00555090273877,0.0499665960653,0.999999993483,9.92403455085e-05,-4.76560923576e-05,3.02202250844e-05,1793249543700773632
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.732769527,745.267230473,717.267230473,681.732769527,665,636,886,784.267230473,815,651,629,654,0.435785492861,-0.0055492669256,0.0499690255494,0.999999992542,0.000102594527299,-5.82733625306e-05,3.15407314748e-05,1793249543717440256
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.691385672,745.308614328,717,681.691385672,665,636,886,784.308614328,815,651,629,654,0.436621071999,-0.00554798613581,0.0499588691391,0.999999990667,0.000102838301681,-8.42812636334e-05,3.14111810018e-05,1793249543734107136
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.092951535,745.907048465,717,681.092951535,665,636,886,784.907048465,815,651,629,654,0.437453858487,-0.00554703874868,0.0499368933113,0.999999986756,0.000100161091204,-0.00012474251018,2.9919881573e-05,1793249543750773760
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,717,681,665.502783664,636,886,784.497216336,815,651,629,654,0.438305639615,-0.0055503233276,0.0499538472277,0.999999991696,9.62246970601e-05,-8.01511770921e-05,3.04064435996e-05,1793249543767440384
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,717.094819628,681,666,636,886,784,815.094819628,651,629,654,0.439146932243,-0.00555362254289,0.0499722242501,0.999999994621,9.30139002647e-05,-3.37392175007e-05,3.11032856194e-05,1793249543784107008
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,717.670608796,681,666,636,886,784,815.670608796,651,629,654,0.439917304865,-0.00555304859412,0.0499615078442,0.99999999339,9.46581897923e-05,-5.74257903743e-05,3.1021897585e-05,1793249543800773632
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,718,681,665.754199219,636,886,784,815.754199219,651,629,654,0.440681283242,-0.00555271750626,0.0499498990389,0.999999991713,9.6205907487e-05,-7.96726448726e-05,3.11613704724e-05,1793249543817440256
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,718,681,665.17980561,636,886,784,815.17980561,651,629,654,0.441436713565,-0.00555271108119,0.049937097252,0.999999989736,9.7624525359e-05,-9.99948447982e-05,3.15960959573e-05,1793249543834106880
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,717.594751982,681,665,636,886.405248018,784,815,651,629,654,0.442174642834,-0.00555219651908,0.0499473340272,0.999999991165,0.000101961220957,-7.86844390044e-05,3.28908682726e-05,1793249543850773504
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,717.004840752,681,665,636,886.995159248,784,815,651,629,654,0.442904597298,-0.00555145040935,0.0499680690016,0.999999992873,0.000107627624733,-3.84029101381e-05,3.45775462894e-05,1793249543867440128
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,717,681,665.571941379,636,887,784,815,651,629,654,0.443535865463,-0.00555251050853,0.0499427768033,0.999999990057,0.000106800771998,-8.51805782481e-05,3.49843443718e-05,1793249543884107008
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.149063048,746,717,681,665.701873904,636,887,784,815.149063048,651,629,654,0.444153649668,-0.00555286798014,0.0499102426652,0.999999983481,0.000107816911099,-0.000142082927894,3.50185664281e-05,1793249543900773888
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.727475709,746,717,681,664.545048582,636,887,784,815.727475709,651,629,654,0.444734947678,-0.00555115861407,0.0498579462832,0.999999967335,0.000114296202564,-0.00022607290966,3.40101506616e-05,1793249543917440512
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.696458114,746,717,681,664,635.696458114,887,784,816,651,629,654,0.445337459486,-0.00554924409945,0.0498307800657,0.999999959088,0.000119061281762,-0.000257935015987,3.34233932952e-05,1793249543934107136
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.122482517,746,717,681,664,635.122482517,887,784,816,651,629,654,0.445958871207,-0.00554714681252,0.0498260029973,0.999999962359,0.000122299122828,-0.000243354978509,3.32123030601e-05,1793249543950773760
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.535653697,717,681,664,635,886.535653697,784,816,651.464346303,629,654,0.446532430784,-0.00554669947224,0.0498322165899,0.999999966069,0.000125347240892,-0.000225781493015,3.42438946172e-05,1793249543967440384
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.053666119,745.053666119,717.053666119,681.053666119,664,635,886,784,816,652,629,654,0.447084602349,-0.0055466276562,0.0498373053877,0.999999968243,0.000128311014634,-0.000213999891438,3.54067506806e-05,1793249543984107008
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.633227087,745.633227087,717.633227087,681.633227087,664,635,886,784,816,652,629,654,0.44755439521,-0.00554584951364,0.0498021542236,0.999999955202,0.000130952627756,-0.000266932984334,3.45523621143e-05,1793249544000773632
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,717.788911859,682,664.211088141,634.788911859,886.211088141,784,816,652,629,654,0.448012881424,-0.00554633060696,0.0497705558979,0.999999940662,0.000131731199366,-0.000316495291454,3.39520326788e-05,1793249544017440256
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,717.213980929,682,664.786019071,634.213980929,886.786019071,784,816,652,629,654,0.448451878848,-0.00554898218656,0.049745081438,0.999999926181,0.000129298533229,-0.00036024752744,3.3789613306e-05,1793249544034106880
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,717,682.370059296,664.629940704,634,887,784,816,651.629940704,629,654,0.448892658047,-0.00555034230245,0.0497406821285,0.9999999231,0.000128132753305,-0.000369101395482,3.38681381471e-05,1793249544050773504
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,717,682.959499814,664.040500186,634,887,784,816,651.040500186,629,654,0.449334493572,-0.00555093680377,0.0497487767392,0.999999927443,0.000127718017855,-0.000357266565767,3.40895012819e-05,1793249544067440384
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,717.117376009,682,664,634,886,784,816,651.117376009,628.882623991,654.882623991,0.450132769112,-0.00555190928789,0.0497749006108,0.999999945737,5.37326697304e-05,-0.000324752738514,1.31813940004e-05,1793249544100773632
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,717.693008664,682,664,634,886,784,816,651.693008664,628.306991336,654.306991336,0.450475283945,-0.00555630029298,0.0497741522583,0.999999945073,2.82431020593e-05,-0.000330132605138,8.34580865349e-06,1793249544117440256
+204,3.400000000,POSE1_TO_POSE2_PRESS,766.726738943,746,717.726738943,682,664,634,886,784,816.273261057,652,628,654,0.450792714736,-0.00555885438857,0.0497693593711,0.999999940978,1.70464318138e-05,-0.000343095860795,6.27956664632e-06,1793249544134106880
+205,3.416666667,POSE1_TO_POSE2_PRESS,766.141207354,746,717.141207354,682,664,634,886,784,816.858792646,652,628,654,0.451081480585,-0.00555930934573,0.0497599445704,0.999999933215,2.21830479273e-05,-0.000364725074504,7.37800681444e-06,1793249544150773760
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.439476301,746,717,682,664,633.560523699,886,783.560523699,816.560523699,652,628,654,0.45133644792,-0.00555989993105,0.049747656011,0.99999992349,2.521317041e-05,-0.000390270874924,8.59392826151e-06,1793249544167440640
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,717.018543214,682,664,633,886,783.018543214,816,652,628,654,0.451579363875,-0.00556048871844,0.0497343251564,0.999999912522,2.76121350626e-05,-0.000417248627862,9.82305834837e-06,1793249544184107008
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,717.595320738,682,664,633,886,783.595320738,816,652,628,654,0.451782839199,-0.0055597257869,0.0497171105878,0.999999898273,3.11638365757e-05,-0.000449863513461,1.0325851599e-05,1793249544200773632
+209,3.483333333,POSE1_TO_POSE2_PRESS,766.827978957,746,718,682,663.827978957,633,886,783.827978957,816,652,628,654,0.451983900622,-0.00555896451256,0.0497046104326,0.999999887483,3.48981430597e-05,-0.000472964316618,1.09545607092e-05,1793249544217440512
+210,3.500000000,POSE1_TO_POSE2_PRESS,766.251460307,746,718,682,663.251460307,633,886,783.251460307,816,652,628,654,0.452179285867,-0.00555820713516,0.049703195952,0.999999886974,3.90618342141e-05,-0.000473693297532,1.18793536846e-05,1793249544234108160
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+212,3.533333333,POSE1_TO_POSE2_PRESS,766.901426102,746,718,682.901426102,663.901426102,633,886,783,816.901426102,652,628,654,0.452542008742,-0.00555542271831,0.0497176998827,0.999999899194,4.74097851529e-05,-0.000446291542298,1.37267168973e-05,1793249544267440896
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+229,3.816666667,POSE1_TO_POSE2_PRESS,766.228730943,745.771269057,717,682,663,632.228730943,885.771269057,783,817,651.228730943,628,654.771269057,0.453387033118,-0.00554453565598,0.0496807226744,0.99999987216,6.80979691468e-05,-0.000500796130955,1.56505005788e-05,1793249544550775296
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,746,717,682,663.354166347,632,886,783.354166347,816.645833653,651.354166347,628,654.645833653,0.453387324523,-0.00554472724209,0.0496796159164,0.999999871095,6.78194315159e-05,-0.000502958698364,1.56087903379e-05,1793249544567441664
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,717,682,663.941972174,632,886,783.941972174,816.058027826,651.941972174,628,654.058027826,0.453387518682,-0.00554509940008,0.049679209353,0.999999870413,6.79332267007e-05,-0.000504299569413,1.54997479906e-05,1793249544584107776
+232,3.866666667,POSE1_TO_POSE2_PRESS,766.521877262,746,717.521877262,682,663.478122738,632,885.478122738,783.478122738,816,652,628,654,0.453388596137,-0.00554357885664,0.0496787120098,0.999999870465,6.79574554272e-05,-0.000504194865119,1.54891444658e-05,1793249544600774400
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,746,718,682,663,632,885.100409443,783,816,652,628,654.100409443,0.453389777372,-0.0055421419706,0.049678383673,0.999999870561,6.83264886561e-05,-0.000503953376224,1.54844646581e-05,1793249544617441024
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,746,718,682,663,632,885.676536929,783,816,652,628,654.676536929,0.45339099191,-0.00554208363475,0.0496789031618,0.99999987049,7.03756100543e-05,-0.000503813999175,1.54567662536e-05,1793249544634107904
+235,3.916666667,POSE1_TO_POSE2_PRESS,766.74798625,746,718,682,663,632,886,783,816,652,628,654.74798625,0.453391776434,-0.00554135401093,0.0496789147608,0.999999870378,7.13817971001e-05,-0.000503903841702,1.51301307717e-05,1793249544650774784
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.173342334,746,718,682,663,632,886,783,816,652,628,654.173342334,0.453392010449,-0.00553976499846,0.0496782761553,0.999999870219,7.10528109215e-05,-0.00050428713308,1.44207934754e-05,1793249544667440896
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,718,681.588006665,663.411993335,632,885.588006665,783,816,651.588006665,628,654,0.453391495264,-0.00554040885143,0.0496776587298,0.999999869584,7.02921076001e-05,-0.000505646663754,1.45893808594e-05,1793249544684107264
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,717.998078448,681.001921552,663.998078448,632.001921552,885.001921552,783,816,651.001921552,628,654.001921552,0.453390664139,-0.00554201121058,0.0496770546287,0.999999868745,6.93507691745e-05,-0.000507415413506,1.51351445337e-05,1793249544700773888
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,717.415917038,681.584082962,663.415917038,632.584082962,885.584082962,783,816,651.584082962,628,654.584082962,0.453392151159,-0.00554180764804,0.0496777114416,0.9999998697,7.0174466656e-05,-0.000505419376373,1.5063846019e-05,1793249544717440512
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.163882844,746,717.163882844,682,663,632.836117156,886.163882844,783,816,652,628,654.836117156,0.453393102309,-0.00554113774431,0.0496780971499,0.999999870167,7.11354117206e-05,-0.000504361631267,1.50006546701e-05,1793249544734106880
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.737774523,746,717.737774523,682,663,632.262225477,886.737774523,783,816,652,628,654.262225477,0.453392712799,-0.00553930112906,0.0496778045978,0.999999869423,7.24397283794e-05,-0.000505651343836,1.49577461657e-05,1793249544750773760
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,746,718,682,663,632,886.688651497,783,816.311348503,652,628,654,0.453393013223,-0.00553904179556,0.0496774292667,0.999999869256,7.22977845604e-05,-0.000505995950728,1.51548370777e-05,1793249544767440384
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,746,718,682,663,632,886.115344847,783,816.884655153,652,628,654,0.453393894133,-0.00554010953391,0.0496769842883,0.999999869575,7.09390058041e-05,-0.000505545377458,1.55538554203e-05,1793249544784107008
+244,4.066666667,POSE1_TO_POSE2_PRESS,767,746,718,682,663,632,885.525787361,783,816.525787361,652,628,654.474212639,0.453394829597,-0.00553755672611,0.0496775301096,0.999999869684,7.41420593063e-05,-0.000504884922172,1.50195760915e-05,1793249544800773632
+245,4.083333333,HOLD_POSE2,767,746,717,682,663,632,886,783,817,651,628,654,0.453393303317,-0.00553779859261,0.0496763974564,0.999999869153,7.26312905941e-05,-0.000506153425748,1.50939619367e-05,1793249544844396288
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+247,4.116666667,HOLD_POSE2,766,746.15109793,717,682,663.84890207,632,885.84890207,783,816,652,628,654.15109793,0.453394713953,-0.00553631428521,0.0496774324677,0.999999868872,7.59018740364e-05,-0.00050623678604,1.48061747406e-05,1793249544877729792
+248,4.133333333,HOLD_POSE2,766,746.73999902,717,682,663.26000098,632,885.26000098,783,816,652,628,654.73999902,0.453395462903,-0.00553429485881,0.0496794103452,0.999999869658,7.73065328669e-05,-0.000504463738159,1.49789750395e-05,1793249544894397184
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+250,4.166666667,HOLD_POSE2,766.902750266,746.097249734,717,682,663,632,885.902750266,783,816,652,628,654.097249734,0.453396516686,-0.00553666318045,0.0496779432042,0.999999870056,7.41530949156e-05,-0.000504149560254,1.49462937053e-05,1793249544927730432
+251,4.183333333,HOLD_POSE2,767,746,717.479209588,682,663,632,885.520790412,783,816,652,628,654,0.453396369056,-0.00553795113974,0.0496774171446,0.999999869976,7.25822340412e-05,-0.000504530973513,1.51175665367e-05,1793249544944397568
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+256,4.266666667,HOLD_POSE2,767,746,718,682,663,632,885.383195314,783,816.616804686,652,628.616804686,654.616804686,0.453397189507,-0.00553807341157,0.0496769854178,0.999999870058,7.23548950955e-05,-0.000504410941644,1.47527975287e-05,1793249545027729920
+257,4.283333333,HOLD_POSE2,767,746,718,682,663,632,885.963401118,783,816.036598882,652,628.036598882,654.036598882,0.453397362022,-0.00553857009945,0.0496773941949,0.999999869982,7.41699051543e-05,-0.000504288381843,1.51265784762e-05,1793249545044396288
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+259,4.316666667,HOLD_POSE2,767,746,718,682,663,632,885.111803092,783,816,651.111803092,628,654,0.453396206015,-0.00553740426839,0.0496762115516,0.99999986919,7.22071817734e-05,-0.000506156237862,1.45362159397e-05,1793249545077730048
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+261,4.350000000,POSE2_TO_POSE3_RETREAT,767,746,717,682,663,632,886,783,817,651,628,655,0.453396401813,-0.0055347410041,0.0496764487795,0.999999868605,7.68390414162e-05,-0.000506633081387,1.44388444513e-05,1793249545131533312
+262,4.366666667,POSE2_TO_POSE3_RETREAT,767,746,717,682,663,632,886,783,816.425910153,651.574089847,628,654.425910153,0.45339630357,-0.00553601848119,0.0496765321735,0.999999869111,7.46992030586e-05,-0.00050594930772,1.45952717361e-05,1793249545148200704
+263,4.383333333,POSE2_TO_POSE3_RETREAT,767,746,717.14845603,682,663,632,886,783,816,652,628,654.14845603,0.453396540514,-0.00553705699468,0.0496767148668,0.999999869523,7.2837257302e-05,-0.000505401486412,1.47966137214e-05,1793249545164868096
+264,4.400000000,POSE2_TO_POSE3_RETREAT,767,746,717.723616617,682,663,632,886,783,816,652,628,654.723616617,0.453397740884,-0.00553740865961,0.0496771829743,0.999999869674,7.17740528627e-05,-0.000505244430435,1.51270532768e-05,1793249545181534464
+265,4.416666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,663,632,886,783,816,652,628,654.692592042,0.453398268665,-0.00553686711544,0.0496775941497,0.999999869708,7.21624246811e-05,-0.000505124297112,1.50324247679e-05,1793249545198200832
+266,4.433333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,663,632,886,783,816,652,628,654.10081687,0.45339817427,-0.00553549930967,0.04967795266,0.999999869632,7.38935747384e-05,-0.000505038319038,1.45445877412e-05,1793249545214867456
+267,4.450000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,663.479921448,632,886,783,816,652,628,654,0.453397204566,-0.00553621140399,0.0496776173751,0.99999986929,7.30973531297e-05,-0.000505825069305,1.47679507783e-05,1793249545231534336
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,663.942068646,632,886,783,816,652,628,654,0.453395946627,-0.0055370845127,0.0496770106393,0.999999868781,7.21642079593e-05,-0.000506953352959,1.50895584507e-05,1793249545248201216
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,663.368173726,632,886,783,816,652,628,654,0.453393722401,-0.00553558772621,0.049675255128,0.999999867294,7.46339104017e-05,-0.000509527344219,1.49854527626e-05,1793249545264867328
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767,746,717.793209807,681.793209807,663,632,886,783,816,652,628,654,0.453388552646,-0.00553479486962,0.0496725938768,0.999999865288,7.5531393305e-05,-0.000513324602859,1.47341845273e-05,1793249545281533952
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,746,717.216332789,681.216332789,663,632,886,783,816,652,628,654,0.453378111359,-0.00553526181752,0.0496683116475,0.999999862347,7.36151170851e-05,-0.000519311109822,1.42195434661e-05,1793249545298200832
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767,746,717,681.368852506,663,632,886,783,816.368852506,652,628,654,0.453352754418,-0.00553419424574,0.0496567352205,0.999999852798,7.49240614706e-05,-0.000537222427286,1.35360470155e-05,1793249545314867456
+273,4.550000000,POSE2_TO_POSE3_RETREAT,767,746,717,681.959022967,663,632,886,783,816.959022967,652,628,654,0.453318447824,-0.00553220593536,0.0496407821469,0.999999838779,7.81681944111e-05,-0.000562288839934,1.27512343216e-05,1793249545331533824
+274,4.566666667,POSE2_TO_POSE3_RETREAT,767,746,717.538679775,682,663,632,886,783,816.461320225,652,628,654,0.453259681506,-0.0055302516715,0.0496219580599,0.999999821349,7.76718656392e-05,-0.000592571898188,1.12867222438e-05,1793249545348200448
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,766.85816954,746,717.14183046,682,663,632,885,783,816,651,628,654,0.452950236331,-0.00551750291243,0.0495768367217,0.999999780787,8.44759720619e-05,-0.000656688508413,7.05585700584e-06,1793249545414867712
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ca08b9c8848f7cfc1d015bdf94b45780b220739a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,406 @@
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+347,5.783333333,pose2_to_pose3_retreat,0.582495048521,0.000150075474164,1.04003365684,0.553065728152,0.0088227131017,1.03970504928
+348,5.800000000,pose2_to_pose3_retreat,0.581997961818,0.000150067294105,1.04003364941,0.55256864136,0.00882270465928,1.03970504297
+349,5.816666667,pose2_to_pose3_retreat,0.581517574141,0.000150073650165,1.04003360298,0.552088253056,0.00882270889592,1.03970499662
+350,5.833333333,pose2_to_pose3_retreat,0.581043556252,0.000150020575913,1.04003353453,0.551614236707,0.00882266098033,1.03970492607
+351,5.850000000,pose2_to_pose3_retreat,0.580582651998,0.000150171261385,1.04003351404,0.551153328103,0.00882279695916,1.03970490645
+352,5.866666667,pose2_to_pose3_retreat,0.580140636075,0.000150237009094,1.04003345539,0.550711313433,0.00882286676374,1.03970484286
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+354,5.900000000,pose2_to_pose3_retreat,0.579348643505,0.000150012508132,1.04003341849,0.549919323605,0.00882265188391,1.0397048144
+355,5.916666667,pose2_to_pose3_retreat,0.579004846595,0.000150147308423,1.04003357348,0.549575525397,0.00882278231265,1.03970496996
+356,5.933333333,pose2_to_pose3_retreat,0.57868720015,0.000150062631398,1.04003339599,0.549257879981,0.00882270123826,1.03970479563
+357,5.950000000,pose2_to_pose3_retreat,0.578390301817,0.000150043349534,1.04003330543,0.548960981602,0.00882268186415,1.03970470687
+358,5.966666667,pose2_to_pose3_retreat,0.578104988909,0.000150063470154,1.04003339623,0.548675667964,0.00882269932389,1.03970479277
+359,5.983333333,pose2_to_pose3_retreat,0.577830162604,0.000149969986716,1.04003347074,0.548400842475,0.00882260828851,1.03970485878
+360,6.000000000,pose2_to_pose3_retreat,0.577569617814,0.000150124402861,1.04003359115,0.548140296246,0.00882275811799,1.03970498699
+361,6.016666667,pose2_to_pose3_retreat,0.577324791154,0.000150091708609,1.04003328821,0.547895469128,0.00882272390877,1.03970468481
+362,6.033333333,pose2_to_pose3_retreat,0.577100047277,0.000150185443405,1.04003359637,0.54767072556,0.00882281901733,1.03970500176
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+365,6.083333333,pose2_to_pose3_retreat,0.576561913133,0.000150080690035,1.04003341818,0.54713259211,0.00882271627498,1.03970481452
+366,6.100000000,pose2_to_pose3_retreat,0.576424634387,0.000150103893043,1.04003362945,0.546995312905,0.00882273786597,1.03970502434
+367,6.116666667,pose2_to_pose3_retreat,0.576305185397,0.000150160591543,1.04003358327,0.546875862914,0.00882279114247,1.03970497748
+368,6.133333333,pose2_to_pose3_retreat,0.576200159221,0.000150136692119,1.04003348127,0.546770836933,0.00882276794594,1.03970487662
+369,6.150000000,pose2_to_pose3_retreat,0.576107736918,0.000150051330298,1.04003359779,0.546678415518,0.00882268555215,1.03970499214
+370,6.166666667,pose2_to_pose3_retreat,0.576025846998,0.000150126884596,1.0400333963,0.546596524264,0.00882275657555,1.0397047911
+371,6.183333333,pose2_to_pose3_retreat,0.575953994031,0.000150094437546,1.04003339352,0.546524672088,0.00882272684801,1.03970478903
+372,6.200000000,pose2_to_pose3_retreat,0.575892717741,0.000150136821406,1.04003325118,0.546463395543,0.00882276880937,1.03970465831
+373,6.216666667,pose2_to_pose3_retreat,0.575841541555,0.000150081235651,1.04003332444,0.546412219724,0.0088227142902,1.03970472688
+374,6.233333333,pose2_to_pose3_retreat,0.575800260739,0.000150133611316,1.0400335496,0.546370939329,0.00882276809708,1.03970495206
+375,6.250000000,pose2_to_pose3_retreat,0.575767080233,0.000150190060106,1.0400336,0.546337758929,0.00882282496661,1.03970500419
+376,6.266666667,pose2_to_pose3_retreat,0.575741373427,0.000150128131384,1.04003337813,0.546312052103,0.00882276279472,1.03970477769
+377,6.283333333,pose2_to_pose3_retreat,0.575720483125,0.000150037938123,1.04003339626,0.546291163009,0.00882267648836,1.03970479024
+378,6.300000000,pose2_to_pose3_retreat,0.575704244177,0.000150071989887,1.04003350831,0.546274923586,0.00882270872292,1.03970489701
+379,6.316666667,pose2_to_pose3_retreat,0.575692072884,0.000150136883523,1.04003360117,0.546262751182,0.00882276983559,1.03970498966
+380,6.333333333,pose2_to_pose3_retreat,0.575683281726,0.000150189121688,1.04003366474,0.546253959232,0.00882281951496,1.03970505662
+381,6.350000000,pose2_to_pose3_retreat,0.575677276422,0.000150170232948,1.0400337273,0.5462479555,0.00882280617124,1.0397051245
+382,6.366666667,pose2_to_pose3_retreat,0.575673241807,0.000150142969799,1.04003358849,0.546243920816,0.00882277867609,1.03970498563
+383,6.383333333,pose2_to_pose3_retreat,0.575671059816,0.000150120073463,1.04003341226,0.54624173816,0.00882275344057,1.03970480734
+384,6.400000000,pose2_to_pose3_retreat,0.575669387469,0.000150100161985,1.04003329074,0.546240065426,0.00882273215922,1.03970468433
+385,6.416666667,pose2_to_pose3_retreat,0.575668328966,0.00015006789256,1.04003332661,0.546239007706,0.00882270254286,1.03970472007
+386,6.433333333,pose2_to_pose3_retreat,0.575667653933,0.000150047313547,1.04003334948,0.546238333172,0.00882268365578,1.03970474287
+387,6.450000000,pose2_to_pose3_retreat,0.575667115776,0.000150030907349,1.04003336772,0.546237795414,0.00882266859843,1.03970476104
+388,6.466666667,pose2_to_pose3_retreat,0.575666598191,0.000150015128306,1.04003338526,0.546237278212,0.00882265411668,1.03970477851
+389,6.483333333,pose2_to_pose3_retreat,0.575666286599,0.000150005578599,1.04003340754,0.546236966862,0.00882264538279,1.03970480064
+390,6.500000000,pose2_to_pose3_retreat,0.57566627371,0.000150005178107,1.04003340973,0.546236953984,0.00882264501982,1.03970480281
+391,6.516666667,pose2_to_pose3_retreat,0.575666143858,0.00015000114332,1.04003343179,0.546236824246,0.00882264136298,1.03970482468
+392,6.533333333,pose2_to_pose3_retreat,0.575665947258,0.000149995034512,1.04003346519,0.546236627818,0.00882263582641,1.0397048578
+393,6.550000000,pose2_to_pose3_retreat,0.575665784219,0.000149989968526,1.04003349289,0.546236464921,0.00882263123497,1.03970488526
+394,6.566666667,pose2_to_pose3_retreat,0.575665756663,0.000149989112283,1.04003349757,0.546236437389,0.00882263045894,1.0397048899
+395,6.583333333,pose2_to_pose3_retreat,0.575665656601,0.000149986003132,1.04003351457,0.546236337414,0.00882262764103,1.03970490676
+396,6.600000000,pose2_to_pose3_retreat,0.575665589742,0.000149983925673,1.04003352593,0.546236270614,0.00882262575818,1.03970491802
+397,6.616666667,pose2_to_pose3_retreat,0.575665530861,0.000149982096119,1.04003353593,0.546236211785,0.0088226241,1.03970492794
+398,6.633333333,pose2_to_pose3_retreat,0.575665501892,0.000149981195964,1.04003354085,0.54623618284,0.00882262328417,1.03970493282
+399,6.650000000,pose2_to_pose3_retreat,0.575665465243,0.000149980057195,1.04003354708,0.546236146223,0.00882262225207,1.03970493899
+400,6.666666667,pose2_to_pose3_retreat,0.575665449305,0.000149979561963,1.04003354979,0.546236130299,0.00882262180323,1.03970494167
+401,6.683333333,pose2_to_pose3_retreat,0.575665259239,0.000149973656192,1.04003358208,0.5462359404,0.00882261645068,1.03970497369
+402,6.700000000,pose2_to_pose3_retreat,0.575664806139,0.000149987790252,1.0400336194,0.546235487006,0.00882262957436,1.03970501063
+403,6.716666667,pose2_to_pose3_retreat,0.575664464342,0.000150069176649,1.04003354813,0.54623514326,0.00882270435976,1.03970493977
+404,6.733333333,pose2_to_pose3_retreat,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d33ff0185aca98e8037e568d61f7f3f59fe0366
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0beaba5068ce38b1b30545f9ebb15194569924a0d3f73535112d12794ac286c8
+size 25394615
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..44866088971b9ae29b1d35777d853fcb0ecb20ae
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_01/franka_data.csv
@@ -0,0 +1,401 @@
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+23,0.383333333,BASELINE,766.356629775,746,718,678,661.356629775,636,876.356629775,783.356629775,813,651,629,653,0.401025248884,-0.00550120117281,0.0698527802231,0.999999986604,3.96577799731e-05,-0.000157982740327,1.61544712026e-05,1793249549451165184
+24,0.400000000,BASELINE,766.930922048,746,718,678,661.930922048,636,876.930922048,783.930922048,813,651,629,653,0.401026330412,-0.0055018585202,0.0698535430997,0.999999986924,3.91722739855e-05,-0.000156042665431,1.64032854528e-05,1793249549467831808
+25,0.416666667,BASELINE,767,745.480446833,718,678,662,636,877,784,813,651,629,653.519553167,0.401026623215,-0.00550148096376,0.0698536288359,0.999999986896,3.93233820277e-05,-0.000156180142886,1.63979637391e-05,1793249549484498432
+26,0.433333333,BASELINE,767,745.108196682,718,678.108196682,662,636,877,783.891803318,812.891803318,651,629,654,0.401026843256,-0.00550094285845,0.0698536785374,0.999999986837,3.94615985983e-05,-0.000156527430739,1.63562434302e-05,1793249549501165056
+27,0.450000000,BASELINE,767,745.688342624,718,678.688342624,662,636,877,783.311657376,812.311657376,651,629,654,0.401027216317,-0.00550032167306,0.0698539749107,0.999999986846,3.91639000098e-05,-0.000156550828916,1.63073233244e-05,1793249549517831936
+28,0.466666667,BASELINE,767,746,717.734433283,679,661.734433283,635.734433283,877.265566717,783,812,651.265566717,629,654,0.401027202899,-0.00549985590554,0.0698540286871,0.999999986792,3.99722290509e-05,-0.000156693860036,1.62979075579e-05,1793249549534498816
+29,0.483333333,BASELINE,767,746,717.160600862,679,661.160600862,635.160600862,877.839399138,783,812,651.839399138,629,654,0.401026740863,-0.00549957054473,0.069853800861,0.999999986661,4.20644177352e-05,-0.000156975759206,1.63343478151e-05,1793249549551165952
+30,0.500000000,BASELINE,767,746,717,679,661,635.415452189,878,783.415452189,812.415452189,651.584547811,628.584547811,653.584547811,0.401026427711,-0.00550027073154,0.0698533297999,0.999999986598,4.0387865297e-05,-0.000157810434002,1.63912725359e-05,1793249549567832576
+31,0.516666667,BASELINE,767,746,717,679,661,635.992368266,878,783.992368266,812.992368266,651.007631734,628.007631734,653.007631734,0.401026172424,-0.00550135394764,0.0698527642065,0.999999986553,3.72466061384e-05,-0.000158859942899,1.64561584632e-05,1793249549584498688
+32,0.533333333,BASELINE,766.415987848,746,717.584012152,678.415987848,661.584012152,636,878,784,812.415987848,651,628.584012152,653.584012152,0.401026557253,-0.00549892193788,0.069853617092,0.999999986707,3.99476539129e-05,-0.000157275473534,1.59295000117e-05,1793249549601165312
+33,0.550000000,BASELINE,766,745.828332534,718,678.171667466,661.828332534,636,878,784,812,651,629,653.828332534,0.401026883285,-0.00549757926587,0.0698542518879,0.999999986846,4.16169169468e-05,-0.0001559799742,1.56697308658e-05,1793249549617832192
+34,0.566666667,BASELINE,766,745.250579463,718,678.749420537,661.250579463,636,878,784,812,651,629,653.250579463,0.401027049931,-0.00549892493692,0.0698543258017,0.999999986962,4.06601842103e-05,-0.000155451572887,1.60600571641e-05,1793249549634498560
+35,0.583333333,BASELINE,766,745.323988038,718,678.676011962,661,636,878,784,812,651,629,653.323988038,0.401026729732,-0.00549942896261,0.0698540737202,0.999999986867,4.09426893135e-05,-0.000155980703126,1.61392590108e-05,1793249549651165184
+36,0.600000000,BASELINE,766,745.896115801,718,678.103884199,661,636,878,784,812,651,629,653.896115801,0.401026036661,-0.00549928837931,0.0698535719615,0.999999986608,4.21743161924e-05,-0.000157319787861,1.59801732885e-05,1793249549667832320
+37,0.616666667,BASELINE,766,745.516459516,717.516459516,678,661,636,877.516459516,784,812,651,629,654,0.401027036078,-0.00550003256429,0.0698543736735,0.999999986828,4.0928662634e-05,-0.000156234834107,1.60885028143e-05,1793249549684498944
+38,0.633333333,BASELINE,766,745,717,678.072846194,661.072846194,636,877,784,812.072846194,651,629,654,0.401028046958,-0.00550063977594,0.0698552264042,0.999999987067,3.98128501064e-05,-0.000154979184856,1.62073332394e-05,1793249549701165568
+39,0.650000000,BASELINE,766,745,717,678.651645471,661.651645471,636,877,784,812.651645471,651,629,654,0.401026529463,-0.00549893227993,0.0698544249375,0.999999986719,4.34161468294e-05,-0.00015627322738,1.59870312939e-05,1793249549717832192
+40,0.666666667,BASELINE,766.229247172,745,717.229247172,678.770752828,662,636,877,783.770752828,812.770752828,651,629,654,0.40102557242,-0.00549843732459,0.0698538659295,0.999999986521,4.42200408873e-05,-0.000157310448634,1.59747282381e-05,1793249549734498816
+41,0.683333333,BASELINE,766.805038508,745,717.805038508,678.194961492,662,636,877,783.194961492,812.194961492,651,629,654,0.40102546259,-0.00549977532058,0.0698536734372,0.99999998656,4.07921850199e-05,-0.000157959442938,1.62768491449e-05,1793249549751165440
+42,0.700000000,BASELINE,766.619937778,745,718,678,661.619937778,636,877,783.380062222,812,651,629,653.619937778,0.401025913254,-0.00550105056665,0.0698540377232,0.999999986742,3.86871943906e-05,-0.00015732180251,1.64205018894e-05,1793249549767832064
+43,0.716666667,BASELINE,766.045307057,745,718,678,661.045307057,636,877,783.954692943,812,651,629,653.045307057,0.401026650856,-0.00550229368856,0.0698546870457,0.999999986998,3.72594295635e-05,-0.000156025484157,1.64830286653e-05,1793249549784498432
+44,0.733333333,BASELINE,766,745,717.456153444,678,661.543846556,636,877,784,812,651,629,653,0.401026077762,-0.00550079333989,0.0698543522617,0.999999986789,4.01300870838e-05,-0.00015666165402,1.63634173992e-05,1793249549801165312
+45,0.750000000,BASELINE,766,745,717,678,661.868375082,636,877.131624918,783.868375082,812,651,628.868375082,653,0.401025734525,-0.00549947643015,0.0698542027291,0.999999986641,4.22733981903e-05,-0.000157061048899,1.62129342065e-05,1793249549817832448
+46,0.766666667,BASELINE,766,745,717,678,661.289493823,636,877.710506177,783.289493823,812,651,628.289493823,653,0.401026553542,-0.00549958076628,0.0698549688972,0.999999986861,4.06950353344e-05,-0.000156093835176,1.60105235427e-05,1793249549834499072
+47,0.783333333,BASELINE,766,745,717,678,661,636,877.711965426,783,812,651.288034574,628.288034574,653.288034574,0.401026128127,-0.00549914915312,0.0698548262674,0.99999998685,3.98818687212e-05,-0.000156406924274,1.57253688502e-05,1793249549851165440
+48,0.800000000,BASELINE,766,745,717,678,661,636,877.135790319,783,812,651.864209681,628.864209681,653.864209681,0.401024457823,-0.00549818139351,0.0698537745057,0.999999986607,3.98341796519e-05,-0.00015800078706,1.53574396656e-05,1793249549867831808
+49,0.816666667,BASELINE,766,745.449924946,717.449924946,677.550075054,661.449924946,635.550075054,877,783.449924946,812.449924946,651.550075054,629,654,0.401024799823,-0.00549846659986,0.0698540486581,0.999999986725,3.86268035251e-05,-0.000157554500454,1.53190256605e-05,1793249549884498432
+50,0.833333333,BASELINE,766,745.962053152,717.962053152,677.037946848,661.962053152,635,877.037946848,783.962053152,813,651,628.962053152,653.962053152,0.401025705131,-0.00549911285441,0.0698546545627,0.999999986925,3.72903628273e-05,-0.000156596358215,1.5410057358e-05,1793249549901165056
+51,0.850000000,BASELINE,766,745.383084438,717.383084438,677.616915562,661.383084438,635,877.616915562,783.383084438,813,651,628.383084438,653.383084438,0.401025795259,-0.0054993984379,0.0698541614187,0.999999986732,3.92119954357e-05,-0.000157309371975,1.58980345517e-05,1793249549917831680
+52,0.866666667,BASELINE,766.194472489,745,717.194472489,678,661.194472489,635.194472489,878,783.194472489,812.805527511,651,628.194472489,653.194472489,0.401025957612,-0.00549947445545,0.0698539683837,0.999999986628,4.06102931371e-05,-0.000157580815012,1.61904888774e-05,1793249549934498560
+53,0.883333333,BASELINE,766.769268395,745,717.769268395,678,661.769268395,635.769268395,878,783.769268395,812.230731605,651,628.769268395,653.769268395,0.401026261212,-0.00549914063178,0.069854362262,0.999999986708,4.09851219447e-05,-0.000156988692737,1.61005655636e-05,1793249549951165696
+54,0.900000000,BASELINE,766.658049249,745.341950751,717.658049249,678.341950751,662,636,877.658049249,784,812,651.341950751,629,653.658049249,0.401025854686,-0.00549885837902,0.0698541069876,0.999999986611,4.16768486883e-05,-0.000157431407397,1.60174636095e-05,1793249549967832832
+55,0.916666667,BASELINE,766.086784276,745.913215724,717.086784276,678.913215724,662,636,877.086784276,784,812,651.913215724,629,653.086784276,0.401024971946,-0.00549861071004,0.0698534163876,0.999999986394,4.25810890709e-05,-0.000158568089926,1.59389361037e-05,1793249549984499712
+56,0.933333333,BASELINE,766.504292112,745.495707888,717.504292112,678.495707888,662,636,877,784,812,651.495707888,629,653,0.40102382647,-0.00549868831344,0.0698528401336,0.99999998625,4.25769693142e-05,-0.000159506731492,1.56725831202e-05,1793249550001165824
+57,0.950000000,BASELINE,766.903440808,745,718,678.096559192,661.903440808,636,877.096559192,784,812.096559192,651.096559192,629,653,0.401022866115,-0.00549878069395,0.0698522475526,0.99999998612,4.2416514161e-05,-0.000160379832354,1.5449491139e-05,1793249550017832192
+58,0.966666667,BASELINE,766.322991149,745,718,678.677008851,661.322991149,636,877.677008851,784,812.677008851,651.677008851,629,653,0.40102306932,-0.00549865513934,0.0698514705067,0.999999986007,4.22880200989e-05,-0.000161102262429,1.5611800446e-05,1793249550034498560
+59,0.983333333,BASELINE,766.254923928,745,717.745076072,678.490152144,661,636,878,783.745076072,813,651.745076072,629,653,0.401023624914,-0.00549914567557,0.0698518330127,0.999999986059,4.20433039943e-05,-0.000160818700678,1.58930805194e-05,1793249550051165184
+60,1.000000000,BASELINE,766.829659354,745,717.170340646,677.340681291,661,636,878,783.170340646,813,651.170340646,629,653,0.401024622593,-0.00550040912053,0.0698536251285,0.999999986315,4.16527830204e-05,-0.000159273085061,1.63236138428e-05,1793249550067831808
+61,1.016666667,BASELINE,767,745.403050762,717.403050762,677.403050762,661,636,877.596949238,783.403050762,812.596949238,651,629,653,0.401025077529,-0.00549948222945,0.0698536965884,0.999999986354,4.24788628367e-05,-0.000158813224227,1.63285836354e-05,1793249550084498688
+62,1.033333333,BASELINE,767,745.975876002,717.975876002,677.975876002,661,636,877.024123998,783.975876002,812.024123998,651,629,653,0.401025303848,-0.00549763271715,0.0698530432675,0.999999986299,4.38174035977e-05,-0.000158810708986,1.61542960148e-05,1793249550101165312
+63,1.050000000,BASELINE,766.429927553,745.429927553,718,678,661.570072447,636,877,783.429927553,812,651,629,653,0.401026197345,-0.00549789568949,0.0698547911062,0.999999986662,4.20192366293e-05,-0.000157032441694,1.5875708821e-05,1793249550117832192
+64,1.066666667,BASELINE,766,745,717.840536388,678,662,636,877,783,812,651.159463612,629,653,0.401026589806,-0.0054983062061,0.0698557073452,0.999999986876,4.05937953005e-05,-0.000156059471579,1.56914499578e-05,1793249550134499072
+65,1.083333333,BASELINE,766,745,717.266095339,678,662,636,877,783,812,651.733904661,629,653,0.401025602068,-0.00549885898584,0.0698541847601,0.999999986671,4.04971911837e-05,-0.000157385322578,1.5764598098e-05,1793249550151165440
+66,1.100000000,BASELINE,766.308973463,745,717.308973463,678,661.691026537,636,877.308973463,783.308973463,812,652,629,653.308973463,0.4010253312,-0.00549883055809,0.0698537599462,0.999999986573,4.04430912431e-05,-0.000158026751302,1.56989689666e-05,1793249550167832064
+67,1.116666667,BASELINE,766.884583971,745,717.884583971,678,661.115416029,636,877.884583971,783.884583971,812,652,629,653.884583971,0.401025678977,-0.00549830056149,0.0698542824838,0.999999986568,4.04256714416e-05,-0.000158077539155,1.55135782139e-05,1793249550184498432
+68,1.133333333,BASELINE,766.530181723,745.469818277,717.530181723,678,661.469818277,636,878,784,812,651.530181723,629,654,0.401024468268,-0.00549860521177,0.0698532684168,0.999999986379,4.05560004518e-05,-0.000159232677895,1.55901963393e-05,1793249550201165056
+69,1.150000000,BASELINE,766,745.943104446,717.056895554,678,662,636,877.943104446,783.943104446,812,651,629,653.943104446,0.401023060227,-0.00549908984966,0.0698520324146,0.999999986173,4.06951143203e-05,-0.000160470589527,1.57130948228e-05,1793249550217831936
+70,1.166666667,BASELINE,766,745.361292481,717.638707519,678,662,636,877.361292481,783.361292481,812,651,629,653.361292481,0.401023437713,-0.00549930379303,0.0698523043301,0.999999986268,4.05734072252e-05,-0.000159916849795,1.56567230711e-05,1793249550234498560
+71,1.183333333,BASELINE,766,745.218095077,717.781904923,678,661.781904923,636,877.218095077,783.218095077,812,651,629,653,0.401023301726,-0.00549926567458,0.0698523753273,0.999999986218,4.10066577965e-05,-0.000160125437032,1.55418332564e-05,1793249550251165440
+72,1.200000000,BASELINE,766,745.793510652,717.206489348,678,661.206489348,636,877.793510652,783.793510652,812,651,629,653,0.401022324481,-0.00549881458553,0.0698521171459,0.999999985931,4.2349134509e-05,-0.000161582998048,1.53310691761e-05,1793249550267832320
+73,1.216666667,BASELINE,766,746,717.367887515,678.367887515,661.367887515,636,878,784,812,651,629,653.367887515,0.401022372942,-0.00549909289029,0.0698522222471,0.999999986006,4.19037303383e-05,-0.000161233712877,1.53672006641e-05,1793249550284499200
+74,1.233333333,BASELINE,766,746,717.941682973,678.941682973,661.941682973,636,878,784,812,651,629,653.941682973,0.401022995493,-0.00549977943937,0.0698525306788,0.999999986281,4.04576428359e-05,-0.00015987312942,1.55415204871e-05,1793249550301165568
+75,1.250000000,BASELINE,765.468141854,746,717.468141854,678.468141854,661.468141854,636,878,783.468141854,812,651,629,654,0.401025166369,-0.00549838357543,0.0698539679821,0.999999986601,4.19195698273e-05,-0.000157475058194,1.55933197482e-05,1793249550317832192
+76,1.266666667,BASELINE,765.121205607,746,717,678.121205607,661.121205607,636,878.121205607,783.121205607,812.121205607,651,629,654,0.401026999168,-0.00549711638748,0.0698550975101,0.999999986829,4.31798804554e-05,-0.000155672466787,1.56149682562e-05,1793249550334498816
+77,1.283333333,BASELINE,765.70042292,746,717,678.70042292,661.70042292,636,878.70042292,783.70042292,812.70042292,651,629,654,0.401026892532,-0.00549722567729,0.0698545814209,0.999999986722,4.24351394648e-05,-0.000156563603117,1.55750609641e-05,1793249550351165952
+78,1.300000000,BASELINE,766.276447521,746,717.276447521,679,662,636,878.723552479,784,813,651,629,653.723552479,0.401026264197,-0.00549780397601,0.0698542866415,0.999999986565,4.22557109795e-05,-0.000157595953538,1.57434600657e-05,1793249550367832576
+79,1.316666667,BASELINE,766.849051749,746,717.849051749,679,662,636,878.150948251,784,813,651,629,653.150948251,0.401025076971,-0.00549888472139,0.0698542289499,0.999999986353,4.26818987162e-05,-0.000158779585781,1.61350166623e-05,1793249550384498944
+80,1.333333333,BASELINE,766.566040537,745.566040537,718,678.566040537,662,635.566040537,877.566040537,784,812.566040537,651,629,653,0.401025072865,-0.00549848823079,0.0698540822151,0.999999986384,4.35804997836e-05,-0.000158356713916,1.59823710625e-05,1793249550401165312
+81,1.350000000,BASELINE,766,745.022857376,718,678,661.977142624,635.022857376,877,784,812,651,629,653.022857376,0.401025547583,-0.00549763052874,0.069853968712,0.999999986514,4.45195592378e-05,-0.000157305377742,1.5639108919e-05,1793249550417832192
+82,1.366666667,BASELINE,766,745.601676654,718,678,661.398323346,635.601676654,877,784,812,651,629,653.601676654,0.401027366865,-0.00549841762731,0.0698554388391,0.99999998698,4.23291976227e-05,-0.000154956326298,1.53980511532e-05,1793249550434499072
+83,1.383333333,BASELINE,766.179850038,746,717.820149962,678,661.179850038,636,877.179850038,783.820149962,812,651,629,653.820149962,0.401028131963,-0.00549917342971,0.0698562211607,0.999999987209,4.0931699426e-05,-0.000153845484928,1.54166003373e-05,1793249550451165440
+84,1.400000000,BASELINE,766.756598157,746,717.243401843,678,661.756598157,636,877.756598157,783.243401843,812,651,629,653.243401843,0.401026570657,-0.00549986016699,0.0698554856142,0.999999986935,4.12839139117e-05,-0.000155467159627,1.60080573319e-05,1793249550467831808
+85,1.416666667,BASELINE,767,746,717.331479299,678,661.668520701,636,878,783,812,651,629,653.331479299,0.401026360495,-0.00549954057994,0.0698553762629,0.999999986813,4.29180127872e-05,-0.000155791907578,1.61821606042e-05,1793249550484498432
+86,1.433333333,BASELINE,767,746,717.904997183,678,661.095002817,636,878,783,812,651,629,653.904997183,0.401027136909,-0.00549848619788,0.0698557241452,0.999999986798,4.5488114236e-05,-0.000155169669249,1.60515217206e-05,1793249550501165056
+87,1.450000000,BASELINE,767,746,717.506819608,678,661.493180392,636,878,783.493180392,812,651,629,654,0.401027517894,-0.00549897662483,0.0698561975743,0.999999987038,4.21142072898e-05,-0.000154583426428,1.5957191784e-05,1793249550517831936
+88,1.466666667,BASELINE,767,745.917569467,717,678,662,636,877.917569467,783.917569467,812,651,629,654,0.401027399073,-0.00549923656018,0.0698562774172,0.999999987164,3.87771655034e-05,-0.000154655089444,1.58144382917e-05,1793249550534498560
+89,1.483333333,BASELINE,767,745.339412927,717,678,662,636,877.339412927,783.339412927,812,651,629,654,0.401024746617,-0.00549626589039,0.0698538403874,0.999999986385,4.27588104999e-05,-0.000158640330968,1.53371202292e-05,1793249550551165696
+90,1.500000000,BASELINE,766.762480244,745.237519756,717.237519756,678.237519756,661.762480244,636,877.237519756,783.237519756,812.237519756,651,629,654,0.401023873663,-0.00549580419853,0.0698527993995,0.999999986076,4.43587028915e-05,-0.00016015868635,1.51731905521e-05,1793249550567832832
+91,1.516666667,BASELINE,766.187287521,745.812712479,717.812712479,678.812712479,661.187287521,636,877.812712479,783.812712479,812.812712479,651,629,654,0.401025530563,-0.00549890942716,0.0698537431126,0.999999986465,4.25725462168e-05,-0.000158169961495,1.54547934794e-05,1793249550584498944
+92,1.533333333,BASELINE,766,745.612693494,718,678.612693494,661.387306506,636,877.612693494,783.612693494,812.612693494,651,629,653.612693494,0.401025545387,-0.00549866464314,0.0698540804081,0.999999986563,4.23430432921e-05,-0.000157620412956,1.53817823265e-05,1793249550601165312
+93,1.550000000,BASELINE,766,745.038388476,718,678.038388476,661.961611524,636,877.038388476,783.038388476,812.038388476,651,629,653.038388476,0.401024767388,-0.00549680241333,0.0698541249143,0.999999986522,4.28651204913e-05,-0.000157765724319,1.5137557176e-05,1793249550617831680
+94,1.566666667,BASELINE,766.552279578,745,717.447720422,678,662,636,877,783.552279578,812,651,629,653.552279578,0.40102527658,-0.00549696479657,0.0698544003017,0.999999986617,4.19757557449e-05,-0.000157383837351,1.52912830577e-05,1793249550634498304
+95,1.583333333,BASELINE,766.859962028,745.140037972,717,678.140037972,662,636,877.280075943,783.859962028,812,651.140037972,629,654,0.401025482397,-0.00549736591,0.0698543528492,0.999999986629,4.13070559909e-05,-0.000157470736889,1.54279467578e-05,1793249550651164928
+96,1.600000000,BASELINE,766.284883861,745.715116139,717,678.715116139,662,636,878.430232277,783.284883861,812,651.715116139,629,654,0.401024459314,-0.0054980581239,0.0698532510887,0.999999986353,4.16379583215e-05,-0.000159131279656,1.54230495631e-05,1793249550667832064
+97,1.616666667,BASELINE,766.292019946,745.707980054,717,678.707980054,662,636,878.415960108,783.292019946,812.292019946,651.707980054,629,654,0.401024338345,-0.00549820595599,0.0698532019771,0.999999986364,4.09510537971e-05,-0.000159251406121,1.52948523679e-05,1793249550684498944
+98,1.633333333,BASELINE,766.870715951,745.129284049,717,678.129284049,662,636,877.258568098,783.870715951,812.870715951,651.129284049,629,654,0.401025102983,-0.00549781936827,0.0698541862512,0.999999986656,3.92649679928e-05,-0.00015785930539,1.50456115295e-05,1793249550701165568
+99,1.650000000,BASELINE,767,745.458344675,717,678,661.541655325,636,877.458344675,783.541655325,813,651,629,654,0.401025313731,-0.00549721377845,0.0698544344748,0.999999986619,4.07599134045e-05,-0.000157734343307,1.48561744102e-05,1793249550717832192
+100,1.666666667,BASELINE,766.952356912,745.952356912,717.047643088,678,661,636,878,783,812.952356912,651,629,653.952356912,0.401025385237,-0.00549682118629,0.0698544297421,0.999999986505,4.27434729038e-05,-0.000157938005855,1.47748826376e-05,1793249550734499328
+101,1.683333333,BASELINE,766.373101067,745.373101067,717.626898933,678,661,636,878,783,812.373101067,651,629,653.373101067,0.40102568099,-0.00549950825387,0.0698539651344,0.999999986637,3.99682099474e-05,-0.000157741110453,1.57083361273e-05,1793249550751165952
+102,1.700000000,BASELINE,766,745.204879204,718,678.204879204,661.204879204,636,878,783,812,651,629,653,0.401026116716,-0.00550076525907,0.0698539730288,0.999999986754,3.92001816925e-05,-0.000157138962493,1.62036667495e-05,1793249550767832576
+103,1.716666667,BASELINE,766,745.780550869,718,678.780550869,661.780550869,636,878,783,812,651,629,653,0.401026805769,-0.0054994341226,0.0698548360624,0.999999986851,4.20648674495e-05,-0.000155803384362,1.59060780636e-05,1793249550784498688
+104,1.733333333,BASELINE,766,746,718,679,662,636,878,783,812,651,629,653.362433113,0.401025397675,-0.00549882291404,0.0698540461748,0.999999986523,4.19859524616e-05,-0.000157934954815,1.57641520241e-05,1793249550801165312
+105,1.750000000,BASELINE,766,746,718,679,662,636,878,783,812,651,629,653.948141412,0.401022697645,-0.00549865521348,0.069852238013,0.999999985918,4.00936465977e-05,-0.000162202445429,1.57181211839e-05,1793249550817831680
+106,1.766666667,BASELINE,766.527287536,745.472712464,718,679,661.472712464,636,878,783.527287536,812,651,629,654,0.401023451294,-0.00549894225337,0.0698533284027,0.999999986273,3.95487548205e-05,-0.000160143875971,1.56355914426e-05,1793249550834498816
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,717,678,661,636,876,783,813,651,628,653,0.401027855905,-0.00549959944149,0.0698556556879,0.99999998704,4.09677641655e-05,-0.00015492177302,1.55345336441e-05,1793249550876999936
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.845078978,745.422539489,717,678,661.577460511,636,876.577460511,783,812.422539489,651.577460511,628.577460511,653.577460511,0.401026168319,-0.0054981537211,0.0698548497778,0.999999986627,4.21751666053e-05,-0.000157256067425,1.54221004769e-05,1793249550893666048
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,717.149243997,678,661.850756003,636,877,783.149243997,812,651.850756003,629,653.850756003,0.40102536695,-0.0054970153074,0.0698546363857,0.999999986422,4.33501283124e-05,-0.000158239757612,1.53909898432e-05,1793249550910332416
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,717.7055438,678,661.2944562,636,877,783.7055438,812,651.2944562,629,653.2944562,0.401026982695,-0.00549671505759,0.0698560390581,0.999999986795,4.44366097558e-05,-0.00015553974043,1.55816824735e-05,1793249550926999040
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.288920313,718,678,661,636,877.288920313,784,812,651,629,653.288920313,0.401026585146,-0.00549745778232,0.0698560021748,0.999999986784,4.39600005846e-05,-0.000155726479518,1.57421650459e-05,1793249550943665664
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.9027459,718,678,661,636,877.9027459,784,812,651,629,653.9027459,0.401023923546,-0.00549937338388,0.0698543464392,0.999999986338,4.17256181389e-05,-0.000159159519898,1.58686748927e-05,1793249550960332288
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,718,678,661.484107308,636,877.515892692,783.515892692,812.484107308,651,629,654,0.40102361933,-0.00550019172446,0.0698540513589,0.999999986221,3.98688815817e-05,-0.000160388772848,1.56062551502e-05,1793249550976999168
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.059384725,746,718,678,662,636,877,783.059384725,813,651,629,654,0.40102382979,-0.00550065290878,0.0698540766376,0.999999986076,3.83711376505e-05,-0.000161674568574,1.53714382409e-05,1793249550993666048
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.634905417,746,718,678,662,636,877,783.634905417,813,651,629,654,0.401024656066,-0.00549980537234,0.0698546598228,0.999999985142,3.93755919791e-05,-0.000167057889822,1.6012939632e-05,1793249551010333184
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.784379783,746,718,678.215620217,662,636,877.215620217,784,813,651,629,654,0.401030771058,-0.0054994911961,0.0698574119671,0.999999984569,3.98631772688e-05,-0.000170294579251,1.65079887022e-05,1793249551026999808
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.194653135,746,718,678.805346865,662,636,877.805346865,784,813,651,629,654,0.401046062105,-0.00550010241315,0.0698639273091,0.999999984664,3.94539818355e-05,-0.000169806808606,1.67489392924e-05,1793249551043665664
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,746,717.612110384,679,661.612110384,636,877.612110384,783.612110384,813,651.387889616,629,654,0.401078211845,-0.00550031853725,0.0698742009758,0.999999985948,3.98701221213e-05,-0.000161936245831,1.70753207478e-05,1793249551060332288
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,717.033107095,679,661.033107095,636,877.033107095,783.033107095,813,651.966892905,629,654,0.401118667884,-0.00550033999863,0.0698863263741,0.999999987706,4.0692906252e-05,-0.000150428172571,1.74437941113e-05,1793249551076998912
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,717.542096803,678.457903197,661,635.457903197,877,783.542096803,812.457903197,652,629,654,0.40118205525,-0.00550226703883,0.0698981870923,0.99999999001,4.14363015399e-05,-0.000134013188975,1.74219161963e-05,1793249551093665536
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.117253075,745.882746925,718,678,661.117253075,635.117253075,877.117253075,784,812,651.882746925,629,653.882746925,0.401249729471,-0.00550398256848,0.069908413556,0.999999991776,4.22140278398e-05,-0.000119883544016,1.71538170267e-05,1793249551110331904
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.693124503,745.306875497,718,678,661.693124503,635.693124503,877.693124503,784,812,651.306875497,629,653.306875497,0.401328731517,-0.00550441877822,0.0699123106597,0.99999999223,4.31448672097e-05,-0.000115856646122,1.60152555663e-05,1793249551126999552
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.724698073,745,717.724698073,678,662,636,877.724698073,784,812,651,629,653.275301927,0.401416394885,-0.00550591221306,0.069912947067,0.999999992291,4.07637941143e-05,-0.000116431658871,1.41483900736e-05,1793249551143666688
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.135326689,745,717.135326689,678,662,636,877.135326689,784,812,651,629,653.864673311,0.40151393924,-0.00550861174954,0.0699098636121,0.999999991862,3.46044308329e-05,-0.000122256615426,1.14506621288e-05,1793249551160333056
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.446193468,717.446193468,678.446193468,661.553806532,635.553806532,877.446193468,784,812.446193468,651,629,654,0.401631599918,-0.00550947642884,0.0699085787061,0.999999991379,3.47628830273e-05,-0.00012633091713,8.64839584502e-06,1793249551176999424
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,718,678.974844788,661.025155212,635.025155212,878,783.974844788,812.974844788,651.025155212,629,653.974844788,0.401756577236,-0.00550995733811,0.0699079270237,0.999999990885,3.64969128433e-05,-0.000129859254481,5.81193608502e-06,1793249551193665792
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,718,678.400649181,661.599350819,635.599350819,878,783.400649181,812.400649181,651.599350819,629,653.400649181,0.401910387503,-0.00551399816765,0.0699093962186,0.999999990673,3.15209702675e-05,-0.000132859689024,2.90920845848e-06,1793249551210332672
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.174021147,745.825978853,718,678.174021147,662,636,878,783.174021147,812,651.825978853,629,653.174021147,0.402077491183,-0.0055170592238,0.0699121862176,0.99999999094,2.74549500808e-05,-0.000131781525067,-2.25455045813e-07,1793249551226999040
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.749787335,745.250212665,718,678.749787335,662,636,878,783.749787335,812,651.250212665,629,653.749787335,0.402275284002,-0.00551785837553,0.0699180254234,0.999999992312,2.54895764796e-05,-0.000121287512379,-3.89556507774e-06,1793249551243665664
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.664261947,745.335738053,718,678.664261947,662,636,877.664261947,783.664261947,812.335738053,651,629,654,0.402488844948,-0.00551958407869,0.0699210331662,0.99999999278,2.18172174259e-05,-0.00011787963901,-8.29372777746e-06,1793249551260332544
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.070483581,745.929516419,718,678.070483581,662,636,877.070483581,783.070483581,812.929516419,651,629,654,0.402714524926,-0.00552202190741,0.0699218647141,0.99999999258,1.68329095816e-05,-0.000119918003355,-1.32514549008e-05,1793249551276999424
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,717.492456128,678,662,636,877.507543872,783.507543872,813,651,629,654,0.402974888329,-0.00552322280509,0.0699232700477,0.999999992591,1.22000302189e-05,-0.000119684412478,-1.85739623037e-05,1793249551293666304
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.083148071,746,717.083148071,678,662,636,878.083148071,784,813,651,629,653.916851929,0.403247495817,-0.00552475651131,0.0699262970909,0.999999992982,5.20024615782e-06,-0.000115948484101,-2.3755573562e-05,1793249551310333184
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.656971913,746,717.656971913,678,662,636,878.656971913,784,813,651,629,653.343028087,0.403564790514,-0.00552923736916,0.0699384381419,0.999999995127,-1.60465174693e-05,-9.33503201668e-05,-2.7815781883e-05,1793249551326999552
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745.762465787,717.762465787,678,662,636,878.762465787,784,812.762465787,651,629,653,0.403896496576,-0.00553228954742,0.0699482044026,0.999999996083,-3.06646430374e-05,-7.74813353065e-05,-2.98340885237e-05,1793249551343665920
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745.171888258,717.171888258,678,662,636,878.171888258,784,812.171888258,651,629,653,0.404249622002,-0.00553321830169,0.0699544410495,0.999999996393,-3.54307282295e-05,-7.16138235338e-05,-2.8817549022e-05,1793249551360332800
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.589402791,745.410597209,717.410597209,678,662,636,878,783.589402791,812.410597209,651,629,653,0.404629212706,-0.00553537757525,0.0699580081041,0.999999996786,-3.29003456429e-05,-6.70472015197e-05,-2.91422372416e-05,1793249551376999168
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.010239446,745.989760554,717.989760554,678,662,636,878,783.010239446,812.989760554,651,629,653,0.405019668428,-0.00553804202484,0.069960479187,0.999999997189,-2.73744788926e-05,-6.30146455331e-05,-3.00175516737e-05,1793249551393665536
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.565302467,746,718,678.565302467,662.565302467,636,878,783.565302467,812.434697533,651,629,653.565302467,0.405445826595,-0.005538717854,0.069963736255,0.999999997425,-3.12261527874e-05,-5.66739909944e-05,-3.10403513507e-05,1793249551410332160
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745.859803826,718,679,662.859803826,636,878,784,812.140196174,651,629,654,0.405878632813,-0.00553802863512,0.069964484555,0.999999997445,-3.37409917103e-05,-5.44978424498e-05,-3.16456229052e-05,1793249551426998272
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745.286710495,718,679,662.286710495,636,878,784,812.713289505,651,629,654,0.406329982652,-0.00553323494192,0.0699574426106,0.999999996889,-3.16068100134e-05,-6.53091092407e-05,-3.09534563583e-05,1793249551443664896
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.702228901,745,717.702228901,679,662,636,878.297771099,783.702228901,813,651,629,654,0.406809330093,-0.00552790116601,0.0699439874525,0.999999995621,-2.49104462427e-05,-8.43612779824e-05,-3.19329544231e-05,1793249551460331520
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.106345942,745,717.106345942,679,662,636,878.893654058,783.106345942,813,651,629,654,0.407316707228,-0.00552202668877,0.0699241117406,0.999999993074,-1.36466792828e-05,-0.000111663780604,-3.45860300089e-05,1793249551476998144
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.472180312,745,717.472180312,679,662,636,878.527819688,783.472180312,813,651,629,653.527819688,0.407882588905,-0.00552828338645,0.0699281007358,0.999999994171,-2.42057222781e-05,-9.90502731183e-05,-3.55232721332e-05,1793249551493665536
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745.046927764,718,679,662,636,878.046927764,783.953072236,813,651,629,653.046927764,0.4084650065,-0.00553679563071,0.0699376647882,0.999999995633,-3.85535029906e-05,-7.70702111533e-05,-3.61498476671e-05,1793249551510333184
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745.621582637,718,679,662,636,878.621582637,783.378417363,813,651,629,653.621582637,0.409090455732,-0.00554103679792,0.0699516229327,0.99999999729,-4.21955441283e-05,-4.72712541452e-05,-3.74745151824e-05,1793249551526999552
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,718,679,662.40344336,636,879,783,813,651,629,654,0.409708558175,-0.005544060363,0.0699574230922,0.999999997623,-4.63798728004e-05,-3.31222250946e-05,-3.88154605802e-05,1793249551543666432
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,718,679,663.584872331,636,879,783,813,651,629,654,0.410312493297,-0.00554473594784,0.0699474916872,0.999999996653,-5.16099290116e-05,-4.91519539965e-05,-4.01877956268e-05,1793249551560333312
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.624492535,746,717.624492535,679,663.248985071,636,879,783,813,651,629,654,0.41097172365,-0.00554424668699,0.0699433192322,0.999999996126,-5.08979893587e-05,-5.90400098624e-05,-4.08797513298e-05,1793249551576999936
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.045561791,746,717.045561791,679,662.091123582,636,879,783,813,651,629,654,0.411660909014,-0.00554312639544,0.0699422665676,0.999999995896,-4.69670981145e-05,-6.56009428731e-05,-4.12031257749e-05,1793249551593666304
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.528601924,746,717.528601924,679.528601924,662.528601924,636,879,783.528601924,813,651,629,654,0.412407396906,-0.00554457169321,0.0699705237703,0.999999997798,-4.94386095639e-05,-1.58560663835e-05,-4.13390844819e-05,1793249551610332672
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,718,680,663,636,879.102972509,784,813,651,629,654,0.413162171775,-0.00554613849987,0.0700001113553,0.99999999711,-5.36824192015e-05,3.44983697754e-05,-4.13243602318e-05,1793249551626999296
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,718,680,663,636,879.680170999,784,813,651,629,654,0.41393256801,-0.00554725558958,0.070024295252,0.999999995006,-6.35695872792e-05,6.55091885055e-05,-4.0689416225e-05,1793249551643665664
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,718,680,663,636,880,784,813,650.736969532,629,654,0.414670416163,-0.00554721566691,0.0700175469487,0.999999995912,-6.5265742648e-05,4.70367702907e-05,-4.12817685998e-05,1793249551660332288
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,718,680,663,636,880,784,813,650.147075172,629,654,0.415367817422,-0.00554573794303,0.0699723596825,0.999999996904,-5.67830544006e-05,-3.2927696554e-05,-4.33992629553e-05,1793249551676998912
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,718,680,663,636.434286475,880.434286475,783.565713525,813,650.86857295,629,654,0.416148329098,-0.00554291032658,0.0699323707095,0.999999992848,-5.75161580231e-05,-9.35829725277e-05,-4.73081840937e-05,1793249551693665792
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,718,680.012721766,663,636.987278234,881,783,813,651.974556467,629,654,0.416957459498,-0.00553978021796,0.0698956314601,0.999999986181,-6.13052969541e-05,-0.000145632084934,-5.16810185553e-05,1793249551710332416
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,718,680.587081369,663,636.412918631,881,783,813,650.825837263,629,654,0.417811400134,-0.00554308917175,0.0699261378115,0.999999991545,-6.48807880757e-05,-0.000100868312527,-5.02669815866e-05,1793249551726999296
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,718,681,663,636.165106088,881.165106088,783.165106088,813.165106088,650.165106088,629,654,0.418664948947,-0.00554529367422,0.0699552018348,0.99999999479,-6.80005726267e-05,-5.82615445317e-05,-4.90005004443e-05,1793249551743665920
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,718,681,663,636.752505069,881.752505069,783.752505069,813.752505069,650.752505069,629,654,0.419517495538,-0.00554467331437,0.0699805768042,0.999999996172,-6.99547936001e-05,-2.11717634891e-05,-4.81114240413e-05,1793249551760332544
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.664926304,746,718,681,663.335073696,637,882.335073696,784,813.664926304,651,628.664926304,654,0.420406611781,-0.00554655389569,0.0700058747221,0.999999995996,-7.36932879447e-05,1.74247681109e-05,-4.76839767475e-05,1793249551776999424
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.085874836,746,718,681,663.914125164,637,882.914125164,784,813.085874836,651,628.085874836,654,0.421322355508,-0.00555025549154,0.0700311165354,0.999999994137,-7.87309681254e-05,5.71184108797e-05,-4.75926562444e-05,1793249551793665792
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.492015682,746,717.507984318,681,663.507984318,637,883,784,813.492015682,651,628,654,0.422205228326,-0.00554852079415,0.0700165208106,0.999999995248,-7.8845098271e-05,3.00413060042e-05,-4.88267586943e-05,1793249551810332416
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.930564549,746,717.069435451,680.930564549,663.069435451,636.930564549,883.069435451,784,814,651,628.069435451,653.930564549,0.423071716349,-0.00554563032459,0.0699869861394,0.999999995468,-7.80095713744e-05,-1.96316976804e-05,-5.09267432667e-05,1793249551826999040
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.355102543,746,717.644897457,680.355102543,663.644897457,636.355102543,883.644897457,784,814,651,628.644897457,653.355102543,0.423860508606,-0.00554121546385,0.0698991336508,0.999999984274,-7.65011009105e-05,-0.000149246524352,-5.76551009017e-05,1793249551843665664
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.224685256,746,717.775314744,680.449370511,664,636.224685256,884,784,814,651.224685256,628.775314744,653.224685256,0.424694620906,-0.00553993807124,0.069851490975,0.999999971826,-7.74753256304e-05,-0.000215742788886,-6.16447404053e-05,1793249551860332288
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.811444028,746,717.188555972,681.622888056,664,636.811444028,884,784,814,651.811444028,628.188555972,653.811444028,0.425601765213,-0.00554371661326,0.0698686451869,0.999999978432,-8.24503401763e-05,-0.000180525416821,-6.12210204755e-05,1793249551876999168
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745.604887988,717,682,664,636.604887988,884,784,814,651.604887988,628.395112012,654,0.426549067266,-0.00554635324066,0.0699178672363,0.999999988712,-8.73435478888e-05,-0.000107655003092,-5.79402438693e-05,1793249551893666048
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745.022683581,717,682,664,636.022683581,884,784,814,651.022683581,628.977316419,654,0.427515384654,-0.00554844915145,0.0699822739621,0.999999994185,-9.21980177756e-05,-1.69552220514e-05,-5.33066009869e-05,1793249551910332672
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.446600669,745.553399331,717.553399331,681.446600669,664,636,884,783.446600669,814.553399331,651,628.446600669,654,0.428477482174,-0.00554866153096,0.0700177753892,0.999999993839,-9.09768436994e-05,3.51816815299e-05,-5.29791101978e-05,1793249551926999040
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.128960452,745.871039548,718,681.128960452,664,636.128960452,884.128960452,783,814.871039548,651.128960452,628.128960452,654,0.429422127892,-0.00554973017006,0.0700432475297,0.999999991646,-9.1761321287e-05,7.38919021043e-05,-5.31780553365e-05,1793249551943665408
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.703575982,745.296424018,718,681.703575982,664,636.703575982,884.703575982,783,814.296424018,651.703575982,628.703575982,654,0.430307055697,-0.00555402171068,0.0700381105901,0.999999990913,-0.00010032802713,7.16055141141e-05,-5.45929405334e-05,1793249551960332032
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745.286059467,718,682,664,637,885,783.286059467,814.286059467,651.713940533,628.713940533,654,0.431123984952,-0.00555394399311,0.0699970164742,0.999999993266,-0.000101125821393,1.34791869307e-06,-5.69182667091e-05,1793249551976998656
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745.876926529,718,682,664,637,885,783.876926529,814.876926529,651.123073471,628.123073471,654,0.431868459023,-0.00554921065908,0.069917608575,0.999999983815,-9.36455331801e-05,-0.000141335667834,-6.02137025619e-05,1793249551993665280
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,717.541653437,682.458346563,664,636.541653437,885,784,815,651,628,654,0.43271627917,-0.00555017638821,0.0698929525041,0.999999978549,-9.56033489183e-05,-0.000172946133186,-6.20574547709e-05,1793249552010332672
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,717,682.963053772,664.036946228,636.036946228,885.036946228,784,815,651,628.036946228,654,0.433595111153,-0.005552648613,0.0698878199569,0.999999978921,-9.98739735707e-05,-0.000167899594996,-6.31846987172e-05,1793249552026999808
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,717,682.389320717,664.610679283,636.610679283,885.610679283,784,815,651,628.610679283,654,0.434529473709,-0.0055552241206,0.0699570559219,0.999999991561,-0.000101670391645,-5.48398777813e-05,-5.94508740906e-05,1793249552043666432
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,745.810880802,717,682.189119198,665,636.810880802,886.189119198,784,815,651,629,654,0.435429064267,-0.00555769622147,0.0700100855785,0.9999999926,-0.000102782014462,3.18550520694e-05,-5.67556745676e-05,1793249552060332800
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,745.222503925,717,682.777496075,665,636.222503925,886.777496075,784,815,651,629,654,0.436255246339,-0.00555995001641,0.0700289014132,0.999999991192,-0.00010244793912,6.28901648164e-05,-5.62531618042e-05,1793249552076998912
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,745.35998578,717.35998578,682.64001422,665,636.35998578,886.64001422,784,815,651,629,654.35998578,0.437058436097,-0.00556149342019,0.0700267888079,0.999999990583,-0.000105224736856,6.6936319978e-05,-5.72785840978e-05,1793249552093665536
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,745.938895194,717.938895194,682.061104806,665,636.938895194,886.061104806,784,815,651,629,654.938895194,0.43784764314,-0.00556260480285,0.0700119486704,0.999999990719,-0.000109893397263,5.45692674737e-05,-5.92332128527e-05,1793249552110332416
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.484514327,746,717.484514327,682,664.484514327,637,886,784,815,651,629,654.484514327,0.438569406299,-0.0055610693686,0.0699682817164,0.999999992102,-0.000109444425905,-6.16286153292e-06,-6.14749414578e-05,1793249552126999296
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,717,682,664,636.908868897,886,783.908868897,815,651,628.908868897,654,0.439273655569,-0.0055590570837,0.0699190864266,0.99999998911,-0.000107502440409,-7.86459063549e-05,-6.35466571247e-05,1793249552143666176
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,717,682,664,636.336766975,886,783.336766975,815,651,628.336766975,654,0.439927475502,-0.00555617656796,0.0698586676193,0.999999976081,-0.000100867997546,-0.000183025146953,-6.45422698824e-05,1793249552160333056
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.756628065,746,717,682,664,636,886.243371935,783.243371935,815,651,628,654,0.440604011273,-0.00555520518389,0.0698298911552,0.999999966116,-9.7866959363e-05,-0.000232219244457,-6.52971058995e-05,1793249552176999680
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.164988184,746,717,682,664,636,886.835011816,783.835011816,815,651,628,654,0.441313053607,-0.0055569657887,0.069846395241,0.999999972343,-0.000100065365411,-0.000202442782188,-6.57073884029e-05,1793249552193666560
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.837484802,746,717,682,664.418742401,636,887,784,815,651,628.418742401,654,0.442010384476,-0.00556086685833,0.0698817612513,0.999999980668,-0.000107838619335,-0.000151304171752,-6.43640969287e-05,1793249552210332928
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+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,717,682,664,636,887,784,815.741082318,651,628.741082318,654,0.444397374939,-0.00556591333853,0.0698391058469,0.999999962464,-9.90025154757e-05,-0.000247815168565,-6.21217237091e-05,1793249552276999680
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,717,682.324108296,663.675891704,636,886.675891704,783.675891704,816,651,629,654,0.444914759093,-0.00556764450703,0.0698022566446,0.999999946704,-9.99271593793e-05,-0.000304363189315,-6.30107419188e-05,1793249552293666304
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+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,717,682.616491383,663,635,887,783,815.383508617,651,629,654.616491383,0.447959813658,-0.0055677643447,0.0696979510976,0.999999879779,-0.000111252837442,-0.000472956831408,-6.61486436685e-05,1793249552410331648
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+214,3.566666667,POSE1_TO_POSE2_PRESS,766,746,717,683,661,634,886.918358028,782,815.081641972,651,629,654,0.450996235212,-0.00558325205591,0.0696162243494,0.999999814637,-0.000122496993105,-0.000593105605257,-6.2814500271e-05,1793249552660331776
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+259,4.316666667,POSE2_TO_POSE3_RETREAT,766.578809589,746,717,683,661,634,886.421190411,781,816,651,628,654,0.451323349345,-0.00557483348968,0.0695932021412,0.999999796183,-0.000111144219335,-0.000625909099574,-5.93263358372e-05,1793249553450137600
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,766.312406212,746,717,683,661,634,886,781,816,651,628,654,0.451323786942,-0.00557404616956,0.0695932091154,0.999999796763,-0.000107987904996,-0.000625530843087,-5.93570937162e-05,1793249553500137984
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,746,717,683,661,633.795972412,886.204027588,782,815.204027588,651,628,654,0.45131677778,-0.00557191457006,0.0695899290508,0.999999794666,-0.00010526506844,-0.000629348353408,-5.92233579499e-05,1793249553600137216
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,746,717,683.378152243,661,634,886.378152243,781.621847757,815.378152243,651,628,654,0.451297211998,-0.00557085710516,0.0695800567341,0.999999785516,-0.000103401239864,-0.000644008092383,-5.94045095033e-05,1793249553616804096
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.45754511,661,634,886.45754511,781,816,651,628.54245489,654,0.451214147347,-0.0055708064561,0.0695456569435,0.999999747911,-0.000106399892967,-0.000699438304993,-6.03571382764e-05,1793249553650137856
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,717,683.120918716,661.120918716,634,886.120918716,781,816,651,628.879081284,654,0.451154278955,-0.00557030743437,0.0695256391515,0.999999724681,-0.000108827393278,-0.000731489965054,-6.09599805694e-05,1793249553666804992
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+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,661.14897502,633.14897502,886.14897502,781.85102498,816,651,628,654,0.450931345535,-0.00556444342397,0.0695017055602,0.999999700267,-0.000103066224838,-0.000765070731377,-5.92519948292e-05,1793249553716803840
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,717,683,661.816348524,634,886,781.816348524,815.816348524,651,628,654,0.4487147687,-0.00551371705297,0.0695739917254,0.999999768854,-3.73883442156e-05,-0.000678699006301,-1.61612943903e-05,1793249553916803840
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,717,683,661.600715182,634,886,782,815.600715182,651,628.399284818,654,0.448383443141,-0.00550448152382,0.0695785184858,0.999999773472,-2.28158938915e-05,-0.00067262317501,-1.06613022746e-05,1793249553933470464
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,766.856269771,746,717,683,662.143730229,634,886,782,815,651,628.856269771,653.143730229,0.447243190995,-0.00547814498594,0.0695774938828,0.999999772012,2.47244124277e-05,-0.000674792418058,4.39513525824e-06,1793249553983470848
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766.278265261,746,717,683,662.721734739,634,886,782,815,651,628.278265261,653.721734739,0.446807851258,-0.0054677282722,0.0695716194365,0.999999766476,7.28537224287e-05,-0.000679458780189,8.68518530449e-06,1793249554000137472
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766.624938683,745.375061317,717,681.624938683,662.375061317,636,880.375061317,784,813,651,629,654,0.427539362965,-0.00541237131229,0.069791210984,0.999999940531,0.000122713471996,-0.000321508153285,2.26083522905e-05,1793249554450137344
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766.050726419,745.949273581,717,681.050726419,662.949273581,636,880.949273581,784,813,651,629,654,0.426702525039,-0.00541275227344,0.0698566368894,0.999999966282,0.000128922528798,-0.000223677877223,2.79912327334e-05,1793249554466803968
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..555dfdbcb3ba73917f3c2f2b7dd4e3a849e53c28
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,401 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..48660aba48272d706a3354db43ad9c47fb7819aa
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e10bb9e32b15a1ef69d9633df06152705299e84c79aef50afb07423bbbce729a
+size 25516846
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..05c6b087b4e02c9cf9be918bfa501042ad941959
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_02/franka_data.csv
@@ -0,0 +1,403 @@
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+5,0.083333333,BASELINE,766,745,717,679,661,636,876.094037073,783,812,651,629,653.905962927,0.400978474263,-0.00536709467524,0.0698333403435,0.999999944654,0.000203350623077,-0.000262873213839,1.54548698194e-05,1793249556016528640
+6,0.100000000,BASELINE,766,745,717.492339714,679,661,636,876.492339714,783,812.492339714,651,629,653.507660286,0.400977811376,-0.00536602196671,0.0698327812143,0.999999943965,0.000205746275175,-0.00026362689814,1.55024357043e-05,1793249556033194752
+7,0.116666667,BASELINE,766,745,717.920683899,679,661,635.920683899,877,783.079316101,812.920683899,651,629,653,0.400977119452,-0.00536475614711,0.0698321186366,0.999999943186,0.000208404320147,-0.000264487423337,1.55632422961e-05,1793249556049861376
+8,0.133333333,BASELINE,766,745,717.341839909,679,661,635.341839909,877,783.658160091,812.341839909,651,629,653,0.400976963988,-0.00536586092406,0.0698314830775,0.99999994351,0.000205194621509,-0.000265768849667,1.55418177737e-05,1793249556066528000
+9,0.150000000,BASELINE,766,745,717.235842408,678.764157592,661,635.235842408,877,783.764157592,812,651,629,653.235842408,0.400976754591,-0.00536674672688,0.0698312984971,0.999999943626,0.000203894277405,-0.000266330388078,1.56004549447e-05,1793249556083194368
+10,0.166666667,BASELINE,766,745,717.811849152,678.188150848,661,635.811849152,877,783.188150848,812,651,629,653.811849152,0.400976467407,-0.00536731669503,0.0698317643803,0.999999943453,0.000205347867113,-0.000265853605079,1.57745680957e-05,1793249556099860992
+11,0.183333333,BASELINE,766,745,717.613045259,678.386954741,661.386954741,636,877,783.386954741,812,651,629,654,0.400977273968,-0.00536608386957,0.0698324102838,0.9999999435,0.000207118727699,-0.000264314383741,1.54808047733e-05,1793249556116527616
+12,0.200000000,BASELINE,766,745,717.038376774,678.961623226,661.961623226,636,877,783.961623226,812,651,629,654,0.40097861111,-0.00536397649967,0.0698331435161,0.999999943648,0.000209043498155,-0.000262259768028,1.49600721712e-05,1793249556133194240
+13,0.216666667,BASELINE,766,745,717.550154578,678.449845422,661.449845422,636,877,783.449845422,812.550154578,651,629,654,0.400978825113,-0.00536484628637,0.0698334500787,0.999999943943,0.000208094232461,-0.000261876525824,1.52298637852e-05,1793249556149861120
+14,0.233333333,BASELINE,766,745,717.862242513,678,661,635.862242513,877,783,812.862242513,651,629,654,0.400978784677,-0.00536554591369,0.0698335801135,0.999999944048,0.000207429765498,-0.000261985675101,1.54890089365e-05,1793249556166527744
+15,0.250000000,BASELINE,766,745,717.280824484,678,661,635.280824484,877,783,812.280824484,651,629,654,0.400978183637,-0.0053650114003,0.0698332399565,0.999999943513,0.000208344880193,-0.000263295424639,1.55316789437e-05,1793249556183194624
+16,0.266666667,BASELINE,766.297339778,745,717,678,661.297339778,635,877,783.297339778,812,651,628.702660222,654,0.40097724145,-0.00536546424157,0.0698328835152,0.999999943333,0.000207752072742,-0.000264445418022,1.55742714099e-05,1793249556199861248
+17,0.283333333,BASELINE,766.872464227,745,717,678,661.872464227,635,877,783.872464227,812,651,628.127535773,654,0.400975980551,-0.0053668395023,0.0698325118606,0.999999943481,0.000205750514408,-0.000265446161834,1.56167914321e-05,1793249556216528128
+18,0.300000000,BASELINE,766.543094973,745.456905027,717,678,661.543094973,635.456905027,877,783.543094973,812,651,628.456905027,653.543094973,0.400976550881,-0.00536783945931,0.0698327877819,0.999999943752,0.000205607118374,-0.000264529320488,1.56757068253e-05,1793249556233194752
+19,0.316666667,BASELINE,766,745.95661698,717.04338302,678.04338302,661,636,877,783,812,651,629,653.04338302,0.40097756394,-0.00536849222673,0.069833227259,0.999999944016,0.000206091786459,-0.00026315035464,1.57126539086e-05,1793249556249861376
+20,0.333333333,BASELINE,766,745.377759501,717.622240499,678.622240499,661,636,877,783,812,651,629,653.622240499,0.400977601146,-0.00536617959223,0.0698334079762,0.999999943757,0.00020779346893,-0.000262811548653,1.54207847863e-05,1793249556266527744
+21,0.350000000,BASELINE,766.199862991,745,717.800137009,679,661.199862991,636,877,783,812,651,629,653.800137009,0.400977682683,-0.00536497109441,0.0698335115593,0.999999943673,0.000208516240487,-0.000262564892486,1.53025713834e-05,1793249556283194368
+22,0.366666667,BASELINE,766.775165509,745,717.224834491,679,661.775165509,636,877,783,812,651,629,653.224834491,0.400977847493,-0.00536583670047,0.0698334702473,0.999999943921,0.000207400142881,-0.000262491338368,1.55105675893e-05,1793249556299861504
+23,0.383333333,BASELINE,766.651148294,745,717,678.651148294,662,636,877.348851706,783,812,651,629.348851706,653,0.40097849558,-0.00536566834265,0.0698337161969,0.999999944083,0.000207629944893,-0.000261697496596,1.54614952622e-05,1793249556316528384
+24,0.400000000,BASELINE,766.078498953,745,717,678.078498953,662,636,877.921501047,783,812,651,629.921501047,653,0.400979453702,-0.00536483666963,0.0698341464325,0.999999944186,0.000208723177139,-0.000260441571158,1.52475066647e-05,1793249556333195264
+25,0.416666667,BASELINE,766,745,717,678.51137295,661.48862705,636,877.48862705,783.51137295,812.51137295,651,628.977254101,653.51137295,0.40097834864,-0.00536498151801,0.0698335528671,0.999999943588,0.000209297442507,-0.000262270238991,1.52718647841e-05,1793249556349861632
+26,0.433333333,BASELINE,766,745,717.101554917,679,661,636,877,784,813,651,628,654,0.40097693976,-0.00536520700035,0.0698327833271,0.999999943019,0.000209370576487,-0.000264374183263,1.5248349543e-05,1793249556366527744
+27,0.450000000,BASELINE,766,745,717.680337511,679,661,636,877,784,813,651,628,654,0.400975643348,-0.00536508242597,0.069831951112,0.99999994313,0.000207476198418,-0.000265469062922,1.48219417925e-05,1793249556383194368
+28,0.466666667,BASELINE,766,745,718,679,661.257264538,636,877,784,813,651.257264538,628.257264538,653.742735462,0.400975936877,-0.00536520626669,0.0698323873722,0.999999943465,0.000206961432089,-0.000264602330913,1.49254392525e-05,1793249556399860992
+29,0.483333333,BASELINE,766,745,718,679,661.831902416,636,877,784,813,651.831902416,628.831902416,653.168097584,0.400978191832,-0.0053656365637,0.0698343884819,0.999999944071,0.000208148618229,-0.00026131566466,1.56826521241e-05,1793249556416527616
+30,0.500000000,BASELINE,766.409306656,745,718,679,661.590693344,636,877,783.590693344,812.590693344,651.590693344,629,653.409306656,0.400978151722,-0.00536538237763,0.0698350671114,0.999999944165,0.000207954317767,-0.000261119417799,1.55180453692e-05,1793249556433193984
+31,0.516666667,BASELINE,766.987854726,745,718,679,661.012145274,636,877,783.012145274,812.012145274,651.012145274,629,653.987854726,0.40097716264,-0.00536484516933,0.0698351989177,0.99999994405,0.000207188795814,-0.000262201007431,1.49722816938e-05,1793249556449860608
+32,0.533333333,BASELINE,766.442475557,745,717.442475557,679,661,636,877.557524443,783,812.557524443,651,629,653.442475557,0.400978009282,-0.00536511182064,0.0698350531513,0.999999944248,0.000206970268864,-0.000261614124765,1.50111606031e-05,1793249556466528000
+33,0.550000000,BASELINE,766,745,717,678.866938104,661.133061896,636,877.866938104,783,812.866938104,651,629,653,0.400978475886,-0.00536527051797,0.0698346816866,0.999999944245,0.000207255123613,-0.000261394372672,1.508459506e-05,1793249556483195136
+34,0.566666667,BASELINE,766,745,717,678.270294581,661.729705419,636,877.270294581,783,812.270294581,651,629,653,0.400977481317,-0.00536499305545,0.0698335446355,0.999999943517,0.00020925287376,-0.000262578331605,1.52347432653e-05,1793249556499861504
+35,0.583333333,BASELINE,766,745,717.315870971,678.315870971,662,636,877,783,812,651,629,653,0.400977098562,-0.00536538109025,0.0698330761644,0.999999943304,0.000209188723971,-0.000263429643685,1.53828934802e-05,1793249556516527872
+36,0.600000000,BASELINE,766,745,717.893358333,678.893358333,662,636,877,783,812,651,629,653,0.400977222535,-0.00536632031529,0.0698331614366,0.999999943519,0.00020741683019,-0.000264005445076,1.55293888997e-05,1793249556533194496
+37,0.616666667,BASELINE,766,745,718,678.520370184,661.520370184,636,877,783.479629816,812,651,629,653,0.400978218226,-0.00536724556953,0.0698341527657,0.99999994437,0.000205852406392,-0.000261987206492,1.57100695108e-05,1793249556549861120
+38,0.633333333,BASELINE,766,745,718,678,661.066685968,636,877.066685968,784,812.066685968,651.066685968,629.066685968,653,0.400979108602,-0.00536789510942,0.0698350255307,0.999999945075,0.000204847615386,-0.000260070842384,1.58216130994e-05,1793249556566527744
+39,0.650000000,BASELINE,766,745,718,678,661.644507523,636,877.644507523,784,812.644507523,651.644507523,629.644507523,653,0.400977678452,-0.00536645560374,0.069833416608,0.999999943598,0.000207772137122,-0.000263438581981,1.53438887963e-05,1793249556583194880
+40,0.666666667,BASELINE,766,745,718,678,662,636,877.778463108,783.778463108,812.778463108,651.778463108,629.778463108,653,0.400977313178,-0.00536527278767,0.0698330046756,0.999999942999,0.000209566430214,-0.000264305101507,1.50525311841e-05,1793249556599861760
+41,0.683333333,BASELINE,766,745,718,678,662,636,877.202700435,783.202700435,812.202700435,651.202700435,629.202700435,653,0.400978650583,-0.00536450040477,0.0698345066674,0.999999943825,0.00020955354727,-0.00026117230214,1.50591640898e-05,1793249556616528384
+42,0.700000000,BASELINE,766,745.373718507,718,678,662,636,877,783.373718507,812,651,629,653.373718507,0.400977833463,-0.00536489036672,0.0698338464127,0.999999943751,0.000208865061724,-0.000261995020607,1.52599226872e-05,1793249556633195008
+43,0.716666667,BASELINE,766,745.95049401,718,678,662,636,877,783.95049401,812,651,629,653.95049401,0.400975845699,-0.00536591187956,0.0698320113185,0.999999943183,0.000207809492848,-0.000264966938507,1.55661579437e-05,1793249556649861376
+44,0.733333333,BASELINE,766,746,718,678,662,636,877,783.461502618,812,651,629,654,0.400975726386,-0.00536601442843,0.0698318861017,0.999999943087,0.000207581797074,-0.000265501779776,1.56079303107e-05,1793249556666528256
+45,0.750000000,BASELINE,766.125573232,745.874426768,717.874426768,678.125573232,661.874426768,635.874426768,877,783.125573232,812,651,629,653.874426768,0.400976260303,-0.00536607781364,0.0698322858673,0.99999994326,0.000207322571147,-0.000265055090007,1.561801431e-05,1793249556683194880
+46,0.766666667,BASELINE,766.705478943,745.294521057,717.294521057,678.705478943,661.294521057,635.294521057,877,783.705478943,812,651,629,653.294521057,0.400978522923,-0.00536631167863,0.0698340042007,0.999999944231,0.000206668034487,-0.000261885041097,1.56032869766e-05,1793249556699861504
+47,0.783333333,BASELINE,766.717968818,745,717.282031182,679,661.282031182,635.282031182,877,783.717968818,812,651.282031182,629,653.282031182,0.400979094067,-0.00536669681806,0.069834277072,0.999999944673,0.000205642881516,-0.000261008912863,1.54945311e-05,1793249556716528128
+48,0.800000000,BASELINE,766.144877339,745,717.855122661,679,661.855122661,635.855122661,877,783.144877339,812,651.855122661,629,653.855122661,0.400977919583,-0.00536723807494,0.0698330582054,0.999999944574,0.000204235247026,-0.000262500143854,1.52887363929e-05,1793249556733195008
+49,0.816666667,BASELINE,766,745,717.56951993,679.43048007,661.56951993,636,877,783,812,651.56951993,629,653.56951993,0.400976831366,-0.00536734723515,0.0698331772449,0.999999944339,0.000204139144171,-0.000263457117988,1.54691059173e-05,1793249556749861632
+50,0.833333333,BASELINE,766,745,717.006807533,679.986384933,661.006807533,636,877,783.006807533,812,651,628.993192467,653,0.400975800335,-0.00536730323758,0.0698337415397,0.999999944063,0.000204502717826,-0.000264205999238,1.57703412544e-05,1793249556766528256
+51,0.850000000,BASELINE,766,745,717.600680793,678.798638415,661.600680793,636,877,783.600680793,812,651,628.399319207,653,0.40097718394,-0.00536665843324,0.0698336679096,0.999999944138,0.000206241532607,-0.000262597302399,1.52277586261e-05,1793249556783194880
+52,0.866666667,BASELINE,766,745,717.811273303,678,662,636,877,784,812.188726697,651,628.188726697,653,0.400977540127,-0.00536674219772,0.0698332017236,0.999999944125,0.000206462275194,-0.000262489768184,1.49221925632e-05,1793249556799861248
+53,0.883333333,BASELINE,766,745,717.235187991,678,662,636,877,784,812.764812009,651,628.764812009,653,0.400975787551,-0.00536832133845,0.0698319298223,0.999999943931,0.00020356719806,-0.000265463347055,1.51030993554e-05,1793249556816527872
+54,0.900000000,BASELINE,766,745,717.340008532,678.340008532,661.659991468,636,877,783.659991468,812.659991468,651,629,653,0.400976335461,-0.00536884489687,0.0698324972879,0.999999944361,0.000202550728845,-0.000264608908878,1.52686903494e-05,1793249556833194496
+55,0.916666667,BASELINE,766,745,717.914591846,678.914591846,661.085408154,636,877,783.085408154,812.085408154,651,629,653,0.400978470494,-0.00536864019999,0.0698343337485,0.999999945221,0.000202830327354,-0.000261113489007,1.5423714836e-05,1793249556849860864
+56,0.933333333,BASELINE,766,745,717.497934739,678.497934739,661,636,877,783,812.502065261,651,629,653.502065261,0.400978408353,-0.00536801098865,0.0698343836158,0.999999945056,0.000203190352544,-0.000261477251236,1.52251595978e-05,1793249556866527744
+57,0.950000000,BASELINE,766,745,717,678.089972973,661.089972973,636,877,783,812.910027027,651,629,653.910027027,0.40097800331,-0.00536710462315,0.069834212699,0.999999944631,0.000204208574363,-0.000262318343173,1.50298438171e-05,1793249556883194880
+58,0.966666667,BASELINE,766,745,717,678.668027662,661.668027662,636,877,783,812.331972338,651,629,653.331972338,0.400977819143,-0.00536509683909,0.0698345362396,0.999999943756,0.000208721178715,-0.000262093637404,1.51869918567e-05,1793249556899861504
+59,0.983333333,BASELINE,766,745,717.245716761,678.754283239,661.754283239,635.754283239,877,783,812.245716761,651,628.754283239,653.245716761,0.400977477152,-0.00536476954373,0.069834497075,0.999999943554,0.000209450149834,-0.000262280097291,1.524182508e-05,1793249556916528128
+60,1.000000000,BASELINE,766,745,717.822912753,678.177087247,661.177087247,635.177087247,877,783,812.822912753,651,628.177087247,653.822912753,0.400976922251,-0.0053667092774,0.0698339686101,0.999999944267,0.000205074887664,-0.000263021231864,1.51586325912e-05,1793249556933194752
+61,1.016666667,BASELINE,766,745,717.594123085,678,661,635.405876915,877,783,812.594123085,651,628.405876915,653.594123085,0.400977264218,-0.00536709409827,0.0698338180735,0.999999944442,0.000204523004868,-0.000262794180034,1.49971620592e-05,1793249556949861376
+62,1.033333333,BASELINE,766,745,717.008605978,678,661,635.991394022,877,783,812.008605978,651,628.991394022,653.008605978,0.400978003135,-0.00536679071819,0.069833834807,0.999999944383,0.000205663341282,-0.000262138611077,1.48010458496e-05,1793249556966528000
+63,1.050000000,BASELINE,766,745.570351223,717,678,661,635.429648777,877,783,812,651,629,653,0.40097660486,-0.00536539249212,0.0698333123378,0.999999944048,0.000206605554107,-0.000262694293241,1.44912503687e-05,1793249556983194368
+64,1.066666667,BASELINE,766,745.850974311,717,678,661.149025689,635.149025689,877.149025689,783,812,651,629,653,0.400975883268,-0.0053644710637,0.0698331876878,0.999999943866,0.000207335330503,-0.000262822645629,1.43206768416e-05,1793249556999860992
+65,1.083333333,BASELINE,766,745.272832231,717,678,661.727167769,635.727167769,877.727167769,783,812,651,629,653,0.400977201977,-0.00536496959254,0.0698342317113,0.999999944139,0.000207461910773,-0.000261668482457,1.45558730662e-05,1793249557016527616
+66,1.100000000,BASELINE,766,745,717,678,661.696132896,636,877.696132896,783,812,651,628.696132896,653,0.400978217736,-0.00536525018655,0.069834770099,0.999999944316,0.000207736345857,-0.000260760131705,1.47638883439e-05,1793249557033194496
+67,1.116666667,BASELINE,766,745,717,678,661.120722864,636,877.120722864,783,812,651,628.120722864,653,0.400978962771,-0.00536533602875,0.0698348566386,0.999999944408,0.000208142907541,-0.000260071444888,1.49476140632e-05,1793249557049861632
+68,1.133333333,BASELINE,766,745,717,678.463920276,661,636,877.463920276,783,812,651,628.463920276,653,0.400977928419,-0.00536567599851,0.0698339599461,0.999999943906,0.000208724685026,-0.000261529525251,1.50009526805e-05,1793249557066528000
+69,1.150000000,BASELINE,766,745.050256076,717,679,661.050256076,636,877.949743924,783,812,651,629,653,0.400976721313,-0.00536596394581,0.0698330716837,0.999999943371,0.000209293675085,-0.000263111186227,1.50246081841e-05,1793249557083194624
+70,1.166666667,BASELINE,766,745.628617735,717,679,661.628617735,636,877.371382265,783,812,651,629,653,0.400978663389,-0.0053649962018,0.0698350152545,0.999999944195,0.000209239433106,-0.00026000192015,1.51001288547e-05,1793249557099860992
+71,1.183333333,BASELINE,766.206970144,745.793029856,717,679,661.793029856,636,877,783.206970144,812,651,629,653.206970144,0.400980059759,-0.00536446759223,0.0698361181763,0.999999944763,0.000209106023668,-0.000257917375158,1.50458843888e-05,1793249557116527616
+72,1.200000000,BASELINE,766.785306053,745.214693947,717,679,661.214693947,636,877,783.785306053,812,651,629,653.785306053,0.400980476973,-0.00536472691982,0.0698357127253,0.999999944889,0.000208830564344,-0.000257671482917,1.47588028294e-05,1793249557133193984
+73,1.216666667,BASELINE,766.639531236,745,717,679,661,636,877,783.639531236,812.360468764,651,629,653.639531236,0.400979550755,-0.00536548338218,0.0698350235957,0.999999944952,0.00020696553292,-0.000258936279676,1.46363828211e-05,1793249557149860864
+74,1.233333333,BASELINE,766.066242013,745,717,679,661,636,877,783.066242013,812.933757987,651,629,653.066242013,0.400977831378,-0.00536653335248,0.0698341669828,0.999999944967,0.00020416201947,-0.000261092985973,1.46111788724e-05,1793249557166527744
+75,1.250000000,BASELINE,766,745,717,678.477026346,661,636,876.477026346,783.522973654,812.477026346,651,629,653,0.400977620177,-0.00536724728189,0.0698342490158,0.99999994475,0.000204893788079,-0.000261340966495,1.48256979025e-05,1793249557183194880
+76,1.266666667,BASELINE,766,745,717,678.111842027,661,636,876.111842027,783.888157973,812.111842027,651,629,653,0.400977671675,-0.00536752823687,0.0698344294179,0.999999944533,0.000205891336276,-0.00026137778446,1.49966550264e-05,1793249557199861504
+77,1.283333333,BASELINE,766,745,717,678.690574705,661,636,876.690574705,783.309425295,812.690574705,651,629,653,0.400977997293,-0.00536618498477,0.0698345085523,0.999999944447,0.000206070341201,-0.000261574064225,1.4855021655e-05,1793249557216528128
+78,1.300000000,BASELINE,766.268146183,745.268146183,717,678.731853817,661.268146183,636,877,783,812.731853817,651,629,653,0.400978050091,-0.00536537701321,0.0698344429921,0.999999944266,0.000207029171272,-0.000261515050596,1.4710517094e-05,1793249557233194752
+79,1.316666667,BASELINE,766.844383443,745.844383443,717,678.155616557,661.844383443,636,877,783,812.155616557,651,629,653,0.400977789425,-0.00536518406133,0.0698342111826,0.999999943975,0.000208883994576,-0.000261162713308,1.45627136413e-05,1793249557249861376
+80,1.333333333,BASELINE,766.571771616,745.571771616,717.428228384,678.428228384,661.571771616,636,877,783,812.428228384,651,628.571771616,653,0.400979120028,-0.00536551518952,0.0698354376242,0.999999944897,0.00020666452202,-0.000259391574707,1.4532812108e-05,1793249557266527488
+81,1.350000000,BASELINE,766,745,718,678.985324155,661,635.985324155,877,783.014675845,812.985324155,651,628.014675845,653,0.400980970976,-0.00536605259677,0.0698371412867,0.999999946211,0.00020302130362,-0.000257193960446,1.45583954968e-05,1793249557283193856
+82,1.366666667,BASELINE,766,745,718,678.407023624,661,635.407023624,877,783.592976376,812.407023624,651,628.592976376,653,0.400980196025,-0.00536706567643,0.0698364528347,0.999999945883,0.000202589390055,-0.000258776804728,1.50396488488e-05,1793249557299860992
+83,1.383333333,BASELINE,766,745,717.828219314,678,661,635,877,783.828219314,812,651,629,653.171780686,0.400979587767,-0.00536749356228,0.0698356988881,0.999999945442,0.000203230819311,-0.0002599620573,1.52699992847e-05,1793249557316528128
+84,1.400000000,BASELINE,766,745,717.248217704,678,661,635,877,783.248217704,812,651,629,653.751782296,0.400979375641,-0.00536653078935,0.0698347892994,0.999999944731,0.000206422948497,-0.000260202470243,1.49041022259e-05,1793249557333195008
+85,1.416666667,BASELINE,766,745.328127154,717,678,661,635.328127154,877,783,812,651,629,653.671872846,0.400979106808,-0.00536585879337,0.0698344840088,0.999999944472,0.000208011744093,-0.00025993994462,1.48094062401e-05,1793249557349861376
+86,1.433333333,BASELINE,766,745.901736249,717,678,661,635.901736249,877,783,812,651,629,653.098263751,0.400978795551,-0.00536540433657,0.0698346308119,0.999999944555,0.000208401036689,-0.000259301155286,1.49176040791e-05,1793249557366527744
+87,1.450000000,BASELINE,766,745.510983017,717.489016983,678.489016983,661,636,877,783.489016983,812,651.489016983,629,653.489016983,0.400978172257,-0.00536619491802,0.0698344079098,0.999999944642,0.000206826854033,-0.000260217658773,1.50104468269e-05,1793249557383194624
+88,1.466666667,BASELINE,766,745,717.922512118,679,661,636,877,783.922512118,812,651.922512118,628.922512118,653.922512118,0.400977319025,-0.00536708020168,0.0698340277779,0.999999944647,0.000205128511094,-0.000261537194225,1.50624560257e-05,1793249557399861248
+89,1.483333333,BASELINE,766,745,717.34460681,679,661,636,877,783.34460681,812,651.34460681,628.34460681,653.34460681,0.400975397425,-0.00536691494141,0.0698331258128,0.99999994414,0.0002052495882,-0.000263383190809,1.48712609205e-05,1793249557416528128
+90,1.500000000,BASELINE,766.233016883,745,717,679,661,636,877,783,812,651,628.233016883,653,0.400975757815,-0.00536687249089,0.0698337839195,0.999999944226,0.000205808579141,-0.000262622496502,1.48585112786e-05,1793249557433194752
+91,1.516666667,BASELINE,766.810224548,745,717,679,661,636,877,783,812,651,628.810224548,653,0.400979488946,-0.00536701144346,0.0698367464186,0.999999945173,0.000207014415496,-0.00025801144163,1.510934463e-05,1793249557449861120
+92,1.533333333,BASELINE,766.606807477,745,717,678.606807477,661.786385046,636,877,783,812,651,629,653,0.400979965867,-0.00536698412582,0.0698365438248,0.99999994531,0.000206557259126,-0.000257848278885,1.51315665281e-05,1793249557466527744
+93,1.550000000,BASELINE,766.021017884,745,717,678.021017884,662.957964232,636,877,783,812,651,629,653,0.400978848781,-0.00536687536424,0.0698347908773,0.999999945051,0.000205285520928,-0.000259863821939,1.50418079467e-05,1793249557483194112
+94,1.566666667,BASELINE,766,745.558023754,717,678.558023754,661.883952493,636,877,783,812,651,629,653.558023754,0.400979364923,-0.00536790568925,0.0698352430234,0.999999945677,0.000203594312293,-0.00025878394912,1.50527198265e-05,1793249557499860736
+95,1.583333333,BASELINE,766,745.863984468,717.136015532,679,661,636,877.136015532,783.136015532,812,651,629,653.863984468,0.400979674785,-0.0053684510542,0.0698355349402,0.999999945971,0.000202681980222,-0.000258363501405,1.50556496381e-05,1793249557516527360
+96,1.600000000,BASELINE,766,745.288572847,717.711427153,679,661,636,877.711427153,783.711427153,812,651,629,653.288572847,0.400979121916,-0.00536729282022,0.0698350441381,0.999999945095,0.00020433622607,-0.000260445452992,1.50206907061e-05,1793249557533193984
+97,1.616666667,BASELINE,766.288622449,745,718,679,661,636,877.711377551,783.711377551,812,651,629,653,0.400978731437,-0.00536628173633,0.0698350159724,0.999999944615,0.000206015401736,-0.00026097215167,1.48779320108e-05,1793249557549860864
+98,1.633333333,BASELINE,766.867612166,745,718,679,661,636,877.132387834,783.132387834,812,651,629,653,0.400978504329,-0.00536541869219,0.0698354532399,0.999999944536,0.00020771965783,-0.000259934195283,1.46267218684e-05,1793249557566527488
+99,1.650000000,BASELINE,766.555079614,745.444920386,717.555079614,678.555079614,661.444920386,636,877,783.444920386,812.444920386,651,629,653,0.400978815092,-0.0053656387088,0.0698357333061,0.999999944916,0.000206975588993,-0.000259067284246,1.46347770927e-05,1793249557583194112
+100,1.666666667,BASELINE,766,746,717.022148803,678,662,636,877,783.977851197,812.977851197,651,629,653,0.400979244772,-0.00536618019875,0.0698359240971,0.9999999454,0.000205568749034,-0.000258313324357,1.47170410846e-05,1793249557599860736
+101,1.683333333,BASELINE,766,746,717.610071562,678,662,636,877,783.389928438,812.389928438,651,629,653,0.400978639275,-0.0053667323576,0.0698350247769,0.999999945141,0.000205771062064,-0.000259149429434,1.47317095854e-05,1793249557616527360
+102,1.700000000,BASELINE,766,745.804780474,718,678.195219526,662,636,877.195219526,783,812.195219526,651,629,653,0.400978336762,-0.00536716785652,0.0698345674657,0.999999944978,0.000206106927906,-0.000259506913706,1.48090252995e-05,1793249557633193984
+103,1.716666667,BASELINE,766,745.225097235,718,678.774902765,662,636,877.774902765,783,812.774902765,651,629,653,0.400978630944,-0.00536737360627,0.0698349806435,0.999999945003,0.000206705811519,-0.000258921806047,1.50097179124e-05,1793249557649860608
+104,1.733333333,BASELINE,766,745,718,679,661.649078433,636,877.649078433,783.350921567,812.649078433,651,629,653.350921567,0.400977511898,-0.00536757310287,0.0698344071819,0.999999944735,0.000206120553678,-0.000260420208206,1.49990808334e-05,1793249557666527232
+105,1.750000000,BASELINE,766,745,718,679,661.075385823,636,877.075385823,783.924614177,812.075385823,651,629,653.924614177,0.400975495708,-0.00536776862987,0.0698332073847,0.999999944274,0.000204783582539,-0.000263241258159,1.48542880525e-05,1793249557683194112
+106,1.766666667,BASELINE,766,745.500201527,718,678.499798473,661,636,877,784,812,651,629,654,0.400977753112,-0.00536802436154,0.0698351829955,0.999999944815,0.000205694019182,-0.000260435057816,1.52598837761e-05,1793249557699860992
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,717,679,663,636,877,783,812,651,629,653,0.400975513158,-0.00536670399494,0.0698334449903,0.999999944118,0.0002056858846,-0.000263115447677,1.50778890284e-05,1793249557742476288
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.423997994,745,717.576002006,679,662.423997994,636,877,783.576002006,812,651,629,653,0.400976660454,-0.00536586890901,0.0698338733501,0.999999943947,0.000207694385367,-0.000262200028019,1.48200510518e-05,1793249557759142656
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,718,679,662,635.848658128,877,783.848658128,812.151341872,651,629,653.151341872,0.400977388088,-0.00536543247892,0.0698341199744,0.999999943909,0.000208678880076,-0.000261569884453,1.46819831851e-05,1793249557775809024
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,718,679,662,635.275165095,877,783.275165095,812.724834905,651,629,653.724834905,0.400976945122,-0.00536610805434,0.0698338596679,0.999999944252,0.000206807025315,-0.000261735486311,1.48780005347e-05,1793249557792475648
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,717.691703903,679,661.691703903,635.308296097,877,783.308296097,813,651,629,653.691703903,0.400976657312,-0.00536602600002,0.0698337623056,0.999999944277,0.00020648242306,-0.000261896251357,1.48984637064e-05,1793249557809142272
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,717.099048539,679,661.099048539,635.900951461,877,783.900951461,813,651,629,653.099048539,0.400976512611,-0.00536524514007,0.0698338152361,0.99999994401,0.000207584941123,-0.000262052555122,1.47570031253e-05,1793249557825808896
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,717,678.518056717,661.481943283,636,877,784,813,651,629,653.481943283,0.400977315203,-0.00536601522893,0.0698346647019,0.999999944342,0.000206930262623,-0.000261294796202,1.48477524774e-05,1793249557842475520
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.06031781,745,717,678.06031781,662,636,877,783.93968219,812.93968219,651,628.93968219,653.93968219,0.400978620652,-0.00536691690541,0.0698357092327,0.999999944794,0.000205933631314,-0.000260345675683,1.49644476483e-05,1793249557859142400
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+116,1.933333333,POSE1_TO_POSE2_PRESS,766.784128378,745,717.215871622,679,662,636,877,783,812,651,628.215871622,653,0.400994023737,-0.00536662035933,0.0698419289373,0.999999947078,0.000204821796216,-0.000252307702777,1.52664556701e-05,1793249557892475392
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+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,717.724877056,679,661,636,877,783.724877056,812,651.724877056,628.724877056,653.275122944,0.401391608822,-0.00537519558119,0.0699038743353,0.999999966631,0.000201670636161,-0.00016098283783,1.2325670692e-05,1793249558009142272
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,717.135287756,679,661,636,877,783.135287756,812,651.135287756,628.135287756,653.864712244,0.401486988759,-0.0053781424859,0.0699017365364,0.999999966715,0.000197952141379,-0.00016517635288,1.01121505782e-05,1793249558025808896
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,717.445833643,678.554166357,661,636,877.445833643,783.445833643,812.445833643,651,628.445833643,654,0.401604349842,-0.00537964314718,0.0699016690494,0.999999967101,0.000195795287173,-0.000165544817609,7.53472919416e-06,1793249558042475520
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.024297633,718,678,661.024297633,636,877.975702367,784,812.975702367,651,629,654,0.401729670334,-0.00538084129492,0.0699023974471,0.999999967636,0.000194002904981,-0.000164523044934,4.83827682e-06,1793249558059142144
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.599683416,718,678,661.599683416,636,877.400316584,784,812.400316584,651,629,654,0.401887051899,-0.00538494637463,0.0699071938769,0.99999996951,0.000189929443775,-0.000157804671636,1.8999609337e-06,1793249558075808768
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.175228466,746,718,678.175228466,662,636,877,783.824771534,812.175228466,651,628.824771534,654,0.402054682702,-0.00538835627028,0.069911218587,0.999999971107,0.000186593618137,-0.000151546750881,-1.35317850774e-06,1793249558092475648
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.751137622,746,718,678.751137622,662,636,877,783.248862378,812.751137622,651,628.248862378,654,0.402245749581,-0.00539017654449,0.0699134786673,0.999999972176,0.000184944484378,-0.000146341710464,-5.3261989793e-06,1793249558109142272
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.663942327,746,718,679,662,636,877,783,812.663942327,651.336057673,628.336057673,653.663942327,0.402456190051,-0.00539389492348,0.0699152696338,0.999999973955,0.000178263997347,-0.000142166696695,-1.00473292027e-05,1793249558125808896
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.072165481,746,718,679,662,636,877,783,812.072165481,651.927834519,628.927834519,653.072165481,0.40268137265,-0.00539905764339,0.0699167036337,0.999999976182,0.000167754960424,-0.00013877546915,-1.53377252516e-05,1793249558142475520
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.507175822,745.492824178,718,679,662,636,877,783.507175822,812,651.492824178,629,653.507175822,0.402945116342,-0.00540311373008,0.0699207990518,0.99999997848,0.00016086094781,-0.000129374883414,-2.0631090817e-05,1793249558159142144
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.916036063,745.083963937,718,679,662,636,877.083963937,784,812.083963937,651,629,654,0.403220508315,-0.00540746560852,0.0699263272631,0.999999980907,0.000154078018943,-0.000117394441825,-2.57729811415e-05,1793249558175809024
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.344049221,745.655950779,718,679,662,636,877.655950779,784,812.655950779,651,629,654,0.403532475866,-0.00541443002609,0.0699380349066,0.999999984495,0.000145022576032,-9.52700662752e-05,-3.00320582492e-05,1793249558192475904
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.764527705,717.764527705,679,662,636,878,784,812.764527705,651,629,654,0.403857513216,-0.00542084804686,0.0699459130189,0.999999988755,0.00012070997917,-8.20914316471e-05,-3.43554819652e-05,1793249558209142528
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.173633382,717.173633382,679,662,636,878,784,812.173633382,651,629,654,0.404202278109,-0.00542644133552,0.0699480108337,0.999999993161,7.33682251586e-05,-8.24155051457e-05,-3.87760302055e-05,1793249558225809152
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.408529082,717.408529082,679,662,636,878,784,812.408529082,651,629,654,0.404577081834,-0.00543341313191,0.0699514060996,0.999999994034,6.73617550441e-05,-7.92280411214e-05,-3.34380791609e-05,1793249558242475776
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.987057973,717.987057973,679,662,636,878,784,812.987057973,651,629,654,0.404964385506,-0.00544095856187,0.0699553412693,0.999999993844,7.85559963387e-05,-7.45793330331e-05,-2.40393571175e-05,1793249558259142400
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.564566156,745.435433844,718,679,662,636,878,783.435433844,812.435433844,651,629,654,0.405386048367,-0.00546430325314,0.0699571138187,0.999999995487,5.67777626781e-05,-7.19747816014e-05,-2.49215585659e-05,1793249558275809024
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.859061643,745.140938357,718,679,662,636.140938357,878,783,812,651,629,653.859061643,0.405815887563,-0.0054847602031,0.0699574147591,0.999999996537,3.44360400121e-05,-7.11546967629e-05,-2.6027105812e-05,1793249558292475392
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.286100116,745.713899884,718,679,662,636.713899884,878,783,812,651,629,653.286100116,0.406268379846,-0.00549525705767,0.069953356417,0.99999999669,1.2679809029e-05,-7.56612168952e-05,-2.7096153436e-05,1793249558309142272
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.295179205,746,717.704820795,679,662,636.704820795,878,783,812.295179205,651,629,653,0.406744535211,-0.00549826367501,0.0699427265637,0.999999995451,6.97303101715e-06,-9.05977951464e-05,-2.90176725381e-05,1793249558325809152
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.884754317,746,717.115245683,679,662,636.115245683,878,783,812.884754317,651,629,653,0.407244290922,-0.00549379993274,0.0699255426371,0.999999992625,1.72731139888e-05,-0.000115936754476,-3.17894010929e-05,1793249558342475776
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.53308484,746,717,679,662,636.46691516,878,783,813,651,629,653,0.407805215216,-0.00550339569591,0.0699271644711,0.999999993785,3.22172554978e-06,-0.000106393541466,-3.31753869666e-05,1793249558359142400
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,717,679,662,636.95317059,878.09365882,783,813,650.95317059,628.95317059,653,0.408384864614,-0.00551570949468,0.0699340008313,0.999999995473,-1.55497438059e-05,-8.73883315061e-05,-3.4283515785e-05,1793249558375808768
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,717,679,662,636.378275951,879.243448098,783,813,650.378275951,628.378275951,653,0.409008077814,-0.00552015309166,0.0699481146796,0.999999997494,-2.08292186923e-05,-5.7255228645e-05,-3.60550404817e-05,1793249558392475392
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.195919211,745.804080789,717,679.195919211,662.195919211,636.195919211,879.804080789,783.195919211,813,650.195919211,628.195919211,653.195919211,0.409625040691,-0.00552508999125,0.069953937909,0.999999997942,-2.83972516569e-05,-4.34017875691e-05,-3.77601773155e-05,1793249558409142272
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.768768609,745.231231391,717,679.768768609,662.768768609,636.768768609,879.231231391,783.768768609,813,650.768768609,628.768768609,653.768768609,0.410229978495,-0.00553097595851,0.0699438107644,0.999999996559,-4.03682554392e-05,-6.0868890857e-05,-3.93375900637e-05,1793249558425809152
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.645511756,745.354488244,717.354488244,680,662.645511756,636.645511756,879,783.645511756,813,651,629,654,0.410882101389,-0.00553829356151,0.0699400804526,0.999999995585,-4.85315878319e-05,-6.97445736982e-05,-4.01263237653e-05,1793249558442476032
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.051080653,745.948919347,717.948919347,680,662.051080653,636.051080653,879,783.051080653,813,651,629,654,0.411566162484,-0.00554658019719,0.0699406799726,0.99999999507,-5.41176169042e-05,-7.28049713624e-05,-4.03812233313e-05,1793249558459142400
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.5272388,746,718,679.4727612,662,636,879.5272388,783.5272388,813,650.4727612,628.4727612,653.4727612,0.41231428017,-0.00554538828276,0.0699691505246,0.999999997287,-5.75764917213e-05,-2.29509316234e-05,-3.98119250439e-05,1793249558475809024
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.896275018,745.896275018,717.896275018,679.103724982,662.103724982,636.103724982,879.896275018,784,813,650,628,653.103724982,0.413070281133,-0.00553889976774,0.0699984944583,0.999999997371,-5.45599534522e-05,2.70082683249e-05,-3.93881037288e-05,1793249558492475904
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.321236713,745.321236713,717.321236713,679.678763287,662.678763287,636.678763287,879.321236713,784,813,650,628,653.678763287,0.413834739315,-0.00551239313473,0.0700199011957,0.999999997432,-2.30286096655e-05,5.48417216478e-05,-3.99773864017e-05,1793249558509143552
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,717,679.740279224,662.740279224,637,879,783.740279224,813,650,628.259720776,653.740279224,0.414570935706,-0.00549860732354,0.0700145080163,0.999999998371,-4.4097762567e-06,3.93970730224e-05,-4.10737691978e-05,1793249558525810688
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,717,679.151829743,662.151829743,637,879,783.151829743,813,650,628.848170257,653.151829743,0.415271361241,-0.00550092225869,0.0699751941729,0.999999998606,-2.13430882428e-06,-3.08246852122e-05,-4.28119888557e-05,1793249558542477312
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,717,679.429488547,662.429488547,637,879,783,813,650.429488547,629,653.429488547,0.416046705471,-0.00551103152676,0.0699345347035,0.999999994264,-2.00499445195e-05,-9.4666914483e-05,-4.5911408162e-05,1793249558559143680
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.008377119,745,717,680.008377119,663,636.991622881,879.008377119,783,813,651,628.991622881,654,0.416848569776,-0.00552370030241,0.0698943940856,0.999999985797,-4.46841986249e-05,-0.000154807385201,-4.94291306297e-05,1793249558575810048
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.590698994,745,717,680.590698994,663,636.409301006,879.590698994,783,813,651,628.409301006,654,0.417682496005,-0.00552603138562,0.0699218608114,0.99999999119,-4.8585242732e-05,-0.000113319012154,-4.91759590373e-05,1793249558592476160
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,717.169180097,681,663.169180097,636.169180097,880.169180097,783,813,651,628.169180097,654,0.418535927351,-0.00552779885865,0.0699498482492,0.999999994947,-5.1533784099e-05,-7.14398469452e-05,-4.84412915963e-05,1793249558609142784
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745,717.738575371,681,663.738575371,636.738575371,880.738575371,783,813,651,628.738575371,654,0.41943550027,-0.00552823304616,0.0699790674906,0.999999997142,-5.22290694381e-05,-2.86362202453e-05,-4.65675899085e-05,1793249558625809664
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.679886954,745,718,681,663.679886954,637,881,783.320113046,813,650.679886954,628.679886954,654,0.420332926957,-0.00552719113819,0.0700054242154,0.999999997511,-5.18608198707e-05,1.23030691318e-05,-4.62311092652e-05,1793249558642476288
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.088042084,745,718,681,663.088042084,637,881,783.911957916,813,650.088042084,628.088042084,654,0.421228531745,-0.00552489622873,0.0700293510571,0.999999996272,-5.05897758192e-05,5.16597910575e-05,-4.71995173576e-05,1793249558659143168
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,717.508018676,681,663.491981324,637,881.491981324,783.508018676,813,650.491981324,628.491981324,654,0.42211405249,-0.00552171459246,0.0700170027781,0.999999997223,-4.94223901282e-05,2.8271572624e-05,-4.80888945721e-05,1793249558675810048
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.069474328,717,681,663.930525672,637,882,783.069474328,813,651,628.930525672,654,0.422986026926,-0.00551888463873,0.0699901244845,0.999999997407,-4.90031554448e-05,-1.78315718496e-05,-4.9670532094e-05,1793249558692476928
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.643592712,717,681,663.356407288,637,882,783.643592712,813,651,628.356407288,654,0.423772404373,-0.00551973481064,0.0699037506231,0.999999985816,-5.38867205356e-05,-0.000149283240877,-5.63808938325e-05,1793249558709143296
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,717,681,663,637,882,784,813,651,628,653.776869375,0.424591647016,-0.00552229998396,0.0698527364248,0.999999971461,-6.12163113308e-05,-0.000222732070855,-6.10005909449e-05,1793249558725809664
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,717,681,663,637,882,784,813,651,628,653.188459242,0.42546469227,-0.00552767272751,0.0698596083067,0.999999975188,-7.25502090633e-05,-0.000201226463415,-6.21977349311e-05,1793249558742476288
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.393560095,746,717,681,663.393560095,637,882.393560095,784,813.393560095,651,628.393560095,653.393560095,0.426419157787,-0.00552899274013,0.0699043611983,0.999999986284,-7.50646681622e-05,-0.000135291420397,-5.91031785744e-05,1793249558759142912
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.972568016,746,717,681,663.972568016,637,882.972568016,784,813.972568016,651,628.972568016,653.972568016,0.427411988957,-0.00552840308184,0.0699669638434,0.999999994675,-7.34233548931e-05,-4.84209671232e-05,-5.39863474006e-05,1793249558775809280
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.451389322,745.451389322,717,681,663.451389322,637,883,783.451389322,814,650.451389322,628.451389322,654,0.428388072566,-0.00552818132251,0.0700078008067,0.999999996202,-6.81968925869e-05,1.28513832824e-05,-5.27339378075e-05,1793249558792476416
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.124192329,745,717.124192329,681.124192329,663.124192329,637,883.124192329,783.124192329,814,650.124192329,628,654,0.429346691259,-0.00552925076132,0.0700394935994,0.999999994535,-6.62989624924e-05,6.17533048362e-05,-5.2155925063e-05,1793249558809143552
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.698637239,745,717.698637239,681.698637239,663.698637239,637,883.698637239,783.698637239,814,650.698637239,628,654,0.430245011502,-0.0055349350344,0.0700419592052,0.999999993125,-7.71148757158e-05,7.04224270828e-05,-5.33261188084e-05,1793249558825810176
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745.280477133,718,682,664.280477133,637,884.280477133,784,814,651,628.280477133,654,0.431073279012,-0.00553911018925,0.070004663056,0.999999994957,-8.35939422495e-05,6.98629394963e-06,-5.52194102157e-05,1793249558842476800
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745.870477804,718,682,664.870477804,637,884.870477804,784,814,651,628.870477804,654,0.43182423902,-0.00554161994017,0.0699234873969,0.999999985435,-8.52870333039e-05,-0.000136022365611,-5.79106828831e-05,1793249558859143424
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.546250899,746,717.546250899,682,664.546250899,637,885,784,814.453749101,651,629,654,0.432672309212,-0.00554038904808,0.0698915548846,0.999999978385,-8.57412215367e-05,-0.000179318639204,-6.10244410027e-05,1793249558875809536
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.96530726,717,682,664,637,885.03469274,784,815,651,629,654,0.433552004426,-0.00553828316033,0.0698788824273,0.999999976859,-8.57557735174e-05,-0.000186697295277,-6.38124332172e-05,1793249558892476160
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.391126237,717,682,664,637,885.608873763,784,815,651,629,654,0.43449872299,-0.00553893223873,0.0699503235485,0.999999992092,-8.43527263558e-05,-7.16816965451e-05,-5.96866571467e-05,1793249558909142784
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.187360892,717,681.812639108,664.187360892,637,885.812639108,784,815,651,629,654,0.435410822298,-0.00554061538632,0.0700057907088,0.999999994714,-8.39895571274e-05,1.74309658516e-05,-5.66967420333e-05,1793249558925809664
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+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,717,683.267041572,661,634,886,781.732958428,816,651,628.267041572,654,0.451805582614,-0.00557681911806,0.0695793446952,0.999999783424,-0.000118022521475,-0.000644767957959,-5.91367667825e-05,1793249559975808768
+242,4.033333333,HOLD_POSE2,766,746,717,684,661,633,887,781,815,651,629,654,0.451806187708,-0.00557575299729,0.0695785591639,0.999999783147,-0.000115278063224,-0.000645707156585,-5.89898502605e-05,1793249560011816192
+243,4.050000000,HOLD_POSE2,766.579384009,746,717,684,661,633.579384009,887,781,815.579384009,651,628.420615991,654,0.451804007439,-0.005575357703,0.0695765105493,0.999999781486,-0.000114053392529,-0.00064852681338,-5.85850679163e-05,1793249560028482816
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+247,4.116666667,HOLD_POSE2,766,746,717,683.100276076,660.899723924,633.100276076,886.899723924,781,815.899723924,651,628.100276076,654,0.451806562544,-0.00557645858394,0.0695777534838,0.999999783737,-0.000113577364853,-0.000645182910216,-5.80152174484e-05,1793249560095149568
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+249,4.150000000,HOLD_POSE2,766,746,717,683,661.941555043,634,886.941555043,781,816,651.941555043,628,654,0.451803020047,-0.0055764703561,0.069574025007,0.999999778568,-0.000115735801692,-0.000652668561733,-5.90967596894e-05,1793249560128482816
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,717,678,661,636,877,783,812.831443397,651,629,653.831443397,0.400978793594,-0.00535742264365,0.0698301983434,0.999999939616,0.000220778741728,-0.000268007619647,1.4001346682e-05,1793249562477796352
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,717.416562867,678.416562867,661,636,877,783.416562867,813,651,629,654,0.400979307518,-0.00535773992689,0.0698304616647,0.999999939992,0.000219848465838,-0.000267373343928,1.39366024255e-05,1793249562494462976
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,636,877,783.993923045,812.993923045,651.006076955,629,654,0.400979349153,-0.0053584974164,0.0698303413768,0.999999940504,0.000217497227617,-0.000267386409695,1.38197763155e-05,1793249562511129600
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,636,877,783.415839264,812.415839264,651.584160736,629,654,0.400978512756,-0.00535901189564,0.0698295411105,0.999999940426,0.000216963884519,-0.000268112003281,1.38387652529e-05,1793249562527796224
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.309141128,745.309141128,717,678.690858872,661,636,877,783,813,651,629,654,0.400978429118,-0.00535868254635,0.0698312950866,0.999999940593,0.000217643237303,-0.000266928986861,1.3941018971e-05,1793249562577795840
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.879826163,745.879826163,717,678.120173837,661,636,877,783,813,651,629,654,0.400977323022,-0.00535842118838,0.0698301865831,0.999999940601,0.000215913394798,-0.000268329041689,1.34008863649e-05,1793249562594462464
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ce3e0e6c5cf3703bc2319f820700f826625139cf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,403 @@
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+381,6.350000000,pose2_to_pose3_retreat,0.575666520995,0.000150131904042,1.06003353113,0.546237200716,0.00882276970576,1.05970491993
+382,6.366666667,pose2_to_pose3_retreat,0.57566628761,0.000150134532858,1.06003353029,0.546236967073,0.00882277145783,1.05970491903
+383,6.383333333,pose2_to_pose3_retreat,0.575666076135,0.000150136914885,1.06003352952,0.546236755365,0.00882277304542,1.05970491821
+384,6.400000000,pose2_to_pose3_retreat,0.575665859576,0.00015013935418,1.06003352873,0.546236538567,0.00882277467117,1.05970491738
+385,6.416666667,pose2_to_pose3_retreat,0.575665534519,0.000150143015587,1.06003352755,0.54623621315,0.00882277711145,1.05970491612
+386,6.433333333,pose2_to_pose3_retreat,0.575665192138,0.000150146872126,1.0600335263,0.546235870391,0.00882277968178,1.0597049148
+387,6.450000000,pose2_to_pose3_retreat,0.575665013185,0.000150142437111,1.06003350957,0.546235691299,0.00882277477631,1.05970489813
+388,6.466666667,pose2_to_pose3_retreat,0.575664933022,0.000150137017323,1.06003349352,0.546235611105,0.00882276925319,1.05970488215
+389,6.483333333,pose2_to_pose3_retreat,0.575664924856,0.000150136465209,1.06003349188,0.546235602935,0.00882276869055,1.05970488052
+390,6.500000000,pose2_to_pose3_retreat,0.575664831704,0.000150130167205,1.06003347323,0.546235509747,0.00882276227246,1.05970486195
+391,6.516666667,pose2_to_pose3_retreat,0.575664746206,0.000150124386703,1.06003345611,0.546235424215,0.00882275638175,1.05970484491
+392,6.533333333,pose2_to_pose3_retreat,0.575664740691,0.000150124013828,1.060033455,0.546235418698,0.00882275600176,1.05970484381
+393,6.550000000,pose2_to_pose3_retreat,0.57566465959,0.000150118530638,1.06003343876,0.546235337566,0.00882275041403,1.05970482765
+394,6.566666667,pose2_to_pose3_retreat,0.575664472522,0.000150105883027,1.0600334013,0.546235150425,0.00882273752527,1.05970479036
+395,6.583333333,pose2_to_pose3_retreat,0.575664405102,0.000150121170825,1.06003342695,0.546235083544,0.00882275474663,1.05970481871
+396,6.600000000,pose2_to_pose3_retreat,0.575664392295,0.000150124265253,1.0600334322,0.546235070846,0.00882275822773,1.05970482449
+397,6.616666667,pose2_to_pose3_retreat,0.575664372868,0.000150128959387,1.06003344016,0.546235051582,0.00882276350844,1.05970483327
+398,6.633333333,pose2_to_pose3_retreat,0.575664353639,0.000150133605645,1.06003344804,0.546235032515,0.00882276873529,1.05970484195
+399,6.650000000,pose2_to_pose3_retreat,0.575664330712,0.000150139145451,1.06003345744,0.546235009781,0.00882277496734,1.05970485231
+400,6.666666667,pose2_to_pose3_retreat,0.575664284577,0.000150150292763,1.06003347634,0.546234964036,0.0088227875076,1.05970487315
+401,6.683333333,pose2_to_pose3_retreat,0.575664257532,0.000150156827693,1.06003348742,0.546234937218,0.00882279485911,1.05970488537
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4d6af5952a9a045d8cacbd9bfd16f26da950fc8a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40ee36a5a9ee8768938b4bcf7c3bbdb9f443538d036ef1c11e48fbf65793220d
+size 25577509
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b684b01116b18cd526ada47dbc6f56a0feceaa6d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_03/franka_data.csv
@@ -0,0 +1,404 @@
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+0,0.000000000,BASELINE,766,746,718,679,661,636,876,783,813,651,629,653,0.400979798016,-0.00536117709557,0.0698322707906,0.999999942267,0.000214189298333,-0.000263427461658,1.39560211683e-05,1793249562798810368
+1,0.016666667,BASELINE,766.592140094,745.407859906,717.407859906,679,661,636,876.592140094,783,812.407859906,651,629,653,0.40097969335,-0.0053605232897,0.0698332402313,0.999999941913,0.000216202709764,-0.000263133766335,1.38444489599e-05,1793249562815477248
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+22,0.366666667,BASELINE,766,745.776655896,717.776655896,679,661,636,877,783,812,651,629,653.776655896,0.400980235663,-0.00536067438386,0.0698352988174,0.999999943101,0.00021354552793,-0.000260793937754,1.35171633405e-05,1793249563165476352
+23,0.383333333,BASELINE,766,746,718,678.665953679,661,636,877,783,812,651,629,653.665953679,0.400980528315,-0.00536074676455,0.0698355310779,0.999999943156,0.000214211195523,-0.000260030541396,1.36018267763e-05,1793249563182142976
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+29,0.483333333,BASELINE,767,745,717,679,661.167676424,636,877,783,813,651,629,653.832323576,0.400979310525,-0.00536024389041,0.0698336599956,0.999999942496,0.000215031726574,-0.000261908566012,1.31698156847e-05,1793249563282142720
+30,0.500000000,BASELINE,766.591626097,745,717,679,661,636,877.408373903,783,812.591626097,651,629,654,0.400979671638,-0.00536003720618,0.0698337575432,0.99999994252,0.000215457888461,-0.000261463001781,1.32169941203e-05,1793249563298809600
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+46,0.766666667,BASELINE,766,745.70535592,717.29464408,679,661.29464408,636,877,783,812.29464408,651,628.29464408,653.29464408,0.400980228148,-0.00535945630111,0.0698345586885,0.999999943149,0.000214196722956,-0.000260091595158,1.31846216171e-05,1793249563565476096
+47,0.783333333,BASELINE,766,745.716914243,717,679,661,636,877,783,812,651,628.283085757,653.283085757,0.400979705938,-0.00535882490571,0.0698346131407,0.999999942885,0.000214947529521,-0.00026049006726,1.31443023256e-05,1793249563582142720
+48,0.800000000,BASELINE,766,745.1392871,717,679,661,636,877,783,812,651,628.8607129,653.8607129,0.40097801629,-0.00535925726419,0.0698344194272,0.999999942425,0.000215253792028,-0.000262005293308,1.3037994907e-05,1793249563598809600
+49,0.816666667,BASELINE,766,745,717.435174742,679,661,636,877,783,812,651,629,653.564825258,0.400978769696,-0.00536012075781,0.0698348291121,0.999999942848,0.000214531464543,-0.000260976133326,1.31129977899e-05,1793249563615476224
+50,0.833333333,BASELINE,766,745,718,679,661,636,876.99111701,783.00888299,812.00888299,651,629,653,0.400980274751,-0.00536111286517,0.0698354094205,0.999999943539,0.000213494845747,-0.000259164885105,1.3242467398e-05,1793249563632142848
+51,0.850000000,BASELINE,766,745,718,679,661,636,876.4009008,783.5990992,812.5990992,651,629,653,0.400980166236,-0.00536155630438,0.0698346080437,0.999999943607,0.000213279789032,-0.000259082438034,1.31660194377e-05,1793249563648809472
+52,0.866666667,BASELINE,766,745,717.813492117,679,661,636,876.186507883,783.626984235,812.813492117,651,629,653.186507883,0.400980217162,-0.00536143583412,0.0698342902617,0.999999943539,0.000213510385689,-0.000259159945484,1.31313517913e-05,1793249563665476352
+53,0.883333333,BASELINE,766,745,717.232028788,679,661,636,876.767971212,782.464057575,812.232028788,651,629,653.767971212,0.400980605726,-0.00536012120989,0.0698349965563,0.999999943178,0.000214684713122,-0.00025957617808,1.31851595659e-05,1793249563682142976
+54,0.900000000,BASELINE,766,745.34544031,717.34544031,679,661,636,877,782.34544031,812.34544031,651,628.65455969,654,0.400980293537,-0.00535954782741,0.0698350421149,0.999999943204,0.000214538570585,-0.000259599100657,1.31583040226e-05,1793249563698809600
+55,0.916666667,BASELINE,766,745.920257165,717.920257165,679,661,636,877,782.920257165,812.920257165,651,628.079742835,654,0.400979516038,-0.00535946663848,0.0698346489367,0.999999943486,0.000213515619964,-0.000259360860607,1.3077887058e-05,1793249563715476224
+56,0.933333333,BASELINE,766,746,718,679,661,636,877,783,813,651,628.491434323,653.508565677,0.400979065785,-0.00535911341676,0.0698343178232,0.999999942877,0.000215429862797,-0.00026012422451,1.31080875573e-05,1793249563732142848
+57,0.950000000,BASELINE,766,745.937819924,717.937819924,679,661.062180076,636,877,783,812.937819924,651,629,653,0.400978747609,-0.00535891488155,0.0698341067613,0.999999942262,0.00021735330014,-0.000260882970219,1.31683919039e-05,1793249563748809472
+58,0.966666667,BASELINE,766,745.365804833,717.365804833,679,661.634195167,636,877,783,812.365804833,651,629,653,0.400979080175,-0.00536034394263,0.0698347980758,0.999999942824,0.000215473011334,-0.00026028104385,1.33294365668e-05,1793249563765476096
+59,0.983333333,BASELINE,766.216811435,745,717,678.783188565,661.783188565,636,877,783,812,651,629,653,0.400979488375,-0.00536106055144,0.0698352486128,0.99999994318,0.000214421107037,-0.000259774467207,1.34420816679e-05,1793249563782142464
+60,1.000000000,BASELINE,766.818233666,745,717,678.181766334,661.181766334,636,877,783,812,651,629,653,0.400980030745,-0.00536051331185,0.0698352720248,0.999999943178,0.000214838708063,-0.000259437035299,1.3468868806e-05,1793249563798809344
+61,1.016666667,BASELINE,766.59963246,745,717,678,661,636,877,783,812.40036754,651,629,653,0.400980347977,-0.00535937104142,0.0698350695205,0.999999942965,0.000215793577736,-0.000259475291978,1.32282701174e-05,1793249563815476224
+62,1.033333333,BASELINE,766.025853022,745,717,678,661,636,877,783,812.974146978,651,629,653,0.400980567694,-0.00535797104426,0.0698347691647,0.999999942661,0.0002169811555,-0.000259676271337,1.28718581334e-05,1793249563832142848
+63,1.050000000,BASELINE,766,745.563676567,717,678.563676567,661.563676567,636,877,783,812.436323433,651,629,653.563676567,0.400979148179,-0.00535949862202,0.0698338958866,0.999999942458,0.00021616447153,-0.000261124171714,1.3098000319e-05,1793249563848809728
+64,1.066666667,BASELINE,766,745.849017914,717,678.849017914,662,636,877,783,812,651,629,654,0.40097804238,-0.00536064010798,0.0698333170502,0.999999942298,0.000215554288889,-0.000262229878664,1.329778341e-05,1793249563865476096
+65,1.083333333,BASELINE,766,745.270122112,717,678.270122112,662,636,877,783,812,651,629,654,0.400978044924,-0.00536029583522,0.0698336493367,0.999999942253,0.000215797397137,-0.000262198992979,1.33449561342e-05,1793249563882142720
+66,1.100000000,BASELINE,766,745,717.306985473,678.306985473,661.693014527,636,877,783,812,651,629,653.693014527,0.400977955989,-0.0053601484628,0.0698339385446,0.999999942433,0.000215184260636,-0.000262019938744,1.32629516578e-05,1793249563898809344
+67,1.116666667,BASELINE,766,745,717.882528657,678.882528657,661.117471343,636,877,783,812,651,629,653.117471343,0.400977787026,-0.00536017334317,0.0698341900663,0.999999942808,0.000213822062195,-0.000261711263373,1.30679400948e-05,1793249563915475968
+68,1.133333333,BASELINE,766,745,717.543990696,679,661.456009304,636,876.543990696,783,812,651,628.543990696,653,0.400978664276,-0.00535949545007,0.0698348804227,0.999999942594,0.000216387859076,-0.000260414671954,1.31425725016e-05,1793249563932142592
+69,1.150000000,BASELINE,766,745,717,679,661.969955684,636,876.030044316,783,812,651,628.030044316,653,0.400979721156,-0.0053587497221,0.0698356280165,0.999999942274,0.00021956632681,-0.00025897029502,1.32827452817e-05,1793249563948809472
+70,1.166666667,BASELINE,766,745,717,679,661.375573317,636,876.624426683,783,812,651,628.624426683,653,0.400979112536,-0.0053601150672,0.069835336871,0.999999943055,0.000215331808608,-0.000259508765351,1.33551257365e-05,1793249563965476096
+71,1.183333333,BASELINE,766,745,717,678.787578581,661,636,876.787578581,783,812.212421419,651,629,653,0.400979065002,-0.00536036393567,0.0698354312744,0.999999943423,0.000213703377173,-0.000259437510394,1.33148449216e-05,1793249563982142720
+72,1.200000000,BASELINE,766,745,717,678.210547754,661,636,876.210547754,783,812.789452246,651,629,653,0.400979980542,-0.00535869643507,0.0698361874508,0.999999943103,0.000216548146276,-0.000258319696397,1.30811873917e-05,1793249563998809344
+73,1.216666667,BASELINE,766,745,717,678,661,636,876.365183856,783,812.634816144,651,629,653,0.400980177007,-0.00535842883611,0.0698361950722,0.999999942957,0.000217449294933,-0.00025813883182,1.29258692642e-05,1793249564015476224
+74,1.233333333,BASELINE,766,745,717,678,661,636,876.940169019,783,812.059830981,651,629,653,0.400979960356,-0.00535896549295,0.0698357726421,0.999999942912,0.000217233816535,-0.00025849625292,1.28155578202e-05,1793249564032142848
+75,1.250000000,BASELINE,766.528277234,745,717.528277234,678,661.528277234,636,876.471722766,783,812,651,629,653,0.400978936595,-0.00536051065245,0.0698349802867,0.999999943061,0.000214801265622,-0.000259944015983,1.29212068953e-05,1793249564048809216
+76,1.266666667,BASELINE,766.884201779,745.115798221,717.884201779,678.115798221,661.884201779,636,876.115798221,783,812,651,628.884201779,653.115798221,0.40097864167,-0.00536166200557,0.069834705651,0.999999943326,0.000213019957177,-0.000260383983407,1.30509732306e-05,1793249564065476096
+77,1.283333333,BASELINE,766.305127772,745.694872228,717.305127772,678.694872228,661.305127772,636,876.694872228,783,812,651,628.305127772,653.694872228,0.400981637634,-0.00536076924971,0.0698366741505,0.999999943987,0.000214874249239,-0.000256285418579,1.31768796606e-05,1793249564082142720
+78,1.300000000,BASELINE,765.727961544,745.727961544,717.272038456,679,661,636,877,783,812.272038456,651,628.272038456,654,0.400982192214,-0.0053601863699,0.0698369667524,0.999999943797,0.000216497352416,-0.000255658630388,1.3189548128e-05,1793249564098809344
+79,1.316666667,BASELINE,765.152920283,745.152920283,717.847079717,679,661,636,877,783,812.847079717,651,628.847079717,654,0.400980027524,-0.00535994863733,0.0698353927002,0.999999942668,0.000217862951877,-0.000258898788627,1.30760894912e-05,1793249564115476224
+80,1.333333333,BASELINE,765.843599135,745,718,678.578200432,661,635.578200432,877,782.578200432,812.578200432,651,629,653.578200432,0.400978764504,-0.00536053672181,0.0698344796931,0.99999994242,0.000217326040463,-0.000260303492791,1.30689120371e-05,1793249564132142592
+81,1.350000000,BASELINE,766.992806057,745,718,678.003596972,661,635.003596972,877,782.003596972,812.003596972,651,629,653.003596972,0.40097782813,-0.00536142397221,0.0698338061605,0.999999942493,0.000216099913025,-0.000261043273522,1.3100236696e-05,1793249564148809216
+82,1.366666667,BASELINE,766.412671326,745,718,678.587328674,661,635.587328674,877,782.587328674,812.587328674,651,628.412671326,653,0.400977477418,-0.00536112896496,0.0698339445041,0.999999942456,0.000214754792826,-0.00026230215432,1.29117303846e-05,1793249564165475840
+83,1.383333333,BASELINE,766,745,717.825311127,678.825311127,661.174688873,636,877,783,812.825311127,651,628.174688873,653.174688873,0.400977328197,-0.00536047124061,0.0698339726303,0.999999942328,0.000214590447483,-0.00026293224219,1.27361482857e-05,1793249564182142464
+84,1.400000000,BASELINE,766,745,717.246438212,678.246438212,661.753561788,636,877,783,812.246438212,651,628.753561788,653.753561788,0.400977636639,-0.00535899151583,0.0698337339092,0.999999941993,0.000217159838231,-0.000262099903186,1.25936734195e-05,1793249564198809088
+85,1.416666667,BASELINE,766,745,717,678.330144675,661.669855325,636,877,783,812.330144675,651,629,653.669855325,0.400978184785,-0.00535888835522,0.069833841645,0.999999942142,0.00021745382377,-0.000261278105783,1.27993960808e-05,1793249564215475968
+86,1.433333333,BASELINE,766,745,717,678.9050299,661.0949701,636,877,783,812.9050299,651,629,653.0949701,0.400978910627,-0.00535980565965,0.0698342062137,0.99999994265,0.000216061021619,-0.00026046412306,1.3263242116e-05,1793249564232142592
+87,1.450000000,BASELINE,766,745.475348541,717,679,661,636,877,783,812.524651459,651,629,653,0.400979804257,-0.00536036514629,0.06983528979,0.999999943141,0.000215740419234,-0.000258844208321,1.31930752991e-05,1793249564248809472
+88,1.466666667,BASELINE,766,745.953099827,717.046900173,678.953099827,661,636,877,783,812,651,629,653,0.400980561785,-0.00536078276438,0.0698363578786,0.999999943545,0.000215671982811,-0.000257344381443,1.30461863653e-05,1793249564265476096
+89,1.483333333,BASELINE,766,745.35650527,717.64349473,678.35650527,661,636,877,783,812,651,629,653,0.400979334986,-0.00536036751979,0.0698355768013,0.999999942997,0.00021607223855,-0.000259121297916,1.32386456949e-05,1793249564282142720
+90,1.500000000,BASELINE,766,745,718,678.233297066,661.233297066,636,877,783,812.233297066,651,629,653.233297066,0.400978970364,-0.00535998280855,0.0698354104312,0.999999942834,0.000216219121662,-0.000259623079059,1.33088350015e-05,1793249564298809344
+91,1.516666667,BASELINE,766,745,718,678.813013675,661.813013675,636,877,783,812.813013675,651,629,653.813013675,0.400979885978,-0.00535964343585,0.0698361568315,0.999999943245,0.000215989775279,-0.000258231429473,1.31974672487e-05,1793249564315475968
+92,1.533333333,BASELINE,766,745,717.610093613,679,661.610093613,636,877,783,812.610093613,651,629,653.610093613,0.400980031854,-0.00536008793585,0.0698359194529,0.999999943384,0.000215507219798,-0.000258095822031,1.32649018708e-05,1793249564332142592
+93,1.550000000,BASELINE,766,745,717.034545361,679,661.034545361,636,877,783,812.034545361,651,629,653.034545361,0.400979811244,-0.00536090565254,0.0698352136784,0.999999943392,0.000214904106617,-0.000258558240079,1.34174677028e-05,1793249564348809216
+94,1.566666667,BASELINE,766.55037931,745,717,678.44962069,661,636,877,783,812,651,629,653.55037931,0.400980302688,-0.00536158342325,0.0698356900546,0.999999943685,0.000213674699907,-0.000258438965566,1.35131921452e-05,1793249564365476096
+95,1.583333333,BASELINE,766.864973202,745,717.135026798,678.270053595,661,636,877,783,812,651,629,654,0.400980647682,-0.00536173534993,0.0698358812662,0.999999943768,0.000213090584804,-0.000258598795717,1.35277719527e-05,1793249564382142464
+96,1.600000000,BASELINE,766.283223421,745,717.716776579,679.433553158,661,636,877,783,812,651,629,654,0.400980357735,-0.00536017713754,0.0698348793026,0.999999943099,0.000214773661775,-0.000259804902252,1.32859007461e-05,1793249564398809088
+97,1.616666667,BASELINE,766,745,717.70444624,679.40889248,661,636,877,783,812.29555376,651,629,654,0.400980155333,-0.00535942224053,0.0698348131039,0.999999942982,0.000215356446438,-0.000259779613479,1.31490412221e-05,1793249564415475712
+98,1.633333333,BASELINE,766,745,717.128489314,678.256978628,661,636,877,783,812.871510686,651,629,654,0.400980035987,-0.00535942947969,0.0698356347014,0.999999943391,0.000214895341569,-0.000258586052761,1.31118103162e-05,1793249564432142336
+99,1.650000000,BASELINE,766,745,717,678.452954423,661,636,877,783,812.547045577,651,629,653.547045577,0.400980302076,-0.00535982531151,0.0698357220619,0.99999994333,0.000215499493144,-0.000258326989142,1.29277895606e-05,1793249564448809216
+100,1.666666667,BASELINE,766,745.035903104,717,679,661.035903104,636,877,783,812,651,629,653,0.400980529368,-0.00536024019126,0.0698355642019,0.999999943109,0.000216369676025,-0.000258466534828,1.27153023445e-05,1793249564465475840
+101,1.683333333,BASELINE,766,745.617778592,717,679,661.617778592,636,877,783,812,651,629,653,0.400978483642,-0.00535924789813,0.0698348834394,0.999999942501,0.000216633795788,-0.00026058708294,1.27109040189e-05,1793249564482142464
+102,1.700000000,BASELINE,766,745.801738237,717.198261763,679,661.801738237,636,877,783,812,651,629,653.198261763,0.400977872223,-0.00535909944539,0.0698345812865,0.999999942254,0.000216762864169,-0.000261422123229,1.28060093376e-05,1793249564498809344
+103,1.716666667,BASELINE,766,745.223920609,717.776079391,679,661.223920609,636,877,783,812,651,629,653.776079391,0.400980006664,-0.00536056645592,0.0698350039508,0.999999942702,0.000216633387735,-0.000259796164103,1.30916062134e-05,1793249564515475968
+104,1.733333333,BASELINE,766.351825708,745,718,679,661,636,877,783,812.351825708,651,629,654,0.400981341506,-0.0053610817291,0.0698355782028,0.999999943247,0.000216208712579,-0.000258049319992,1.30294342583e-05,1793249564532143104
+105,1.750000000,BASELINE,766.926261505,745,718,679,661,636,877,783,812.926261505,651,629,654,0.400982170419,-0.00536099481125,0.0698362483687,0.999999943852,0.000215597256818,-0.000256225988367,1.27472191432e-05,1793249564548810496
+106,1.766666667,BASELINE,766.488070067,745,718,679,661,636,877,783,813,651,629,653.488070067,0.40098107908,-0.00536110767853,0.0698361608844,0.999999943742,0.000214623955942,-0.000257459595335,1.29061711298e-05,1793249564565477376
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,717,679,661,636,877,783,812,652,629,653,0.40098109164,-0.00535906769625,0.0698362790069,0.999999943198,0.000217059973301,-0.000257523747063,1.3070619195e-05,1793249564608081408
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.424167848,745,717.575832152,679,661,636,876.424167848,783,812,651.424167848,629,653,0.400979458313,-0.00536066084305,0.0698352243562,0.999999943032,0.000215613358084,-0.000259371951835,1.31502369247e-05,1793249564624748288
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,717.848057796,678.848057796,661,636,876.151942204,783,812.151942204,651,629,653.151942204,0.400978529019,-0.00536181238181,0.0698344969,0.999999942999,0.000214319126039,-0.000260566334094,1.32181338572e-05,1793249564641414656
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,717.271170394,678.271170394,661,636,876.728829606,783,812.728829606,651,629,653.728829606,0.40097956873,-0.0053617288512,0.0698346845271,0.999999943349,0.00021345107214,-0.000259932135062,1.32532506042e-05,1793249564658080768
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.312920321,745,717,678.312920321,661,636,877,783.312920321,813,651,629,653.687079679,0.400979737009,-0.00536186047522,0.0698347921506,0.999999943428,0.000213329420771,-0.000259726520298,1.32592540908e-05,1793249564674747392
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.903400325,745,717,678.903400325,661,636,877,783.903400325,813,651,629,653.096599675,0.40097913233,-0.00536218294098,0.0698348288113,0.999999943268,0.000213869826969,-0.000259901058941,1.3239434173e-05,1793249564691413504
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.516876173,745,717.483123827,679,661,636,877.483123827,783.516876173,813,651,629,653,0.400980066394,-0.0053612916361,0.0698354108753,0.999999943218,0.000214754194028,-0.000259370030923,1.31180748219e-05,1793249564708079872
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,636,877.878591531,783,813,651,629,653.060704235,0.400981166297,-0.0053603836155,0.0698360103329,0.999999943197,0.000215491195768,-0.000258841902591,1.30223251266e-05,1793249564724746496
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661,636,876.724097703,783,813,651,629,653.637951148,0.400981116358,-0.00536135348088,0.0698358500607,0.999999943254,0.000214401774292,-0.000259512748574,1.33134881434e-05,1793249564741413376
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.218148571,745,717.781851429,679,661,636,876.218148571,783,812.781851429,651,628.781851429,654,0.400986508923,-0.0053618756707,0.0698384717484,0.999999944083,0.000214437694254,-0.000256250780029,1.36159880698e-05,1793249564758080000
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.803309866,745,717.196690134,679,661,636,876.803309866,783,812.196690134,651,628.196690134,654,0.401001057946,-0.00536164469196,0.0698457738,0.999999946146,0.000216366886517,-0.000246372252028,1.39375611602e-05,1793249564774746880
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,717,679,661,636,877,783,812.384257955,651,628,654,0.401031615344,-0.00536184102875,0.0698576821185,0.999999950746,0.000216563572022,-0.000226732344155,1.41645323427e-05,1793249564791413504
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,717,679,661,636,877,783,812.963072871,651,628,654,0.401070278081,-0.00536225372333,0.0698719226764,0.999999956162,0.000215883057153,-0.000202150066799,1.43436048393e-05,1793249564808080128
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.458809562,745,717.541190438,679,661,636,877,783,813,651,628.541190438,653.458809562,0.401124571615,-0.00536289096074,0.0698845116668,0.999999959101,0.000214884847467,-0.000188181974127,1.44645494573e-05,1793249564824746752
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.118908988,718,679,661,636,877,783,813,651,629,653.118908988,0.401183460332,-0.00536362791146,0.0698954449906,0.999999961488,0.000214395909857,-0.000175648476414,1.43630629577e-05,1793249564841413632
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.695275457,718,679,661,636,877,783,813,651,629,653.695275457,0.40125592948,-0.00536468960479,0.0699004417457,0.99999996284,0.000215949492254,-0.000165851386099,1.34210956793e-05,1793249564858080256
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.722242513,717.722242513,679,661,636,877,783.277757487,812.722242513,651,629,653.722242513,0.401337117717,-0.00536673652963,0.0699035719805,0.999999964222,0.000214362433183,-0.000159578328187,1.18436078076e-05,1793249564874746624
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.13290016,717.13290016,679,661,636,877,783.86709984,812.13290016,651,629,653.13290016,0.401428086916,-0.00536988867477,0.0699046083762,0.999999965696,0.000209252241799,-0.000157258486249,9.55320095809e-06,1793249564891413248
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.432580664,717.432580664,679,661,636,877,783.567419336,812,651,629,653,0.40153334991,-0.00537170013128,0.069902154408,0.999999965493,0.000206781218204,-0.000161889174161,6.85323766177e-06,1793249564908079872
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.991113827,717.991113827,679,661,636,877,783.008886173,812,651,629,653,0.40164277476,-0.00537312122566,0.0698986841669,0.99999996476,0.000205078628892,-0.000168543615535,4.03402576068e-06,1793249564924746496
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,717.412615905,679,661,636,877,783,812.587384095,651,629,653,0.401786723696,-0.00537647841055,0.0699023255736,0.999999966196,0.000201713700153,-0.000164065549871,1.40024155267e-06,1793249564941413376
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,717,679,661.176828045,636,877,783,812.823171955,651,629,653,0.401941364158,-0.00537961715518,0.0699061295154,0.999999967634,0.000198413925807,-0.000159254479745,-1.42564563656e-06,1793249564958080000
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,717,679,661.749619852,636,877,783,812.250380148,651,629,653,0.402118695845,-0.00538219666427,0.0699100399571,0.99999996904,0.000195320229862,-0.000154100748555,-4.68841366057e-06,1793249564974746624
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,717.333424426,679,661.666575574,636,877,783,812,651,629,653,0.402316986085,-0.00538384618254,0.0699132095585,0.999999970963,0.000190377463503,-0.000147455992615,-9.29528510923e-06,1793249564991413248
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,717.925781415,679,661.074218585,636,877,783,812,651,629,653,0.402531552452,-0.00538477348375,0.0699158038344,0.999999973209,0.000183998735593,-0.000139653327966,-1.49459680865e-05,1793249565008079616
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.493902012,718,678.493902012,661.506097988,636,877,783,812.506097988,651,629,653,0.402776832536,-0.00539054180668,0.0699185579671,0.999999975763,0.000174042114112,-0.000133370231429,-1.990632004e-05,1793249565024746496
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.084120152,718,678.084120152,661.915879848,636,877,783,813,651,629,653.084120152,0.403032229982,-0.00539671333975,0.0699217240906,0.999999978171,0.000164217213845,-0.000126787579795,-2.48056567826e-05,1793249565041413120
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.658819946,718,678.658819946,661.341180054,636,877,783,813,651,629,653.658819946,0.403320973719,-0.00540119233242,0.0699271593625,0.99999998018,0.000158149340971,-0.000117188558523,-2.99258399039e-05,1793249565058079744
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,718,679,661,636,877,783.238622661,813,651,629,654,0.403631020988,-0.00540631993366,0.069934850275,0.999999982589,0.000151057185717,-0.000103788877384,-3.50808419305e-05,1793249565074746624
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,718,679,661,636,877,783.825880879,813,651,629,654,0.403972193399,-0.00541239517308,0.0699458367521,0.999999985441,0.000142468520555,-8.48363077385e-05,-4.02867152103e-05,1793249565091413248
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,717.592818898,679,661.407181102,636,877,783.592818898,813,651,629,654,0.404332632745,-0.00541765087318,0.0699513970982,0.999999993299,7.22214818969e-05,-7.8412839693e-05,-4.51458762334e-05,1793249565108079872
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,717.014029711,679,661.985970289,636,877,783.014029711,813,651,629,654,0.40470119221,-0.00542256117503,0.0699546705797,0.999999995483,-2.40117223568e-05,-7.72698109118e-05,-4.98589135229e-05,1793249565124746496
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.565772501,745.434227499,717,679,662,636,877,783,813,651,629,653.434227499,0.405112080532,-0.00542269706092,0.0699550555265,0.999999995347,5.11187553342e-05,-7.30397051046e-05,-3.68467183166e-05,1793249565141413120
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.855856302,745.144143698,717,679,662.144143698,636,877,783,812.855856302,651.144143698,629,653.144143698,0.405531084388,-0.005424398182,0.0699551501881,0.999999991314,0.000107973235109,-7.00516697068e-05,-2.83938770561e-05,1793249565158079744
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.281828027,745.718171973,717,679,662.718171973,636,877,783,812.281828027,651.718171973,629,653.718171973,0.405971155386,-0.00543112107804,0.0699545931252,0.999999992107,9.762677736e-05,-7.09966164208e-05,-3.4851760278e-05,1793249565174746368
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,717,679.300219771,662.699780229,636.300219771,877.300219771,783.300219771,812,651.699780229,629,654,0.406429306103,-0.00544004239063,0.0699464456897,0.999999992242,8.14472574805e-05,-8.60173229222e-05,-3.85113779231e-05,1793249565191412992
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,717,679.890002493,662.109997507,636.890002493,877.890002493,783.890002493,812,651.109997507,629,654,0.40690489482,-0.00545108408396,0.069930977315,0.999999990874,5.9641728791e-05,-0.000114614145851,-3.94720599877e-05,1793249565208079872
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.529394598,717,679.529394598,662,636.529394598,878,783.529394598,812.470605402,651,628.529394598,654,0.407435895339,-0.00547252253816,0.0699237008851,0.999999991555,3.48536691209e-05,-0.000119467606204,-3.74412496175e-05,1793249565224746240
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,717.048912712,679.048912712,662,636.048912712,878,783,813,651,628.048912712,653.951087288,0.407985633018,-0.00549597294995,0.069920258732,0.999999992604,9.21000467043e-06,-0.000116116911415,-3.49846394622e-05,1793249565241412864
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,717.625161249,679.625161249,662,636.625161249,878,783,813,651,628.625161249,653.374838751,0.408600416246,-0.00551541660301,0.0699379062327,0.999999995764,-1.82860710487e-05,-8.30031462882e-05,-3.53315812922e-05,1793249565258079744
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,717.79547062,679.79547062,662,637,878,783,813,651,629,653,0.409210082758,-0.0055259303132,0.0699491968258,0.999999997022,-3.33725014317e-05,-5.93216854816e-05,-3.63712588565e-05,1793249565274746624
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,717.210296725,679.210296725,662,637,878,783,813,651,629,653,0.409810226642,-0.00551982472874,0.0699486567362,0.999999997515,-2.53636494734e-05,-5.31944526884e-05,-3.87001696585e-05,1793249565291413248
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.370782458,717,679,662,637,878.370782458,783,813,651,629,653,0.410448709925,-0.00552810494286,0.0699437915931,0.999999996766,-3.49865931579e-05,-6.04342492917e-05,-3.9897418846e-05,1793249565308079872
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.94956459,717,679,662,637,878.94956459,783,813,651,629,653,0.411108700632,-0.00554445522996,0.0699365002034,0.999999994871,-5.45005329294e-05,-7.51726148379e-05,-4.04598341097e-05,1793249565324746496
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,717,679.529380425,662,637,879,783,813,651,629,653.529380425,0.411829007942,-0.00555137826342,0.0699518760698,0.999999995602,-6.84498094204e-05,-4.8698700941e-05,-4.17005534188e-05,1793249565341413376
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745.891751565,717.108248435,679.891751565,662,637,879,783.108248435,813,651,629,654,0.412563351308,-0.00555589863209,0.0699723153166,0.999999995939,-7.83198906302e-05,-1.44287965566e-05,-4.21764181927e-05,1793249565358080000
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745.317389904,717.682610096,679.317389904,662,637,879,783.682610096,813,651,629,654,0.413333340467,-0.00555394822353,0.0700052400647,0.999999995913,-7.29124352871e-05,3.6470324436e-05,-3.90800395819e-05,1793249565374746624
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,717.736242926,679,662,637,879,783.736242926,813,651,629,653.736242926,0.414084965972,-0.00554091978384,0.0700200000914,0.999999996212,-5.43425729207e-05,5.62557528269e-05,-3.81773312316e-05,1793249565391413504
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,717.146715216,679,662,637,879,783.146715216,813,651,629,653.146715216,0.414813910333,-0.00551420868813,0.0700123245808,0.999999998303,-1.95156077278e-05,3.76121621601e-05,-3.99840602079e-05,1793249565408081152
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,717.434671285,679.434671285,662,637,879,783,812.565328715,651,629,653.434671285,0.415558715548,-0.00550236873833,0.0699644438014,0.999999997986,-1.17371791022e-05,-4.45266423376e-05,-4.36856303899e-05,1793249565424747776
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.013319501,745,717.986680499,680,662.013319501,636.986680499,879.013319501,783,812,650.986680499,629,654,0.416311021689,-0.00549596173219,0.0699048870433,0.999999988257,-1.32781528697e-05,-0.000144952544773,-4.79347473533e-05,1793249565441414144
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.590238973,745,717.409761027,680,662.590238973,636.409761027,879.590238973,783,812,650.409761027,629,654,0.41715835901,-0.0055109549161,0.0699149392363,0.999999990042,-2.99473520253e-05,-0.00012899409827,-4.87876498379e-05,1793249565458080768
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745.168262888,717,680,663,636.168262888,880.168262888,783.168262888,812.168262888,650.168262888,629,654,0.418001583083,-0.00552324716744,0.06993076971,0.999999992436,-4.35922221746e-05,-0.000104179400706,-4.87309429236e-05,1793249565474747392
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745.748994127,717,680,663,636.748994127,880.748994127,783.748994127,812.748994127,650.748994127,629,654,0.418834724164,-0.00552891853304,0.0699607646725,0.999999996018,-4.98234541326e-05,-5.76550845534e-05,-4.64444805047e-05,1793249565491414272
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.66897261,746,717.33102739,680,663,637,881,783.66897261,813,651,629,654,0.419715258375,-0.00553221512592,0.0699877365152,0.999999997289,-5.50843382583e-05,-1.54488160275e-05,-4.63482621219e-05,1793249565508080640
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.085948198,746,717.914051802,680,663,637,881,783.085948198,813,651,629,654,0.420631870916,-0.00553370390543,0.0700124069846,0.9999999968,-5.96065377115e-05,2.34703050085e-05,-4.79193831342e-05,1793249565524747008
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.507449199,717.507449199,680.492550801,663,637,881.492550801,783,813,651,629,653.507449199,0.421547170162,-0.00552819578536,0.0700217730177,0.999999996432,-5.94108501422e-05,3.63090951817e-05,-4.78312413072e-05,1793249565541413632
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.070117398,745,717,681,663,637,882,783.070117398,813,651,629,653.070117398,0.422448042697,-0.00552142918421,0.0700190036376,0.999999996798,-5.68167684971e-05,2.94142665071e-05,-4.80693417871e-05,1793249565558080512
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.646600991,745,717,681,663,637,882,783.646600991,813,651,629,653.646600991,0.423246369406,-0.00551431114442,0.0699477064596,0.999999993872,-4.27933776964e-05,-8.74245643011e-05,-5.27353589635e-05,1793249565574746880
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745.222481437,717,681,663,637,882,784,813.222481437,650.777518563,628.777518563,654,0.424075448859,-0.00551259588679,0.0698884059538,0.999999981996,-4.29960630698e-05,-0.000175527727614,-5.78767525706e-05,1793249565591413504
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+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745.229691427,717,684,660.770308573,634,887,781,816,651,629,654,0.452282847438,-0.00557475630041,0.0695624538478,0.999999770267,-0.000117990604282,-0.000664684351631,-6.1139997537e-05,1793249566641414400
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+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,717,683,660.105031956,633.894968044,887,781,816,651,629,654,0.452286393908,-0.00557313332325,0.0695619253263,0.999999769437,-0.000118336160751,-0.000665853788126,-6.13225610442e-05,1793249566708080640
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,746,717,683,660.679912159,633.320087841,887,781,816,651,629,654,0.452286508864,-0.00557385403009,0.0695616035199,0.999999769293,-0.000119329791957,-0.000665973420829,-6.0445398698e-05,1793249566724747008
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+242,4.033333333,POSE1_TO_POSE2_PRESS,766.319285711,746,717,683,660,633.680714289,886.680714289,781,816,651,629,654,0.452289354436,-0.0055715201565,0.0695612548075,0.999999770047,-0.000115846873088,-0.000665447641072,-6.05432040827e-05,1793249566858080768
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+244,4.066666667,HOLD_POSE2,766,746,717,683,660,633,887,781,816,651,628,654,0.452291097978,-0.00557020298536,0.0695599601406,0.999999769402,-0.000117098197277,-0.000666190289606,-6.06162999984e-05,1793249566906195456
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8bff489c8487d6530a6b76a74b5778ace24bbb75
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,404 @@
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+359,5.983333333,pose2_to_pose3_retreat,0.577445580249,0.000150220224348,1.06003334083,0.548016257742,0.00882285110481,1.05970474581
+360,6.000000000,pose2_to_pose3_retreat,0.577215096772,0.000150201014134,1.06003351789,0.547785773037,0.00882282715778,1.05970490798
+361,6.016666667,pose2_to_pose3_retreat,0.577006360824,0.00015018961051,1.06003371616,0.547577038613,0.00882282106144,1.0597051096
+362,6.033333333,pose2_to_pose3_retreat,0.576816688247,0.000150076158223,1.06003346787,0.547387367347,0.00882271209552,1.05970486239
+363,6.050000000,pose2_to_pose3_retreat,0.576646059245,0.000150041045947,1.06003375932,0.547216739683,0.00882268119217,1.0597051451
+364,6.066666667,pose2_to_pose3_retreat,0.576493954388,0.000150135006485,1.0600337417,0.547064633682,0.00882277138753,1.05970513063
+365,6.083333333,pose2_to_pose3_retreat,0.576359152012,0.000150137482512,1.06003362403,0.546929830017,0.00882276963718,1.05970501688
+366,6.100000000,pose2_to_pose3_retreat,0.576241510435,0.000150131555174,1.06003362604,0.546812187971,0.00882276210425,1.0597050185
+367,6.116666667,pose2_to_pose3_retreat,0.576138366261,0.000150181207226,1.06003367699,0.54670904401,0.00882281238403,1.05970506718
+368,6.133333333,pose2_to_pose3_retreat,0.576049608152,0.000150122304685,1.0600338046,0.546620287164,0.0088227575501,1.05970518951
+369,6.150000000,pose2_to_pose3_retreat,0.575972045814,0.000150105398114,1.06003386012,0.546542724773,0.00882274063791,1.05970524965
+370,6.166666667,pose2_to_pose3_retreat,0.57590529441,0.000150067401956,1.0600334932,0.546475973831,0.00882270459897,1.05970489297
+371,6.183333333,pose2_to_pose3_retreat,0.575849749338,0.000150097264674,1.06003348825,0.546420428631,0.00882273391414,1.05970488498
+372,6.200000000,pose2_to_pose3_retreat,0.575804291555,0.000150109422682,1.060033613,0.546374971028,0.00882274646491,1.05970500405
+373,6.216666667,pose2_to_pose3_retreat,0.575768351061,0.000150106468662,1.06003348557,0.546339029733,0.00882274069249,1.05970487403
+374,6.233333333,pose2_to_pose3_retreat,0.575740291141,0.000150041793261,1.06003340315,0.546310969897,0.00882267625484,1.05970479041
+375,6.250000000,pose2_to_pose3_retreat,0.57571948936,0.000150028971626,1.0600333976,0.546290168779,0.00882266573501,1.05970478638
+376,6.266666667,pose2_to_pose3_retreat,0.575703435429,0.000150133253526,1.06003338846,0.546274115319,0.00882277179722,1.05970478216
+377,6.283333333,pose2_to_pose3_retreat,0.575691234529,0.00015007569651,1.06003339043,0.546261915288,0.00882271718846,1.05970478432
+378,6.300000000,pose2_to_pose3_retreat,0.575682106794,0.000150107281456,1.06003354492,0.5462527863,0.00882274441451,1.05970493555
+379,6.316666667,pose2_to_pose3_retreat,0.575675537515,0.000150131923237,1.06003357007,0.546246216204,0.00882276622012,1.0597049587
+380,6.333333333,pose2_to_pose3_retreat,0.575671432877,0.000150120140792,1.06003342237,0.546242111909,0.00882275561717,1.05970481151
+381,6.350000000,pose2_to_pose3_retreat,0.575668923417,0.000150115233994,1.06003355047,0.546239602423,0.00882275053732,1.05970493731
+382,6.366666667,pose2_to_pose3_retreat,0.575667505384,0.000150112670762,1.06003364278,0.546238184353,0.00882274779474,1.05970502807
+383,6.383333333,pose2_to_pose3_retreat,0.575666772813,0.000150102251768,1.06003362939,0.546237451815,0.00882273752227,1.05970501568
+384,6.400000000,pose2_to_pose3_retreat,0.575666338754,0.000150092441931,1.06003359705,0.546237017796,0.00882272789489,1.05970498464
+385,6.416666667,pose2_to_pose3_retreat,0.575665903181,0.000150082597857,1.06003356459,0.546236582262,0.00882271823391,1.05970495349
+386,6.433333333,pose2_to_pose3_retreat,0.575665649425,0.000150076862904,1.06003354567,0.546236328529,0.00882271260562,1.05970493534
+387,6.450000000,pose2_to_pose3_retreat,0.575665626716,0.000150076349679,1.06003354398,0.546236305823,0.00882271210194,1.05970493371
+388,6.466666667,pose2_to_pose3_retreat,0.575665496747,0.000150073412345,1.0600335343,0.546236175865,0.00882270921924,1.05970492442
+389,6.483333333,pose2_to_pose3_retreat,0.575665263064,0.000150068131048,1.06003351688,0.546235942204,0.00882270403617,1.05970490771
+390,6.500000000,pose2_to_pose3_retreat,0.575665204885,0.000150066901081,1.0600335119,0.546235884016,0.0088227027824,1.05970490284
+391,6.516666667,pose2_to_pose3_retreat,0.575665191523,0.000150066748221,1.06003350977,0.546235870632,0.00882270255041,1.05970490066
+392,6.533333333,pose2_to_pose3_retreat,0.57566508321,0.000150065509075,1.06003349248,0.546235762134,0.00882270066984,1.05970488294
+393,6.550000000,pose2_to_pose3_retreat,0.575665066009,0.000150065312291,1.06003348974,0.546235744904,0.0088227003712,1.05970488013
+394,6.566666667,pose2_to_pose3_retreat,0.575664915163,0.000150063586544,1.06003346567,0.546235593801,0.00882269775214,1.05970485545
+395,6.583333333,pose2_to_pose3_retreat,0.575664867727,0.000150063043863,1.0600334581,0.546235546285,0.00882269692855,1.05970484769
+396,6.600000000,pose2_to_pose3_retreat,0.575664812299,0.000150062409745,1.06003344926,0.546235490763,0.00882269596619,1.05970483862
+397,6.616666667,pose2_to_pose3_retreat,0.575664587442,0.00015005983729,1.06003341338,0.546235265524,0.00882269206214,1.05970480184
+398,6.633333333,pose2_to_pose3_retreat,0.575664422247,0.000150029158971,1.06003348762,0.546235100795,0.00882266308288,1.05970487917
+399,6.650000000,pose2_to_pose3_retreat,0.575664362018,0.000150005864875,1.060033557,0.54623504105,0.0088226415344,1.05970495125
+400,6.666666667,pose2_to_pose3_retreat,0.575664360751,0.000150005374834,1.06003355846,0.546235039793,0.00882264108109,1.05970495277
+401,6.683333333,pose2_to_pose3_retreat,0.575664326823,0.00014999225274,1.06003359755,0.546235006138,0.00882262894234,1.05970499338
+402,6.700000000,pose2_to_pose3_retreat,0.575664257532,0.000150156827693,1.06003348742,0.546234937218,0.00882279485915,1.05970488537
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bdc18412ed3f21e7212e41734c51fc026bf7d52e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5acb570db4ff1fbadd00e8289c2e43eee88fc73bc12f8c780f83447392f4131
+size 25772818
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af71f01e0937e131d617816a29e643be37575364
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_04/franka_data.csv
@@ -0,0 +1,407 @@
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+33,0.550000000,BASELINE,766,745.145378529,717.145378529,678.854621471,661,636,877,783,813,651,629,653.145378529,0.400980901894,-0.00535973295914,0.0698340791966,0.999999941522,0.000220005670147,-0.000261535913566,1.23609619952e-05,1793249570242637056
+34,0.566666667,BASELINE,766,745.722117486,717.722117486,678.277882514,661,636,877,783,813,651,629,653.722117486,0.400981362509,-0.00535907177024,0.0698345741309,0.999999941529,0.00022050240378,-0.000261084565273,1.24327466381e-05,1793249570259303680
+35,0.583333333,BASELINE,766,746,717.702239185,678.297760815,661,636.297760815,877,783.297760815,813,651,629,654,0.400981330979,-0.00535926747063,0.0698347528689,0.999999941596,0.000220308569057,-0.000260993005587,1.24156527312e-05,1793249570275970304
+36,0.600000000,BASELINE,766,746,717.127614526,678.872385474,661,636.872385474,877,783.872385474,813,651,629,654,0.400980841845,-0.00536025992339,0.0698346376015,0.999999941718,0.000219472630393,-0.000261235984346,1.2315917815e-05,1793249570292637184
+37,0.616666667,BASELINE,766.459122932,746,717.459122932,679,661,637,877,783.540877068,813,651,629,653.540877068,0.400979577552,-0.00536066131667,0.0698335048344,0.999999941489,0.000218580523152,-0.000262852272283,1.23902676327e-05,1793249570309304064
+38,0.633333333,BASELINE,766.951606808,745.951606808,718,679,661,636.951606808,877,783.048393192,813,651,629,653.048393192,0.400978442769,-0.0053608513077,0.0698324132046,0.999999941262,0.000217769675761,-0.00026437805823,1.25196846921e-05,1793249570325970944
+39,0.650000000,BASELINE,766.372483027,745.372483027,718,679,661,636.372483027,877,783.627516973,813,651,629,653.627516973,0.400981155267,-0.0053605734023,0.0698349584435,0.999999942192,0.00021802586816,-0.000260611578366,1.27079809094e-05,1793249570342637824
+40,0.666666667,BASELINE,766,745.205084282,718,679,661.205084282,636,877,783.794915718,813,651,629,654,0.400982403234,-0.00536005257923,0.0698362014826,0.999999942537,0.000218556067256,-0.000258837803297,1.2775693774e-05,1793249570359304448
+41,0.683333333,BASELINE,766,745.779845916,718,679,661.779845916,636,877,783.220154084,813,651,629,654,0.400981011292,-0.00535909388177,0.0698350972241,0.999999941842,0.000219580180698,-0.00026065600452,1.26260475289e-05,1793249570375970816
+42,0.700000000,BASELINE,766,745.637980202,718,679,661.637980202,636.362019798,877,783.362019798,813,651,629,654,0.400980376031,-0.00535918735461,0.0698345702566,0.99999994167,0.000219271365826,-0.000261581698423,1.24346739784e-05,1793249570392637184
+43,0.716666667,BASELINE,766,745.051204532,718,679,661.051204532,636.948795468,877,783.948795468,813,651,629,654,0.400980210546,-0.00535993405546,0.0698344016936,0.999999941824,0.000218135017539,-0.000261953289244,1.22173945106e-05,1793249570409304064
+44,0.733333333,BASELINE,766,745,718,679,661.528201873,636.471798127,877,783.471798127,812.471798127,651,629,654,0.40097953618,-0.00536022088369,0.069833806994,0.999999941588,0.000218523629817,-0.000262518948978,1.242910673e-05,1793249570425970432
+45,0.750000000,BASELINE,766,745,718,679,661.893022623,636,877,783,812.106977377,651,629,653.893022623,0.400978963597,-0.00536065531085,0.0698333681063,0.999999941441,0.000218758364436,-0.000262873320512,1.26628188743e-05,1793249570442637056
+46,0.766666667,BASELINE,766,745,718,679,661.313922224,636,877,783,812.686077776,651,629,653.313922224,0.400979054933,-0.00536193517635,0.0698337966689,0.99999994185,0.00021767054352,-0.000262213327977,1.28126128414e-05,1793249570459303936
+47,0.783333333,BASELINE,766.262601666,745,718,679,661,636,877,783,812.737398334,651,629.262601666,653,0.400979520409,-0.00536253853443,0.0698342321189,0.999999942382,0.000215807702253,-0.000261728757377,1.26814153652e-05,1793249570475971072
+48,0.800000000,BASELINE,766.836075519,745,718,679,661,636,877,783,812.163924481,651,629.836075519,653,0.400980428798,-0.00536234103203,0.0698346757222,0.999999943056,0.000213027378958,-0.000261451854072,1.22175756001e-05,1793249570492637440
+49,0.816666667,BASELINE,766.579692725,745.420307275,718,679,661,636,877.420307275,783,812.420307275,651,629.579692725,653.420307275,0.400980611135,-0.00536244829472,0.0698342949444,0.999999942906,0.000213189376009,-0.000261890080726,1.23356081049e-05,1793249570509303808
+50,0.833333333,BASELINE,765.991245304,746,717.991245304,679,661,636,877.991245304,783,812.991245304,651,629,653.991245304,0.400980503018,-0.00536266639596,0.0698336034915,0.999999942437,0.000214513878457,-0.000262580702532,1.26798980287e-05,1793249570525970432
+51,0.850000000,BASELINE,765.40871039,746,717.40871039,679,661,636,877.40871039,783,812.40871039,651,629,653.40871039,0.400980404851,-0.00536215403062,0.0698341761763,0.999999942767,0.000214843809974,-0.000261053482519,1.25889867576e-05,1793249570542637312
+52,0.866666667,BASELINE,765.171034024,746,717.171034024,678.828965976,661,636,877,783,812.171034024,651,629,653,0.400980402836,-0.00536175824572,0.0698346224259,0.99999994297,0.000214929788153,-0.000260210702871,1.24924836728e-05,1793249570559303936
+53,0.883333333,BASELINE,765.744217155,746,717.744217155,678.255782845,661,636,877,783,812.744217155,651,629,653,0.4009806269,-0.00536163657425,0.0698347713908,0.999999942876,0.000214442163383,-0.000260977235169,1.23828326666e-05,1793249570575971072
+54,0.900000000,BASELINE,766.316836208,746,717.683163792,678,661.316836208,636,877,783,812.683163792,651,629,653,0.400981159533,-0.00536100538434,0.0698350254394,0.999999942565,0.000216443771587,-0.000260513247323,1.24440017696e-05,1793249570592637952
+55,0.916666667,BASELINE,766.889000659,746,717.110999341,678,661.889000659,636,877,783,812.110999341,651,629,653,0.400981940832,-0.00535996358968,0.0698353641717,0.999999942065,0.000220451373665,-0.000259057622308,1.26428293824e-05,1793249570609304320
+56,0.933333333,BASELINE,767,745.519570047,717,678.480429953,661.519570047,636,877,783,812.480429953,651,629,653.480429953,0.400982039819,-0.00535904493088,0.069835652372,0.999999941927,0.000220910027006,-0.000259205823089,1.25390700064e-05,1793249570625971200
+57,0.950000000,BASELINE,767,745.073620621,717.073620621,679,661.073620621,636,877,783,813,651,629,654,0.400982100731,-0.00535838555142,0.0698359459603,0.999999942004,0.000220257676293,-0.000259471054043,1.23934225757e-05,1793249570642637568
+58,0.966666667,BASELINE,767,745.647279998,717.647279998,679,661.647279998,636,877,783,813,651,629,654,0.400983018477,-0.00535928591996,0.0698363587539,0.999999942932,0.000217861141438,-0.000257909209919,1.24579405178e-05,1793249570659304192
+59,0.983333333,BASELINE,767,745.776675801,718,679,661.776675801,636,877,783,813,651,629,654,0.400982668565,-0.00536012811606,0.0698361559583,0.999999943275,0.000216117759696,-0.000258047630188,1.23943905393e-05,1793249570675970560
+60,1.000000000,BASELINE,767,745.196824241,718,679,661.196824241,636,877,783,813,651,629,654,0.400980294892,-0.00536087744252,0.0698349704014,0.99999994269,0.00021541710809,-0.000260900448288,1.21263857117e-05,1793249570692637184
+61,1.016666667,BASELINE,767,745.387625585,717.612374415,679,661,636.387625585,877,783,813,651,629,654,0.400980767711,-0.00536141819609,0.0698350444404,0.99999994266,0.000215661027159,-0.000260803416034,1.23491436619e-05,1793249570709304320
+62,1.033333333,BASELINE,767,745.974438263,717.025561737,679,661,636.974438263,877,783,813,651,629,654,0.400982703243,-0.00536185177137,0.0698357657412,0.999999942916,0.000216390327769,-0.000259190559731,1.28240872807e-05,1793249570725970944
+63,1.050000000,BASELINE,766.446497277,745.446497277,717,679,661,636.446497277,877,783,813,651,629,654,0.400981472747,-0.00536188709755,0.0698351730219,0.999999942662,0.000216249766584,-0.000260282183623,1.28891799135e-05,1793249570742637824
+64,1.066666667,BASELINE,766,745,717.132162746,679.132162746,661.264325492,636,877.132162746,783,813,651,629,654,0.400980143315,-0.0053617196775,0.0698346045334,0.999999942326,0.000216430251725,-0.000261421158613,1.28430153171e-05,1793249570759304448
+65,1.083333333,BASELINE,766,745,717.710648651,679.710648651,662.421297302,636,877.710648651,783,813,651,629,654,0.400978966717,-0.0053609288219,0.0698343199785,0.999999941796,0.000217828723627,-0.000262304075987,1.24841645991e-05,1793249570775971072
+66,1.100000000,BASELINE,766,745,717.712580459,679.425160918,662.425160918,636,878,783,813,651,629,653.712580459,0.40097868814,-0.00536076907913,0.0698340202098,0.999999941756,0.000217906569505,-0.000262396516174,1.23923086391e-05,1793249570792637696
+67,1.116666667,BASELINE,766,745,717.137525904,678.275051808,661.275051808,636,878,783,813,651,629,653.137525904,0.400979308256,-0.00536124092236,0.0698337052159,0.999999942207,0.000216662799225,-0.000261697886518,1.25676476196e-05,1793249570809304064
+68,1.133333333,BASELINE,766,745.446968485,717,678.446968485,661.446968485,636,877.553031515,783,813,651,629,653,0.400980350976,-0.00536158046936,0.0698342720202,0.999999942359,0.000216582942426,-0.000261178428263,1.26666547769e-05,1793249570825970688
+69,1.150000000,BASELINE,766,745.96612974,717.03387026,678.96612974,661.96612974,636,877,783,813,651,629,653.03387026,0.400981450711,-0.00536189779584,0.0698351084079,0.999999942436,0.000216853234802,-0.000260651245897,1.27545724326e-05,1793249570842637312
+70,1.166666667,BASELINE,766,745.388220209,717.611779791,678.388220209,661.388220209,636,877,783,813,651,629,653.611779791,0.400981332624,-0.00536252614556,0.069835822925,0.999999942833,0.000216871392014,-0.000259095392136,1.30497509542e-05,1793249570859304192
+71,1.183333333,BASELINE,766.191337882,745,717.808662118,678.191337882,661,636,877,783,813,651,629,653.808662118,0.400980686581,-0.00536261983398,0.0698358919884,0.999999942731,0.000217383688073,-0.000259052408893,1.31801781785e-05,1793249570875971328
+72,1.200000000,BASELINE,766.774270042,745,717.225729958,678.774270042,661,636,877,783,813,651,629,653.225729958,0.400978960017,-0.00536161927865,0.0698346400591,0.999999941606,0.000218907294293,-0.000262105683299,1.29734235858e-05,1793249570892638208
+73,1.216666667,BASELINE,766.651693219,745,717.348306781,679,661.348306781,636,877,783,812.651693219,651,629,653,0.400978520336,-0.00536094937511,0.0698340958803,0.99999994133,0.000218923267762,-0.0002631486555,1.28981081985e-05,1793249570909304576
+74,1.233333333,BASELINE,766.083277876,745,717.916722124,679,661.916722124,636,877,783,812.083277876,651,629,653,0.400978893887,-0.00536048842334,0.0698339989567,0.999999941594,0.000217986509539,-0.000262921239598,1.29058543547e-05,1793249570925971200
+75,1.250000000,BASELINE,766,745,717.495866255,678.495866255,661.495866255,636,877,783,812.504133745,651,629,653,0.400979273065,-0.00536161228659,0.0698343792182,0.999999942181,0.00021610341392,-0.000262257898636,1.2552677946e-05,1793249570942637312
+76,1.266666667,BASELINE,766,745.092752515,717.092752515,678.092752515,661,636,877,783,813,651,629,653.092752515,0.400979728517,-0.00536266100532,0.0698347493781,0.999999942681,0.000214719286722,-0.000261502932917,1.22634457799e-05,1793249570959303936
+77,1.283333333,BASELINE,766,745.670629691,717.670629691,678.670629691,661,636,877,783,813,651,629,653.670629691,0.40098057786,-0.00536189380564,0.0698346382743,0.999999942448,0.000216794567338,-0.00026066012621,1.26327078914e-05,1793249570975970560
+78,1.300000000,BASELINE,766,745.752108762,718,678.752108762,661,636,877,783,813,651,628.752108762,653.752108762,0.400981112483,-0.00536146831072,0.0698347590148,0.999999942449,0.000217604750246,-0.000259971826698,1.28011700665e-05,1793249570992637184
+79,1.316666667,BASELINE,766,745.175663212,718,678.175663212,661,636,877,783,813,651,628.175663212,653.175663212,0.400981229978,-0.00536149571034,0.0698351870412,0.999999942764,0.000216738176242,-0.000259488310633,1.27034925725e-05,1793249571009304064
+80,1.333333333,BASELINE,766,745,718,678,661.407343042,636,877,783,813,651,628.407343042,653.407343042,0.400981011149,-0.00536190092958,0.0698351900488,0.999999942971,0.000215293204662,-0.000259896603639,1.26459441818e-05,1793249571025970432
+81,1.350000000,BASELINE,766,745,718,678,661.993224909,636,877,783,813,651,628.993224909,653.993224909,0.400980644909,-0.00536247174753,0.0698350067704,0.999999943128,0.000213594720827,-0.000260695777328,1.26059844049e-05,1793249571042637056
+82,1.366666667,BASELINE,766,745.574965377,717.425034623,678.574965377,662,636,877,783,813,651,629,654,0.400980645666,-0.00536254324939,0.0698358101549,0.999999943127,0.000214191220727,-0.000260204157168,1.27173138602e-05,1793249571059303936
+83,1.383333333,BASELINE,766,745.844930601,717,678.844930601,662,636,877,783,812.844930601,651,629,654,0.400980935159,-0.00536233437118,0.0698362831492,0.999999943084,0.000215112489877,-0.000259606438187,1.27975897865e-05,1793249571075970304
+84,1.400000000,BASELINE,766,745.269134914,717,678.269134914,662,636,877,783,812.269134914,651,629,654,0.400981996383,-0.00536138062935,0.0698358284278,0.999999942929,0.000216842059674,-0.000258761829219,1.27888107301e-05,1793249571092636928
+85,1.416666667,BASELINE,766,745,717,678,661.693735824,636,876.693735824,783,812.306264176,651,629,653.693735824,0.400982567459,-0.00536103078726,0.0698358863716,0.999999942934,0.000217597784634,-0.000258120412279,1.25695512422e-05,1793249571109303808
+86,1.433333333,BASELINE,766,745,717,678,661.118684836,636,876.118684836,783,812.881315164,651,629,653.118684836,0.400982708364,-0.00536121094612,0.069836394246,0.999999943079,0.000217498833462,-0.000257657322935,1.21655676868e-05,1793249571125970432
+87,1.450000000,BASELINE,766,745,717.468963092,678.468963092,661,636,876.468963092,783,813,651,629,653.468963092,0.400982178278,-0.00536081202246,0.0698358636428,0.999999942822,0.000218185160808,-0.000258066844153,1.23364812681e-05,1793249571142637312
+88,1.466666667,BASELINE,766,745,717.941328803,678.941328803,661,636,877,783,813,651,629,653.941328803,0.400981515941,-0.0053604771734,0.069835131544,0.999999942504,0.00021888367324,-0.000258692995012,1.26422761222e-05,1793249571159303936
+89,1.483333333,BASELINE,766,745,717.362401914,678.362401914,661,636,877,783,813,651,629,653.362401914,0.400981228256,-0.00536204590223,0.0698350075306,0.999999942583,0.000217879322411,-0.000259227761463,1.28183483202e-05,1793249571175970560
+90,1.500000000,BASELINE,766,745,717,678.215053151,661,636,877,783,812.784946849,651,629,653,0.400981049117,-0.00536282589033,0.0698351621779,0.999999942692,0.000217277408806,-0.000259306073133,1.2931388583e-05,1793249571192637184
+91,1.516666667,BASELINE,766,745,717,678.790044736,661,636,877,783,812.209955264,651,629,653,0.400981051653,-0.00536228574833,0.0698357832247,0.999999942854,0.000217349061924,-0.000258620407939,1.29389311127e-05,1793249571209303808
+92,1.533333333,BASELINE,766.372369738,745,717.372369738,679,661,636,877,783,812.372369738,651,629,653.372369738,0.400981158189,-0.00536242919955,0.0698357851615,0.99999994316,0.000215868259998,-0.000258684211007,1.28027138736e-05,1793249571225970688
+93,1.550000000,BASELINE,766.958912701,745,717.958912701,679,661,636,877,783,812.958912701,651,629,653.958912701,0.40098132454,-0.00536296582813,0.0698354310092,0.999999943544,0.000213494543666,-0.000259179080285,1.25838113621e-05,1793249571242637312
+94,1.566666667,BASELINE,767,745,718,678.462338129,661,636,877,783,813,651,629,654,0.400981876107,-0.00536221134449,0.0698360303945,0.999999943636,0.000214374415835,-0.000258100839024,1.24941663069e-05,1793249571259303936
+95,1.583333333,BASELINE,767,745,718,678.115928285,661,636,877,783,812.884071715,651,629,653.884071715,0.400982211292,-0.00536186888678,0.0698363905367,0.999999943694,0.000214936898108,-0.000257406792194,1.24689548229e-05,1793249571275970304
+96,1.600000000,BASELINE,767,745,718,678.694611304,661,636,877,783,812.305388696,651,629,653.305388696,0.400981566905,-0.00536355934233,0.0698355089715,0.999999943713,0.000213254144684,-0.000258719354897,1.26620793309e-05,1793249571292637184
+97,1.616666667,BASELINE,766.728218662,745.271781338,718,679,661,636,877,783,812.271781338,651,629,653,0.400981237743,-0.00536354691915,0.069835067771,0.999999943485,0.000213532252548,-0.000259370833653,1.26663228116e-05,1793249571309303808
+98,1.633333333,BASELINE,766.152739324,745.847260676,718,679,661,636,877,783,812.847260676,651,629,653,0.400981260824,-0.00536163163948,0.0698351186497,0.99999994298,0.000216001495686,-0.000259283593944,1.24595039965e-05,1793249571325970432
+99,1.650000000,BASELINE,766.433817574,745.566182426,717.566182426,679,661,636,877,783,813,651,629,653,0.400981258568,-0.00536173842885,0.0698356436508,0.999999943058,0.000216242709881,-0.000258773649331,1.26183613791e-05,1793249571342637056
+100,1.666666667,BASELINE,767,745,717,679,661,636,877.023886763,783,813,651,629,653,0.400981216782,-0.005362537779,0.0698362657707,0.999999943328,0.000215667973686,-0.000258196404335,1.28872228092e-05,1793249571359303680
+101,1.683333333,BASELINE,767,745,717,679,661,636,877.60257258,783,813,651,629,653,0.400980469515,-0.00536245386413,0.069835164846,0.999999943145,0.000214839006736,-0.000259603287457,1.26423747271e-05,1793249571375970304
+102,1.700000000,BASELINE,766.81963435,745,717.18036565,679,661,636,877.81963435,783,812.81963435,651,629,653,0.400979773181,-0.00536216593425,0.0698341441045,0.999999942743,0.000215133647567,-0.000260916971315,1.24407126556e-05,1793249571392636928
+103,1.716666667,BASELINE,766.243798795,745,717.756201205,679,661,636,877.243798795,783,812.243798795,651,629,653,0.400979188523,-0.00536143068088,0.0698332991731,0.999999941857,0.000217891912044,-0.000262026306186,1.23337403061e-05,1793249571409303552
+104,1.733333333,BASELINE,766,745.337708513,718,679,661,636,877,783,812.337708513,651,629,653.337708513,0.400979689789,-0.00536111609227,0.0698336246908,0.99999994194,0.000218320879192,-0.000261346417274,1.24141306715e-05,1793249571425970432
+105,1.750000000,BASELINE,766,745.923380381,718,679,661,636,877,783,812.923380381,651,629,653.923380381,0.400980988395,-0.00536111037779,0.0698348096137,0.999999942735,0.000217039553997,-0.000259352786254,1.26320925873e-05,1793249571442637312
+106,1.766666667,BASELINE,766,746,718,679,661,636,877,783,812.497392796,651,629,653.497392796,0.400981001476,-0.00536198277792,0.0698351982343,0.99999994295,0.00021661884129,-0.000258877558624,1.2615698092e-05,1793249571459303936
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,718,679,661,637,877,783,813,651,629,654,0.400980739246,-0.00536232260751,0.0698355742875,0.999999943387,0.000214383774091,-0.000259063957331,1.2299326925e-05,1793249571502646272
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.419213419,746,718,679,661,636.419213419,877,783,813,651,629,654,0.400981921929,-0.00536177490753,0.0698364231218,0.999999943338,0.000216540529176,-0.000257453468527,1.23581561018e-05,1793249571519312896
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.837029871,718,679,661,636,877,783,813,651,629,654,0.400982976321,-0.00536150676492,0.0698370111156,0.999999943323,0.000218006402333,-0.00025626654245,1.24117945244e-05,1793249571535979520
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.251221665,718,679,661,636,877,783,813,651,629,654,0.400983697854,-0.00536196395451,0.0698369223393,0.999999943417,0.000217679731593,-0.000256178580918,1.24519651637e-05,1793249571552646144
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.330736391,718,679,661.330736391,636,877,783,813,651,629,654,0.400983811531,-0.00536239899837,0.0698371484291,0.999999943573,0.000217193592818,-0.000255970027138,1.26382397107e-05,1793249571569312768
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.909803557,718,679,661.909803557,636,877,783,813,651,629,654,0.400983468802,-0.00536281741424,0.0698376109336,0.999999943777,0.000216587718763,-0.000255670927638,1.29342152063e-05,1793249571585979648
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.511721279,718,679.488278721,661.511721279,636,877,783,813,651,629,654,0.400981545052,-0.00536337787801,0.0698364553192,0.99999994341,0.000215955754311,-0.000257633528897,1.29706162077e-05,1793249571602646016
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.066027047,745.066027047,718,679.933972953,661.066027047,636,877,783,813,651,629,654,0.40097982957,-0.00536376514592,0.0698353059476,0.999999943031,0.000215345286612,-0.000259608879428,1.29303073217e-05,1793249571619312640
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.639033137,745.639033137,718,679.360966863,661.639033137,636,877,783,813,651,629,654,0.400981953005,-0.00536262132212,0.0698364968228,0.999999943415,0.000214936839621,-0.000258478078079,1.26687197771e-05,1793249571635979264
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,717.781978975,679,661.781978975,636,877,783,813,651,629,653.781978975,0.400987288198,-0.00536186528977,0.0698389963318,0.99999994424,0.000214913787994,-0.00025529032914,1.25869307311e-05,1793249571652646144
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,717.192807983,679,661.192807983,636,877,783,813,651,629,653.192807983,0.400998090951,-0.00536176941764,0.0698437236045,0.999999945787,0.000215546817517,-0.000248600917875,1.28112232331e-05,1793249571669312768
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.609386997,745.609386997,717.390613003,679,661.390613003,636.390613003,877,783,813,651,629,653.390613003,0.401025175421,-0.00536285508096,0.0698544682709,0.999999950092,0.000215561554038,-0.000230597280161,1.32084128665e-05,1793249571685979648
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.028763009,745.028763009,717.971236991,679,661.971236991,636.971236991,877,783,813,651,629,653.971236991,0.40106018002,-0.00536451549399,0.0698681400571,0.999999955291,0.00021527552618,-0.000207089914812,1.36897071235e-05,1793249571702646272
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661.453371277,636.453371277,877,783,813,651,629,654,0.40111191858,-0.00536440256476,0.0698807508978,0.999999957546,0.000218250560642,-0.000192572921272,1.37646995028e-05,1793249571719312640
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.121796144,745,718,679,661,636,877,783,813,651,629,654,0.401168437738,-0.00536505990128,0.0698919763573,0.999999959695,0.000219377866166,-0.000179713225295,1.3668037022e-05,1793249571735979264
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.697143944,745,718,679,661,636,877,783,813,651,629,654,0.401239511323,-0.00536892978253,0.0698982487731,0.999999962564,0.000212991559024,-0.000171280147827,1.30110142524e-05,1793249571752645888
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.719901164,745,718,679,661,636,877,783,813,651,629,653.719901164,0.401318896973,-0.00537176080704,0.0699024137975,0.999999964693,0.000208718555696,-0.000164049314071,1.17703860304e-05,1793249571769312512
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.128491541,745,718,679,661,636,877,783,813,651,629,653.128491541,0.401407520914,-0.00537343721276,0.0699042365996,0.999999966063,0.000206794346082,-0.000158154692872,9.88112011892e-06,1793249571785979136
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.452022598,718,679,661,636,877.452022598,783,813,651,629,653.452022598,0.401509263008,-0.00537437300871,0.0699030651816,0.999999965988,0.000205676972041,-0.000160209012676,7.34070775323e-06,1793249571802646528
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.970668789,718,679,661.029331211,636.029331211,877.970668789,783,813,651.029331211,629,654,0.401616327896,-0.0053751486269,0.0699012121583,0.999999965546,0.000204767021851,-0.000164184750565,4.60385962236e-06,1793249571819313920
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.396725964,718,679,661.603274036,636.603274036,877.396725964,783,813,651.603274036,629,654,0.401754616257,-0.00537676707329,0.0699021349275,0.999999966019,0.000203550178047,-0.000162869478093,1.57553713131e-06,1793249571835980032
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,718,679,662,636.822919902,877.177080098,783,813,651.822919902,629.177080098,654,0.401905127504,-0.00537885480935,0.0699040610544,0.999999966959,0.000201036890643,-0.0001601965361,-1.66895825435e-06,1793249571852646400
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,718,679,662,636.24942008,877.75057992,783,813,651.24942008,629.75057992,654,0.40208300145,-0.00538199311882,0.0699082333445,0.999999968919,0.000195621324614,-0.000154484252308,-5.39738790353e-06,1793249571869313024
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,717.662953406,679,661.662953406,636.337046594,877.325906813,783,813,651,629.662953406,653.662953406,0.402279263937,-0.0053857957516,0.0699141778711,0.999999971617,0.000189337342207,-0.000144332644318,-9.26025854354e-06,1793249571885979904
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,717.066507048,679,661.066507048,636.933492952,876.133014096,783,813,651,629.066507048,653.066507048,0.402489678737,-0.00539010966508,0.0699214863571,0.999999974731,0.000182385003517,-0.000130764417121,-1.32265988373e-05,1793249571902646784
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,717.512037792,679,661,636.487962208,876.512037792,783,813,651.512037792,629,653,0.402728276842,-0.00539404500711,0.0699237426269,0.999999977095,0.000173162350453,-0.000124419848499,-1.85674521528e-05,1793249571919313664
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,717.912513211,679,661,636,877,783,812.912513211,651.912513211,629,653.087486789,0.402975751734,-0.00539809321604,0.069925504561,0.999999979156,0.000164058661121,-0.000119157532319,-2.39803623107e-05,1793249571935980544
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,717.341754985,679,661,636,877,783,812.341754985,651.341754985,629,653.658245015,0.403252723435,-0.00540302734091,0.0699280382677,0.999999980633,0.000157186012768,-0.000114865702612,-2.883843021e-05,1793249571952647168
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,717,679,661.238881624,636,877,783,812.238881624,651,628.761118376,653.761118376,0.403554907478,-0.00540795102481,0.0699340721105,0.999999982747,0.000149834718522,-0.000104388631569,-3.40333947226e-05,1793249571969313536
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,717,679,661.83426029,636,877,783,812.83426029,651,628.16573971,653.16573971,0.40389471736,-0.00541285912675,0.0699453294113,0.999999985576,0.000141769113345,-8.46809627903e-05,-3.97311294863e-05,1793249571985980160
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,717.415402085,679,662,636.415402085,877,783,813,651,628.415402085,653,0.404248812354,-0.00541818574933,0.0699493863196,0.999999993745,6.55006398101e-05,-7.84428204896e-05,-4.5463833177e-05,1793249572002646528
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,717.991051779,679,662,636.991051779,877,783,813,651,628.991051779,653,0.404608418037,-0.00542367382244,0.0699506655678,0.999999995006,-3.7078117449e-05,-7.74007505741e-05,-5.12100261185e-05,1793249572019313152
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,718,679,662,636.431488316,877,783,813,651,629,653.568511684,0.405020230381,-0.00543157230214,0.069959005874,0.999999996947,2.33606292188e-05,-6.46948016792e-05,-3.70802101565e-05,1793249572035980032
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,718,679.148459019,662,636.148459019,877,783,813,651,629,653.851540981,0.405438266238,-0.00543683834238,0.0699638896854,0.999999995062,7.68265992479e-05,-5.69913506741e-05,-2.69275647258e-05,1793249572052646912
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,718,679.735673118,662,636.735673118,877,783,813,651,629,653.264326882,0.405872258701,-0.00543421199874,0.0699582286775,0.999999992269,0.000102077918746,-6.46165644108e-05,-2.94565613476e-05,1793249572069313792
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,718,679.68161829,662,637,877.31838171,783,813,651,629,653,0.406322801048,-0.00544377264298,0.0699479352762,0.999999991825,9.31704968937e-05,-8.142002856e-05,-3.22421664511e-05,1793249572085980416
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,718,679.102598004,662,637,877.897401996,783,813,651,629,653,0.406786891764,-0.0054633099881,0.0699338496322,0.999999992204,5.62995186543e-05,-0.000105737135264,-3.52378406133e-05,1793249572102646528
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.47444197,745,718,679,662.47444197,637,878,783.47444197,813,651,629,653,0.407309460013,-0.00549023488461,0.0699262244969,0.999999992929,1.63257561542e-05,-0.000112583210121,-3.46458880588e-05,1793249572119313152
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.948947879,745.051052121,718,679,662.948947879,637,878,783.948947879,813,651,629,653.051052121,0.40785015897,-0.00551617288868,0.0699217539338,0.999999992862,-2.03656954469e-05,-0.000112852221698,-3.35583011248e-05,1793249572135979776
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.372371929,745.627628071,718,679,662.372371929,637,878,783.372371929,813,651,629,653.627628071,0.408447860738,-0.00551557528631,0.0699354344979,0.999999995701,-1.63912613084e-05,-8.41475011452e-05,-3.53217502501e-05,1793249572152646400
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.791912896,718,679.208087104,662,637,878,783,813,651,628.791912896,654,0.409056828669,-0.00551704339407,0.0699463265564,0.999999997358,-1.82128301392e-05,-5.99281712405e-05,-3.68896974023e-05,1793249572169313024
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.204372982,718,679.795627018,662,637,878,783,813,651,628.204372982,654,0.409686340735,-0.00552227838358,0.0699521336939,0.999999997843,-3.06035770671e-05,-4.38880817826e-05,-3.81011410217e-05,1793249572185979904
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,717.622930601,680,662,637,878.377069399,783,812.622930601,651,628.377069399,654,0.41031772298,-0.00553306215342,0.0699474132649,0.999999996895,-4.49557622986e-05,-5.14049290176e-05,-3.93234778915e-05,1793249572202646784
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,717.044740532,680,662,637,878.955259468,783,812.044740532,651,628.955259468,654,0.410950102718,-0.00554680552264,0.0699370776592,0.999999994801,-6.03541359321e-05,-7.1486537859e-05,-4.05516249319e-05,1793249572219313664
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+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.562791841,717.437208159,680.437208159,663,637,879,783.562791841,813,651,629,654,0.415399289628,-0.00550877390197,0.0699751115918,0.999999998606,-2.13022281355e-05,-2.28478733182e-05,-4.25649347851e-05,1793249572319312896
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.016966637,717.983033363,681,663,637,879.033933273,783,813,651,629,653.983033363,0.41612116221,-0.00548940579949,0.0699136705492,0.999999990763,1.4417815876e-06,-0.000127705604566,-4.65008264662e-05,1793249572335979520
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.589556031,717.410443969,681,663,637,880.179112063,783,813,651,629,653.410443969,0.416955220079,-0.00550441476113,0.0699148730297,0.999999990772,-1.69393968336e-05,-0.000126051257863,-4.77476146091e-05,1793249572352646912
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.163745026,745.836254974,717,680.836254974,663,637,881,783,813,651,628.836254974,653,0.417801422598,-0.00551732133803,0.069926456077,0.999999992599,-3.27564024566e-05,-0.000106804702763,-4.81781153569e-05,1793249572369313792
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.741983105,745.258016895,717,680.258016895,663,637,881,783,813,651,628.258016895,653,0.418678367212,-0.0055249060799,0.0699643157869,0.999999997106,-4.20826338202e-05,-4.30264244413e-05,-4.65423213918e-05,1793249572385980416
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745,717,680.327339879,663,637,881,783.327339879,813,651,628.327339879,653,0.419572093898,-0.00553072834031,0.0699938860616,0.999999997656,-5.08094487204e-05,2.83577912534e-06,-4.5800894685e-05,1793249572402647040
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745,717,680.918432485,663,637,881,783.918432485,813,651,628.918432485,653,0.420479342624,-0.00553513048835,0.0700167771569,0.999999996621,-5.90532859501e-05,3.42621778886e-05,-4.57801007767e-05,1793249572419313152
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745,717,681,663,637,881.497220664,784,813,651,629,653.497220664,0.421374847712,-0.00553374242762,0.0700298156003,0.999999995818,-6.09219173472e-05,5.07616301457e-05,-4.55546967987e-05,1793249572435979776
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745.073480382,717.073480382,681,663,637,882,784,813.073480382,651,629,654,0.422256923502,-0.00553045147611,0.0700314363131,0.999999995908,-6.01269412027e-05,4.96042844029e-05,-4.5917296725e-05,1793249572452646400
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745.645945834,717.645945834,681,663,637,882,784,813.645945834,651,629,654,0.423060570664,-0.00552053302895,0.0699662331268,0.99999999604,-4.81745970209e-05,-5.52285093029e-05,-5.04953001275e-05,1793249572469313536
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.774086524,745.774086524,717.774086524,681,663,637,882.225913476,783.774086524,814,651,629,654,0.423881209282,-0.00551492366684,0.069904330348,0.999999986343,-4.55055266561e-05,-0.000148772065362,-5.5759826336e-05,1793249572485980416
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.181957412,745.181957412,717.181957412,681,663,637,882.818042588,783.181957412,814,651,629,654,0.424729391924,-0.00551629951873,0.0698477776637,0.999999971303,-5.78850482368e-05,-0.000224015289896,-6.21372373214e-05,1793249572502647040
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.400180251,717,680.599819749,663,637,883,783.400180251,814,651,629,654,0.425678017358,-0.00552369122887,0.069869268931,0.999999978369,-6.65850764219e-05,-0.00018752756454,-6.05141038264e-05,1793249572519313664
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.977885544,717,680.022114456,663,637,883,783.977885544,814,651,629,654,0.42667120044,-0.00553375165007,0.06992538149,0.999999990608,-7.36528335429e-05,-0.000101474565296,-5.53418265184e-05,1793249572535980032
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,717,681.112347271,663.556173635,637,883,784,814,651,629,654,0.427630698427,-0.00553400425925,0.0699768503177,0.999999995009,-7.5514952422e-05,-3.80150460514e-05,-5.32384524401e-05,1793249572552646400
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.866805339,717,681.866805339,664,637,883.133194661,784,814,651,629,654,0.42858906279,-0.00553378578778,0.0700230610646,0.999999995557,-7.51179886947e-05,2.39133962802e-05,-5.16786669167e-05,1793249572569313024
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.294042463,717,681.294042463,664,637,883.705957537,784,814,651,629,654,0.429548110773,-0.00553330100558,0.070052529119,0.999999992857,-6.79494234149e-05,8.3756846631e-05,-5.15097008119e-05,1793249572585979648
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.288733245,717,681.288733245,664,637.288733245,884.288733245,784,814,650.711266755,628.711266755,654,0.43044230389,-0.00553332321046,0.070045455378,0.999999993315,-6.93511724219e-05,7.59966090249e-05,-5.27716595488e-05,1793249572602646272
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.88207218,717,681.88207218,664,637.88207218,884.88207218,784,814,650.11792782,628.11792782,654,0.431268076834,-0.0055338802729,0.0699998310387,0.999999995269,-7.9794369332e-05,-3.08367751889e-06,-5.55432048373e-05,1793249572619312896
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,717,682,663.53765981,637.53765981,885,784,814.46234019,650.46234019,628.46234019,654,0.432087340325,-0.00553379602834,0.0699306526529,0.999999988066,-7.80803579198e-05,-0.000119941917935,-5.81917406072e-05,1793249572635981312
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.039214891,746,717,682,663.039214891,637,885,784,815,651,629,654,0.432913898953,-0.00553382772942,0.0698644948019,0.999999968906,-7.39796011679e-05,-0.000230323542909,-6.05407609159e-05,1793249572652649984
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.614026533,746,717,682,663.614026533,637,885,784,815,651,629,654,0.433862147209,-0.00553761571593,0.0699193908322,0.999999987448,-7.84684254896e-05,-0.000124258587928,-5.92157551202e-05,1793249572669315072
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.806358127,745.806358127,717,682,664,637,885,784,815,651,629,654,0.434790045198,-0.00554035121741,0.0699719222747,0.9999999946,-8.13951607489e-05,-2.88451607409e-05,-5.78236584286e-05,1793249572685980416
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.216924217,745.216924217,717,682,664,637,885,784,815,651,629,654,0.435676348669,-0.00554093550513,0.0700196206558,0.999999994121,-8.11290844288e-05,4.47972184299e-05,-5.62944327731e-05,1793249572702646784
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.364933731,717.364933731,682,664.364933731,637,885.364933731,784,815,651,629,654,0.436539039831,-0.00554205937447,0.0700352196326,0.99999999234,-8.42635883414e-05,7.1367462816e-05,-5.59100433841e-05,1793249572719313408
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.942379922,717.942379922,682,664.942379922,637,885.942379922,784,815,651,629,654,0.437387980746,-0.00554349745924,0.0700321261077,0.99999999194,-8.9378357928e-05,7.05261091938e-05,-5.61923285937e-05,1793249572735980032
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,717.47459555,682,664.47459555,637.52540445,886,784,815,651,629,654,0.438170002298,-0.00554862605662,0.0700003684148,0.999999993425,-9.24808857221e-05,3.4690439632e-05,-5.82499633424e-05,1793249572752646656
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+187,3.116666667,POSE1_TO_POSE2_PRESS,766.424598517,746,717.575401483,683,664,637,886,784,815.424598517,651,629,654.575401483,0.441812470511,-0.00554434776703,0.0698710316605,0.999999979864,-8.44680162005e-05,-0.000170604917584,-6.3495148253e-05,1793249572835980288
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+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,717,683,663.273827357,636,886,783,816,651,629,654,0.444456737942,-0.00555397807378,0.0698510631476,0.999999966968,-7.80322444925e-05,-0.000237454758188,-5.9916042821e-05,1793249572902646784
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,717,683,663,636,886,783,816,651,629,654,0.445022780468,-0.00555842070584,0.0698120123004,0.999999950353,-8.8439626856e-05,-0.000296114992271,-6.15420490236e-05,1793249572919313920
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,717,683,663,636,886,783,816,651,629,654,0.445575877708,-0.00556184665586,0.0697795293904,0.999999934436,-0.000113424436995,-0.000337976969893,-6.35165221049e-05,1793249572935980800
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+196,3.266666667,POSE1_TO_POSE2_PRESS,767,745.635099415,717,683,663,636,887,783,816,651,629,654,0.447132322005,-0.00556494389151,0.0697387087805,0.999999908902,-0.000103752793564,-0.000408817288141,-6.5571107931e-05,1793249572985979904
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,717.21444366,683,663,636,886.78555634,783,815.78555634,651,629,654,0.447599361597,-0.00556536246754,0.0697221276515,0.999999894791,-0.000109387090055,-0.000440688269237,-6.51563184824e-05,1793249573002646016
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,717.804635751,683,663,636,886.195364249,783,815.195364249,651,629,654,0.448035613722,-0.00556558510319,0.0697017095246,0.999999881216,-0.000117041012967,-0.0004689384638,-6.29764595116e-05,1793249573019312640
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b529bbed600ddb26ebaa57277b6a047da2a45cd2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_04/simulation_data.csv
@@ -0,0 +1,407 @@
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+377,6.283333333,pose2_to_pose3_retreat,0.575715929443,0.000150171855627,1.0600335083,0.546286606679,0.00882280133503,1.05970490055
+378,6.300000000,pose2_to_pose3_retreat,0.575701051314,0.000150097389171,1.06003350554,0.546271730468,0.00882273340542,1.05970489832
+379,6.316666667,pose2_to_pose3_retreat,0.575689472759,0.000150012729192,1.06003347512,0.546260154101,0.00882265619575,1.05970486811
+380,6.333333333,pose2_to_pose3_retreat,0.575681059986,0.000150082707901,1.06003326352,0.546251740516,0.008822723772,1.05970466592
+381,6.350000000,pose2_to_pose3_retreat,0.575675232042,0.000150134840267,1.06003346754,0.546245911294,0.00882277133774,1.0597048639
+382,6.366666667,pose2_to_pose3_retreat,0.575671566241,0.000150159896697,1.0600336443,0.54624224473,0.00882279355073,1.05970503408
+383,6.383333333,pose2_to_pose3_retreat,0.575669526952,0.0001501476336,1.06003365956,0.54624020561,0.00882278171526,1.05970504545
+384,6.400000000,pose2_to_pose3_retreat,0.575668734872,0.000150142870488,1.06003366549,0.546239413595,0.00882277711824,1.05970504987
+385,6.416666667,pose2_to_pose3_retreat,0.575667960235,0.000150138212268,1.06003367129,0.546238639022,0.00882277262245,1.0597050542
+386,6.433333333,pose2_to_pose3_retreat,0.575667342548,0.000150100570583,1.06003366514,0.546238021828,0.00882273670966,1.05970504958
+387,6.450000000,pose2_to_pose3_retreat,0.575667194649,0.000150089523332,1.06003366303,0.546237874073,0.00882272617228,1.059705048
+388,6.466666667,pose2_to_pose3_retreat,0.575666852428,0.000150063961249,1.06003365813,0.546237532185,0.00882270178997,1.05970504433
+389,6.483333333,pose2_to_pose3_retreat,0.57566674919,0.000150056249962,1.06003365665,0.546237429048,0.00882269443459,1.05970504322
+390,6.500000000,pose2_to_pose3_retreat,0.57566672612,0.000150054526781,1.06003365632,0.546237406001,0.00882269279094,1.05970504297
+391,6.516666667,pose2_to_pose3_retreat,0.575666602037,0.000150045258464,1.06003365454,0.546237282039,0.00882268395038,1.05970504164
+392,6.533333333,pose2_to_pose3_retreat,0.575666150337,0.000150011518954,1.06003364808,0.54623683078,0.00882265176806,1.05970503679
+393,6.550000000,pose2_to_pose3_retreat,0.575665565669,0.000149968076536,1.06003363918,0.546236246676,0.0088226103173,1.05970502998
+394,6.566666667,pose2_to_pose3_retreat,0.575665535373,0.000149969075186,1.0600336312,0.54623621631,0.00882261107963,1.05970502199
+395,6.583333333,pose2_to_pose3_retreat,0.575665468755,0.000149971271082,1.06003361366,0.546236149539,0.0088226127559,1.05970500442
+396,6.600000000,pose2_to_pose3_retreat,0.575665455552,0.00014997170629,1.06003361018,0.546236136306,0.00882261308812,1.05970500094
+397,6.616666667,pose2_to_pose3_retreat,0.575665433751,0.000149972424897,1.06003360444,0.546236114455,0.00882261363668,1.05970499519
+398,6.633333333,pose2_to_pose3_retreat,0.57566535945,0.000149974874047,1.06003358487,0.546236039983,0.00882261550628,1.05970497559
+399,6.650000000,pose2_to_pose3_retreat,0.575664958659,0.000149988085151,1.06003347932,0.546235638273,0.00882262559118,1.05970486988
+400,6.666666667,pose2_to_pose3_retreat,0.575664573554,0.000149998888171,1.06003342084,0.546235252465,0.00882263403266,1.05970481211
+401,6.683333333,pose2_to_pose3_retreat,0.575664550477,0.00014999863735,1.06003343773,0.546235229431,0.00882263394541,1.05970482945
+402,6.700000000,pose2_to_pose3_retreat,0.575664520068,0.000149998306841,1.06003345999,0.546235199079,0.00882263383044,1.05970485231
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+404,6.733333333,pose2_to_pose3_retreat,0.575664348225,0.000149996439108,1.06003358579,0.546235027557,0.00882263318071,1.05970498144
+405,6.750000000,pose2_to_pose3_retreat,0.575664257532,0.000150156827693,1.06003348742,0.546234937218,0.00882279485914,1.05970488537
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7524e21396e3143b644056503968c16241e503b8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9316e04020439fb995374132e97437cd2a38c4feb1aa43efcc393c21572c522a
+size 25703294
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8631035ffbecb1c42f1ef105ce64fb19d53e1468
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_05/franka_data.csv
@@ -0,0 +1,406 @@
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+16,0.266666667,BASELINE,766,745,717.292531994,679,661,636,877,783,812.707468006,651,629,653,0.400979512541,-0.00536508273196,0.0698313749649,0.999999942399,0.000210187926988,-0.000266209201818,1.25133179245e-05,1793249576882565376
+17,0.283333333,BASELINE,766,745,717.87008388,679,661,636,877,783,812.12991612,651,629,653,0.400980745196,-0.00536336972394,0.0698328636876,0.999999943373,0.000209303982165,-0.000263253072015,1.19451136796e-05,1793249576899232000
+18,0.300000000,BASELINE,766.446987688,745,718,679,661,636.446987688,876.553012312,783,812.446987688,651,629,653.446987688,0.40098023208,-0.00536293595125,0.0698327840789,0.999999942885,0.000210669808228,-0.000264011990698,1.21122648629e-05,1793249576915899136
+19,0.316666667,BASELINE,766.976335618,745.023664382,717.976335618,678.976335618,661.023664382,636.976335618,876.023664382,783,813,651,629,654,0.400979287416,-0.00536292843679,0.06983227018,0.999999942027,0.00021255035377,-0.000265732074748,1.24729110246e-05,1793249576932566528
+20,0.333333333,BASELINE,766.400569166,745.599430834,717.400569166,678.400569166,661.599430834,636.400569166,876.599430834,783,813,651,629,654,0.400980095378,-0.00536420384847,0.069832243475,0.999999942581,0.000211206029876,-0.000264721483656,1.23686912569e-05,1793249576949233408
+21,0.350000000,BASELINE,766,746,717.179164969,678,662,636,877,783,813,651,629,654,0.400980360294,-0.005364829281,0.0698322678001,0.99999994298,0.000210195132625,-0.000264019367679,1.23343757005e-05,1793249576965900288
+22,0.366666667,BASELINE,766,746,717.767970689,678,662,636,877,783,813,651,629,654,0.400979383594,-0.00536396860844,0.0698324087997,0.99999994303,0.000209946578453,-0.00026402254584,1.24598883535e-05,1793249576982566912
+23,0.383333333,BASELINE,766,745.648499141,717.648499141,678.351500859,661.648499141,636,877,783,812.648499141,651,629,653.648499141,0.400980259847,-0.00536387234332,0.0698332908376,0.999999943434,0.000209514360654,-0.000262840313204,1.23011558028e-05,1793249576999233280
+24,0.400000000,BASELINE,766,745.068399864,717.068399864,678.931600136,661.068399864,636,877,783,812.068399864,651,629,653.068399864,0.400982341165,-0.00536427321015,0.0698346548095,0.999999944065,0.000208962697275,-0.000260887149215,1.19575645303e-05,1793249577015899392
+25,0.416666667,BASELINE,766,745,717.506914457,679,661,636,877,783,812.506914457,651,629,653,0.400982085398,-0.00536444212803,0.0698343701449,0.999999943736,0.000209278690935,-0.000261888295781,1.20100084379e-05,1793249577032566016
+26,0.433333333,BASELINE,766,745.083544368,718,679,661,636,877,783,813,651,629,653.083544368,0.400981661765,-0.00536453827519,0.0698339691311,0.999999943391,0.000209608439721,-0.000262934520145,1.21447523635e-05,1793249577049232896
+27,0.450000000,BASELINE,766,745.671990836,718,679,661,636,877,783,813,651,629,653.671990836,0.400982111643,-0.0053643820108,0.0698341968086,0.999999943728,0.000209320381998,-0.000261866536179,1.24569414609e-05,1793249577065899776
+28,0.466666667,BASELINE,766.255850451,745.744149549,718,679,661,636,877,783,813,651,629,653.744149549,0.400981635884,-0.00536409284904,0.0698339912591,0.999999943521,0.000209733911861,-0.000262322359061,1.2550786625e-05,1793249577082566656
+29,0.483333333,BASELINE,766.833933094,745.166066906,718,679,661,636,877,783,813,651,629,653.166066906,0.400979994327,-0.00536363630902,0.0698332400797,0.999999942624,0.000211031059903,-0.000264697348532,1.23696373584e-05,1793249577099233024
+30,0.500000000,BASELINE,766.58814525,745,718,679,661,636,877,783,813,651,628.58814525,653.41185475,0.400979754483,-0.00536224989904,0.0698324831467,0.999999941981,0.000213854667155,-0.000264863561102,1.23111569e-05,1793249577115899648
+31,0.516666667,BASELINE,766.010288497,745,718,679,661,636,877,783,813,651,628.010288497,653.989711503,0.400980079612,-0.00536048869608,0.0698317238946,0.999999941431,0.000217293528389,-0.000264139504913,1.23021192848e-05,1793249577132566272
+32,0.533333333,BASELINE,766,745,718,679,661,636,877,783,813,651,628.563071183,653.436928817,0.400979743276,-0.00536265484931,0.0698324895316,0.999999942186,0.000214046826803,-0.000263925576059,1.24522430696e-05,1793249577149232640
+33,0.550000000,BASELINE,766,745,718,679,661,636,877.140201492,783,813,651,629,653,0.400979532772,-0.00536460361349,0.0698329558334,0.999999942878,0.000210950395164,-0.0002637901064,1.2565485001e-05,1793249577165899008
+34,0.566666667,BASELINE,766,745,718,679,661,636,877.729675824,783,813,651,629,653,0.400979763917,-0.00536562762356,0.0698323743424,0.999999943323,0.000208723856566,-0.000263876425072,1.2551294278e-05,1793249577182565888
+35,0.583333333,BASELINE,766,745.315186614,718,679,661,636,877.684813386,783,813,651,629,653,0.400981002016,-0.00536529820652,0.0698331353245,0.999999943605,0.00020921432871,-0.000262411189337,1.26760766538e-05,1793249577199232768
+36,0.600000000,BASELINE,766,745.897340297,718,679,661,636,877.102659703,783,813,651,629,653,0.400983093018,-0.00536382241964,0.0698350333984,0.999999943739,0.000212006143252,-0.000259631767295,1.29185710095e-05,1793249577215899392
+37,0.616666667,BASELINE,766,746,717.528708237,678.528708237,661,636,877,783,813,651,629,653,0.400981888774,-0.00536403191465,0.0698341369746,0.999999943264,0.000212284769939,-0.000261240536598,1.26950111442e-05,1793249577232566272
+38,0.633333333,BASELINE,766.044782454,745.955217546,717,678.044782454,661,636.044782454,876.955217546,783,813,651,629,653,0.400980137345,-0.00536445191229,0.0698328139464,0.999999942713,0.000211993160421,-0.000263590791396,1.23703307069e-05,1793249577249232896
+39,0.650000000,BASELINE,766.634021873,745.365978127,717,678.634021873,661,636.634021873,876.365978127,783,813,651,629,653,0.400980310828,-0.00536304439125,0.0698335783877,0.999999942877,0.000211310525253,-0.000263533476036,1.20293789314e-05,1793249577265899520
+40,0.666666667,BASELINE,766.780742787,745,717,679,661,636.780742787,876.219257213,783,812.780742787,651,629,653,0.400980247069,-0.00536225874143,0.0698337229387,0.999999942786,0.000211492728042,-0.000263738103086,1.18445619761e-05,1793249577282566144
+41,0.683333333,BASELINE,766.202071115,745,717,679,661,636.202071115,876.797928885,783,812.202071115,651,629,653,0.400979794414,-0.0053624924858,0.0698328513428,0.999999942278,0.000213092604953,-0.000264372115742,1.19156869621e-05,1793249577299232768
+42,0.700000000,BASELINE,766,745,717,678.623757132,661.376242868,636,877,783,812.376242868,651,629,653,0.4009800561,-0.00536300016369,0.0698329717837,0.999999942288,0.000213775971867,-0.000263779481283,1.19985572158e-05,1793249577315899136
+43,0.716666667,BASELINE,766,745,717,678.045635091,661.954364909,636,877,783,812.954364909,651,629,653,0.400980701076,-0.005363654825,0.0698336245181,0.999999942575,0.000213967570527,-0.000262528669532,1.20877295799e-05,1793249577332565760
+44,0.733333333,BASELINE,766,745,717,678.527146853,661.472853147,636,877,783,813,651,629,653,0.400981285718,-0.00536434833334,0.0698338669755,0.999999943382,0.00021082342072,-0.000262006686689,1.19407317815e-05,1793249577349232384
+45,0.750000000,BASELINE,766,745,717.100231851,678.899768149,661,636,877,783,813,651,629,653,0.40098163136,-0.00536495085448,0.0698339711947,0.99999994406,0.000208099809908,-0.000261599328203,1.18114738826e-05,1793249577365899264
+46,0.766666667,BASELINE,766,745,717.676932832,678.323067168,661,636,877,783,813,651,629,653,0.400980865448,-0.00536510502613,0.0698335854214,0.999999943969,0.000208734281228,-0.000261439932728,1.18627609323e-05,1793249577382566400
+47,0.783333333,BASELINE,766,745,717.738237121,678,661,636,877,783,813,651,629,653,0.400980901817,-0.00536509480151,0.0698336298788,0.999999943875,0.00020948127092,-0.000261196824236,1.19523685165e-05,1793249577399233280
+48,0.800000000,BASELINE,766,745,717.143052559,678,661,636,877,783,813,651,629,653,0.400981960094,-0.00536487517643,0.0698342223445,0.999999943778,0.000210371581499,-0.000260847085875,1.20907870668e-05,1793249577415899904
+49,0.816666667,BASELINE,766,745,717,678.436527712,661.436527712,636,877,783,813,651,629,653.436527712,0.400981437204,-0.00536466631966,0.0698338593398,0.999999943823,0.000209045135987,-0.000261746927597,1.19428463286e-05,1793249577432566528
+50,0.833333333,BASELINE,766,745,717,679,662,636,877,783,813,651,629,653.988777207,0.400980469865,-0.00536446596485,0.06983322459,0.999999943906,0.000207099024072,-0.00026298431076,1.17135693834e-05,1793249577449232896
+51,0.850000000,BASELINE,766,745,717,679,662,636,877,783,813,651,629,653.411460555,0.400982318524,-0.00536452260379,0.0698341314047,0.999999943891,0.000209274243462,-0.000261305166352,1.1951712416e-05,1793249577465899520
+52,0.866666667,BASELINE,766,745,717.168740464,678.831259536,661.831259536,636,877,783,812.831259536,651,629,653,0.400983426755,-0.0053644391036,0.0698349410888,0.999999943929,0.000210751111891,-0.000259961583658,1.21172607372e-05,1793249577482566400
+53,0.883333333,BASELINE,766,745,717.75609707,678.24390293,661.24390293,636,877,783,812.24390293,651,629,653,0.400982698115,-0.00536400794225,0.0698355098084,0.999999944115,0.000210495491272,-0.000259450472114,1.21027140209e-05,1793249577499233024
+54,0.900000000,BASELINE,766,745,718,678.338788223,661,636,877,783,812,651,629,653,0.400981842053,-0.00536406449908,0.0698352911637,0.999999944079,0.000210194923959,-0.000259832338064,1.21154163918e-05,1793249577515899648
+55,0.916666667,BASELINE,766,745,718,678.91816619,661,636,877,783,812,651,629,653,0.400980895503,-0.00536446740796,0.0698345133737,0.999999943884,0.000209862437858,-0.000260848350121,1.21474696452e-05,1793249577532566528
+56,0.933333333,BASELINE,766,745.495616048,718,679,661.495616048,636,877,783,812.495616048,651,629,653,0.400980553484,-0.00536465939711,0.0698335756364,0.999999943618,0.000209698647826,-0.000262002298997,1.20246926084e-05,1793249577549232896
+57,0.950000000,BASELINE,766,745.9278347,717.9278347,678.9278347,661.9278347,636,877,782.9278347,813,650.9278347,629,653,0.400980337123,-0.00536486601137,0.0698328403622,0.999999943405,0.000209517744684,-0.000262963683593,1.18934270863e-05,1793249577565899776
+58,0.966666667,BASELINE,766,745.355331119,717.355331119,678.355331119,661.355331119,636,877,782.355331119,813,650.355331119,629,653,0.400980302611,-0.0053654145461,0.0698336912058,0.999999943648,0.000209025820755,-0.000262432680462,1.18798690805e-05,1793249577582566656
+59,0.983333333,BASELINE,766,745,717,678,661,636,877,782.22368277,813,650.22368277,629,653.22368277,0.400980668597,-0.00536533139997,0.0698344654873,0.999999943855,0.000209128007698,-0.000261556990055,1.19386353341e-05,1793249577599233280
+60,1.000000000,BASELINE,766,745,717,678,661,636,877,782.813348723,813,650.813348723,629,653.813348723,0.400981689868,-0.00536421471621,0.0698351145003,0.999999944004,0.000210202261337,-0.000260117332358,1.21157364163e-05,1793249577615899648
+61,1.016666667,BASELINE,766,745.396959499,717,678.396959499,661,636,877,783,813,651,629,653.603040501,0.400981409201,-0.00536409424614,0.0698344800122,0.999999943663,0.00021075816342,-0.000260980002945,1.1997056883e-05,1793249577632566272
+62,1.033333333,BASELINE,766,745.97776586,717,678.97776586,661,636,877,783,813,651,629,653.02223414,0.400980525557,-0.00536443516013,0.0698332510865,0.999999943094,0.000211073997356,-0.000262908968364,1.17413902209e-05,1793249577649232640
+63,1.050000000,BASELINE,766,745.448315994,717.551684006,679,661,636,876.448315994,783,813,651,629,653,0.400982570256,-0.00536445900195,0.0698345422598,0.999999943424,0.000212117029842,-0.000260797378196,1.19472893053e-05,1793249577665899520
+64,1.066666667,BASELINE,766,745,717.87256824,679,661,636,876.12743176,783,813,651,629,653,0.400983989096,-0.00536438155301,0.0698355002252,0.999999943698,0.0002127162599,-0.000259244887357,1.21223571911e-05,1793249577682566144
+65,1.083333333,BASELINE,766,745,717.289294937,679,661,636,876.710705063,783,813,651,629,653,0.400982752185,-0.00536398692028,0.0698349074232,0.999999943664,0.000211624400192,-0.000260267706225,1.21214154768e-05,1793249577699232512
+66,1.100000000,BASELINE,766,745,717.295147469,678.704852531,661,636,877,783,813,651,629,653.295147469,0.400981649862,-0.0053637371014,0.0698342154706,0.999999943511,0.000211105307253,-0.000261286385584,1.19355565308e-05,1793249577715898880
+67,1.116666667,BASELINE,766,745,717.880740318,678.119259682,661,636,877,783,813,651,629,653.880740318,0.400980679982,-0.00536362978933,0.0698334259469,0.99999994324,0.000211149856222,-0.000262300991321,1.15677263282e-05,1793249577732565504
+68,1.133333333,BASELINE,766,745,717.541372599,678.458627401,661,636,877,783,813,651,629,654,0.400981278129,-0.00536364370191,0.0698339004348,0.999999943224,0.000212182357434,-0.000261522594714,1.16881888912e-05,1793249577749232128
+69,1.150000000,BASELINE,766,745,717.034281222,678.965718778,661.034281222,636,877,783,813,651,629,654,0.400982174053,-0.00536371946202,0.0698346640342,0.999999943281,0.000213307074591,-0.000260374203652,1.19321296682e-05,1793249577765898752
+70,1.166666667,BASELINE,766,745,717.605818965,678.394181035,661.605818965,636,877,783,813,651,629,654,0.400981452165,-0.00536427863593,0.0698348924968,0.999999943512,0.000211917334456,-0.000260613519112,1.21541700673e-05,1793249577782566144
+71,1.183333333,BASELINE,766,745,718,678,661.816182824,636,877.183817176,783,813,651.183817176,629,653.816182824,0.40098103183,-0.00536454585592,0.0698349790793,0.999999943698,0.000210765644203,-0.000260830614501,1.22337408537e-05,1793249577799233280
+72,1.200000000,BASELINE,766,745,718,678,661.223825898,636,877.776174102,783,813,651.776174102,629,653.223825898,0.400981281708,-0.0053641641988,0.0698347503286,0.999999943788,0.00021014302741,-0.000260998325092,1.19966682605e-05,1793249577815900160
+73,1.216666667,BASELINE,766,745,718,678.362272394,661,636,877.637727606,783,812.637727606,651.637727606,629,653.362272394,0.40098131254,-0.00536450036532,0.0698346956605,0.999999943698,0.000210656251912,-0.000260926952297,1.20060134601e-05,1793249577832566784
+74,1.233333333,BASELINE,766,745,718,678.944569495,661,636,877.055430505,783,812.055430505,651.055430505,629,653.944569495,0.400981210335,-0.00536527249922,0.0698347467205,0.999999943499,0.000211859325173,-0.000260710373141,1.21650195463e-05,1793249577849233664
+75,1.250000000,BASELINE,766,745.518456616,718,679,661,636,877,783,812.518456616,651,629,653.481543384,0.400981539875,-0.00536479394939,0.0698343628667,0.999999943482,0.000211650226488,-0.000260949152944,1.20793088911e-05,1793249577865899776
+76,1.266666667,BASELINE,766,745.908536426,717.908536426,678.908536426,661,636,877,783,812.908536426,651,629,653.091463574,0.400981817455,-0.00536420980903,0.0698339988714,0.999999943458,0.000211512581822,-0.0002611566223,1.19544029283e-05,1793249577882566144
+77,1.283333333,BASELINE,766,745.335505099,717.335505099,678.335505099,661,636,877,783,812.335505099,651,629,653.664494901,0.400981582301,-0.00536376251595,0.0698339803465,0.999999943299,0.000212533400925,-0.000260946999575,1.1758685246e-05,1793249577899232768
+78,1.300000000,BASELINE,766,745.246858231,717.246858231,678,661,636,877,783,812.246858231,651,629,654,0.400981366591,-0.00536366153659,0.0698340635669,0.999999943138,0.000213121964592,-0.000261081138005,1.18170476208e-05,1793249577915899136
+79,1.316666667,BASELINE,766,745.842402937,717.842402937,678,661,636,877,783,812.842402937,651,629,654,0.400981178347,-0.00536404972432,0.0698342905022,0.999999942976,0.000213099968723,-0.000261700838006,1.22342972945e-05,1793249577932565504
+80,1.333333333,BASELINE,766.423810957,745.576189043,718,678.423810957,661.423810957,636,877,783,813,651,629,653.576189043,0.400981218512,-0.0053638240943,0.0698345986158,0.999999943234,0.000212180014118,-0.000261463006783,1.21903680492e-05,1793249577949232384
+81,1.350000000,BASELINE,766.999868676,745,717.999868676,678.999868676,661.999868676,636.000131324,877,783,812.999868676,651,629,653,0.400981340926,-0.00536337798172,0.0698349360209,0.999999943642,0.000210937349359,-0.000260916410164,1.19806070974e-05,1793249577965899520
+82,1.366666667,BASELINE,766.426000102,745,717.426000102,678.426000102,661.426000102,636.573999898,877,783,812.426000102,651,629,653,0.40098170517,-0.00536468833751,0.069835618676,0.999999943856,0.000211545720768,-0.000259585162669,1.23179737917e-05,1793249577982566400
+83,1.383333333,BASELINE,766,745,717.151948972,678.151948972,661,636.848051028,877,783,812.151948972,651,629,653,0.400981760282,-0.00536523960058,0.0698358639504,0.999999943876,0.000212104026232,-0.000259047572332,1.24590889167e-05,1793249577999233024
+84,1.400000000,BASELINE,766,745,717.741653857,678.741653857,661,636.258346143,877,783,812.741653857,651,629,653,0.400980924801,-0.00536360396317,0.069834849157,0.999999943338,0.000212518094837,-0.000260796460566,1.20348150684e-05,1793249578015899392
+85,1.416666667,BASELINE,766,745,718,679,661,636,877,783,813,651,628.67436198,653,0.400981078154,-0.00536261859652,0.0698344806341,0.999999943165,0.000212718123588,-0.00026130576528,1.18327467616e-05,1793249578032565760
+86,1.433333333,BASELINE,766,745,718,679,661,636,877,783,813,651,628.094838052,653,0.400982002456,-0.00536214021802,0.0698346159804,0.999999943278,0.000212751274677,-0.000260848620124,1.18039225494e-05,1793249578049232384
+87,1.450000000,BASELINE,766,745,718,679,661,636,877,783,813,651,628.482505954,653,0.400981242999,-0.00536298720851,0.0698339933143,0.999999943174,0.000212008728556,-0.000261849463333,1.17952419612e-05,1793249578065899008
+88,1.466666667,BASELINE,766,745,717.941079709,679,661,636,877,783,812.941079709,651,629,653.058920291,0.400980371042,-0.00536406941391,0.0698334161497,0.99999994313,0.00021101453269,-0.000262818274376,1.17928089009e-05,1793249578082565632
+89,1.483333333,BASELINE,766,745,717.369046845,679,661,636,877,783,812.369046845,651,629,653.630953155,0.400981388513,-0.0053649415781,0.0698345268929,0.999999943992,0.00020915061208,-0.000261023715829,1.18104582205e-05,1793249578099232768
+90,1.500000000,BASELINE,766,745.209507043,717.209507043,678.790492957,661.209507043,636,877.209507043,783,812.209507043,651,629,654,0.400981971067,-0.00536522588457,0.0698351784752,0.999999944401,0.000208448761578,-0.000260011066962,1.18747846603e-05,1793249578115900160
+91,1.516666667,BASELINE,766,745.799916674,717.799916674,678.200083326,661.799916674,636,877.799916674,783,812.799916674,651,629,654,0.400981762902,-0.00536444141291,0.0698349952613,0.999999943998,0.000209859658937,-0.000260420000196,1.20239742885e-05,1793249578132566784
+92,1.533333333,BASELINE,766,745.615747438,718,678.384252562,661.615747438,636,878,783,813,651,629,654,0.40098150479,-0.00536337582422,0.0698346425309,0.99999994359,0.000211179519689,-0.000260925772992,1.18997301826e-05,1793249578149233408
+93,1.550000000,BASELINE,766,745.03452493,718,678.96547507,661.03452493,636,878,783,813,651,629,654,0.400981221073,-0.00536216613334,0.0698342029053,0.999999943178,0.000212452714709,-0.000261481186306,1.16353224766e-05,1793249578165899520
+94,1.566666667,BASELINE,766,745.539759489,718,679,661.539759489,636,877.460240511,783,813,651,629,653.460240511,0.400981420642,-0.0053637927451,0.0698345799213,0.999999943472,0.000211533203141,-0.000261098025712,1.16968012643e-05,1793249578182565888
+95,1.583333333,BASELINE,766,745.883932254,718,678.883932254,661.883932254,636,877,783,812.883932254,651,629,653,0.400981634774,-0.00536523671183,0.0698350266467,0.999999943752,0.000210798424626,-0.000260614435302,1.18019479948e-05,1793249578199232512
+96,1.600000000,BASELINE,766,745.297649779,718,678.297649779,661.297649779,636,877,783,812.297649779,651,629,653,0.400981784257,-0.00536521510298,0.0698355468489,0.999999943798,0.000211373022536,-0.000259964108354,1.20006275619e-05,1793249578215899136
+97,1.616666667,BASELINE,765.713499591,745,718,678,661,636,877,783,812,651,629,653,0.400981037821,-0.00536430102203,0.0698351103668,0.999999943401,0.000212218475118,-0.000260798432055,1.20722078284e-05,1793249578232566016
+98,1.633333333,BASELINE,765.13154834,745,718,678,661,636,877,783,812,651,629,653,0.400979367476,-0.00536246658766,0.0698336873129,0.999999942543,0.00021334324399,-0.000263163787765,1.20127181289e-05,1793249578249232896
+99,1.650000000,BASELINE,765.44584779,745,718,678.44584779,661.44584779,636.44584779,877,783,812.44584779,651,629,653.44584779,0.40098112241,-0.00536317938855,0.0698345863174,0.999999943296,0.000212753093279,-0.000260767328099,1.20263292158e-05,1793249578265899776
+100,1.666666667,BASELINE,766,745,718,678.978141695,661.978141695,636.978141695,877,783,812.978141695,651,629,653.978141695,0.40098380928,-0.00536451097331,0.0698361339548,0.999999944458,0.000211736150622,-0.000257113179254,1.20508332368e-05,1793249578282566656
+101,1.683333333,BASELINE,766,745,718,678.403527115,661.403527115,636.403527115,877,783,812.403527115,651,629,653.403527115,0.400984764416,-0.00536267692655,0.0698369339112,0.999999944353,0.000212592590299,-0.000256824512932,1.18108869583e-05,1793249578299233024
+102,1.700000000,BASELINE,766,745.175410007,718,678,661,636,877,783,812.175410007,651,629,653,0.400984885473,-0.0053617866521,0.069837311708,0.999999944234,0.000212926696817,-0.000257012914264,1.17519879184e-05,1793249578315899392
+103,1.716666667,BASELINE,766,745.764542201,718,678,661,636,877,783,812.764542201,651,629,653,0.400983039266,-0.00536312236005,0.0698366937989,0.999999944082,0.000212028827798,-0.000258326527801,1.2120107079e-05,1793249578332566016
+104,1.733333333,BASELINE,766,745.652244233,718,678.347755767,661,636,877,783,813,651,629,653,0.40098204473,-0.00536437605188,0.0698363538044,0.999999944326,0.00020998360871,-0.000259050546408,1.21223566447e-05,1793249578349232384
+105,1.750000000,BASELINE,766,745.072970919,718,678.927029081,661,636,877,783,813,651,629,653,0.400981617191,-0.00536557514182,0.0698361988307,0.999999944829,0.000207174544046,-0.000259382043771,1.18810294641e-05,1793249578365899008
+106,1.766666667,BASELINE,766,745,718,679,661,636.508824777,877.508824777,782.491175223,812.491175223,651,629,653,0.40098179262,-0.00536416670185,0.0698357861306,0.999999944333,0.000209566264255,-0.000259382027103,1.16726582034e-05,1793249578382565888
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,636,877,783,812,651,629,654,0.400982998463,-0.00536269401685,0.0698363344373,0.999999944468,0.000210769477916,-0.000257885036943,1.16718685889e-05,1793249578426112000
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,636,877,783,812.59264423,651,629,653.40735577,0.400983006136,-0.00536289736086,0.0698363350003,0.999999944138,0.000211769842279,-0.000258330540695,1.19426578563e-05,1793249578442778624
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,717.818558262,679,661,636,877,783,813,651,629,653,0.400982952524,-0.00536300067121,0.069836302302,0.999999943935,0.000212194794932,-0.000258762856769,1.20510800664e-05,1793249578459444992
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,717.238217644,679,661,636,877,783,813,651,629,653,0.400982764173,-0.00536288405804,0.0698361964786,0.999999944011,0.000211354707607,-0.000259166179875,1.18025390519e-05,1793249578476111360
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,717,678.662084687,661,636,877,783,813,651,629,653.337915313,0.400981948668,-0.00536319990143,0.0698357185061,0.999999943944,0.000210605423756,-0.000260036477885,1.17527659402e-05,1793249578492777984
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,717,678.088881527,661,636,877,783,813,651,629,653.911118473,0.400980696481,-0.00536381686101,0.0698349814088,0.999999943776,0.000209919365719,-0.000261231926922,1.18413934126e-05,1793249578509444608
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,717.485239815,678,661,636,877,783,813,651,629,653.514760185,0.400981313584,-0.00536429121797,0.0698349464715,0.999999944104,0.000209444966175,-0.000260359455047,1.1728475098e-05,1793249578526111744
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,718,678.061782468,661.061782468,636,877,783,813,651,629,653.061782468,0.400982117662,-0.00536459033834,0.069835092111,0.99999994439,0.000209339385408,-0.000259347073271,1.16304525421e-05,1793249578542778368
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,718,678.657805438,661.657805438,636,877,783,813,651,629,653.657805438,0.400981572157,-0.0053636004626,0.069835684964,0.999999943532,0.000212087144775,-0.0002604064545,1.19810681579e-05,1793249578559444992
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,717.755332709,678.755332709,662,636,877,783,813,651,629,654,0.400986615858,-0.00536308230267,0.0698381660174,0.999999943914,0.000213555221657,-0.00025771372646,1.22460327069e-05,1793249578576111616
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,717.180821312,678.180821312,662,636,877,783,813,651,629,654,0.400999194552,-0.00536320007859,0.0698431926165,0.999999945934,0.000213298115814,-0.000249962655096,1.23955281769e-05,1793249578592777984
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,717,678.394511831,661.605488169,636,877,783,813,651,629,653.605488169,0.401029343515,-0.00536450657584,0.0698551435404,0.999999951169,0.000211170878647,-0.000230018116358,1.270689789e-05,1793249578609444608
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,717,678.970222451,661.029777549,636,877,783,813,651,629,653.029777549,0.401067562482,-0.00536635905131,0.0698702747985,0.999999957339,0.000208184692377,-0.000204473132574,1.30926162458e-05,1793249578626110976
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,717.558817812,678.441182188,661,636,877.558817812,783,813,651,629,653,0.401121020144,-0.00536666202715,0.0698835645919,0.999999960114,0.000209193104752,-0.000189297697147,1.33222972863e-05,1793249578642777600
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.14561121,718,678,661.14561121,636,878,783,813,651,629,653,0.401178819998,-0.0053673777887,0.0698945288358,0.999999962286,0.00020982012243,-0.000176712729428,1.32951612711e-05,1793249578659444224
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.724944024,718,678,661.724944024,636,878,783,813,651,629,653,0.401247077849,-0.00536957482825,0.069898865314,0.999999963675,0.000208662116233,-0.000170159085704,1.25284138324e-05,1793249578676110848
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.699422022,717.699422022,678,661.699422022,636,877.398844045,783,812.699422022,651,629,653,0.401326773169,-0.00537071618747,0.0699021088786,0.999999964804,0.000207911210211,-0.000164459701917,1.08982889518e-05,1793249578692777984
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.127131748,717.127131748,678,661.127131748,636,876.254263497,783,812.127131748,651,629,653,0.401416807569,-0.00537090324733,0.0699043644861,0.999999965705,0.000207528309007,-0.00015953254053,8.48770019604e-06,1793249578709444864
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,717.451226582,678.451226582,661,636,876.451226582,783,812.451226582,651,629,653,0.401523002505,-0.0053729931161,0.0699027554081,0.999999965748,0.00020493301403,-0.000162697931634,6.05464442408e-06,1793249578726111744
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.031931552,717.968068448,679,661,636,877,783,813,651,629,653,0.401635332764,-0.00537570669053,0.0699002471089,0.999999965595,0.000201599841213,-0.000167793983088,3.58040843614e-06,1793249578742778624
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.623389972,717.376610028,679,661,636,877,783,813,651,629,653,0.401774298874,-0.00537982711105,0.06990132194,0.999999966897,0.000196408462175,-0.000166223137795,4.9701436124e-07,1793249578759444992
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,717,679,661,636,877.209514207,783,813,651,629,653,0.401927450508,-0.00538383724555,0.0699041368843,0.999999968657,0.000191364245813,-0.000161424643215,-2.68522428594e-06,1793249578776111104
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,717,679,661,636,877.786288033,783,813,651,629,653,0.402105468076,-0.00538765405813,0.0699100020905,0.99999997118,0.000186577992962,-0.000150968369,-6.04072828103e-06,1793249578792777984
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.638736631,717.361263369,679,661,636.361263369,877.638736631,783,813,651,629,653,0.402302936079,-0.00538936359003,0.069915272463,0.999999973231,0.000182424053246,-0.000141978623511,-1.00845720573e-05,1793249578809444608
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.064819899,717.935180101,679,661,636.935180101,877.064819899,783,813,651,629,653,0.402511853363,-0.00538983269673,0.0699201926943,0.99999997498,0.000178642316635,-0.000133852131619,-1.45335991341e-05,1793249578826111232
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,636.477362106,877,783,812.477362106,651,629,653,0.402753450959,-0.00539497713793,0.0699217810591,0.999999976983,0.000170363108101,-0.000128952849144,-1.9513903759e-05,1793249578842778112
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661.109894591,636.109894591,877.109894591,783,812,651,629,653.109894591,0.403007443866,-0.00540058336408,0.0699238305491,0.999999979043,0.000161719528515,-0.00012310572229,-2.46289463437e-05,1793249578859445248
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661.688932781,636.688932781,877.688932781,783,812,651,629,653.688932781,0.403296589539,-0.00540561970115,0.0699296596253,0.999999981485,0.000153965023503,-0.00011145807407,-3.00304167459e-05,1793249578876111104
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+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,717.157346863,679,662,636.157346863,877.157346863,783,812.842653137,651,629,654,0.403940738291,-0.00541505531725,0.0699505866083,0.999999986448,0.000140647487294,-7.54826491002e-05,-4.03007188878e-05,1793249578909444096
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.417199004,717.417199004,679,661.582800996,636,877.417199004,783,813,651,629,654,0.404292776334,-0.00542158032302,0.0699530589789,0.999999994623,5.71924230287e-05,-7.28658901404e-05,-4.66233217312e-05,1793249578926111232
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.991175762,717.991175762,679,661.008824238,636,877.991175762,783,813,651,629,654,0.404651529858,-0.0054288284091,0.0699518888031,0.999999994088,-5.52728745825e-05,-7.69003132549e-05,-5.34289067929e-05,1793249578942778624
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.417538277,717.417538277,679,661.582461723,636,878,783.582461723,812.417538277,651,629,653.417538277,0.405065350985,-0.00543498520188,0.0699582251057,0.999999995469,-4.06273553056e-05,-6.5907893833e-05,-5.53858882929e-05,1793249578959444736
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,717,679,661.82980682,636.17019318,878,784,812,651,628.82980682,653.17019318,0.405486878834,-0.00544119189534,0.0699618429252,0.999999996925,-6.2389243647e-06,-5.91349419617e-05,-5.11362037561e-05,1793249578976111360
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,717,679,661.251252584,636.748747416,878,784,812,651,628.251252584,653.748747416,0.405924835059,-0.0054475592036,0.0699586568003,0.999999994991,7.07585180537e-05,-6.30491355979e-05,-3.21759089886e-05,1793249578992778240
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,717,679,661.325492762,637,878,783.674507238,812,651,628.325492762,653.674507238,0.406374961545,-0.00546419176483,0.0699483091425,0.999999993411,7.70449937924e-05,-8.1029473942e-05,-2.60027826002e-05,1793249579009445120
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,717,679,661.900849579,637,878,783.099150421,812,651,628.900849579,653.099150421,0.406834430561,-0.00548870443354,0.0699324639438,0.99999999311,2.90503050581e-05,-0.000109807668666,-2.96457058052e-05,1793249579026112000
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.476557173,745,717,679,662,637,878,783,812.476557173,651,629,653,0.407358089027,-0.00550005854493,0.0699228952814,0.999999992475,5.35877625857e-06,-0.000118295919308,-3.20627086303e-05,1793249579042778880
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.94639592,745,717.05360408,679,662,637,878,783,813,651,629,653.05360408,0.407899827614,-0.00550805253956,0.069916963655,0.999999992255,-1.12115546957e-05,-0.000119151160164,-3.41514191305e-05,1793249579059445248
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.356684275,745,717.643315725,679,662,637,878,783,813,651,629,653.643315725,0.408488725477,-0.00550984189016,0.069934336977,0.999999995653,-7.16870011016e-06,-8.59175346126e-05,-3.55095924209e-05,1793249579076111872
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,718,679.228384235,662,637,878.228384235,783,813,651,629,653.771615765,0.409099970541,-0.00551662897244,0.0699465403666,0.999999997369,-1.62710718675e-05,-6.03653189233e-05,-3.6791629832e-05,1793249579092778496
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,718,679.806345677,662,637,878.806345677,783,813,651,629,653.193654323,0.409745421397,-0.00553106585178,0.0699508303781,0.99999999716,-4.54942350047e-05,-4.65706847685e-05,-3.79571295084e-05,1793249579109445120
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,718,680,662,637,879,783,813,651,628.617112361,653,0.410384805403,-0.00553779961283,0.069947241975,0.999999996498,-5.33892557516e-05,-5.08664919815e-05,-3.95807802245e-05,1793249579126112000
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,718,680,662,637,879,783,813,651,628.0412857,653,0.411021132274,-0.00554065173307,0.0699396835987,0.999999995799,-5.05369165445e-05,-6.427816474e-05,-4.14352955444e-05,1793249579142778880
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.547766729,717.452233271,680,662,637,879,783,813,650.452233271,628,653.547766729,0.411731960061,-0.0055489477848,0.0699498740541,0.999999995726,-6.63254696923e-05,-4.89670972842e-05,-4.18360871371e-05,1793249579159445504
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745.864702103,717,680,662,637,879.135297897,783,813,650.135297897,628.135297897,653.864702103,0.412463178072,-0.00555792855821,0.0699676418781,0.999999995634,-8.08267517383e-05,-2.13516206564e-05,-4.17488839996e-05,1793249579176112128
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745.285513458,717,680,662,637,879.714486542,783,813,650.714486542,628.714486542,653.285513458,0.413242414582,-0.00556777630904,0.0700057723098,0.999999994678,-8.63811290616e-05,3.9354355931e-05,-4.04290192889e-05,1793249579192778240
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.291010829,717.291010829,680,662,637,879.708989171,783.291010829,813,651,629,653.291010829,0.414005694749,-0.0055599929025,0.0700226683332,0.999999994206,-7.65158671739e-05,6.42712508034e-05,-4.00239968489e-05,1793249579209444608
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.864944874,717.864944874,680,662,637,879.135055126,783.864944874,813,651,629,653.864944874,0.414753462115,-0.00553506833528,0.0700189200878,0.999999996366,-5.16595011346e-05,5.43937019081e-05,-4.05083918123e-05,1793249579226111232
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.560367801,717.560367801,680,662,637,879.439632199,783.560367801,813,650.560367801,629,654,0.415475173635,-0.00551026482667,0.0699700805057,0.999999998292,-2.39593911522e-05,-3.00658208499e-05,-4.40226626234e-05,1793249579242777600
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.014966057,717,680.014966057,662.029932114,637.014966057,880,783,813.014966057,650.014966057,629,654,0.416192587682,-0.00548655526882,0.0699091194567,0.999999989783,3.26040635766e-06,-0.000134471849051,-4.83796340093e-05,1793249579259444224
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.606272357,717,680.606272357,663.212544714,637.606272357,880,783,813.606272357,650.606272357,629,654,0.417053284195,-0.00550353889635,0.0699157190816,0.999999990963,-2.17163714463e-05,-0.000123178403046,-4.92832405902e-05,1793249579276111360
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,717,680.807072958,663.807072958,637.807072958,880.192927042,783.192927042,813.807072958,650.807072958,629,654,0.417916641329,-0.00551760757523,0.0699305900396,0.999999993095,-4.09300941102e-05,-9.86270003215e-05,-4.9062110317e-05,1793249579292778240
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,717,680.229687881,663.229687881,637.229687881,880.770312119,783.770312119,813.229687881,650.229687881,629,654,0.418785300402,-0.0055258674488,0.0699619438111,0.999999996595,-4.86594072536e-05,-4.7655621266e-05,-4.65996450122e-05,1793249579309445120
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.656515432,717.343484568,680.343484568,663,637,881,784,813,650.343484568,629,654,0.419671536228,-0.00553130693565,0.0699910339016,0.999999997508,-5.36849615642e-05,-3.34280911165e-06,-4.57307276599e-05,1793249579326111488
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.086125858,717.913874142,680.913874142,663,637,881,784,813,650.913874142,629,654,0.420569383176,-0.00553488328209,0.070018628609,0.999999996657,-5.69244195545e-05,3.65713691299e-05,-4.59145040094e-05,1793249579342777856
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,717.508620361,681,663,637,881.491379639,783.508620361,813,651,629,654,0.421468198991,-0.00553482340135,0.070033048673,0.99999999549,-6.14729445821e-05,5.63436505671e-05,-4.54642839565e-05,1793249579359444736
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.072368063,717,681,663,637,882,783.072368063,813.072368063,650.927631937,629,654,0.422358449202,-0.00553282777909,0.0700347772373,0.999999995336,-6.4055313711e-05,5.60814577861e-05,-4.55986951991e-05,1793249579376111360
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.669432976,717,681,663,637,882,783.669432976,813.669432976,650.330567024,629,654,0.423185345644,-0.00552148609796,0.0699614758253,0.999999995411,-5.06942682122e-05,-6.34660570267e-05,-5.07894355621e-05,1793249579392777728
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.74359501,717,680.48719002,663,637,882,784,813.74359501,650,629,653.74359501,0.424027600414,-0.00551556949196,0.0698975366584,0.999999984469,-4.90876156584e-05,-0.000159587744827,-5.64282436274e-05,1793249579409444352
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.169142265,717,679.33828453,663,637,882,784,813.169142265,650,629,653.169142265,0.424888905946,-0.0055163822112,0.0698452105201,0.999999970428,-6.20612486261e-05,-0.000226651778901,-6.2622841353e-05,1793249579426111232
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,717.40474982,679.80949964,663,637,882.40474982,784,813.40474982,650.40474982,629,653.40474982,0.425828561663,-0.00552265196165,0.0698725642042,0.99999997933,-6.67134834945e-05,-0.000182265655962,-6.05628313418e-05,1793249579442778368
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,717.978407899,680.956815798,663,637,882.978407899,784,813.978407899,650.978407899,629,653.978407899,0.426800914053,-0.0055311990142,0.0699331694937,0.999999992005,-6.78930711541e-05,-9.1369681669e-05,-5.50580472017e-05,1793249579459445248
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,718,681,663,637,883,783.430329589,814,651,629,654,0.427748918361,-0.00553482798689,0.0699804279914,0.999999995227,-7.5191955582e-05,-3.24287797697e-05,-5.33032092395e-05,1793249579476111616
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.158070926,745,717.841929074,681,663.158070926,637,883.316141851,783,814.158070926,651,629,654,0.428707526207,-0.00553710778069,0.0700219403839,0.999999995229,-7.88618880051e-05,2.48504076162e-05,-5.20025701734e-05,1793249579492778240
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.737017844,745,717.262982156,681,663.737017844,637,884.474035689,783,814.737017844,651,629,654,0.429696902279,-0.00553630743702,0.0700495432253,0.999999992781,-7.22322099751e-05,8.10328621387e-05,-5.15207618984e-05,1793249579509444608
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.687536825,745.312463175,717.312463175,681,664,637,885,783.312463175,814.687536825,651,629,654,0.43059428181,-0.00553549664637,0.0700322826285,0.999999994602,-7.11614431702e-05,5.43091430857e-05,-5.27462201882e-05,1793249579526110976
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.115005947,745.884994053,717.884994053,681,664,637,885,783.884994053,814.115005947,651,629,654,0.431415091216,-0.00553467716058,0.0699776815299,0.999999994817,-7.47174400355e-05,-4.14186086884e-05,-5.53926613432e-05,1793249579542777856
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,717.529423802,681.470576198,664,637.470576198,885,784,814.470576198,651,629,654,0.432224837205,-0.00553697843913,0.0699205490861,0.999999986041,-7.85022451579e-05,-0.0001355739668,-5.81005939e-05,1793249579559444736
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,717,682.058406517,664,637.941593483,885,784,815,651,629,654,0.433047300572,-0.00553987345744,0.0698739095993,0.999999972765,-8.23485321308e-05,-0.000209844880606,-6.04490452855e-05,1793249579576111616
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,717,682.637040294,664,637.362959706,885,784,815,651,629,654,0.434007807198,-0.00554106979628,0.0699263984569,0.999999988407,-8.62301577482e-05,-0.000110525305278,-5.94579224116e-05,1793249579592778496
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,717.215337477,682.784662523,664,637.215337477,885,784,815.215337477,651,629,654,0.43495416641,-0.00554179477917,0.0699739189567,0.99999999424,-8.63070772132e-05,-2.62611215929e-05,-5.81464394785e-05,1793249579609445376
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,717.793068298,682.206931702,664,637.793068298,885,784,815.793068298,651,629,654,0.435876716967,-0.00554172651319,0.0700130781718,0.999999994683,-7.99810246615e-05,3.26662252188e-05,-5.62958202734e-05,1793249579626111744
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.629914894,717.629914894,682,664,637.629914894,885.370085106,784,816,651,629,654,0.436753138098,-0.00554489528089,0.0700247897408,0.999999993244,-8.51883486171e-05,5.56493768595e-05,-5.62034963514e-05,1793249579642778368
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.05329659,717.05329659,682,664,637.05329659,885.94670341,784,816,651,629,654,0.43760381575,-0.00554987053827,0.0700211836143,0.999999991967,-9.68320983559e-05,5.85731670972e-05,-5.7092423524e-05,1793249579659444992
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.516831494,717,682,664,637,886,784,815.483168506,651,629,654,0.438378056997,-0.00555428595255,0.0699842752639,0.999999993453,-9.72256572372e-05,1.19187784316e-05,-5.91467743808e-05,1793249579676111360
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.909691868,717,682,664,637,886,784,815,651,628.909691868,654,0.439130085668,-0.00555732815213,0.0699393242908,0.999999992085,-9.73530246589e-05,-5.10481274579e-05,-6.12147903866e-05,1793249579692777984
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.313766653,717,682,664,637,886,784,815,651,628.313766653,654,0.439801334437,-0.00555300121981,0.0698683331457,0.999999977113,-0.000102404874244,-0.000177076169055,-6.26947929449e-05,1793249579709444608
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.273372811,745.273372811,717,682,664,637,886,784,815,651,628.273372811,654,0.440526182854,-0.00554889251694,0.0698321202136,0.999999964853,-9.67313252983e-05,-0.000238435096179,-6.39150381855e-05,1793249579726111232
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.850742281,745.850742281,717,682,664,637,886,784,815,651,628.850742281,654,0.441310635227,-0.00554502649038,0.0698345814345,0.999999968802,-7.91308951e-05,-0.000227880520453,-6.48464282294e-05,1793249579742777600
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.574049381,745.574049381,717,682,664,637,886,783.574049381,815,651,629,654,0.442072077987,-0.00554633046415,0.0698711474677,0.999999978511,-9.05164472823e-05,-0.000175560191901,-6.29606344092e-05,1793249579759444224
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.999581597,745.000418403,717,682,663.999581597,636.999581597,886.000418403,783,815.000418403,651,629,654,0.442825422183,-0.0055494345347,0.069919561844,0.999999986012,-0.000111980650852,-0.000108743696741,-6.00942527369e-05,1793249579776110592
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.406909654,745.593090346,717,682,663.406909654,636.406909654,886.593090346,783,815.593090346,651,629,654,0.443470467969,-0.0055491661483,0.069908483191,0.999999984712,-9.51134111555e-05,-0.000134124134744,-5.94943015607e-05,1793249579792777216
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.180873306,746,717,682,663.180873306,636,886.819126694,783,816,651,629,654,0.444100514421,-0.00554978364596,0.0698853828957,0.999999979248,-8.25302280166e-05,-0.000176409367231,-5.9778573074e-05,1793249579809444096
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,717,682.322052935,663.677947065,636,886,783,816,651,629,654,0.445279515384,-0.00555531513476,0.0697977148573,0.99999994551,-8.75802992822e-05,-0.000311912552204,-6.34083868468e-05,1793249579842777088
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+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,717,682.524513616,663,636,886,783,816,651,629,654,0.446395310246,-0.00556131613088,0.0697528790216,0.999999922309,-0.00010129982499,-0.000375319762755,-6.52341026807e-05,1793249579876110592
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,745.656641913,717,682,663,636.343358087,881,783.656641913,814,651,629,653.656641913,0.431878659955,-0.00541498062043,0.0698359085404,0.999999959485,0.000128123490567,-0.000252931850217,2.53058587818e-05,1793249582006502656
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766.765298663,745.765298663,717,682,663,636,880.765298663,784,813.765298663,651,628.765298663,654,0.43093781954,-0.00541205181178,0.0698064921888,0.999999946328,0.000134134226941,-0.000297902322022,2.46017561147e-05,1793249582023169024
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766.186622214,745.186622214,717,682,663,636,880.186622214,784,813.186622214,651,628.186622214,654,0.429932659526,-0.00540479136593,0.0697328039478,0.999999901831,0.000138500563767,-0.000420331566915,2.18472359398e-05,1793249582039835648
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745.38935548,717,681.61064452,662.61064452,636,880,784,813.38935548,650.61064452,628.38935548,653.61064452,0.429016728726,-0.00540342234206,0.0697190807095,0.999999894427,0.00013984834377,-0.00043720902775,2.08845757962e-05,1793249582056502528
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745.964048502,717,681.035951498,662.035951498,636,880,784,813.964048502,650.035951498,628.964048502,653.035951498,0.428143272086,-0.00540485770103,0.0697339014842,0.999999908473,0.000139759257404,-0.00040384265924,2.07748612113e-05,1793249582073169152
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745.456614994,717,680.456614994,662,636,879.543385006,783,813.456614994,651,628.456614994,654,0.422662850038,-0.00539924327399,0.0697438504888,0.999999900707,0.00015107505333,-0.000418484653694,2.51717428457e-05,1793249582173169152
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,717,679,661.837262552,636,877.162737448,783.837262552,813,650,629,654,0.410813473535,-0.00537015195653,0.0698857842658,0.999999963522,0.000206208774615,-0.000171549538437,3.17031553084e-05,1793249582423170048
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..52c1bde1d0d63376bd0af38a7724a14d6c5c6650
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,406 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..47703ab1c28efc787c6db0749ce2c3d508eeff06
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c1471fc314cb1b5736f8f6a61b7d3444c2214e49725ba64ea3f0b7546059cfa
+size 25543445
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..28c19cca33e9fc58e7c14880a33c8f69dc593b19
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_01/franka_data.csv
@@ -0,0 +1,403 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,718,679,661,636,877,783,813,651,629,653,0.401038820054,-0.00550146438602,0.0798652115599,0.999999981748,0.000117701798864,-0.000142722810588,4.77521836367e-05,1793249584661768704
+1,0.016666667,BASELINE,765.358933293,745,718,679,661,636,877,783,813,651,629,653.641066707,0.401040532684,-0.00550355807965,0.0798667870469,0.999999982082,0.000116932238955,-0.000140870693223,4.8139953995e-05,1793249584678435840
+2,0.033333333,BASELINE,765.255022103,745,717.744977897,678.744977897,661,636.255022103,877,783,813,651,629,653.744977897,0.401041176734,-0.00550418625892,0.0798673846842,0.999999982206,0.000116659309596,-0.000140158927723,4.83092299117e-05,1793249584695102464
+3,0.050000000,BASELINE,765.834486264,745,717.165513736,678.165513736,661,636.834486264,877,783,813,651,629,653.165513736,0.401040461325,-0.00550294999419,0.0798667382904,0.999999982066,0.000117018199243,-0.000140897930757,4.82005347342e-05,1793249584711769088
+4,0.066666667,BASELINE,765.58653454,745.41346546,717,678,661,636.58653454,877,783,813,651,629,653.41346546,0.401039433936,-0.0055030262895,0.0798659327172,0.999999981891,0.000116881013049,-0.000142261323839,4.81431924733e-05,1793249584728435712
+5,0.083333333,BASELINE,765.007749287,745.992250713,717,678,661,636.007749287,877,783,813,651,629,653.992250713,0.401038281806,-0.00550362739815,0.0798650634978,0.999999981702,0.000116545476155,-0.000143874372636,4.81063831395e-05,1793249584745102592
+6,0.100000000,BASELINE,765.566878425,745.433121575,717,678.566878425,661,636,877,783,813,651,629,654,0.401041483081,-0.00550368484151,0.07986721236,0.999999982265,0.000116350582267,-0.000140055105922,4.81267691719e-05,1793249584761769472
+7,0.116666667,BASELINE,766,745.144412302,717,678.855587698,661,636.144412302,877,782.855587698,813,651,628.855587698,653.855587698,0.40104332565,-0.005503341031,0.0798685274401,0.999999982491,0.000117017939103,-0.000137883857906,4.80991596783e-05,1793249584778435840
+8,0.133333333,BASELINE,766,745.731017638,717,678.268982362,661,636.731017638,877,782.268982362,813,651,628.268982362,653.268982362,0.401040826942,-0.00550179116509,0.0798671640528,0.999999981675,0.000120319678782,-0.000140984603488,4.79222103734e-05,1793249584795102464
+9,0.150000000,BASELINE,766,745.68638209,717,678,661,637,877,782.31361791,813,651,628.31361791,653.31361791,0.401039797835,-0.0055017026493,0.0798669207542,0.999999981482,0.00012102844994,-0.000141761122021,4.7867417107e-05,1793249584811769344
+10,0.166666667,BASELINE,766,745.107173578,717,678,661,637,877,782.892826422,813,651,628.892826422,653.892826422,0.401040013276,-0.00550285169317,0.0798676260145,0.999999981827,0.000119541338468,-0.000140569344453,4.79160729667e-05,1793249584828436224
+11,0.183333333,BASELINE,766,745,717.470788528,678,661,636.529211472,877,783,813,651,629,653.529211472,0.401040962684,-0.00550183717602,0.0798679581892,0.999999982142,0.00011812196825,-0.000139621314201,4.76308455684e-05,1793249584845102592
+12,0.200000000,BASELINE,765.951900115,745,717.951900115,678.048099885,661,636,877,783,813,650.951900115,629.048099885,653.048099885,0.401041857181,-0.00550061939065,0.0798680991615,0.999999982392,0.00011692395111,-0.000138942334128,4.73365859348e-05,1793249584861769216
+13,0.216666667,BASELINE,765.378604705,745,717.378604705,678.621395295,661,636,877,783,813,650.378604705,629.621395295,653.621395295,0.401040332554,-0.00550254579201,0.0798670773325,0.999999982016,0.000117974920553,-0.000140596804711,4.77714283083e-05,1793249584878436352
+14,0.233333333,BASELINE,765.199776031,745,717,679,661,636,877,783,813,650,629.800223969,653.800223969,0.401039755693,-0.00550377410211,0.0798668250717,0.999999981826,0.000118533535385,-0.00014137400778,4.80766664376e-05,1793249584895102976
+15,0.250000000,BASELINE,765.788046038,745,717,679,661,636,877,783,813,650,629.211953962,653.211953962,0.401041021903,-0.00550364487107,0.0798680693499,0.999999982001,0.000118134694203,-0.000140445235001,4.81298700646e-05,1793249584911769344
+16,0.266666667,BASELINE,765.628067642,745,717,678.628067642,661,636,877,783,813,650.371932358,629,653.371932358,0.401040757687,-0.00550341751347,0.0798678016638,0.99999998192,0.000118086594377,-0.000141074822118,4.81068875433e-05,1793249584928436224
+17,0.283333333,BASELINE,765.046650398,745,717,678.046650398,661,636,877,783,813,650.953349602,629,653.953349602,0.401039631484,-0.00550313488767,0.079866682388,0.999999981691,0.00011823604397,-0.000142582130298,4.80409944024e-05,1793249584945102848
+18,0.300000000,BASELINE,765.529680847,745,717,678.529680847,661,636,877,782.470319153,813,651,629,653.470319153,0.401039616723,-0.00550167035679,0.0798664511352,0.999999981451,0.000120713022154,-0.000142294801059,4.77445017304e-05,1793249584961769216
+19,0.316666667,BASELINE,766,745,717.107606379,679,661,636,877,782,813,651,629,653.107606379,0.401039557512,-0.00550047028617,0.0798664022341,0.999999981311,0.000122425996147,-0.000141897095855,4.748770298e-05,1793249584978435328
+20,0.333333333,BASELINE,766,745,717.694611246,679,661,636,877,782,813,651,629,653.694611246,0.401038868312,-0.00550090775344,0.0798668206073,0.999999981652,0.000119830670746,-0.000141705124512,4.74973657357e-05,1793249584995101952
+21,0.350000000,BASELINE,766,745,717.722185186,679,661,636,877,782.277814814,813,651,629,654,0.40103874632,-0.00550162479633,0.079867042923,0.999999981856,0.000118305415217,-0.000141491532236,4.76594268549e-05,1793249585011769088
+22,0.366666667,BASELINE,766,745,717.143103841,679,661,636,877,782.856896159,813,651,629,654,0.401039239416,-0.00550264501515,0.0798670526313,0.999999981917,0.000117940559599,-0.000141254493915,4.79867510339e-05,1793249585028436736
+23,0.383333333,BASELINE,766,745,717,679,661,636,877,783,813.435106325,651,629,653.564893675,0.401039864039,-0.00550187673445,0.0798672751372,0.999999981871,0.000118906405062,-0.000140814770544,4.78608407007e-05,1793249585045103360
+24,0.400000000,BASELINE,766,745,717,678.98707616,661,636,877,783,813.98707616,651,629,653.01292384,0.40104052308,-0.00550057219212,0.0798675691315,0.99999998179,0.000120265697213,-0.000140325381043,4.75924078998e-05,1793249585061769472
+25,0.416666667,BASELINE,766,745,717,678.413886174,661,636,877,783,813.413886174,651,629,653.586113826,0.401040802577,-0.00550146945513,0.0798679342385,0.999999981818,0.000119746209149,-0.000140567008042,4.75947382097e-05,1793249585078436096
+26,0.433333333,BASELINE,766,745,717,678,660.836401129,636,877,783,813,650.836401129,629,653.836401129,0.401040618015,-0.00550196820666,0.079868083812,0.999999981814,0.000119282766536,-0.000141010317782,4.754557519e-05,1793249585095102464
+27,0.450000000,BASELINE,766,745,717,678,660.247756992,636,877,783,813,650.247756992,629,653.247756992,0.401039227785,-0.00550143158804,0.0798676734093,0.999999981723,0.000118964935165,-0.000141977618319,4.73626276539e-05,1793249585111769088
+28,0.466666667,BASELINE,765.664138363,745,717,678.335861637,660.335861637,636,877,783,813,650.335861637,629,653.335861637,0.401039591792,-0.00550176960245,0.0798678610283,0.999999981778,0.000118898882233,-0.000141611887998,4.74614995855e-05,1793249585128435712
+29,0.483333333,BASELINE,765.084172309,745,717,678.915827691,660.915827691,636,877,783,813,650.915827691,629,653.915827691,0.401041230781,-0.00550274330065,0.0798684832898,0.999999981938,0.000119015822024,-0.000140277310088,4.77651980662e-05,1793249585145102336
+30,0.500000000,BASELINE,765,745,717,678.506636154,661,636,877,783,813,650.506636154,629,654,0.40103980461,-0.00550153619305,0.0798677726918,0.999999981574,0.000120168772113,-0.000141851253939,4.7859796795e-05,1793249585161768960
+31,0.516666667,BASELINE,765.070037001,745,717.070037001,678.070037001,661,636,877.070037001,783,813,650,629,653.929962999,0.401038114885,-0.0055002441848,0.0798669265644,0.999999981195,0.000121161551972,-0.000143664598492,4.78615093848e-05,1793249585178435328
+32,0.533333333,BASELINE,765.643472364,745,717.643472364,678.643472364,661,636,877.643472364,783,813,650,629,653.356527636,0.401038271127,-0.00550100309482,0.0798667327403,0.999999981388,0.000119738889197,-0.000143649507537,4.74507491274e-05,1793249585195101952
+33,0.550000000,BASELINE,766,745,718,679,661,636,877.775411819,782.775411819,813,650.224588181,629,653,0.401037928194,-0.00550196577157,0.0798664589355,0.999999981416,0.000118843690992,-0.000144233428291,4.73301752818e-05,1793249585211768320
+34,0.566666667,BASELINE,766,745,718,679,661,636,877.181671824,782.181671824,813,650.818328176,629,653,0.401036764777,-0.00550326337623,0.0798660536677,0.999999981175,0.000118815477566,-0.000145801934514,4.7686575999e-05,1793249585228434944
+35,0.583333333,BASELINE,766,745,718,678.602833826,661,636,877,782.397166174,813,651,629,653,0.401037548128,-0.00550258396353,0.0798668109125,0.999999981311,0.000119423138534,-0.000144383895156,4.76291000477e-05,1793249585245102336
+36,0.600000000,BASELINE,766,745,718,678.030565742,661,636,877,782.969434258,813,651,629,653,0.401039189766,-0.00550103292706,0.0798680806837,0.999999981608,0.00012031114266,-0.000141649153083,4.73891549249e-05,1793249585261770240
+37,0.616666667,BASELINE,766,745,718,678.548027681,661,636,877,782.451972319,813,651,628.451972319,653,0.401040034537,-0.0055010515738,0.0798679272191,0.999999981649,0.000120047324607,-0.000141548269478,4.74814953144e-05,1793249585278436096
+38,0.633333333,BASELINE,765.870823429,745,717.870823429,679,661,636,877.129176571,782.129176571,813,650.870823429,628.129176571,653.129176571,0.401040408078,-0.00550130289058,0.079867710703,0.999999981609,0.000120104515638,-0.000141720926777,4.76629656434e-05,1793249585295102208
+39,0.650000000,BASELINE,765.28184871,745,717.28184871,679,661,636,877.71815129,782.71815129,813,650.28184871,628.71815129,653.71815129,0.401039264342,-0.00550206712524,0.0798675556058,0.999999981328,0.000121535659808,-0.000142338247295,4.80949526074e-05,1793249585311769600
+40,0.666666667,BASELINE,765,745,717.301945883,678.698054117,661,636,877.698054117,782.698054117,813,650.301945883,629,654,0.401039104596,-0.00550198024466,0.0798673538358,0.999999981294,0.000121534353486,-0.000142604217226,4.80233382504e-05,1793249585328436480
+41,0.683333333,BASELINE,765,745,717.880986654,678.119013346,661,636,877.119013346,782.119013346,813,650.880986654,629,654,0.401039847856,-0.00550111229799,0.0798671092344,0.999999981486,0.000120218491286,-0.000142547753675,4.74895703507e-05,1793249585345102848
+42,0.700000000,BASELINE,765.458709956,745,717.541290044,678.458709956,661,636,877,782.458709956,813,651,629,654,0.401039797646,-0.00550059820257,0.0798674818964,0.999999981493,0.000121161297272,-0.000141725476956,4.74190717382e-05,1793249585361768960
+43,0.716666667,BASELINE,766,745,717,678.964161442,661,636,877,782.964161442,813,651,629,654,0.4010394875,-0.00550030427652,0.0798679580429,0.999999981452,0.000122481255315,-0.000140857176587,4.74747842928e-05,1793249585378435584
+44,0.733333333,BASELINE,766,745,717,678.390839936,661,636,877,782.390839936,813,651,629,654,0.401038357645,-0.00550193937975,0.079867591229,0.999999981462,0.000120693971153,-0.000142269960476,4.7625866734e-05,1793249585395102208
+45,0.750000000,BASELINE,766,745,717.187699095,678,661,636,877,782.187699095,813,650.812300905,629,653.812300905,0.401037700067,-0.00550229696687,0.0798674312483,0.999999981343,0.000120676873017,-0.000143101055179,4.76816335505e-05,1793249585411768832
+46,0.766666667,BASELINE,766,745,717.777412973,678,661,636,877,782.777412973,813,650.222587027,629,653.222587027,0.401038054018,-0.00549991836389,0.0798677142639,0.999999980947,0.000124451167673,-0.000142686285128,4.75332529044e-05,1793249585428435456
+47,0.783333333,BASELINE,766,745,717.639550699,678,661,636,877,783,813,650.360449301,629,653.360449301,0.401038371645,-0.00549978529656,0.0798677230833,0.999999980998,0.000124186945291,-0.000142549129961,4.75509047372e-05,1793249585445102336
+48,0.800000000,BASELINE,766,745,717.060562878,678,661,636,877,783,813,650.939437122,629,653.939437122,0.401038667249,-0.00550101368548,0.0798675656591,0.999999981321,0.000121474191578,-0.000142580291204,4.76692211768e-05,1793249585461769728
+49,0.816666667,BASELINE,766,745.515554439,717,678.515554439,661,636,877,783,813,651,629,653.484445561,0.401038321455,-0.00550208027199,0.0798669054021,0.999999981472,0.000119448712163,-0.000143370920029,4.72508605648e-05,1793249585478436352
+50,0.833333333,BASELINE,766,745.909237887,717,679,661.090762113,636,877,783,813,651,629,653.090762113,0.401038107618,-0.0055029817244,0.0798665437772,0.999999981611,0.000117843862039,-0.000143840456653,4.69104488017e-05,1793249585495103232
+51,0.850000000,BASELINE,766,745.337076107,717,679,661.662923893,636,877,783,813,651,629,653.662923893,0.40103899109,-0.0055031075658,0.0798680776503,0.999999981812,0.000118044171631,-0.00014213635233,4.73160083932e-05,1793249585511769856
+52,0.866666667,BASELINE,766,745,717.244971135,678.755028865,661.755028865,636,877,783,813.244971135,651,629,654,0.401039639545,-0.00550243900381,0.0798688051933,0.99999998182,0.000119122624007,-0.000141125043756,4.7464083438e-05,1793249585528436224
+53,0.883333333,BASELINE,766,745,717.841192545,678.158807455,661.158807455,636,877,783,813.841192545,651,629,654,0.401039951022,-0.00550063139163,0.079868376585,0.999999981552,0.000121460195719,-0.000141107095983,4.7242965907e-05,1793249585545102592
+54,0.900000000,BASELINE,766,745.422223004,718,678.422223004,661,636.422223004,877,783,813.577776996,651,629,654,0.401041389554,-0.00550097209668,0.0798691392723,0.999999981564,0.000122916929116,-0.000139672688478,4.74780654809e-05,1793249585561769216
+55,0.916666667,BASELINE,766,745.997738225,718,678.997738225,661,636.997738225,877,783,813.002261775,651,629,654,0.401043237275,-0.00550209276947,0.0798703344711,0.999999981675,0.000124053865443,-0.000137724021325,4.78787991694e-05,1793249585578436096
+56,0.933333333,BASELINE,766,745.427447245,717.427447245,678.427447245,661,636.427447245,877.572552755,783,813,651,629,654,0.401042144793,-0.00550139360807,0.0798695109055,0.999999981569,0.000123673227525,-0.00013884530591,4.78400125894e-05,1793249585595102976
+57,0.950000000,BASELINE,766,745,717.151367513,678,661.151367513,636,877.848632487,783,813,651,629,654,0.401040738501,-0.00550116695151,0.0798686116557,0.999999981422,0.000123121673631,-0.00014039890756,4.77956248546e-05,1793249585611769600
+58,0.966666667,BASELINE,766,745,717.741793291,678,661.741793291,636,877.258206709,783,813,651,629,654,0.401038455615,-0.00550233167468,0.0798675159791,0.999999981158,0.000122091726741,-0.000143171358936,4.77400203912e-05,1793249585628436224
+59,0.983333333,BASELINE,766,745.326038148,718,678,661.673961852,636,877,783,813,651,629,654,0.401037978791,-0.00550260785263,0.0798673511962,0.99999998124,0.000120901843291,-0.000143598039451,4.77681110902e-05,1793249585645102336
+60,1.000000000,BASELINE,766,745.905479142,718,678,661.094520858,636,877,783,813,651,629,654,0.401038905671,-0.00550219343703,0.0798679099209,0.999999981593,0.000119587654098,-0.000142201544007,4.78612512031e-05,1793249585661768704
+61,1.016666667,BASELINE,766,745.518561451,718,678.481438549,661,636,877,783,813,650.518561451,629,654,0.40103972799,-0.00550170205596,0.079868459261,0.999999981496,0.000121684400829,-0.000141134558527,4.77637859192e-05,1793249585678435328
+62,1.033333333,BASELINE,765.942195233,745,718,679,661,636,877,783,813,650.057804767,629,654,0.401040266827,-0.0055014695136,0.079868835146,0.999999981354,0.000123691348999,-0.000140438866841,4.76320619441e-05,1793249585695101952
+63,1.050000000,BASELINE,765.355904901,745,718,679,661,636,877,783,813,650.644095099,629,654,0.401038400228,-0.00550374058681,0.0798676419273,0.999999981654,0.000118798750173,-0.00014255055057,4.75267983983e-05,1793249585711768576
+64,1.066666667,BASELINE,765.227177193,745,718,679,661,636,876.772822807,783,813,651,629,654,0.401037504619,-0.00550420655213,0.0798669091589,0.999999981649,0.000117404049684,-0.000143734656706,4.75227626121e-05,1793249585728434944
+65,1.083333333,BASELINE,765.805303089,745,718,679,661,636,876.194696911,783,813,651,629,654,0.40103810902,-0.00550188394395,0.079866887705,0.999999981199,0.000121412985599,-0.000143485818902,4.76751058716e-05,1793249585745101824
+66,1.100000000,BASELINE,765.615513418,745,717.615513418,679,661,636,876.384486582,782.615513418,813,651,629,653.615513418,0.401038267321,-0.00550063430132,0.079867253844,0.999999981045,0.000123173827201,-0.000143052754956,4.76974182926e-05,1793249585761768448
+67,1.116666667,BASELINE,765.035792917,745,717.035792917,679,661,636,876.964207083,782.035792917,813,651,629,653.035792917,0.401038199101,-0.00549992948732,0.0798678167943,0.999999981045,0.000123793135319,-0.000142526144993,4.76537038794e-05,1793249585778435072
+68,1.133333333,BASELINE,765.539203796,745,717.539203796,678.460796204,661,636,877,782.539203796,813,651,629,653.539203796,0.40103781507,-0.00550019961206,0.0798676377922,0.999999981254,0.000122148694033,-0.000142592613562,4.73125101175e-05,1793249585795101696
+69,1.150000000,BASELINE,766,745,718,678.114192767,661,636,877,783,813,651,629,654,0.401037708603,-0.00550069323152,0.0798674585413,0.999999981439,0.000120671261312,-0.000142640294181,4.70538512422e-05,1793249585811768320
+70,1.166666667,BASELINE,766,745,718,678.690407953,661,636,877,783,813,651,629,654,0.401038809238,-0.00550183153557,0.079867475824,0.999999981482,0.000120472254062,-0.000142454055145,4.72083297206e-05,1793249585828434944
+71,1.183333333,BASELINE,766,745.274331399,718,679,661,636,877,783,813.274331399,651,629,654,0.401038992986,-0.00550209671491,0.0798673408471,0.999999981475,0.000120419022986,-0.000142528648674,4.7276522113e-05,1793249585845101824
+72,1.200000000,BASELINE,766,745.867205442,718,679,661,636,877,783,813.867205442,651,629,654,0.401038112081,-0.0055013480569,0.0798670290722,0.999999981409,0.000120535061344,-0.000142906110515,4.72445225748e-05,1793249585861768448
+73,1.216666667,BASELINE,765.554508545,745.554508545,718,678.554508545,661.445491455,636,877,783,813.554508545,651,629,654,0.40103933299,-0.00550106275614,0.0798677790972,0.999999981419,0.00012163493639,-0.000141824490154,4.74554918397e-05,1793249585878435328
+74,1.233333333,BASELINE,765,745,718,678.019615554,661.980384446,636,877.019615554,783,813,651,629,654,0.401041060315,-0.00550091110836,0.0798687803378,0.999999981437,0.000123029788498,-0.000140397697047,4.7722942167e-05,1793249585895101952
+75,1.250000000,BASELINE,765,745,718,678.595120441,661.404879559,636,877.595120441,783,813,651,629,654,0.401039946954,-0.0055007569763,0.0798682156757,0.999999981129,0.000124736612316,-0.00014112377194,4.76036199398e-05,1793249585911768576
+76,1.266666667,BASELINE,765.174968945,745,718,678.825031055,661,636,877.825031055,783,813,651,629,654,0.40103939444,-0.00550045537588,0.0798681367727,0.999999980972,0.000125700032558,-0.00014140008607,4.75547109193e-05,1793249585928435200
+77,1.283333333,BASELINE,765.76512445,745,718,678.23487555,661,636,877.23487555,783,813,651,629,654,0.40104017277,-0.00549980384545,0.0798692105352,0.999999981178,0.000124899418673,-0.000140609155772,4.76728865106e-05,1793249585945101824
+78,1.300000000,BASELINE,766,745,717.653100716,678.346899284,661,636,877,783,813,651,629,654,0.401039482185,-0.00550070148608,0.0798688213745,0.999999981359,0.000122496720475,-0.000141473477731,4.75644157847e-05,1793249585961768704
+79,1.316666667,BASELINE,766,745,717.076866365,678.923133635,661,636,877,783,813,651,629,654,0.401037820501,-0.0055026232835,0.0798674650754,0.99999998151,0.000119034884595,-0.00014343208675,4.73061092059e-05,1793249585978435328
+80,1.333333333,BASELINE,766,745,717,679,661,636,877,783,813,651,629,654,0.401038529721,-0.00550162738977,0.0798681112202,0.999999981557,0.000120079572156,-0.000142176170062,4.74702847278e-05,1793249585995101696
+81,1.350000000,BASELINE,766,745,717.07723736,678.92276264,661,636,877,783,813,651,629,653.92276264,0.401039287096,-0.00550035839756,0.079868822344,0.999999981515,0.00012174310212,-0.000140981205032,4.76736315812e-05,1793249586011768576
+82,1.366666667,BASELINE,766,745,717.666424911,678.333575089,661,636,877,783,813,651,629,653.333575089,0.401037944681,-0.0055002560735,0.0798679211285,0.999999981017,0.000122910607418,-0.000143469935236,4.77055699273e-05,1793249586028435200
+83,1.383333333,BASELINE,766,745.251221774,718,678,661,636,877,783,813,651,629,653.251221774,0.401037169337,-0.00549945179652,0.0798672909807,0.999999980662,0.000124194012945,-0.000144882056368,4.75469863201e-05,1793249586045101824
+84,1.400000000,BASELINE,766,745.830288853,718,678,661,636,877,783,813,651,629,653.830288853,0.401037134023,-0.00549773146849,0.079867014577,0.999999980501,0.000125628668845,-0.000144889199182,4.71397708921e-05,1793249586061768448
+85,1.416666667,BASELINE,766,745.591930251,717.591930251,678.408069749,661,636,877,783,813,651,629,654,0.401037499373,-0.00549813863566,0.0798675295818,0.999999980566,0.000125979886132,-0.00014415307856,4.70900956221e-05,1793249586078435072
+86,1.433333333,BASELINE,766,745.014682617,717.014682617,678.985317383,661,636,877,783,813,651,629,654,0.401038030832,-0.00549942782161,0.0798683726894,0.999999980723,0.000125881930482,-0.000143108815185,4.71886496626e-05,1793249586095101696
+87,1.450000000,BASELINE,766,745.561377846,717.561377846,679,661,636,877,783,813.561377846,651,629,654,0.401038227796,-0.00550075243541,0.079868187777,0.999999981179,0.000122878001559,-0.000142471967045,4.73748221963e-05,1793249586111768320
+88,1.466666667,BASELINE,766,745.860048925,717.860048925,679,661,636.139951075,877,783,813.860048925,651,629,653.860048925,0.40103877769,-0.00550176555158,0.0798682274422,0.99999998155,0.00012064051431,-0.000141715974737,4.75595815758e-05,1793249586128434944
+89,1.483333333,BASELINE,766,745.273355746,717.273355746,679,661,636.726644254,877,783,813.273355746,651,629,653.273355746,0.40104048205,-0.00550178137499,0.0798690696357,0.999999981653,0.000121091713703,-0.000140545715852,4.77325302374e-05,1793249586145101824
+90,1.500000000,BASELINE,766,745,717.310948887,679,661,636.689051113,877,783,813,651,629,653.310948887,0.401040571965,-0.00550145352779,0.0798691903403,0.99999998165,0.000121090494847,-0.000140570095256,4.77149464673e-05,1793249586161768192
+91,1.516666667,BASELINE,766,745,717.893169722,679,661,636.106830278,877,783,813,651,629,653.893169722,0.401039253438,-0.00550082586222,0.0798686816176,0.999999981556,0.000120694586088,-0.000141636677691,4.75311421101e-05,1793249586178434816
+92,1.533333333,BASELINE,766,745,718,679,661,636,877,783,813,651,629,654,0.401038515752,-0.00550049521592,0.0798685205722,0.999999981349,0.00012140678569,-0.000142518673786,4.74427042825e-05,1793249586195101952
+93,1.550000000,BASELINE,766.041564021,745,718,679,661,636,877,783,813,651,629,653.958435979,0.401038060265,-0.00550032593832,0.0798684791045,0.999999981165,0.000122187565863,-0.000143165682655,4.73703209373e-05,1793249586211768576
+94,1.566666667,BASELINE,766.6179396,745,718,679,661,636,877,783,813,651,629,653.3820604,0.401039556357,-0.00550137418157,0.0798689709465,0.999999981621,0.000120646659752,-0.000141322804958,4.72287587424e-05,1793249586228435200
+95,1.583333333,BASELINE,766.601369476,745,718,679,661.199315262,636,877,783,813,651,629,653.199315262,0.401040108744,-0.00550217184131,0.0798690583188,0.999999981889,0.000119414168663,-0.000140469907682,4.72184960529e-05,1793249586245102080
+96,1.600000000,BASELINE,765.418955719,745,718,679,661.79052214,636,877,783,813,651,629,653.79052214,0.401038805625,-0.00550247680652,0.0798683504268,0.999999981798,0.000118788079744,-0.000141563499397,4.74663930751e-05,1793249586261769728
+97,1.616666667,BASELINE,765.373647911,745.373647911,718,679,661.626352089,636,877,782.626352089,813.373647911,651,629.373647911,654,0.401037100189,-0.0055019031913,0.0798672780783,0.999999981362,0.000119991067738,-0.000143587153672,4.7538534966e-05,1793249586278436352
+98,1.633333333,BASELINE,765.952339053,745.952339053,718,679,661.047660947,636,877,782.047660947,813.952339053,651,629.952339053,654,0.401035173976,-0.00550084744579,0.0798660057305,0.999999980729,0.00012219778101,-0.000146121189517,4.75142293601e-05,1793249586295102208
+99,1.650000000,BASELINE,765.472992343,745.472992343,718,679,661,636,877,782.527007657,813.472992343,651,628.945984686,654,0.401035836756,-0.00550044821216,0.0798669650615,0.999999980965,0.000121854971956,-0.000144912202205,4.71467189024e-05,1793249586311768832
+100,1.666666667,BASELINE,765.103522123,745,718,679,661,636,877.103522123,783,813,651,628.103522123,654,0.401036597305,-0.00550033970257,0.0798678327239,0.999999981186,0.000121438344447,-0.000143828542981,4.68513054762e-05,1793249586328435200
+101,1.683333333,BASELINE,765.690339491,745,718,679,661,636,877.690339491,783,813,651,628.690339491,654,0.401036729485,-0.00550131336031,0.0798673373365,0.999999980985,0.000121745365356,-0.000144898339077,4.70362843382e-05,1793249586345102080
+102,1.700000000,BASELINE,766.273813028,745,717.726186972,679,661.273813028,636.273813028,877.452373943,783,813,651,629,654,0.401037070856,-0.0055018249713,0.0798673534407,0.999999980983,0.000121645681457,-0.000144919432229,4.72821354575e-05,1793249586361768704
+103,1.716666667,BASELINE,766.853550548,745,717.146449452,679,661.853550548,636.853550548,876.292898903,783,813,651,629,654,0.401037645952,-0.00550182034885,0.0798679410218,0.999999981201,0.000121091596361,-0.000143768835572,4.75959976248e-05,1793249586378435072
+104,1.733333333,BASELINE,766.568467583,745,717,679,661.568467583,637,876.431532417,783,813.431532417,651,629,654,0.401039005038,-0.00550115032438,0.0798686092412,0.999999981335,0.000121563921148,-0.000142487678707,4.74277020524e-05,1793249586395101952
+105,1.750000000,BASELINE,766,745,717.009027955,679,661,636.990972045,877.009027955,783,813.990972045,651,629,654,0.401040594093,-0.00550028639993,0.0798692945656,0.999999981439,0.000122362250012,-0.000141176845198,4.710872045e-05,1793249586411768576
+106,1.766666667,BASELINE,766,745,717.593343494,679,661,636.406656506,877.593343494,783,813.406656506,651,629,654,0.401039951849,-0.00550139807875,0.0798693330756,0.999999981537,0.000121827623507,-0.000140786950238,4.75723314087e-05,1793249586428435200
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,718,679,661,636,877,783,813,651,630,654,0.401036253696,-0.00550059738634,0.0798664967245,0.999999980624,0.000124609228608,-0.000144797665652,4.75197318358e-05,1793249586468807168
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.427877324,718,679,661,636,877,783,813.572122676,651,629.427877324,653.427877324,0.401036277211,-0.00550023114259,0.0798670047253,0.999999980779,0.00012324004535,-0.000144858763927,4.76511615044e-05,1793249586485474304
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,717.864481373,679,661,636,877,782.864481373,813.864481373,651,629,653.135518627,0.40103668399,-0.00550010343545,0.0798674908971,0.999999980909,0.000122406305041,-0.000144670366967,4.76355218764e-05,1793249586502141440
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,717.326971517,679,661,636,877,782.326971517,813.326971517,651,629,653.673028483,0.401038227649,-0.00550068330343,0.079867912317,0.999999980972,0.000123160858015,-0.00014374188802,4.71836281016e-05,1793249586518808576
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.756880049,745,717,678.756880049,661,636,877.243119951,782.243119951,813,651,629,654,0.401038480406,-0.00550115502481,0.0798680037374,0.999999981099,0.000122679338294,-0.000143344642064,4.69380090544e-05,1793249586535475712
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.136188527,745,717,678.136188527,661,636,877.863811473,782.863811473,813,651,629,654,0.401036728361,-0.00550145879168,0.07986758266,0.999999981326,0.000120278165664,-0.000143772414735,4.70127400216e-05,1793249586552142336
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.464783508,745,717,678,661,636,877.535216492,783,813,650.535216492,629,654,0.401037080236,-0.00550091920763,0.0798677958689,0.999999981247,0.000121668239882,-0.000143056660749,4.72946587045e-05,1793249586568808448
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,717.058280203,678,661,636.058280203,877.058280203,783,813,650.058280203,629,654,0.40103791522,-0.00550023642943,0.0798681136085,0.999999981072,0.000123806146638,-0.000142356195576,4.75706009341e-05,1793249586585475072
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,717.63460022,678,661,636.63460022,877.63460022,783,813,650.63460022,629,654,0.401037787719,-0.00550038797541,0.0798677757106,0.999999980842,0.000123118793127,-0.0001446487752,4.72757532292e-05,1793249586602141440
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,718,678.210992501,661,636.789007499,877.789007499,783,813.210992501,651,629,654,0.40103880283,-0.00550045995184,0.0798682248014,0.999999980554,0.000122607977036,-0.000147058087504,4.72495973453e-05,1793249586618808064
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,718,678.787509914,661,636.212490086,877.212490086,783,813.787509914,651,629,654,0.401041797411,-0.0055003940814,0.0798700372774,0.999999980171,0.000122402995699,-0.000149669628098,4.76889251174e-05,1793249586635474944
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.636286345,745.363713655,718,678.636286345,661,636.363713655,877,783,813.636286345,651,629,653.636286345,0.401054265357,-0.00550100046264,0.0798750265487,0.999999980165,0.000122177286496,-0.000149818427131,4.79352746926e-05,1793249586652141824
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.060265646,745.939734354,718,678.060265646,661,636.939734354,877,783,813.060265646,651,629,653.060265646,0.401072263099,-0.00550199925083,0.0798818701802,0.99999998038,0.000121939477996,-0.000148529674172,4.80689790187e-05,1793249586668808448
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.532679024,745.467320976,718,678.532679024,661,637,877,783,813,651,629,653.532679024,0.401115742463,-0.00550242254369,0.0798928049821,0.999999982256,0.000121755760003,-0.00013561887739,4.7654338001e-05,1793249586685475072
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,717.877137762,678.877137762,661,637,877,783,813,651,629,654,0.401166595721,-0.00550289209075,0.0799035698481,0.999999984045,0.000121634884211,-0.000122092836507,4.69820144203e-05,1793249586702141440
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,717.304310321,678.304310321,661,637,877,783,813,651,629,654,0.401233550113,-0.0055037773169,0.07991196156,0.99999998536,0.000121721011214,-0.000111287131709,4.56006266011e-05,1793249586718808064
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,717.270385038,678,661,636.729614962,877,783,813.270385038,651,629,654,0.401311615399,-0.00550462999965,0.0799199492705,0.999999986593,0.000121447755114,-0.00010069636904,4.38624135215e-05,1793249586735474432
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,717.847197276,678,661,636.152802724,877,783,813.847197276,651,629,654,0.40140227265,-0.00550544580093,0.0799274791257,0.999999987756,0.000120767210357,-9.03492008059e-05,4.17198106766e-05,1793249586752140800
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,717.566331118,678.433668882,661,636.433668882,877,783,814,651,629,654,0.40150669683,-0.0055070423609,0.0799331577448,0.999999989052,0.000117045979214,-8.17711973772e-05,3.88655418192e-05,1793249586768807680
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.976893326,745,717,679,661,636.976893326,877,783,813.976893326,651,629,653.976893326,0.401617338031,-0.00550889570175,0.0799382663207,0.999999990327,0.000112396823115,-7.37372830718e-05,3.57307767557e-05,1793249586785474560
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.399798118,745,717,679,661,636.399798118,877,783,813.399798118,651,629,653.399798118,0.401758086347,-0.0055101595976,0.0799457028354,0.999999991227,0.000111772260798,-6.34622805845e-05,3.20199070992e-05,1793249586802141440
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.176929136,745,717.176929136,679,661,636,877,783,813,651,629,653.176929136,0.401907994819,-0.00551161940356,0.0799521510244,0.999999992018,0.000110525125216,-5.45610023306e-05,2.7789769931e-05,1793249586818808064
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.752826591,745,717.752826591,679,661,636,877,783,813,651,629,653.752826591,0.402078559066,-0.00551352097898,0.0799563705768,0.999999992742,0.000107874111245,-4.87574201837e-05,2.23887052331e-05,1793249586835474688
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.665840569,745,718,679,661,636,877,783,813,651,629,654,0.402261125659,-0.0055146731698,0.0799597877458,0.999999993655,0.000102893954408,-4.28267714358e-05,1.63910148889e-05,1793249586852141312
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.080420706,745,718,679,661,636,877,783,813,651,629,654,0.402452717049,-0.00551526188517,0.0799626015887,0.99999999465,9.61624732518e-05,-3.6800578433e-05,9.94471051805e-06,1793249586868807936
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.502025036,745.502025036,717.497974964,679,661,636,877,783,813,651,629.502025036,654,0.402662274446,-0.00551803171788,0.0799561101382,0.999999994994,8.47531163937e-05,-5.3128698931e-05,2.63891649354e-06,1793249586885474560
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.916583312,717.083416688,679,661,636,877,783,813,651,629.916583312,653.916583312,0.402881177199,-0.00552071900299,0.0799486029359,0.999999994862,7.1437079284e-05,-7.17432970935e-05,-5.06207520472e-06,1793249586902140928
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.338632678,717.661367322,679,661,636,877,783,813,651,629.338632678,653.338632678,0.403138521964,-0.00552085770366,0.0799438590449,0.999999995157,5.12337334692e-05,-8.28084110622e-05,-1.42945417885e-05,1793249586918807808
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,636.237824383,877,783.237824383,813,651,629,653.237824383,0.403421141941,-0.00552172050801,0.0799417699822,0.999999995448,2.65970835649e-05,-8.89380071789e-05,-2.20392548586e-05,1793249586935474688
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661,636.812168017,877,783.812168017,813,651,629,653.812168017,0.403739526085,-0.00552360791221,0.0799434374768,0.999999995728,-4.3126484777e-06,-8.80838915451e-05,-2.767881022e-05,1793249586952141824
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,636.60439727,877,783.60439727,813,651,629,654,0.404081239577,-0.0055243593607,0.0799489671508,0.999999996457,1.75703441461e-06,-7.97399414321e-05,-2.69137767024e-05,1793249586968808960
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,636.016544607,877,783.016544607,813,651,629,654,0.404434290356,-0.00552455877197,0.079956373717,0.999999997106,2.57974991095e-05,-6.7756177802e-05,-2.30363232051e-05,1793249586985475584
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,717.434338327,679,661,636,877.565661673,783,813.565661673,651,629,654,0.404838987254,-0.00552610559387,0.0799575337258,0.999999997907,8.04992054524e-06,-5.83076716537e-05,-2.6853796193e-05,1793249587002141952
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,717,678.854038901,661,636.145961099,878,783,813.854038901,650.854038901,629,653.854038901,0.405251856692,-0.00552762652618,0.07995639427,0.999999998018,-9.65917726542e-06,-5.36829058583e-05,-3.14343572604e-05,1793249587018808064
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,717,678.278866028,661,636.721133972,878,783,813.278866028,650.278866028,629,653.278866028,0.405684360119,-0.00552895658605,0.0799490249697,0.999999997026,-2.36965689439e-05,-6.30268902167e-05,-3.76035696704e-05,1793249587035474432
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.702982596,745.297017404,717,678.594034809,661.297017404,636.702982596,877.702982596,783,813,650.297017404,629,653,0.406143852379,-0.00553175691591,0.0799412092292,0.999999996187,-2.03404991596e-05,-7.6480514019e-05,-3.69102240131e-05,1793249587052140800
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.126430361,745.873569639,717,679.747139278,661.873569639,636.126430361,877.126430361,783,813,650.873569639,629,653,0.406628744949,-0.00553594097518,0.0799329733251,0.999999995158,-6.1475626803e-07,-9.38018831576e-05,-2.97582541553e-05,1793249587068807424
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.4601449,745.5398551,717,679.5398551,662,636.4601449,877.4601449,783,813.4601449,651,629,653.4601449,0.407126545833,-0.00554621535631,0.0799288325484,0.999999994199,-1.62601492569e-05,-0.000101995286387,-3.05852554582e-05,1793249587085474048
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,717.048638389,679,662,637,877.951361611,783,813.951361611,650.951361611,629,654,0.407630984477,-0.00555773647621,0.0799252455313,0.999999992692,-4.01003498299e-05,-0.000109049043716,-3.34085725981e-05,1793249587102140416
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,717.62735599,679,662,637,877.37264401,783,813.37264401,650.37264401,629,654,0.408168250119,-0.00556420171302,0.0799151578424,0.999999989763,-4.49747087744e-05,-0.00013162448122,-3.35637542311e-05,1793249587118807040
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.795708907,745.204291093,717.795708907,679,661.795708907,637,877.204291093,783,813,650,629,653.795708907,0.408737552741,-0.00556680991062,0.0799131415014,0.999999988778,-4.58451236687e-05,-0.000138512016289,-3.39993993584e-05,1793249587135473920
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.221997136,745.778002864,717.221997136,679,661.221997136,637,877.778002864,783,813,650,629,653.221997136,0.409364787971,-0.00556244340322,0.0799257206226,0.999999991762,-3.94751848432e-05,-0.000117031032157,-3.49422081285e-05,1793249587152140800
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.360165099,745.639834901,717.360165099,679.360165099,661.360165099,637,878.360165099,783,813.360165099,650.360165099,629,653.360165099,0.410035924727,-0.0055601816099,0.0799529566538,0.99999999601,-4.01626885299e-05,-7.15510956991e-05,-3.53113737445e-05,1793249587168807936
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.94766112,745.05233888,717.94766112,679.94766112,661.94766112,637,878.94766112,783,813.94766112,650.94766112,629,653.94766112,0.410734771456,-0.00555924828137,0.079989443911,0.99999999829,-4.5304746458e-05,-1.09233734449e-05,-3.53184640892e-05,1793249587185475072
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,717.472142308,679.472142308,662,637,879,783,813.472142308,650.472142308,629,653.472142308,0.411409448817,-0.00555683641996,0.0799882530134,0.999999998521,-3.73447744866e-05,-1.71167575339e-05,-3.56418896424e-05,1793249587202141696
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,717,679.107004795,662,637,879,783,813,650.107004795,629,653.107004795,0.412082738293,-0.00555382327037,0.0799770238141,0.999999998141,-3.04542950872e-05,-3.80233806382e-05,-3.66761970268e-05,1793249587218808320
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,717,679.684675683,662,637,879,783,813,650.684675683,629,653.684675683,0.412760320126,-0.00554880136355,0.0799378491135,0.999999994094,-3.39043007057e-05,-9.49016655704e-05,-4.07012726359e-05,1793249587235475200
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.260744051,717,680,662,637,879.260744051,783,813.260744051,650.739255949,629,654,0.413475916004,-0.00554540625304,0.0799142648901,0.999999990662,-3.74171381865e-05,-0.000123717735633,-4.43807360838e-05,1793249587252141824
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.834886365,717,680,662,637,879.834886365,783,813.834886365,650.165113635,629,654,0.414237202507,-0.00554396645069,0.0799094194533,0.999999990967,-4.10054962486e-05,-0.000118804762562,-4.76447956921e-05,1793249587268808448
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.58147668,745.58147668,717,680,662,637,880,783,814,650.41852332,629,654,0.415032525859,-0.00554563278126,0.0799287892367,0.999999994334,-4.38361786675e-05,-8.47529606447e-05,-4.71996255451e-05,1793249587285475072
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.005933625,745,717.005933625,680.005933625,662.005933625,637,880,783,814,650.994066375,629,654,0.415841321236,-0.00554849358188,0.0799575215058,0.999999997113,-4.6311563202e-05,-3.97228909089e-05,-4.52892348846e-05,1793249587302141696
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.587586299,745,717.587586299,680.587586299,662.587586299,637,880,783,814,650.412413701,629,654,0.416624145928,-0.00554559195105,0.0799462273112,0.999999995446,-4.39894880382e-05,-7.07881887222e-05,-4.64927698406e-05,1793249587318808064
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.167515372,718,681,662.832484628,637.167515372,880.167515372,783,814,650.167515372,629,654,0.417432594907,-0.0055441859111,0.0799434875129,0.999999994793,-4.4207258644e-05,-7.86148288301e-05,-4.77527082786e-05,1793249587335474688
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.743244213,718,681,662.256755787,637.743244213,880.743244213,783,814,650.743244213,629,654,0.418303486935,-0.00554642443445,0.0799615936819,0.999999997067,-5.06143077166e-05,-2.98118395258e-05,-4.91500947143e-05,1793249587352141568
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,718,681,662.315650651,637.684349349,881,783,814,650.684349349,628.684349349,654,0.419170532364,-0.00554934628541,0.0799750700671,0.999999997122,-5.7143035691e-05,2.15499237616e-06,-4.98625408238e-05,1793249587368808192
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,718,681,662.885382709,637.114617291,881,783,814,650.114617291,628.114617291,654,0.42003448145,-0.00555281817741,0.0799848197303,0.999999996504,-6.37697082342e-05,2.05696415365e-05,-5.00236476446e-05,1793249587385474816
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,717.523136535,681,663,637,881,783,814,650.476863465,628.476863465,654,0.420898962123,-0.00555234472734,0.0799689747174,0.999999996768,-6.18673981588e-05,-6.24087516239e-06,-5.09615213774e-05,1793249587402141184
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,717,681,663,637,881.142071606,783,814,651,629.071035803,654,0.421769095829,-0.00555120517558,0.0799526866027,0.99999999633,-5.86739791093e-05,-3.49244087294e-05,-5.17385455936e-05,1793249587418807808
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,717,681,663,637,882.29093437,783,814,651,629.645467185,654,0.422678340607,-0.0055523864802,0.0799789368648,0.999999996849,-6.15526507574e-05,3.83156196223e-06,-4.99894252368e-05,1793249587435474432
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.778911328,745.778911328,717,681,663.221088672,637.221088672,883,783,814,650.778911328,629.778911328,654,0.423574074226,-0.00555262606378,0.0799949164871,0.999999996404,-6.48720307118e-05,2.34108066691e-05,-4.93479660947e-05,1793249587452140800
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.201370995,745.201370995,717,681,663.798629005,637.798629005,883,783,814,650.201370995,629.201370995,654,0.424448024534,-0.00555134735162,0.0799943372073,0.999999996279,-6.89019460871e-05,1.20722553738e-05,-5.04923408212e-05,1793249587468807424
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.382543931,745.382543931,717,681,663.617456069,637.617456069,883,783.382543931,814,650,629,654,0.42530900786,-0.00554953669029,0.0799617050886,0.999999995163,-6.77017312087e-05,-4.89697922763e-05,-5.18908741003e-05,1793249587485474304
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.969871269,745.969871269,717,681,663.030128731,637.030128731,883,783.969871269,814,650,629,654,0.42616304965,-0.00554744126601,0.079911914445,0.999999987212,-6.37017224583e-05,-0.000136619113441,-5.34254631342e-05,1793249587502141440
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,717,681,663.550024651,637,883,784,814,650.550024651,629,654,0.427081804292,-0.00555019356535,0.0799063154369,0.9999999885,-6.74716104314e-05,-0.000124125712362,-5.51319450548e-05,1793249587518808064
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,717,681.128885439,663.871114561,637,883.128885439,784,814,651,629,654,0.427995373705,-0.00555225398995,0.0799059250055,0.99999998978,-7.07269713787e-05,-0.000110696984613,-5.64202644084e-05,1793249587535474688
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,717,681.704609707,663.295390293,637,883.704609707,784,814,651,629,654,0.428878834835,-0.00555100694851,0.0799153080863,0.999999989555,-7.07419189952e-05,-0.000112798685378,-5.62266130274e-05,1793249587552141568
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.285191839,746,717.285191839,682,663.285191839,637.285191839,884,784,814.285191839,651,629,654,0.429778009412,-0.00555285118664,0.0799403856458,0.999999992293,-7.45488427388e-05,-8.26837523004e-05,-5.49596548512e-05,1793249587568808192
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.870892707,746,717.870892707,682,663.870892707,637.870892707,884,784,814.870892707,651,629,654,0.430693741321,-0.00555795273201,0.0799820006083,0.999999995054,-8.23514032592e-05,-1.86218818989e-05,-5.25617441567e-05,1793249587585474816
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.549550138,745.549550138,717.549550138,682,664,637.549550138,884.450449862,784,815,650.549550138,629,654,0.431617433415,-0.00555896345228,0.0800149290989,0.999999995215,-7.82172237725e-05,3.0277951259e-05,-5.03475055737e-05,1793249587602141184
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.028489177,717,682.028489177,664,637.028489177,885,784,815,650,629,654,0.432536413187,-0.00555856796118,0.080040483296,0.999999994007,-7.12206229098e-05,6.75040950736e-05,-4.85496354444e-05,1793249587618807552
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.610792009,717,682.610792009,664,637.610792009,885,784,815,650,629,654,0.433320031662,-0.00555332268644,0.079970432534,0.999999995044,-7.41932518671e-05,-3.88581254272e-05,-5.38361421808e-05,1793249587635474176
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,717,683,664,637.809658903,885,784,815,650.190341097,629,654,0.43412206396,-0.00555122335133,0.0799181845495,0.999999988767,-7.71335601028e-05,-0.000114865072837,-5.76323251583e-05,1793249587652141312
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,717,683,664,637.235660242,885,784,815,650.764339758,629,654,0.43496121189,-0.00555546507115,0.0799018203962,0.999999986683,-8.00087236105e-05,-0.000129686987538,-5.84245662025e-05,1793249587668808704
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,717,683,664,637,885.338911716,784,815,651,628.661088284,654,0.435795272208,-0.00555798966038,0.0799170316659,0.999999988969,-8.48144588167e-05,-0.000107087356599,-5.83139505225e-05,1793249587685475584
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,717,683,664,637,885.913882955,784,815,651,628.086117045,654,0.436625788843,-0.00555931822983,0.0799542359184,0.999999992499,-9.09648796813e-05,-5.84227885134e-05,-5.75744749679e-05,1793249587702142208
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,717,683,664,637,885.49588765,784,815,651,628.50411235,654,0.437456593056,-0.00556276944205,0.0799799723712,0.999999993927,-9.27705151508e-05,-2.33335937069e-05,-5.47213999763e-05,1793249587718808576
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+244,4.066666667,HOLD_POSE2,766,746,717,684,660,634,887,781,816,651,628,654,0.45132696571,-0.00558498232971,0.0795954485508,0.999999802724,-0.000132380620404,-0.000610729573177,-6.35348039353e-05,1793249588766966016
+245,4.083333333,HOLD_POSE2,766,746,717,684,660,634,887,780.420362364,816,651,628,654,0.451326147233,-0.00558438852311,0.0795951349081,0.999999802002,-0.0001317314657,-0.000612066388161,-6.33833625035e-05,1793249588783632640
+246,4.100000000,HOLD_POSE2,766,746,717,684,660,634,887,780.158066606,816,651,628.158066606,654,0.451325652523,-0.0055840176646,0.0795948618743,0.999999801579,-0.000131203592028,-0.000612886049174,-6.32288893071e-05,1793249588800299264
+247,4.116666667,HOLD_POSE2,766,746,717,684,660,634,887,780.733305763,816,651,628.733305763,654,0.451326012304,-0.005584235215,0.079594696016,0.999999801951,-0.000130995805545,-0.00061234082736,-6.30664145835e-05,1793249588816965888
+248,4.133333333,HOLD_POSE2,766,746,716.692881879,684,660,634,887,781,815.692881879,651,628.692881879,654,0.451325474928,-0.00558398967773,0.0795942479977,0.999999801884,-0.000130145620579,-0.000612646218058,-6.29139994834e-05,1793249588833632768
+249,4.150000000,HOLD_POSE2,766,746,716.120302826,684,660,634,887,781,815.120302826,651,628.120302826,654,0.451324162083,-0.00558334386551,0.0795935560912,0.999999801437,-0.000128740171415,-0.000613686845086,-6.27702795395e-05,1793249588850299392
+250,4.166666667,HOLD_POSE2,766,746,716,683.53270723,660,634,887.46729277,781,815,651,628,654,0.451325299365,-0.00558370483332,0.0795942575961,0.999999801685,-0.000128944742501,-0.000613242339731,-6.27421327262e-05,1793249588866966016
+251,4.183333333,HOLD_POSE2,766,746,716.057624352,683.057624352,660,634,887.884751297,780.942375648,815.057624352,651,628,654,0.451326925252,-0.00558420620241,0.0795952238189,0.999999802082,-0.00012970938619,-0.000612429394296,-6.2786320354e-05,1793249588883632384
+252,4.200000000,HOLD_POSE2,766,746,716.636571994,683.636571994,660,634,886.726856011,780.363428006,815.636571994,651,628,654,0.451327075463,-0.00558355502645,0.0795952317789,0.99999980215,-0.000131666565519,-0.000611857064757,-6.32067937846e-05,1793249588900299008
+253,4.216666667,HOLD_POSE2,766,746,717,684,660,634,886.21349474,780.21349474,816,651,628.21349474,654,0.451326986122,-0.00558296385554,0.0795950600223,0.999999802089,-0.000132473329095,-0.000611759952629,-6.34174580117e-05,1793249588916965888
+254,4.233333333,HOLD_POSE2,766,746,717,684,660,634,886.78700287,780.78700287,816,651,628.78700287,654,0.451326492828,-0.00558247387045,0.0795945852119,0.999999801817,-0.000131340161427,-0.000612464193472,-6.32743236786e-05,1793249588933632512
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+256,4.266666667,HOLD_POSE2,766,746,716.06890064,684,660,634,886.06890064,781,816,651,628.06890064,654,0.451329699636,-0.00558245735432,0.0795962100055,0.999999803344,-0.000129912150176,-0.000610319538726,-6.28136575444e-05,1793249588966965760
+257,4.283333333,HOLD_POSE2,766,746,716.52238435,684,660,634,886,781,816,650.47761565,628,653.47761565,0.451327353252,-0.00558185597325,0.079594639875,0.999999802034,-0.000128238102285,-0.000612795951133,-6.29999316038e-05,1793249588983632384
+258,4.300000000,HOLD_POSE2,766,746,716.886026049,684,660,634,886.113973951,781,816,650.113973951,628,653.113973951,0.451325450328,-0.00558122600915,0.079593391796,0.999999801061,-0.000126972551142,-0.000614626185498,-6.31720360518e-05,1793249589000299008
+259,4.316666667,HOLD_POSE2,766,746,716.304193814,684,660,634,886.695806186,781,816,650.695806186,628,653.695806186,0.451327858508,-0.00558087413899,0.0795949710172,0.999999802809,-0.000127977655054,-0.000611579824852,-6.30404471894e-05,1793249589016965888
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766,746,716,684,660,634,888,781,816,651,629,654,0.451328018566,-0.00558051980991,0.0795946474142,0.999999803003,-0.00012722233674,-0.000611430511454,-6.29370370643e-05,1793249589054743040
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,746,716.589990855,684,660,634.589990855,887.410009145,781,816,651,628.410009145,654,0.451329116655,-0.00558100075938,0.0795951325556,0.99999980326,-0.000126563511145,-0.000611158907445,-6.28149632679e-05,1793249589071409920
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765.823024008,746,717,683.823024008,660,634.823024008,887,781,816,651,628,654,0.451329586218,-0.00558125220083,0.0795952532631,0.999999803245,-0.000126322393775,-0.000611237659108,-6.27721608311e-05,1793249589088076544
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.242885962,746,717,683.242885962,660,634.242885962,887,781,816,651,628,654,0.451328623961,-0.00558098080919,0.0795945437678,0.99999980261,-0.000127032840976,-0.000612114542209,-6.29099433392e-05,1793249589104742912
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.334353711,746,716.665646289,683.334353711,660,634,887,781,816,651,628.334353711,654,0.451327885169,-0.00558124508585,0.0795944590493,0.999999802126,-0.00012828646303,-0.000612628753132,-6.30656497782e-05,1793249589121409792
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.909505966,746,716.090494034,683.909505966,660,634,887,781,816,651,628.909505966,654,0.451327307315,-0.00558189514604,0.0795948242893,0.999999801748,-0.000129931274701,-0.000612881770752,-6.3234264863e-05,1793249589138076416
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.505708218,746,716.494291782,684,660,634,887,781,816,651,628.505708218,654,0.451327421002,-0.00558077740504,0.0795948682834,0.999999801852,-0.000128863302911,-0.000612939561462,-6.32029008383e-05,1793249589154743040
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.079846079,746,717,684,660,634,887,781,816,651,628,654,0.451327552754,-0.00557983153265,0.0795948697464,0.999999802082,-0.000127708209512,-0.000612818245387,-6.30831236166e-05,1793249589171409408
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.658958255,746,717,684,660,634,887,781,816,651,628,654,0.451326990081,-0.00558202426627,0.0795949803278,0.999999802542,-0.000129175575286,-0.000611804930793,-6.26439901486e-05,1793249589188076288
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766.237738231,746,716.762261769,684,660,634,887,781,816,651,628,654,0.451322122899,-0.00558269862215,0.0795924120909,0.999999800306,-0.000129828672716,-0.000615314584212,-6.26084922657e-05,1793249589204742912
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766.816042274,746,716.183957726,684,660,634,887,781,816,651,628,654,0.451311089401,-0.0055811978647,0.0795860063816,0.999999794142,-0.000129315310758,-0.00062530349962,-6.3151212232e-05,1793249589221409792
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766.608615943,746,716.391384057,684,660,634.391384057,886.608615943,780.608615943,815.608615943,651,628,654,0.451284245403,-0.00557974000189,0.0795726577215,0.999999780904,-0.000127628288573,-0.000646426562679,-6.35315526599e-05,1793249589238076416
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766.034655967,746,716.965344033,684,660,634.965344033,886.034655967,780.034655967,815.034655967,651,628,654,0.451250025998,-0.00557830214876,0.0795560702584,0.999999763809,-0.000125393768004,-0.000672743571173,-6.38361450141e-05,1793249589254743040
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,746,717,684,660.551965345,634.448034655,886.551965345,780.551965345,815.551965345,651,628.551965345,654,0.451193052051,-0.00557732644028,0.0795368905571,0.999999740356,-0.00012421480832,-0.000706976596764,-6.35830141418e-05,1793249589271409664
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,660.862519337,634,887,781,816,651,629,654,0.451132168396,-0.00557624741369,0.0795198054777,0.999999719848,-0.00012330014596,-0.000735594897495,-6.32511483979e-05,1793249589288076032
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,660.283173553,634,887,781,816,651,629,654,0.45106341845,-0.00557474087197,0.0795099879288,0.999999713298,-0.000123016929999,-0.000744532460838,-6.27814166581e-05,1793249589304742912
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,746,716.704314681,684,660,634,887,781,816,651,629,654,0.450988132294,-0.00557312126493,0.0795059449547,0.999999710918,-0.000121895158541,-0.000748017993628,-6.1443218658e-05,1793249589321409536
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,746,716.125921385,684,660,634,887,781,816,651,629,654,0.450906596798,-0.005571393555,0.0795074231154,0.999999712572,-0.000119971634994,-0.000746290779689,-5.92746705694e-05,1793249589338076160
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,716.44907256,684,660,634,886.55092744,781,816,651,629,654,0.450807743161,-0.00557025780407,0.0795106745502,0.999999717303,-0.00011744324303,-0.000740545272277,-5.65201975423e-05,1793249589354743040
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,746,717,684,660.023036983,634.023036983,886,781,816,651,628.976963017,654,0.450702890477,-0.00556919818065,0.0795143380872,0.999999722679,-0.000114802485107,-0.000733886863585,-5.35905739169e-05,1793249589371409664
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,660.595012052,634.595012052,886,781,816,651,628.404987948,654,0.450569932738,-0.00556602704502,0.0795160621235,0.999999724289,-0.000113495335723,-0.00073212226848,-5.03728694406e-05,1793249589388076288
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,660.825200226,634.825200226,886.174799774,781,816,651,628.174799774,654.174799774,0.45042387372,-0.00556308592289,0.0795165477678,0.999999724542,-0.000111116995861,-0.000732387551647,-4.66552883594e-05,1793249589404742912
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,717,684,660.226464841,634.226464841,886.773535159,781,816,651,628.773535159,654.773535159,0.45024604066,-0.00556070264473,0.0795140299846,0.999999721487,-0.000106140736416,-0.000737575825882,-4.17253749801e-05,1793249589421409536
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,660.357200252,634,886.642799748,781,815.642799748,651,628.642799748,654.642799748,0.450053287187,-0.00555686138844,0.0795122594712,0.999999719453,-9.97290917144e-05,-0.00074147748168,-3.68711841866e-05,1793249589438076160
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,660.931697629,634,886.068302371,781,815.068302371,651,628.068302371,654.068302371,0.4498514571,-0.00555213319398,0.0795109435472,0.999999718001,-9.24442526036e-05,-0.000744596443969,-3.20630575537e-05,1793249589454742784
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,716.493918628,684,661,634.506081372,886,781,815.506081372,651,628.506081372,654,0.449621731044,-0.00554721461315,0.0795132401429,0.999999721631,-8.37341026123e-05,-0.000740975045357,-2.61303718865e-05,1793249589471409664
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,716.08304343,684,661,634.91695657,886,781,816,651,628.91695657,654,0.449382937807,-0.00554246566568,0.0795155562783,0.999999725028,-7.44779129048e-05,-0.000737565298817,-1.98828291767e-05,1793249589488076544
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,716.675929347,684,661,634.324070653,886,781,816,651,628.324070653,654,0.44911158628,-0.00553891589387,0.0795149997074,0.999999723363,-6.30500768818e-05,-0.000741038807184,-1.26338322195e-05,1793249589504742912
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,717,684,661,634.261533887,886.261533887,781,816,651,628,654,0.448818753579,-0.00553439631783,0.0795187331271,0.999999725494,-5.16037641372e-05,-0.000739136351926,-5.09694792848e-06,1793249589521409536
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,661,634.838360318,886.838360318,781,816,651,628,654,0.448500024234,-0.00552870759316,0.0795276383509,0.999999732191,-4.01351774418e-05,-0.000730752895982,2.78699890516e-06,1793249589538076160
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,660.585801845,635,886.585801845,781,816,651,628,654,0.448155884471,-0.00552144912059,0.0795277510919,0.999999732481,-1.32591400871e-05,-0.000731282890463,9.36968135262e-06,1793249589554743040
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,717,684,660.0103489,635,886.0103489,781,816,651,628,654,0.447801851981,-0.00551357951706,0.0795244407609,0.999999729368,1.96152946457e-05,-0.000735283051029,1.54457579794e-05,1793249589571409664
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,660.577694731,635,886,781,815.422305269,651,628.577694731,654,0.447434553773,-0.00550826510598,0.0795334886173,0.999999743916,3.69576909334e-05,-0.000714602761027,1.20475380428e-05,1793249589588076032
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.836685548,746,717,684,661,635,886,781.163314452,815,651,628.836685548,654,0.447053647273,-0.00550331500921,0.0795466292734,0.99999976058,4.54008007824e-05,-0.000690420099126,9.94903538718e-06,1793249589604742912
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.257820213,746,717,684,661,635,886,781.742179787,815,651,628.257820213,654,0.446638732916,-0.0054991728386,0.0795696081242,0.999999782628,3.19235816228e-05,-0.000658475769077,1.15991234297e-05,1793249589621409536
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.896349428,746,717,684,661,635,886.896349428,782,815.896349428,651,628.896349428,654.896349428,0.445709883425,-0.00548172626504,0.0796182669228,0.999999820411,4.87887312026e-05,-0.000597013658502,1.92703557094e-05,1793249589654743040
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.609365446,745,718,679,661,636.609365446,876.390634554,783,813,651,629,654,0.402248227754,-0.00538829909056,0.0798376554433,0.999999925796,0.000259429409737,-0.000279980356844,5.21044449806e-05,1793249590738076416
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.07735186,745,717.92264814,679,660.07735186,636.07735186,877,783,813,650.07735186,629,654,0.40141730099,-0.00538669944405,0.0798415019023,0.999999929203,0.000253481769545,-0.000274022665946,4.74684126955e-05,1793249590838076416
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,717.143061299,679.143061299,661,636,877,783.143061299,813.143061299,650.143061299,629,654,0.400974717389,-0.00538979104991,0.0798332130737,0.99999992644,0.000253474810933,-0.000284184335839,4.5938691251e-05,1793249591204743424
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.567808566,745,717,679,661,636,877,783,813,650,629,654,0.40097542248,-0.00538980213194,0.0798335270422,0.99999992661,0.000254110017064,-0.000283002061873,4.60230047896e-05,1793249591221410048
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,717,679,661,636,877,783,813,650.006947811,629,654,0.400976495656,-0.00538970546844,0.0798339264825,0.999999926931,0.000254682884388,-0.000281342661466,4.60550221058e-05,1793249591238076672
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,717,679,661,636,877,783,813,650.595846154,629,654,0.400976267036,-0.00538974640656,0.0798346644255,0.999999927066,0.000254271917256,-0.000281210702729,4.620810004e-05,1793249591254743296
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.760589254,745,717.760589254,679,661,636.760589254,876.239410746,783,813,650.239410746,629,654,0.400975754492,-0.0053887479967,0.0798333252843,0.999999926158,0.000256492135699,-0.000282499431643,4.57144001217e-05,1793249591288076800
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.661651052,745,717.661651052,679,661,636.661651052,876.338348948,783,813,650,629.338348948,654,0.400975669156,-0.00538861906267,0.0798332385761,0.999999926242,0.000256296211084,-0.000282394905814,4.56178658134e-05,1793249591304743168
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.084739049,745,717.084739049,679,661,636.084739049,876.915260951,783,813,650,629.915260951,654,0.400975714528,-0.00538895015355,0.0798340812711,0.999999926922,0.000254619160468,-0.000281476404398,4.57746240431e-05,1793249591321410048
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,717.489750734,679.489750734,661,636,877,783,813,650,629.510249266,653.510249266,0.400976413413,-0.00538839391662,0.0798348241161,0.999999927167,0.000254511866855,-0.000280750835915,4.54733867529e-05,1793249591338076672
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.065493871,745,718,679.934506129,661,636,877,783,813,650.065493871,629,653.065493871,0.400977009747,-0.0053877619319,0.0798353967245,0.999999927284,0.000254788648835,-0.000280139800853,4.51376544319e-05,1793249591354743296
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.760390654,745,717.760390654,679,661,636,877,783,813.239609346,651,629,654,0.400975803489,-0.0053876299797,0.0798349079093,0.999999926926,0.000256680833233,-0.000279687139369,4.5143961342e-05,1793249591388076800
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.181153498,745,717.181153498,679,661,636,877,783,813.818846502,651,629,654,0.400977194284,-0.00538737305158,0.0798362224958,0.99999992727,0.000256704537521,-0.000278443084701,4.50866947971e-05,1793249591404743424
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4a709a5611fcfb8397e50888eb00ffeefd5aee6a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,403 @@
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+392,6.533333333,pose2_to_pose3_retreat,0.575664506966,0.000150212571589,1.07003376222,0.546235184202,0.00882284186,1.06970514888
+393,6.550000000,pose2_to_pose3_retreat,0.575664492886,0.000150206744964,1.07003375886,0.546235170213,0.00882283636512,1.06970514618
+394,6.566666667,pose2_to_pose3_retreat,0.575664448303,0.000150188294281,1.07003374822,0.546235125916,0.00882281896493,1.06970513762
+395,6.583333333,pose2_to_pose3_retreat,0.575664439949,0.000150184836774,1.07003374623,0.546235117615,0.00882281570428,1.06970513601
+396,6.600000000,pose2_to_pose3_retreat,0.575664383755,0.000150161581457,1.07003373282,0.546235061783,0.00882279377301,1.06970512522
+397,6.616666667,pose2_to_pose3_retreat,0.575664376211,0.000150158459362,1.07003373102,0.546235054287,0.00882279082867,1.06970512377
+398,6.633333333,pose2_to_pose3_retreat,0.575664368544,0.000150155286341,1.07003372919,0.54623504667,0.00882278783631,1.0697051223
+399,6.650000000,pose2_to_pose3_retreat,0.575664304687,0.00015016290297,1.07003364819,0.546234982899,0.0088227959811,1.06970504741
+400,6.666666667,pose2_to_pose3_retreat,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
+401,6.683333333,pose2_to_pose3_retreat,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650647,1.0697049751
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7ae6348ceffdd1bf86e8c1f0c5aed4d0d90c5fbf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03f15e3e346a98bbd61d25c08ba94133a6c4f13a8d84320fe61dfce75703d71a
+size 25523788
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4705f61948adfbc7f7c8c35af12565caad9f75f8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_02/franka_data.csv
@@ -0,0 +1,403 @@
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+21,0.350000000,BASELINE,766,745,717.823095129,678.823095129,661.823095129,636.823095129,877,783,813,650,629,653,0.40097600103,-0.00539189486966,0.0798377280983,0.999999929552,0.000250226731805,-0.00027612894178,4.51060094112e-05,1793249591874907648
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+27,0.450000000,BASELINE,766,745,717.655734936,679,661,636,877,782.655734936,813,651,629,653,0.400975545114,-0.00539076221078,0.0798361554917,0.999999928959,0.000250573473854,-0.000278017810938,4.47255579535e-05,1793249591974908160
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+29,0.483333333,BASELINE,766,745,717.171968131,679,661.828031869,636,877.828031869,783,813,650.171968131,629,653.828031869,0.400976473828,-0.00538857005217,0.0798371178186,0.999999928275,0.00025454680858,-0.000276884820775,4.46190104795e-05,1793249592008241664
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+49,0.816666667,BASELINE,765,745,717.432869467,679,661,636,877,783.432869467,813.567130533,651,629,654,0.400977671296,-0.0053914437831,0.0798383150376,0.999999929688,0.000251911051853,-0.000274150462544,4.4790678369e-05,1793249592341574144
+50,0.833333333,BASELINE,765,745,717.990418623,678.990418623,661,636,877,783.990418623,813,651,629,654,0.4009787683,-0.00539089065183,0.0798388826694,0.999999929538,0.000253398652134,-0.000273347710601,4.46601366015e-05,1793249592358240768
+51,0.850000000,BASELINE,765,745,717.416831149,678.416831149,661,636,877,783.416831149,813,651,629,654,0.400979164892,-0.00539157507715,0.079840001285,0.999999930218,0.000252393093629,-0.000271772406488,4.47286128173e-05,1793249592374907136
+52,0.866666667,BASELINE,765.161233492,745,717,678.161233492,661,636.161233492,876.838766508,783,813,650.838766508,629,653.838766508,0.400979310493,-0.00539171376169,0.0798405436812,0.999999930588,0.00025182344132,-0.00027093819327,4.47369746199e-05,1793249592391573760
+53,0.883333333,BASELINE,765.751203344,745,717,678.751203344,661,636.751203344,876.248796656,783,813,650.248796656,629,653.248796656,0.400978788683,-0.00539040126558,0.079839553851,0.999999930138,0.000252412908262,-0.000272074616687,4.4585486041e-05,1793249592408240640
+54,0.900000000,BASELINE,765.664782504,745,717.335217496,679,661,636.664782504,876.335217496,783,813,650.335217496,629,653.335217496,0.400977442327,-0.00538968101713,0.0798385714951,0.999999929563,0.000253114671364,-0.000273534464934,4.45629005497e-05,1793249592424907264
+55,0.916666667,BASELINE,765.085111503,745,717.914888497,679,661,636.085111503,876.914888497,783,813,650.914888497,629,653.914888497,0.400975494682,-0.00538939265853,0.0798375945897,0.999999928896,0.000253898325123,-0.000275230166969,4.46343161598e-05,1793249592441573888
+56,0.933333333,BASELINE,765.492055591,745,718,679,661,636,877.492055591,783,813,651,629,654,0.400975799814,-0.00539047354096,0.079837987095,0.999999929438,0.000252094618361,-0.000274882638156,4.48639314609e-05,1793249592458240512
+57,0.950000000,BASELINE,765.931476014,745,718,679,661,636,877.931476014,783,813,650.931476014,629,654,0.400976406206,-0.00539150032437,0.0798385365798,0.999999930055,0.000250305553342,-0.000274238875637,4.50546453639e-05,1793249592474907136
+58,0.966666667,BASELINE,765.356985211,745,718,679,661,636,877.356985211,783,813,650.356985211,629,654,0.400976374399,-0.00539038773223,0.079838505034,0.999999929729,0.000251912406269,-0.000274004155518,4.47570921568e-05,1793249592491574016
+59,0.983333333,BASELINE,765,745,717.776620189,679,661,636,877,783,813,650.223379811,629,654,0.400976810511,-0.00538999109388,0.0798387124113,0.999999929577,0.000253072730665,-0.000273500958648,4.46871832451e-05,1793249592508240640
+60,1.000000000,BASELINE,765,745,717.1866139,679,661,636,877,783,813,650.8133861,629,654,0.400978014601,-0.0053907695285,0.0798393119256,0.999999929713,0.000253500181637,-0.00027255711903,4.49908999344e-05,1793249592524907008
+61,1.016666667,BASELINE,765,745,717,679,661,636,877,783,813,650.604150686,628.604150686,654,0.400978402009,-0.00539140683526,0.0798393305216,0.999999929946,0.000252691686906,-0.000272470431857,4.48830823537e-05,1793249592541573632
+62,1.033333333,BASELINE,765,745,717,679,661,636,877,783,813,650.025177018,628.025177018,654,0.400978411611,-0.00539197885464,0.0798390803782,0.999999930223,0.000251311429743,-0.000272780273118,4.45848843648e-05,1793249592558240256
+63,1.050000000,BASELINE,765,745,717.550018965,679,661,636.550018965,877,783,813,650,628.550018965,654,0.40097736082,-0.005391889032,0.0798385357984,0.99999992984,0.000251971864817,-0.000273550998227,4.47283176878e-05,1793249592574907136
+64,1.066666667,BASELINE,765.127149494,745,718,679,660.872850506,636.872850506,877,783,813,650,629,653.872850506,0.400976623893,-0.00539166389642,0.0798381587314,0.999999929636,0.00025221776239,-0.000274062167338,4.47769895992e-05,1793249592591574016
+65,1.083333333,BASELINE,765.711859691,745,718,679,660.288140309,636.288140309,877,783,813,650,629,653.288140309,0.400977189916,-0.00539106010171,0.0798384326473,0.999999930185,0.000250638042632,-0.000273563895676,4.44124010157e-05,1793249592608240640
+66,1.100000000,BASELINE,765.704657909,745,717.704657909,679,660.295342091,636,877,783,813,650.295342091,629,653.295342091,0.400977671019,-0.00539167449664,0.0798385136869,0.99999993054,0.000249538876629,-0.000273283886912,4.43327259506e-05,1793249592624907264
+67,1.116666667,BASELINE,765.122368443,745,717.122368443,679,660.877631557,636,877,783,813,650.877631557,629,653.877631557,0.400978069614,-0.00539347245578,0.0798384073323,0.999999930708,0.000248906605359,-0.000273215937238,4.45298661283e-05,1793249592641573888
+68,1.133333333,BASELINE,765,745,717,679,661,636,876.54425727,783,812.54425727,651,629,654,0.40097705566,-0.00539263716169,0.0798378382508,0.999999930249,0.000249576858684,-0.000274310079594,4.43496417841e-05,1793249592658241024
+69,1.150000000,BASELINE,765,745,717.032638399,679,661.032638399,636,876.032638399,783,812.032638399,650.967361601,629,653.967361601,0.400975815151,-0.00539114740073,0.0798372555772,0.999999929687,0.000250529550313,-0.000275530780348,4.40949278032e-05,1793249592674908416
+70,1.166666667,BASELINE,765,745,717.607807758,679,661.607807758,636,876.607807758,783,812.607807758,650.392192242,629,653.392192242,0.400977055965,-0.00539042472107,0.0798384934449,0.999999930206,0.000250416463303,-0.000273715675238,4.42709605282e-05,1793249592691575040
+71,1.183333333,BASELINE,765.187715098,745,718,678.812284902,661.812284902,636.187715098,877,783,813.187715098,650.187715098,629,653,0.400978060395,-0.00539000057932,0.0798394029127,0.999999930462,0.00025087291998,-0.000272327761839,4.44526576217e-05,1793249592708241664
+72,1.200000000,BASELINE,765.777777912,745,718,678.222222088,661.222222088,636.777777912,877,783,813.777777912,650.777777912,629,653,0.400978558159,-0.00539021632229,0.0798396084897,0.99999993016,0.000252550134075,-0.000271855488934,4.46464957312e-05,1793249592724908288
+73,1.216666667,BASELINE,766,745,718,678.36095148,661.36095148,636.63904852,877,783,813.63904852,650.63904852,629,653,0.400978413358,-0.00539049228106,0.0798395247743,0.999999930158,0.000252339820419,-0.000272066892434,4.45921506369e-05,1793249592741574656
+74,1.233333333,BASELINE,766,745,718,678.939963041,661.939963041,636.060036959,877,783,813.060036959,650.060036959,629,653,0.400977880368,-0.00539080461774,0.0798392662898,0.999999930337,0.000250989202547,-0.000272691322482,4.43878716674e-05,1793249592758241280
+75,1.250000000,BASELINE,766,745,718,679,661.487358007,636,876.487358007,783,813,650,629,653.512641993,0.400976544587,-0.00539070320788,0.079838076911,0.999999929661,0.00025182626645,-0.000274357549749,4.45991188822e-05,1793249592774907648
+76,1.266666667,BASELINE,765.915129185,745,718,679,661,636.084870815,876,782.915129185,813.084870815,650,629,653.915129185,0.400975547109,-0.00539067353712,0.0798372089327,0.999999929101,0.000252660816837,-0.000275590956481,4.48301199112e-05,1793249592791574272
+77,1.283333333,BASELINE,765.341273035,745,718,679,661,636.658726965,876,782.341273035,813.658726965,650,629,653.341273035,0.400977033843,-0.00539133296129,0.0798388131658,0.999999929796,0.000252022762425,-0.000273636283098,4.48979785267e-05,1793249592808240896
+78,1.300000000,BASELINE,765.240930205,745,717.759069795,679,661,636.759069795,876.240930205,782,813.759069795,650,629,653.240930205,0.400978147877,-0.00539157873734,0.079839759582,0.999999930321,0.000251505217229,-0.000272200514782,4.48244041545e-05,1793249592824907520
+79,1.316666667,BASELINE,765.835381217,745,717.164618783,679,661,636.164618783,876.835381217,782,813.164618783,650,629,653.835381217,0.400978715042,-0.00539121756074,0.0798397407728,0.999999930603,0.000251164497223,-0.000271526144474,4.45433028552e-05,1793249592841574144
+80,1.333333333,BASELINE,766,745,717,678.582316094,660.582316094,636,877,782.417683906,812.582316094,650,629,654,0.400978155828,-0.00539052420468,0.079838949951,0.999999930343,0.00025125241188,-0.000272424702322,4.44012902939e-05,1793249592858241280
+81,1.350000000,BASELINE,766,745,717,678.004665969,660.004665969,636,877,782.995334031,812.004665969,650,629,654,0.40097716523,-0.00538970362922,0.0798378634608,0.999999929873,0.000251504486693,-0.000273925666306,4.43125464595e-05,1793249592874908672
+82,1.366666667,BASELINE,765.430516272,745,717,678.569483728,660.569483728,636,877,782.430516272,812.569483728,650,629,654,0.400977854827,-0.00538906227055,0.079838792211,0.999999929705,0.000253310288028,-0.000272858504205,4.4400703238e-05,1793249592891575040
+83,1.383333333,BASELINE,765,745,717,678.852493869,661,636,876.852493869,782.147506131,813,650,629,654,0.400978178397,-0.00538871891677,0.0798394728015,0.999999929599,0.000254400701172,-0.000272224054002,4.44471790884e-05,1793249592908241152
+84,1.400000000,BASELINE,765,745,717,678.262775797,661,636,876.262775797,782.737224203,813,650,629,654,0.400977363626,-0.00538926458319,0.0798393602305,0.999999929683,0.000253308505453,-0.000272949535689,4.43643801119e-05,1793249592924907520
+85,1.416666667,BASELINE,765.320920098,745,717,678.320920098,661,636,876.320920098,783,812.679079902,650.320920098,629,653.679079902,0.40097775613,-0.00538926021886,0.079839672547,0.99999992984,0.000253300104856,-0.000272368260997,4.44253146596e-05,1793249592941574400
+86,1.433333333,BASELINE,765.899775708,745,717,678.899775708,661,636,876.899775708,783,812.100224292,650.899775708,629,653.100224292,0.400979118966,-0.00538881377418,0.0798403263614,0.999999930057,0.000254162791086,-0.000270736697177,4.46017732328e-05,1793249592958241536
+87,1.450000000,BASELINE,765.522475219,745,717,679,661,636,877,783,812.477524781,650.522475219,629,653.477524781,0.400977554812,-0.00538988890153,0.0798393333384,0.999999929765,0.000253412108343,-0.000272513925368,4.46007657778e-05,1793249592974908160
+88,1.466666667,BASELINE,765,745,717.054839179,679,661,636,877,782.945160821,813,650,629,653.945160821,0.400975687196,-0.00539116815372,0.079838148055,0.999999929458,0.000252276284196,-0.000274694806823,4.45418410865e-05,1793249592991575040
+89,1.483333333,BASELINE,765,745,717.630226987,679,661,636,877,782.369773013,813,650,629,653.369773013,0.400976756895,-0.00539136064637,0.0798384111373,0.999999930077,0.00025069142151,-0.000273931754852,4.42858922407e-05,1793249593008241152
+90,1.500000000,BASELINE,765.209901267,745,717.790098733,679,661,636,877.209901267,782,813,650.209901267,628.790098733,653,0.400977590322,-0.0053910549976,0.0798385990848,0.999999930241,0.000250597483787,-0.000273430462269,4.42201973335e-05,1793249593024907520
+91,1.516666667,BASELINE,765.797284176,745,717.202715824,679,661,636,877.797284176,782,813,650.797284176,628.202715824,653,0.400977998844,-0.00538985350266,0.0798386519115,0.999999929585,0.000253184791627,-0.00027339991187,4.44966507902e-05,1793249593041573888
+92,1.533333333,BASELINE,765.61861606,745,717,679,661,636,877.61861606,782.38138394,813,650.61861606,628.38138394,653,0.400976580298,-0.00539040324515,0.0798377846428,0.999999929479,0.000252068924466,-0.000274822389053,4.44530965622e-05,1793249593058240512
+93,1.550000000,BASELINE,765.036246429,745,717,679,661,636,877.036246429,782.963753571,813,650.036246429,628.963753571,653,0.400974198905,-0.00539187587291,0.0798364324927,0.999999929653,0.000249001519712,-0.000277010597875,4.42409013681e-05,1793249593074907136
+94,1.566666667,BASELINE,765,745,717,679,661,636,877,783,813,650.538181637,629,653,0.400976271517,-0.00539094091474,0.0798382284682,0.999999929315,0.000253588205703,-0.000274004865067,4.4538676101e-05,1793249593091574016
+95,1.583333333,BASELINE,765.112331282,745,717,679,661,636.112331282,876.887668718,783,813,650.887668718,629,653,0.400978331956,-0.00539026572944,0.0798398178614,0.99999992915,0.000257066546548,-0.000271319774133,4.47532874448e-05,1793249593108240896
+96,1.600000000,BASELINE,765.687505683,745,717,679,661,636.687505683,876.312494317,783,813,650.312494317,629,653,0.400979124206,-0.0053913192959,0.0798396951523,0.999999929959,0.000253884975156,-0.000271376216553,4.44857765916e-05,1793249593124907520
+97,1.616666667,BASELINE,766,745,717,679,661,636.729862081,876,782.729862081,813,650,629,653,0.400979425177,-0.00539165171457,0.0798396877751,0.99999993047,0.000251861347083,-0.000271403980358,4.43430584653e-05,1793249593141574144
+98,1.633333333,BASELINE,766,745,717,679,661,636.138357753,876,782.138357753,813,650,629,653,0.400979141704,-0.00539112622815,0.0798398176013,0.999999930634,0.000251215252891,-0.000271397626983,4.43487985597e-05,1793249593158240768
+99,1.650000000,BASELINE,765.557979951,745,717,679,661,636,876.442020049,782.442020049,813,650,629,653,0.400978782037,-0.00539073925863,0.0798397120943,0.99999993036,0.000251757132436,-0.000271869196888,4.45594409443e-05,1793249593174907392
+100,1.666666667,BASELINE,765.018899873,745,717,679,661,636.018899873,877,783,813.018899873,650,629,653.018899873,0.400978421249,-0.00539041296886,0.0798395649004,0.999999929976,0.000252629867499,-0.000272429738222,4.4818255525e-05,1793249593191574016
+101,1.683333333,BASELINE,765.592821215,745,717,679,661,636.592821215,877,783,813.592821215,650,629,653.592821215,0.400978710731,-0.00539062663457,0.0798403035879,0.999999930301,0.000252566854061,-0.000271317824044,4.4654489135e-05,1793249593208240640
+102,1.700000000,BASELINE,765.828723389,745,717.171276611,679,661,636.828723389,876.828723389,783,813.828723389,650,629,653.828723389,0.400978583256,-0.00539087741678,0.0798405934611,0.999999930463,0.000252460331995,-0.000270846749385,4.4503253963e-05,1793249593224907264
+103,1.716666667,BASELINE,765.239196096,745,717.760803904,679,661,636.239196096,876.239196096,783,813.239196096,650,629,653.239196096,0.400977437588,-0.00539121883597,0.0798397873469,0.999999930225,0.000252247563602,-0.000271940579544,4.4382619552e-05,1793249593241574400
+104,1.733333333,BASELINE,765,745,717.656031825,679,661,636.343968175,876.343968175,783,813,650,629,653,0.400976996056,-0.0053908234018,0.0798390777761,0.999999930129,0.000251775264849,-0.000272756072789,4.42175493571e-05,1793249593258241536
+105,1.750000000,BASELINE,765,745,717.077211984,679,661,636.922788016,876.922788016,783,813,650,629,653,0.400977035286,-0.00538992486518,0.079838434122,0.99999993013,0.000251125766141,-0.000273381525635,4.40221396632e-05,1793249593274908160
+106,1.766666667,BASELINE,765,745,717.498970805,678.501029195,661,636.501029195,876.501029195,782.501029195,813,650,628.501029195,653.498970805,0.400978119651,-0.00539105438082,0.0798393592971,0.999999930716,0.000250166447296,-0.000272067834409,4.43185122408e-05,1793249593291574784
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,717,679,661,636,878,783,813,650,629,654,0.400974848436,-0.00539182794986,0.0798372868278,0.999999929884,0.0002495902424,-0.00027564745313,4.42096575125e-05,1793249593335101184
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,717,679,661.589850079,636,877.410149921,782.410149921,813,650.589850079,629,654,0.400974789606,-0.00539145288863,0.0798372634301,0.999999929584,0.00025073573675,-0.000275696756347,4.42050214208e-05,1793249593351767808
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.823109631,745,717,678.823109631,661.823109631,636,877,782.176890369,813,651,629,654,0.400974865943,-0.00539132511376,0.0798372103909,0.999999929488,0.000251093512086,-0.000275718803361,4.42283581836e-05,1793249593368434176
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.242482325,745,717,678.242482325,661.242482325,636,877,782.757517675,813,651,629,654,0.400975250783,-0.00539176174849,0.0798370896976,0.999999929855,0.000249653387282,-0.000275678640463,4.4315540562e-05,1793249593385100800
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,717,678,661,636,877,782.664311365,813,650.664311365,629,654,0.400976226575,-0.00539144304571,0.079837780038,0.999999930201,0.000249379001536,-0.00027468245981,4.42379038914e-05,1793249593401767424
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,717,678,661,636,877,782.087901874,813,650.087901874,629,654,0.400977626137,-0.00539058269367,0.0798390519671,0.99999993053,0.000249940562272,-0.000273000722998,4.40420761944e-05,1793249593418433536
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.483756437,745,717.483756437,678.483756437,661,636.483756437,877,782.483756437,813,650,629,654,0.400978406413,-0.00539143076918,0.0798393351687,0.999999930836,0.000249462336521,-0.000272300688434,4.41440187958e-05,1793249593435100160
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.942875636,745,717.942875636,679,661,637,877,783,813,650.057124364,629,654,0.400978969103,-0.00539245390879,0.0798394385803,0.999999931102,0.000248831694319,-0.000271879450153,4.42845570279e-05,1793249593451767040
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.345242079,745,717.345242079,679,661,637,877,783,813,650.654757921,629,654,0.400978527383,-0.00539222475918,0.0798395242152,0.999999931028,0.000248529215373,-0.000272424744416,4.42833071879e-05,1793249593468433408
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,717,679,661,636.757269581,877,782.757269581,813,651,629,653.757269581,0.400982204663,-0.00539233030614,0.0798414087286,0.9999999314,0.000249680678636,-0.00026995370313,4.45391968051e-05,1793249593485100032
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,717,679,661,636.182512333,877,782.182512333,813,651,629,653.182512333,0.400991516254,-0.00539289367888,0.0798457538973,0.999999932343,0.000252820964839,-0.000263356667467,4.51468231304e-05,1793249593501766656
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,717,678.606353343,661,636,877,782.393646657,813,650.606353343,628.606353343,653,0.401016525667,-0.00539223803538,0.0798555759244,0.999999936576,0.000253578638141,-0.000246003829582,4.50272706471e-05,1793249593518433024
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,717,678.029542069,661,636,877,782.970457931,813,650.029542069,628.029542069,653,0.401048839311,-0.00539101518112,0.0798679463455,0.999999941936,0.000253227676827,-0.000223646293643,4.45693603716e-05,1793249593535099648
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,717,678.558868913,661,636,877,782.441131087,813,650.558868913,628.558868913,653,0.401105992885,-0.00539227908454,0.0798838921206,0.999999949192,0.000251561710269,-0.000190613661483,4.47020756145e-05,1793249593551766528
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.145304074,744.854695926,717.145304074,679,661,636.145304074,877,782.145304074,813,650.854695926,629,653.145304074,0.401167818302,-0.00539353534416,0.0798984086764,0.999999954484,0.000249964018927,-0.000163019387602,4.44355968753e-05,1793249593568432896
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.723978936,744.276021064,717.723978936,679,661,636.723978936,877,782.723978936,813,650.276021064,629,653.723978936,0.401239578356,-0.00539436844221,0.0799080869493,0.999999956374,0.000248781673185,-0.000153363735784,4.28834286376e-05,1793249593585099520
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.701700974,744.298299026,718,679,661.298299026,636.701700974,877,783,813.298299026,650,629,653.701700974,0.40132154506,-0.00539493706384,0.0799163505748,0.999999958248,0.000248931295786,-0.000140968936097,4.08044059434e-05,1793249593601766144
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.131352483,744.868647517,718,679,661.868647517,636.131352483,877,783,813.868647517,650,629,653.131352483,0.401412820251,-0.00539526448225,0.0799233240377,0.999999959997,0.000250295676927,-0.000126076027195,3.82448907418e-05,1793249593618433024
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.445283657,745,718,679,661.554716343,636.445283657,877,783,813.554716343,650,629,653.445283657,0.401521735799,-0.00539615847818,0.0799278761862,0.999999961585,0.000248326983084,-0.000118052331575,3.50296083464e-05,1793249593635099904
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.975652662,745,718,678.975652662,661,636.975652662,877,783,813,650,629,653.975652662,0.40163701908,-0.00539728779856,0.0799318180985,0.999999963152,0.000245331880403,-0.00011184956413,3.16014414144e-05,1793249593651766528
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.383858747,745,718,678.383858747,661,636.383858747,877,783,813,650,629,653.383858747,0.401777695615,-0.00539995063135,0.0799384227073,0.999999965396,0.000241658195586,-0.000100183405029,2.77847173295e-05,1793249593668433408
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.203445024,745,717.796554976,678.203445024,661,636,876.796554976,783,813,650,629,653.203445024,0.401931335726,-0.00540287661859,0.0799448599973,0.999999967798,0.000236773834817,-8.82960994067e-05,2.33802068494e-05,1793249593685099776
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.782459698,745,717.217540302,678.782459698,661,636,876.217540302,783,813,650,629,653.782459698,0.402108907229,-0.00540628840175,0.079950988408,0.999999970581,0.000229654506349,-7.60005475913e-05,1.78906138228e-05,1793249593701766656
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.64127428,745,717,679,661,636,876.35872572,783,813,650,629,654,0.402301286881,-0.00540804881018,0.0799557586006,0.999999972558,0.000224194236139,-6.69049424875e-05,1.19957515272e-05,1793249593718433280
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.06666238,745,717,679,661,636,876.93333762,783,813,650,629,654,0.402502578301,-0.00540881539843,0.0799597113991,0.999999974058,0.000219732409822,-5.9735109107e-05,5.85699196252e-06,1793249593735099904
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,717.519019353,679,661,636,877.519019353,783,813,650,629,654,0.4027153448,-0.0054100505489,0.0799553971285,0.999999975202,0.00021196365449,-6.82944410215e-05,-1.94915214395e-06,1793249593751766528
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,717.895282227,679,661,636.104717773,877.895282227,783,813,650.104717773,629,653.895282227,0.402937661897,-0.00541160952612,0.0799497438857,0.999999976105,0.000203310870531,-7.9702855982e-05,-1.01503150359e-05,1793249593768433152
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,717.316090542,679,661,636.683909458,877.316090542,783,813,650.683909458,629,653.316090542,0.403196429097,-0.0054143571309,0.0799429396964,0.999999976785,0.000192618993452,-9.46672571719e-05,-1.91498127968e-05,1793249593785099776
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.262362007,745,717,679,661,636.737637993,877.262362007,783,813,651,629,653.262362007,0.403486371157,-0.00541726220672,0.0799400552033,0.999999983326,0.000150052431005,-0.000100523384487,-2.69669641792e-05,1793249593801766400
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.839926521,745,717,679,661,636.160073479,877.839926521,783,813,651,629,653.839926521,0.403813766774,-0.00542035646855,0.0799418798454,0.999999992496,6.91915250344e-05,-9.5436802668e-05,-3.33636403934e-05,1793249593818433024
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,717,679,661.415508476,636,878,783,813,651,629,654,0.404165367928,-0.00542113018627,0.0799471503822,0.999999992049,8.81916480478e-05,-8.53810075487e-05,-2.88674974009e-05,1793249593835099648
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,717,679,661.990330268,636,878,783,813,651,629,654,0.404526249908,-0.00542101416617,0.0799537421361,0.999999986519,0.000145480261771,-7.34199279548e-05,-2.01948542178e-05,1793249593851766528
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.419021005,745,717.580978995,679,661.419021005,636.580978995,877.419021005,783,813,650.419021005,629,653.419021005,0.404925860277,-0.00542283513163,0.0799529012511,0.999999987493,0.000139622734873,-6.943502932e-05,-2.64125813269e-05,1793249593868433152
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.168338214,745,717.831661786,678.831661786,661.168338214,637,877,783,813,650,629,653,0.405338091007,-0.00542559844638,0.0799509640108,0.99999998898,0.000127609512025,-6.86647933308e-05,-3.22565712982e-05,1793249593885100032
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.747018722,745,717.252981278,678.252981278,661.747018722,637,877,783,813,650,629,653,0.405779469892,-0.0054305780509,0.0799466642834,0.999999991161,0.000103224785739,-7.53979743954e-05,-3.65684982445e-05,1793249593901766400
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.677423134,745,717,678.322576866,662,636.677423134,877.322576866,783,813,650,629,653.322576866,0.406247156791,-0.00543259950275,0.079940573028,0.999999990332,0.000102887889169,-8.6058468753e-05,-3.6660098762e-05,1793249593918433536
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.104290172,745,717,678.895709828,662,636.104290172,877.895709828,783,813,650,629,653.895709828,0.40673527804,-0.00543232326034,0.0799330902331,0.999999987114,0.000121229732904,-9.9769437656e-05,-3.34736329314e-05,1793249593935100928
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.48128882,745,717,679,662,636,877.51871118,783,813,650,629,654,0.407235661754,-0.00543528667529,0.0799295455169,0.999999987072,0.000114745714118,-0.000106864472727,-3.56292988499e-05,1793249593951767808
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.933585745,745,717,679,662,636.066414255,877.066414255,783,813,650,629,653.933585745,0.407744345598,-0.00543901855013,0.0799256972323,0.999999987271,0.000103719943931,-0.000114921579035,-3.86454157272e-05,1793249593968434176
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.372460789,745,717,679,662,636.627539211,877.627539211,783,813,650,629,653.372460789,0.408294538096,-0.00544310666957,0.0799130625562,0.999999984275,9.99981865826e-05,-0.000141107214549,-3.92193371036e-05,1793249593985100800
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.20087145,745,717.20087145,679,662,637,878,783,813,650,628.79912855,653.20087145,0.408872919463,-0.00544774116947,0.0799102988113,0.999999983491,9.63838103208e-05,-0.000148824952913,-3.97443902169e-05,1793249594001767680
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.79830327,745,717.79830327,679,662,637,878,783,813,650,628.20169673,653.79830327,0.409506951253,-0.00545345433326,0.0799270222572,0.99999998766,9.29814260581e-05,-0.000120083371515,-4.01729676055e-05,1793249594018434560
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.619213968,745,717.619213968,679.380786032,662,637,878,783,813,650,628.380786032,653.619213968,0.410196303007,-0.0054701422281,0.0799575869201,0.999999994368,7.25746544136e-05,-6.76334778565e-05,-3.77103928191e-05,1793249594035101184
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.044350401,745,717.044350401,679.955649599,662,637,878,783,813,650,628.955649599,653.044350401,0.410913850003,-0.00549242368075,0.0799952061198,0.999999998479,4.35011529552e-05,-3.10002496984e-06,-3.37742667434e-05,1793249594051768064
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,717,680,662.530218307,637,878.530218307,783,813,650,629,653.530218307,0.411553814409,-0.00550987667739,0.0799865286876,0.999999998882,2.33226117095e-05,-2.35582409921e-05,-3.37063700471e-05,1793249594068434432
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,717.108621204,680,662.891378796,637,879,783,813,650.108621204,628.891378796,654,0.412200403254,-0.00552217966234,0.0799690440586,0.999999997798,8.27529618011e-06,-5.59091350395e-05,-3.478364215e-05,1793249594085100800
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,717.704327962,680,662.295672038,637,879,783,813,650.704327962,628.295672038,654,0.412905781751,-0.00551319874927,0.0799294213577,0.999999993115,1.29031880035e-05,-0.000109728204529,-3.95460261246e-05,1793249594101767424
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.289204543,745,718,680,662,637,879,783,813,650.710795457,628,654,0.413643625009,-0.00551300893056,0.0799100224031,0.999999990557,4.86814300971e-06,-0.000130338429718,-4.32897339393e-05,1793249594118434048
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.863408493,745,718,680,662,637,879,783,813,650.136591507,628,654,0.414413461062,-0.00552148237949,0.0799105531296,0.99999999183,-1.56457146332e-05,-0.000118222685591,-4.60295781431e-05,1793249594135100160
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,717.562163266,680,662,637,879,783,813.437836734,650,628.437836734,654,0.415224284518,-0.0055264505393,0.0799322827704,0.999999995317,-1.72295365808e-05,-8.39767089092e-05,-4.49176643694e-05,1793249594151767040
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,717,680,662,637.01272436,879,783,814,650,629,654,0.416046714497,-0.00553026812707,0.079959717869,0.999999998016,-1.31575522486e-05,-4.44038061541e-05,-4.26892020716e-05,1793249594168434176
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,717,680,662,637.605359402,879,783,814,650,629,654,0.416815057104,-0.00553151212032,0.0799456190139,0.999999995849,-2.06071331509e-05,-7.68645581147e-05,-4.43663448464e-05,1793249594185100800
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,717.19261864,680,662,638,879.19261864,783,814,650,629,654,0.417621838083,-0.00553615876809,0.0799440721009,0.999999995258,-3.23568350859e-05,-7.95489839194e-05,-4.59190108743e-05,1793249594201767424
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,717.769162843,680,662,638,879.769162843,783,814,650,629,654,0.418505234,-0.00554758755301,0.0799675435952,0.999999997236,-5.26774951099e-05,-2.28835299599e-05,-4.72235709577e-05,1793249594218434048
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,717.65564425,680,662.34435575,637.65564425,880.34435575,783,813.65564425,650,629,654,0.419376511093,-0.00555263035971,0.0799779964131,0.999999997084,-5.91700740832e-05,2.79045293399e-06,-4.81987920685e-05,1793249594235100416
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,717.081353659,680,662.918646341,637.081353659,880.918646341,783,813.081353659,650,629,654,0.420239696114,-0.00555340909053,0.0799797563383,0.999999997179,-5.64293010075e-05,7.77066268988e-06,-4.89541054384e-05,1793249594251767040
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,717,680.505570502,663,637,881,783.505570502,813.505570502,650,629,654,0.421106588804,-0.00555326048233,0.07996849723,0.999999997084,-5.68163183328e-05,-1.29421948143e-05,-4.93551644501e-05,1793249594268433920
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,717,680.906865365,663,637,881.093134635,784,814,650.093134635,629,654,0.421983607649,-0.00554970407422,0.079961853659,0.999999996977,-5.37806474614e-05,-2.65891445717e-05,-4.94732084187e-05,1793249594285100544
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,717,680.326855681,663,637,881.673144319,784,814,650.673144319,629,654,0.422910363304,-0.00552913296415,0.0799905708489,0.999999998195,-3.0153823722e-05,1.88690443923e-05,-4.84173873464e-05,1793249594301767168
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,717,680.251612385,663,637.251612385,882,783.748387615,814,650.748387615,629,654,0.423807374064,-0.00551527136436,0.0800021177915,0.99999999827,-1.46796565414e-05,3.09866063175e-05,-4.77872479794e-05,1793249594318433792
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,717,680.828090096,663,637.828090096,882,783.171909904,814,650.171909904,629,654,0.424665980303,-0.00551007263915,0.0799914956468,0.999999998815,-9.73165890616e-06,5.69546772352e-08,-4.7706720719e-05,1793249594335101184
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.402471797,745,717.402471797,681,663.402471797,637.597528203,882.402471797,783,814.402471797,650.402471797,629,654,0.425526996266,-0.00551759638194,0.0799552798066,0.999999996558,-2.12300075916e-05,-6.28417990206e-05,-4.98413148482e-05,1793249594351767808
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.975962822,745,717.975962822,681,663.975962822,637.024037178,882.975962822,783,814.975962822,650.975962822,629,654,0.426389036123,-0.00553052618499,0.0799081886359,0.999999988105,-3.97167752408e-05,-0.000139324933892,-5.29171631365e-05,1793249594368434432
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.434243173,745.565756827,717.434243173,681.565756827,663.434243173,637,882.434243173,783.565756827,814.434243173,650.434243173,629,654,0.427308983435,-0.00553267447274,0.0799023743892,0.999999988987,-4.44089764512e-05,-0.000130542123702,-5.48922634791e-05,1793249594385101056
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.846757653,717,681.846757653,663,637.153242347,882.153242347,784,814,650,629,654,0.428226237726,-0.00553496664865,0.0799035522747,0.999999990189,-4.82653202271e-05,-0.000119102212533,-5.57403486368e-05,1793249594401767680
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.26766918,717,681.26766918,663,637.73233082,882.73233082,784,814,650,629,654,0.42912896851,-0.00553896938421,0.079919142608,0.999999991118,-5.14758987296e-05,-0.000110644242103,-5.35903819305e-05,1793249594418433792
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.690446745,745,717,681,663,637.690446745,883,783.690446745,814.309553255,650.309553255,629,654,0.430052574448,-0.00554272907033,0.0799516163618,0.999999994691,-5.56781118548e-05,-6.97264690417e-05,-5.15451848721e-05,1793249594435100416
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.114828225,745,717,681,663,637.114828225,883,783.114828225,814.885171775,650.885171775,629,654,0.430994122821,-0.00554627985191,0.0799986016461,0.999999996926,-6.0732648166e-05,-9.09050887286e-07,-4.95900386855e-05,1793249594451767296
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+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.217201743,717.217201743,682,664,637.782798257,884,784,815,650,629,654,0.435244422157,-0.0055350532169,0.0799020880919,0.999999988378,-5.69259565893e-05,-0.00012900114874,-5.79796413733e-05,1793249594535100928
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+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.944479881,717,682.944479881,664,637.055520119,884.944479881,784,815,650.944479881,628.055520119,654,0.436929548006,-0.00553525127325,0.0799650693958,0.999999995661,-5.58030323274e-05,-4.9384929259e-05,-5.59010865934e-05,1793249594568434432
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.531647708,746,717.531647708,682.468352292,664,637,884.468352292,784,815,651,628.531647708,654,0.4377591464,-0.00554251502198,0.0799859060048,0.999999996309,-6.47528564567e-05,-1.73509259668e-05,-5.37431546551e-05,1793249594585100800
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.88201353,745.88201353,718,682,663.88201353,637.11798647,884.11798647,784,815.11798647,651,629,654,0.438569932859,-0.0055503580841,0.0799970455377,0.999999995871,-7.42320193714e-05,-1.27621361929e-07,-5.24096880799e-05,1793249594601767168
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+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,717,682.823155977,663,636,885,783,816,651,629,654,0.443235915533,-0.0055602182441,0.0797691525263,0.999999934299,-9.99310193656e-05,-0.000342429953119,-6.44858406589e-05,1793249594718434048
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,717,682.331127181,663,636,885.331127181,783,816,651,629,654,0.444484714446,-0.00555981419348,0.0798293784985,0.999999960591,-8.49542591569e-05,-0.000260766817618,-6.00045806103e-05,1793249594751767552
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+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,716.223093138,684,660,634,887.223093138,781,816,651,628.223093138,654,0.451768835662,-0.00557863965185,0.0795631313862,0.999999772033,-0.000125179151181,-0.000660155061864,-6.67772130403e-05,1793249595351767296
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,716.801889908,684,660,634,887.801889908,781,816,651,628.801889908,654,0.451771909656,-0.00557846966586,0.0795641385118,0.999999772405,-0.000123380405367,-0.000659984386144,-6.62412877094e-05,1793249595368434176
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.622020919,746,717,683.622020919,660,634,887.622020919,781,816,651,629,654,0.451772585898,-0.00557931611739,0.0795634795288,0.999999770955,-0.000126465189077,-0.000661599356963,-6.61979891326e-05,1793249595385100800
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.047340802,746,717,683.047340802,660,634,887.047340802,781,816,651,629,654,0.451772014347,-0.00558069152495,0.0795619534996,0.999999768527,-0.000132091370921,-0.00066414358163,-6.64110544732e-05,1793249595401767680
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.538809077,746,717,683.538809077,660,634,887.538809077,781,816,651,629,654,0.45177212726,-0.00558005307087,0.0795611680363,0.999999768447,-0.00012883887314,-0.000664918284145,-6.6259018653e-05,1793249595418434048
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,717,683.875726922,660,634.124273078,887.875726922,781,816,651,629,654,0.451772440587,-0.00557932947058,0.0795607241744,0.999999768658,-0.000125555189619,-0.000665245735021,-6.60899544504e-05,1793249595435100672
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,746,717,683.296542967,660,634.703457033,887.296542967,781,816,651,629,654,0.451773262613,-0.0055789559828,0.0795612874049,0.99999976921,-0.000125075066009,-0.00066451748913,-6.5978536378e-05,1793249595451767296
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,717,683,660,635,887.282372232,781,816,651,629,654,0.451773243099,-0.00557881857124,0.0795611813556,0.999999768908,-0.000125176449537,-0.000664974076379,-6.57520666955e-05,1793249595468433664
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,717,683,660,635,887.861005527,781,816,651,629,654,0.451772340651,-0.00557892884755,0.0795603731072,0.99999976771,-0.000125887942296,-0.000666673774172,-6.54048864318e-05,1793249595485100288
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765.010056783,746,716.010056783,684,660.989943217,634,887,781,816,651,629,654,0.451772888324,-0.00557942150699,0.0795595963133,0.999999767544,-0.000125021246883,-0.000667172034005,-6.45202095561e-05,1793249595518434560
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.597122205,746,716.597122205,684,660.402877795,634,887,781,816,651,629,654,0.451774335083,-0.00557865090643,0.0795607846757,0.999999768368,-0.000125097170625,-0.000665870438114,-6.50425731847e-05,1793249595535100928
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,717,684,660,634,887,781,816,651,628.817878025,654.182121975,0.451775834979,-0.00557818763516,0.0795619828824,0.999999769273,-0.000125124224499,-0.00066447597047,-6.53465397815e-05,1793249595551767296
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,717,684,660,634,887,781,816,651,628.237396539,654.762603461,0.451777451103,-0.00557839659223,0.0795632026215,0.999999770354,-0.000125044384198,-0.000662878362424,-6.51728015861e-05,1793249595568433920
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,717,684,660,634,887,781,816,651,628.340987476,654.659012524,0.451777097542,-0.00557856001005,0.0795627607229,0.999999769806,-0.000125019827124,-0.000663709020641,-6.5183111265e-05,1793249595585100544
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,717,684,660,634,887,781,816,651,628.917920128,654.082079872,0.451775381063,-0.00557869191712,0.0795611690596,0.999999768125,-0.000125033523102,-0.000666219909882,-6.53207722801e-05,1793249595601767424
+244,4.066666667,HOLD_POSE2,766,746,717,684,660,634,887,781,816,651,629,654,0.451775932628,-0.00557598610565,0.0795611105245,0.999999769401,-0.000120281663655,-0.000665241910827,-6.46843473184e-05,1793249595633196800
+245,4.083333333,HOLD_POSE2,766,746,717,684,660,634,887,781,816,651,629,654,0.451775506592,-0.0055769071032,0.0795604472532,0.99999976845,-0.000121630637178,-0.000666411412031,-6.48234505285e-05,1793249595649863424
+246,4.100000000,HOLD_POSE2,766,746,717,684,660,634,887.177309719,781,816,651,629,654,0.451775135741,-0.00557789754244,0.0795599443813,0.999999767715,-0.000123117390855,-0.00066724397611,-6.47882915439e-05,1793249595666530048
+247,4.116666667,HOLD_POSE2,766,746,717,684,660,634,887.756823364,781,816,651,629,654,0.451774890069,-0.00557904550128,0.0795598053543,0.999999767474,-0.000124916681074,-0.000667312242586,-6.43578415688e-05,1793249595683196416
+248,4.133333333,HOLD_POSE2,766,746,717,684,660,634,887.665797315,781,816,650.665797315,628.665797315,654,0.451774861575,-0.00557847160528,0.0795593214547,0.999999767085,-0.000125145570328,-0.000667823013355,-6.46545686522e-05,1793249595699863040
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+250,4.166666667,HOLD_POSE2,766,746,717,684,660,634,887,781,816,650.494157365,628.494157365,654.494157365,0.451776662427,-0.0055772867137,0.0795597425402,0.999999768091,-0.000124180085191,-0.000666464124794,-6.49878222881e-05,1793249595733196288
+251,4.183333333,HOLD_POSE2,766,746,717,684,660,634,887,781,816,651,629,654.921057456,0.451778378228,-0.00557834938068,0.0795610132429,0.99999976969,-0.00012425064175,-0.000664110520226,-6.43270876086e-05,1793249595749863424
+252,4.200000000,HOLD_POSE2,766,746,717,684,660,634,887,781,816,651,629,654.341766661,0.451778557941,-0.00557925106954,0.0795608063907,0.999999769616,-0.00012414737803,-0.00066426180937,-6.41186883325e-05,1793249595766530048
+253,4.216666667,HOLD_POSE2,766,746,717,684,660,634,887.236943752,781,816,651,629,654,0.451778117436,-0.00557963046185,0.079560759518,0.999999769075,-0.000123680006144,-0.000665186308569,-6.38732550296e-05,1793249595783196672
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+257,4.283333333,HOLD_POSE2,766,746,717,684,660,634,887,781,816,651,628.447239506,654,0.451778394928,-0.005577396594,0.0795613357859,0.999999769369,-0.000121710268955,-0.00066510305688,-6.39284164869e-05,1793249595849863680
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+260,4.333333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,661,634,888,781,816,651,629,654,0.451778641265,-0.00557820787801,0.0795612886821,0.999999769669,-0.000121738991128,-0.000664703785805,-6.33245130923e-05,1793249595921547776
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.797937352,660,634,887,781,816,651,628,654,0.451776837833,-0.0055748046621,0.0795597828195,0.999999767502,-0.000119987661822,-0.000668142618232,-6.46908399996e-05,1793249595954881024
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,660,634,887,780.304388469,816,651,628.304388469,654,0.451778319189,-0.00557733272006,0.079560135387,0.999999768191,-0.000124087256159,-0.000666436544769,-6.38949705057e-05,1793249596054880768
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,660,634,887,780.280007896,816,651,628.280007896,654,0.451774937071,-0.00557773989605,0.0795585047279,0.999999766773,-0.000124571584579,-0.000668479135749,-6.38033010654e-05,1793249596071547136
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,659.563834302,634,887,781,815.563834302,651,628.563834302,654,0.451744529578,-0.00557620770101,0.0795440451627,0.999999752372,-0.000121230679831,-0.000690269042188,-6.39380715331e-05,1793249596104880640
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.987662531,745.987662531,717,684,659.012337469,634,887,781,815.012337469,651,628.012337469,654,0.451713720792,-0.00557555897578,0.0795292573279,0.999999735873,-0.000119598723698,-0.000714021037738,-6.42218493409e-05,1793249596121547264
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,717,683,660,634.54367534,887,781.54367534,815.45632466,651,629,654,0.448727884568,-0.00551859759235,0.0795240382666,0.999999731175,-2.32989253153e-05,-0.000732836582768,7.61806609936e-06,1793249596421548544
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.969135555,717,683.030864445,660,634.030864445,886.969135555,781,815.969135555,651,628.969135555,654,0.448380041316,-0.00551381786869,0.0795294106518,0.999999734389,-6.88948036683e-06,-0.000728669528388,1.46866042087e-05,1793249596438214912
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,717.525251657,679,661,636.525251657,877,783,813.474748343,650.525251657,629,654,0.407513018341,-0.00539212593621,0.0798038273929,0.999999917,0.000239922343874,-0.00032557789464,4.93598717556e-05,1793249597371547648
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.898864003,745,717.898864003,679,661,636.898864003,877,783,813,650.898864003,629,654,0.406942318941,-0.00538957433928,0.0797690592108,0.999999895158,0.000241731224018,-0.000386084627299,4.67845001058e-05,1793249597388214272
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.326268269,745,717.326268269,679,661,636.326268269,877,783,813,650.326268269,629,654,0.406453271727,-0.00539068087894,0.0797661643259,0.999999896579,0.000239720529742,-0.000383677950503,4.65468881865e-05,1793249597404881152
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.255838255,745,717.255838255,679,661,636,877,783,813,650,629,654,0.405992384872,-0.00539061553967,0.0797744652563,0.999999904726,0.000240142286384,-0.000361545175375,4.65221127525e-05,1793249597421547776
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.850542063,745,717.850542063,679,661,636,877,783,813,650,629,654,0.40556879731,-0.00538899801101,0.0797975953849,0.999999920116,0.00024378589805,-0.000313284582315,4.67792456612e-05,1793249597438214656
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.568083354,745,717.568083354,679.431916646,661,636.431916646,877,783,813,650,629,654,0.405157368445,-0.00539006810068,0.0798122711655,0.999999925897,0.00024303249422,-0.000294691348955,4.79345115597e-05,1793249597454881024
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.00876532,745,717,679.982469361,661,636.99123468,877,783,813,650,628.99123468,654,0.404750709044,-0.0053919607105,0.07982405209,0.999999928835,0.000240970035547,-0.000286050697986,4.93898571022e-05,1793249597471547392
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.582285034,745,717,678.835429932,661,636.417714966,877,783,813,650,628.417714966,654,0.404388385913,-0.00538872165404,0.0798321641237,0.999999929176,0.000249661918787,-0.000277022822639,5.07549133758e-05,1793249597488214272
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,717,678.156224958,661,636,876.843775042,783,813,650,628.156224958,653.843775042,0.40403161927,-0.00538663192833,0.0798377996545,0.999999928521,0.000256675842407,-0.00027264742915,5.23272725492e-05,1793249597504880896
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,717,678.731291596,661,636,876.268708404,783,813,650,628.731291596,653.268708404,0.403689749583,-0.00538762357655,0.0798367956416,0.999999925518,0.00025919113069,-0.000280745414134,5.44554145247e-05,1793249597521547776
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,717,679,661,636,876.912644899,783,813,650,629,653,0.403084806361,-0.00538823149297,0.0798350694685,0.99999993036,0.000235480999571,-0.000286050190213,4.47560268648e-05,1793249597554881024
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.510636553,745,717,679,661,636,877,783,813,650,629,653.489363447,0.402829713189,-0.00538824135149,0.079834450489,0.999999928425,0.000239449252975,-0.000289254552246,4.63140817885e-05,1793249597571547648
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.221519716,745,717.221519716,678.221519716,661,636.778480284,877.778480284,783,813,650.221519716,629,653.221519716,0.402190318119,-0.00538822413163,0.0798370532669,0.999999927756,0.000248060619063,-0.000283486065814,5.08858505714e-05,1793249597621547264
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.605349989,745,717.605349989,679,661,636,877,783,813,650.605349989,628.605349989,653.605349989,0.401874759723,-0.00538862411747,0.0798510028449,0.999999934215,0.000245944840969,-0.000261388300865,5.25036534264e-05,1793249597654880512
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.028994343,745,717.028994343,679,661,636,877,783,813,650.028994343,628.028994343,653.028994343,0.401737039668,-0.00538745607128,0.0798572528255,0.999999935984,0.000248385456017,-0.000251983035292,5.32968201314e-05,1793249597671547392
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.548182402,745,717.548182402,679,661,636,877,783,813,650.548182402,628,653,0.401611356715,-0.00538739858216,0.0798507903596,0.99999992921,0.000265525887941,-0.000261628760609,5.12390929891e-05,1793249597688214016
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,636.127314479,877,783,813,650.872685521,628.127314479,653,0.40149201851,-0.00538764203035,0.0798439318944,0.999999923629,0.000276506585073,-0.00027194255052,4.83147426664e-05,1793249597704880640
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,636.713334945,877,783,813,650.286665055,628.713334945,653,0.401393242696,-0.00538875778497,0.0798380728572,0.999999925145,0.000262488670548,-0.000281027426085,4.28121011105e-05,1793249597721547264
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.124135191,745,717.124135191,679,661,636.124135191,877,783,813,650,629,653.875864809,0.401229032066,-0.00538885386803,0.0798298769154,0.999999924141,0.000254770300087,-0.000291543275624,4.25709119168e-05,1793249597754880512
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,717.771435291,679,660.771435291,636,877,783,813,650.228564709,629,654,0.40103057038,-0.00538881286222,0.0798266421776,0.999999923373,0.000251859888713,-0.000296367169586,4.45860801142e-05,1793249597838214656
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,717,678.082223739,660,636,877,783,813,650,629,653.082223739,0.400984864115,-0.00539016764773,0.0798267667128,0.999999923774,0.000252032324977,-0.000294868033078,4.45506615041e-05,1793249597904881408
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,717,678.652584795,660,636,877,783,813,650,629,653.652584795,0.400982957425,-0.00538981291474,0.0798285427933,0.999999924892,0.000251986756764,-0.000291063058079,4.4730562025e-05,1793249597921547520
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.169183698,745,717,679,660.830816302,636,877,783,813,650,629,654,0.40097897677,-0.0053908430989,0.0798303495973,0.999999925767,0.000251876292317,-0.00028809127565,4.50412175301e-05,1793249597954880512
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.993612051,745,717.993612051,679,661,636,877,783,813,650,629,653.006387949,0.400979582433,-0.00539047610758,0.0798318196181,0.99999992689,0.000250125243985,-0.000285793090813,4.44937070778e-05,1793249597988214272
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+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,717.266344097,679,661,637,876.266344097,782.266344097,813,650,629,653,0.400980187226,-0.00538909626472,0.0798341079482,0.999999926984,0.000253186238089,-0.00028278153944,4.42990595301e-05,1793249598038214656
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.318772679,745,717,679,661,636.681227321,876.318772679,782.318772679,813,650,629,653.318772679,0.400979169382,-0.00538944687434,0.0798341666892,0.999999926886,0.000252965489893,-0.000283366777771,4.40395049121e-05,1793249598054881280
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,717.051728162,679,661,637,877.051728162,783,813,650.051728162,628.948271838,654,0.400977861766,-0.0053874955983,0.0798333527365,0.999999925857,0.000256913606454,-0.000283417422049,4.42341395034e-05,1793249598104880896
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,717.626323877,679,661,637,877.626323877,783,813,650.626323877,628.373676123,654,0.400976567875,-0.00538993600409,0.0798328914283,0.999999926656,0.000252537903642,-0.000284546659304,4.41181881249e-05,1793249598121547520
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.206834959,745,717.793165041,678.793165041,661,636.793165041,877.793165041,783,813.206834959,651,628.206834959,653.793165041,0.400975951661,-0.00539161908065,0.0798330222733,0.999999927477,0.000249378138353,-0.000284469021207,4.39827259754e-05,1793249598138214400
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.798347579,745,717.201652421,678.201652421,661,636.201652421,877.201652421,783,813.798347579,651,628.798347579,653.201652421,0.40097659581,-0.00539189365415,0.0798342544219,0.999999928366,0.000248479809224,-0.000282146801244,4.38109771364e-05,1793249598154881792
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,717,678.381589251,661.381589251,636.381589251,877,783,813.618410749,651,629,653.381589251,0.400977005269,-0.00539073511113,0.0798339709075,0.999999927937,0.000250540066241,-0.000281854350441,4.37424118222e-05,1793249598171548928
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,717,678.960552816,661.960552816,636.960552816,877,783,813.039447184,651,629,653.960552816,0.400977293336,-0.0053888352988,0.0798329034272,0.999999926818,0.000254130630836,-0.000282611783309,4.3727217454e-05,1793249598188215040
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,717.881888638,679.763777275,661,636,877.118111362,782.118111362,813.118111362,650.881888638,628.118111362,653,0.400976741502,-0.00539080975569,0.079834116997,0.999999927535,0.000252247085178,-0.000281755018486,4.37700964413e-05,1793249598221547520
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.734003268,745,717.265996732,678.265996732,661,636,877.734003268,783,813.734003268,650,629,653,0.400979075414,-0.00539258828679,0.0798356648809,0.999999929195,0.000249039985518,-0.000278679958894,4.38939839201e-05,1793249598254880768
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..38b4899ef24e520dc28107279ea758b832643d5c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_02/simulation_data.csv
@@ -0,0 +1,403 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
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+363,6.050000000,pose2_to_pose3_retreat,0.576566058188,0.000150042165455,1.0700334865,0.547136737692,0.00882267947008,1.06970488094
+364,6.066666667,pose2_to_pose3_retreat,0.576433928312,0.000150086447195,1.07003340389,0.547004607376,0.00882272230241,1.06970479951
+365,6.083333333,pose2_to_pose3_retreat,0.576314203872,0.000150232488434,1.07003347656,0.546884881115,0.00882286190613,1.06970486536
+366,6.100000000,pose2_to_pose3_retreat,0.576206604115,0.00015006770196,1.07003325532,0.546777283468,0.0088227045257,1.06970465079
+367,6.116666667,pose2_to_pose3_retreat,0.576109470698,0.000150021135144,1.07003368169,0.546680149782,0.00882265691097,1.06970507418
+368,6.133333333,pose2_to_pose3_retreat,0.576022817408,0.000149840992161,1.07003363034,0.54659349886,0.0088224849092,1.0697050257
+369,6.150000000,pose2_to_pose3_retreat,0.575948053286,0.000149992121831,1.07003354877,0.546518733415,0.00882263135096,1.0697049388
+370,6.166666667,pose2_to_pose3_retreat,0.575885144051,0.00015007646044,1.07003342232,0.546455823121,0.00882271220668,1.06970481535
+371,6.183333333,pose2_to_pose3_retreat,0.575833236517,0.000150174397325,1.07003343489,0.546403914364,0.00882280604157,1.06970482911
+372,6.200000000,pose2_to_pose3_retreat,0.575791048609,0.000150235234006,1.07003345177,0.546361725525,0.00882286365949,1.06970484452
+373,6.216666667,pose2_to_pose3_retreat,0.575758004551,0.00015020790976,1.07003347272,0.546328681516,0.00882283652356,1.06970486611
+374,6.233333333,pose2_to_pose3_retreat,0.575731562144,0.000150229447997,1.07003371715,0.546302239286,0.00882285863241,1.0697051098
+375,6.250000000,pose2_to_pose3_retreat,0.575711404095,0.000150249784346,1.07003365249,0.546282081954,0.00882288114277,1.06970503853
+376,6.266666667,pose2_to_pose3_retreat,0.575696072514,0.000150199603355,1.07003352343,0.546266749751,0.00882282913353,1.06970491717
+377,6.283333333,pose2_to_pose3_retreat,0.575685026352,0.000150171938511,1.07003340868,0.546255703615,0.00882280168371,1.06970480519
+378,6.300000000,pose2_to_pose3_retreat,0.575677633445,0.000150167330005,1.07003334966,0.546248310891,0.00882279779448,1.06970474845
+379,6.316666667,pose2_to_pose3_retreat,0.575672897646,0.000150174270906,1.07003333397,0.546243575213,0.00882280525086,1.06970473566
+380,6.333333333,pose2_to_pose3_retreat,0.575670200207,0.000150244532728,1.07003350679,0.546240876064,0.00882286944779,1.06970490157
+381,6.350000000,pose2_to_pose3_retreat,0.575668530197,0.000150289361781,1.07003361743,0.546239204959,0.00882291039454,1.06970500775
+382,6.366666667,pose2_to_pose3_retreat,0.575667804862,0.000150283123328,1.0700336349,0.546238479968,0.0088229053248,1.06970502533
+383,6.383333333,pose2_to_pose3_retreat,0.57566748375,0.00015026912226,1.07003362925,0.546238159365,0.00882289308923,1.06970502063
+384,6.400000000,pose2_to_pose3_retreat,0.575667480921,0.000150268998895,1.0700336292,0.54623815654,0.00882289298142,1.06970502059
+385,6.416666667,pose2_to_pose3_retreat,0.575667321345,0.000150262041138,1.0700336264,0.546237997218,0.00882288690101,1.06970501826
+386,6.433333333,pose2_to_pose3_retreat,0.575667285204,0.000150260465311,1.07003362576,0.546237961135,0.00882288552389,1.06970501773
+387,6.450000000,pose2_to_pose3_retreat,0.575667076972,0.000150251386031,1.0700336221,0.546237753233,0.00882287758948,1.06970501468
+388,6.466666667,pose2_to_pose3_retreat,0.575666729695,0.000150236244108,1.070033616,0.546237406507,0.00882286435691,1.06970500961
+389,6.483333333,pose2_to_pose3_retreat,0.575666312659,0.000150218060618,1.07003360867,0.546236990133,0.0088228484663,1.06970500351
+390,6.500000000,pose2_to_pose3_retreat,0.575665835518,0.000150197256421,1.07003360028,0.54623651375,0.00882283028545,1.06970499653
+391,6.516666667,pose2_to_pose3_retreat,0.575665466327,0.000150195623714,1.07003360711,0.546236144625,0.0088228288286,1.06970500202
+392,6.533333333,pose2_to_pose3_retreat,0.575665317484,0.000150198772958,1.07003361337,0.546235995672,0.00882283156073,1.0697050071
+393,6.550000000,pose2_to_pose3_retreat,0.575665224175,0.000150200747191,1.0700336173,0.546235902295,0.00882283327348,1.06970501029
+394,6.566666667,pose2_to_pose3_retreat,0.575665164046,0.000150202019417,1.07003361982,0.546235842121,0.0088228343772,1.06970501234
+395,6.583333333,pose2_to_pose3_retreat,0.575665135399,0.00015020262553,1.07003362103,0.546235813453,0.00882283490304,1.06970501332
+396,6.600000000,pose2_to_pose3_retreat,0.575665051848,0.000150204393304,1.07003362454,0.546235729841,0.00882283643667,1.06970501617
+397,6.616666667,pose2_to_pose3_retreat,0.575664880704,0.000150208014381,1.07003363174,0.546235558571,0.00882283957814,1.06970502201
+398,6.633333333,pose2_to_pose3_retreat,0.575664661721,0.000150212647653,1.07003364095,0.546235339426,0.00882284359775,1.06970502948
+399,6.650000000,pose2_to_pose3_retreat,0.575664529869,0.000150150431922,1.07003362323,0.546235208001,0.00882278295713,1.06970501505
+400,6.666666667,pose2_to_pose3_retreat,0.5756643722,0.000150067552865,1.07003359901,0.546235050912,0.00882270221532,1.06970499532
+401,6.683333333,pose2_to_pose3_retreat,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650648,1.0697049751
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c2619a0a6f4cef1f214a654e85a283e04bce8ff7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:920ac65b04c32308d5f71e6237beeef86ea648ccf0b480773e22e22fe62e6f92
+size 25671773
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c0c41119478ee89088f519bfb114917ff15eeaab
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_03/franka_data.csv
@@ -0,0 +1,405 @@
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+35,0.583333333,BASELINE,766,745,717,679,661,636,877,783,813,651,629,654,0.40097770884,-0.00539164648113,0.0798370471192,0.999999929351,0.000250933886453,-0.000276565886711,4.29074398817e-05,1793249599002831616
+36,0.600000000,BASELINE,766,745,717,679,661,636,877,783,813,651,629,654,0.400977592117,-0.00539113102949,0.0798369918122,0.999999929028,0.000252008984368,-0.000276745706776,4.29901121564e-05,1793249599019498240
+37,0.616666667,BASELINE,766,745,717,679,661,636,877,783,813,650.526964066,629,654,0.400977216434,-0.00538984778367,0.0798370264591,0.999999928807,0.000252685593293,-0.000276938276053,4.2906043092e-05,1793249599036165376
+38,0.633333333,BASELINE,766,745,717.048570324,679,661,636.048570324,877,783,813,650,629,654,0.400976797601,-0.00538859099117,0.0798370426334,0.999999928618,0.000253207063077,-0.000277159345021,4.28070153272e-05,1793249599052832256
+39,0.650000000,BASELINE,766,745,717.636218556,679,661,636.636218556,877,783,813,650,629,654,0.400976515997,-0.0053894546359,0.0798366397502,0.999999928536,0.000252954793653,-0.00027766639522,4.29386946799e-05,1793249599069498624
+40,0.666666667,BASELINE,766,745,718,679,661,637,877,783,813.220440044,650.220440044,628.779559956,653.779559956,0.400975957963,-0.00539007767268,0.0798359658846,0.999999928433,0.000252499125184,-0.000278444473105,4.29645112694e-05,1793249599086165248
+41,0.683333333,BASELINE,766,745,718,679,661,637,877,783,813.799093072,650.799093072,628.200906928,653.200906928,0.400974950729,-0.00539030972378,0.0798348516752,0.999999928298,0.000251712935206,-0.00027966296838,4.28183018633e-05,1793249599102831616
+42,0.700000000,BASELINE,765.621448066,745,718,678.621448066,661.378551934,636.621448066,877,783,814,651,628.378551934,653,0.400975047505,-0.00539064843723,0.0798348749302,0.99999992834,0.000251524201365,-0.000279690777548,4.27726656681e-05,1793249599119498240
+43,0.716666667,BASELINE,765.041560636,745,718,678.041560636,661.958439364,636.041560636,877,783,814,651,628.958439364,653,0.400975731458,-0.00539104387978,0.0798355031536,0.999999928476,0.00025165322878,-0.000279085311933,4.27805200442e-05,1793249599136164864
+44,0.733333333,BASELINE,765.53294436,745,717.46705564,678.53294436,661.46705564,636,877,783,813.46705564,651,629,653.53294436,0.400976560874,-0.00539098659017,0.0798359711106,0.999999928905,0.000251123198795,-0.000278040881082,4.26547816318e-05,1793249599152831744
+45,0.750000000,BASELINE,766,745,717.106635899,679,661,636,877,783,813,650.893364101,629,653.893364101,0.400977365453,-0.00539102923486,0.0798364992634,0.999999929396,0.000250403546069,-0.000276932176582,4.26100777629e-05,1793249599169498624
+46,0.766666667,BASELINE,766,745,717.678590922,679,661,636,877,783,813,650.321409078,629,653.321409078,0.400978012646,-0.0053916604748,0.0798373440794,0.999999930054,0.000249078478445,-0.000275690887736,4.29639839422e-05,1793249599186164992
+47,0.783333333,BASELINE,766,745,718,679.261940097,661,636,876.738059903,783,813,650,629,653,0.400978751075,-0.00539138162218,0.0798377309681,0.999999930192,0.000249431651859,-0.000274852542081,4.30879563716e-05,1793249599202831360
+48,0.800000000,BASELINE,766,745,718,679.859906168,661,636,876.140093832,783,813,650,629,653,0.400979606545,-0.00538993527089,0.0798375304113,0.999999929659,0.000251937731758,-0.000274531105959,4.29169617429e-05,1793249599219497984
+49,0.816666667,BASELINE,766,745,717.561043548,679.561043548,661,636,876.438956452,783,813,650,629,653.438956452,0.400977130706,-0.00538989548146,0.0798364198217,0.999999928957,0.000251982459868,-0.000277054045454,4.27975902646e-05,1793249599236164608
+50,0.833333333,BASELINE,766,745,717,679,661,636,877,783,813,650.012531526,629,654,0.400973780025,-0.00539032046268,0.079835094456,0.99999992824,0.000251258616949,-0.000280295944735,4.27066998137e-05,1793249599252831232
+51,0.850000000,BASELINE,766,745,717,679,661,636,877,783,813,650.600452059,629,654,0.400977060917,-0.00539232534556,0.0798366922375,0.99999992961,0.000249824076083,-0.000276589694231,4.31982927886e-05,1793249599269497856
+52,0.866666667,BASELINE,766,745,717.178594449,678.821405551,660.821405551,636.178594449,876.821405551,783,813,650.821405551,629,654,0.400979025318,-0.00539319958439,0.0798376528989,0.999999930402,0.000248977131244,-0.000274445956668,4.341434385e-05,1793249599286164480
+53,0.883333333,BASELINE,766,745,717.735996861,678.264003139,660.264003139,636.735996861,876.264003139,783,813,650.264003139,629,654,0.400978197372,-0.00539167566924,0.0798372621962,0.999999929997,0.000249376507733,-0.000275616389221,4.30459563883e-05,1793249599302831104
+54,0.900000000,BASELINE,765.683920863,745.316079137,717.683920863,678,660.316079137,637,876.316079137,783,813,650.316079137,629,654,0.400977744366,-0.00539176873986,0.0798371842264,0.999999929981,0.000249238186564,-0.000275817153434,4.29257059329e-05,1793249599319497984
+55,0.916666667,BASELINE,765.083431087,745.916568913,717.083431087,678,660.916568913,637,876.916568913,783,813,650.916568913,629,654,0.400977628735,-0.00539331678783,0.0798373876562,0.999999930317,0.000248616040542,-0.000275145401937,4.30287312424e-05,1793249599336164608
+56,0.933333333,BASELINE,765,745.502728233,717.497271767,678,661,637,877,783,813,650.502728233,628.502728233,654,0.400977830042,-0.00539208507904,0.0798376129453,0.999999929807,0.000250305308547,-0.00027546450894,4.30328256266e-05,1793249599352831232
+57,0.950000000,BASELINE,765.075734024,745,717.924265976,678.075734024,661,637,877,783,813,650,628.075734024,653.924265976,0.400978037301,-0.00539070813502,0.0798377809087,0.999999929272,0.000251967155007,-0.00027589806013,4.30072831483e-05,1793249599369497856
+58,0.966666667,BASELINE,765.660597017,745,717.339402983,678.660597017,661,637,877,783,813,650,628.660597017,653.339402983,0.400977940775,-0.00539137014227,0.0798375397829,0.9999999295,0.000250937378126,-0.000276026150905,4.28898182628e-05,1793249599386164736
+59,0.983333333,BASELINE,765.756603269,745,717,679,661,636.756603269,877,783,813.243396731,650.243396731,629,653,0.400977430903,-0.00539193015593,0.0798369767103,0.999999929682,0.000249533767418,-0.000276676703059,4.26555616969e-05,1793249599402831104
+60,1.000000000,BASELINE,765.176656413,745,717,679,661,636.176656413,877,783,813.823343587,650.823343587,629,653,0.400976349488,-0.00539234914085,0.0798359684748,0.999999929795,0.000247613248139,-0.000278049674312,4.22598146356e-05,1793249599419497984
+61,1.016666667,BASELINE,765.400628444,745,717.400628444,679,661,636,877.400628444,783,813.599371556,651,629,653.400628444,0.400976135766,-0.00539159065782,0.0798363425597,0.999999929425,0.000249360852469,-0.000277795455386,4.24116119003e-05,1793249599436164608
+62,1.033333333,BASELINE,765.976747212,745,717.976747212,679,661,636,877.976747212,783,813.023252788,651,629,653.976747212,0.400976302127,-0.00539031639953,0.0798373221529,0.999999928834,0.000252715232987,-0.000276828465889,4.28032541927e-05,1793249599452831232
+63,1.050000000,BASELINE,766,745,718,679.551696417,661,636,877.448303583,783,813.551696417,651,629,654,0.400978438767,-0.00539149464393,0.0798387026846,0.999999930233,0.00024973250831,-0.000274472455274,4.28176572294e-05,1793249599469497856
+64,1.066666667,BASELINE,765.870044074,745,717.870044074,679.870044074,661,636.129955926,877,783,813.870044074,651,629,654,0.400979535874,-0.00539236418755,0.0798392106503,0.999999931055,0.000247515579699,-0.000273483768983,4.28039951393e-05,1793249599486164480
+65,1.083333333,BASELINE,765.279887942,745,717.279887942,679.279887942,661,636.720112058,877,783,813.279887942,651,629,654,0.400976658333,-0.00539177528808,0.0798365689688,0.999999929582,0.000248954326509,-0.000277543932859,4.27471340715e-05,1793249599502831360
+66,1.100000000,BASELINE,765.304830549,745,717.304830549,679,661,636.695169451,876.695169451,783,813,651,629,654,0.400975756663,-0.00539113024969,0.0798358498533,0.999999928892,0.00025046421475,-0.000278678551391,4.26929840658e-05,1793249599519497984
+67,1.116666667,BASELINE,765.884643802,745,717.884643802,679,661,636.115356198,876.115356198,783,813,651,629,654,0.400976637394,-0.00539043456931,0.0798368650537,0.999999928916,0.000252038278447,-0.00027717408262,4.26412796686e-05,1793249599536164608
+68,1.133333333,BASELINE,766,745,717.539559552,678.539559552,661,636,876.460440448,783,813,650.539559552,629,654,0.400976804534,-0.00539048623144,0.0798370670326,0.999999928764,0.000252835966801,-0.000276984434765,4.27253603036e-05,1793249599552830976
+69,1.150000000,BASELINE,765.964825985,745,717,678.035174015,661,636.035174015,877,783,813,650.035174015,629,653.964825985,0.400976813436,-0.00539069847306,0.0798370835825,0.999999928614,0.000253335184578,-0.00027705293976,4.28351832806e-05,1793249599569497600
+70,1.166666667,BASELINE,765.391095695,745,717,678.608904305,661,636.608904305,877,783,813,650.608904305,629,653.391095695,0.400977113147,-0.00539052737758,0.0798373535203,0.999999929168,0.000252216867025,-0.000276074060868,4.28227876438e-05,1793249599586165248
+71,1.183333333,BASELINE,765,745,717.188245871,679,661.188245871,636.811754129,877.188245871,783,813,651,629,653,0.400977195577,-0.00539016089747,0.0798375058689,0.999999929431,0.000251754760129,-0.000275548933611,4.2788389271e-05,1793249599602832640
+72,1.200000000,BASELINE,765,745,717.779603595,679,661.779603595,636.220396405,877.779603595,783,813,651,629,653,0.400976812716,-0.00538937601845,0.0798374064107,0.999999929073,0.000252697869992,-0.000275995475087,4.27068739867e-05,1793249599619498752
+73,1.216666667,BASELINE,765,745,717.635326589,679,661.270653179,636,877.635326589,783,813,650.635326589,629,653,0.400977696331,-0.00538998240115,0.0798378258436,0.999999929442,0.000252517596651,-0.000274811003629,4.27649024728e-05,1793249599636165120
+74,1.233333333,BASELINE,765,745,717.053992594,679,660.107985189,636,877.053992594,783,813,650.053992594,629,653,0.400979332387,-0.00539141536343,0.0798385535613,0.99999993024,0.000251669896305,-0.000272657511085,4.29058370213e-05,1793249599652831744
+75,1.250000000,BASELINE,765,745,717.520196128,678.479803872,660.520196128,636,877,782.479803872,813,650.520196128,628.479803872,653.520196128,0.40097867245,-0.00539149913391,0.0798378418447,0.999999930217,0.000250095570382,-0.000274223391436,4.26487531241e-05,1793249599669498112
+76,1.266666667,BASELINE,765.093094703,745,717.906905297,678.093094703,661,636.093094703,877,782.093094703,813,650.906905297,628.093094703,653.906905297,0.400977861058,-0.00539143084206,0.0798371147256,0.999999930079,0.00024888148948,-0.000275859840296,4.24460761281e-05,1793249599686164480
+77,1.283333333,BASELINE,765.663131605,745,717.336868395,678.663131605,661,636.663131605,877,782.663131605,813,650.336868395,628.663131605,653.336868395,0.400977478084,-0.00539129121773,0.0798370637458,0.999999929801,0.000249894161817,-0.000275906845191,4.27309149973e-05,1793249599702831104
+78,1.300000000,BASELINE,766,745,717.245043455,679,661,637,877,783,813,650.245043455,629,653,0.400977638297,-0.00539079800331,0.079837427834,0.999999929537,0.000251349457699,-0.000275516759077,4.29043351715e-05,1793249599719497728
+79,1.316666667,BASELINE,766,745,717.84411149,679,661,637,877,783,813,650.84411149,629,653,0.400978583274,-0.00538979394241,0.0798383915883,0.999999929288,0.000253444230331,-0.000274495189209,4.2916784049e-05,1793249599736164608
+80,1.333333333,BASELINE,765.574724257,745,717.574724257,679,661,637,877,783,813,651,629,653.425275743,0.400978374252,-0.00539020433072,0.0798381212556,0.999999929184,0.000253100314876,-0.000275177814002,4.30122513871e-05,1793249599752831232
+81,1.350000000,BASELINE,765.000142406,745,717.000142406,679,661,636.999857594,877,783,813,651,629,654,0.40097775883,-0.00539111225349,0.0798374165317,0.999999929128,0.000251898388673,-0.000276460054345,4.3136839347e-05,1793249599769497856
+82,1.366666667,BASELINE,765.575102036,745,717.575102036,679,661,636.424897964,877,783,813,651,629,654,0.400975201379,-0.00539202633255,0.0798354979094,0.999999929102,0.000249883131464,-0.000278406461095,4.29338568914e-05,1793249599786164480
+83,1.383333333,BASELINE,765.845669685,745,718,679,661,636,877.154330315,783,813,651,629,654,0.40097409621,-0.00539258401225,0.0798347279259,0.999999929236,0.0002485844815,-0.000279113296835,4.27790933476e-05,1793249599802831104
+84,1.400000000,BASELINE,765.254354636,745,718,679,661,636,877.745645364,783,813,651,629,654,0.400977103163,-0.00539213255097,0.0798372103009,0.999999929833,0.000249314897266,-0.000276310300195,4.27608611208e-05,1793249599819497728
+85,1.416666667,BASELINE,765.328932108,745,717.671067892,679,661,636,877.671067892,783,813,650.671067892,629,654,0.4009785658,-0.00539211804156,0.0798383392433,0.999999930115,0.000249940588598,-0.000274698091891,4.28921650549e-05,1793249599836164352
+86,1.433333333,BASELINE,765.90615865,745,717.09384135,679,661,636,877.09384135,783,813,650.09384135,629,654,0.40097886271,-0.00539243336533,0.0798384465466,0.999999930164,0.000250487228638,-0.00027398475045,4.31363463763e-05,1793249599852830976
+87,1.450000000,BASELINE,765.517685952,745,717.482314048,678.517685952,661,636.482314048,877,783,812.517685952,650.482314048,629.482314048,654,0.400978364,-0.00539142529491,0.0798379263408,0.99999992966,0.000251316473496,-0.000275096369401,4.29241435013e-05,1793249599869498368
+88,1.466666667,BASELINE,765.059327329,745,718,678.059327329,661,637,877,783,812.059327329,651,629.940672671,654,0.400977922917,-0.00539039946674,0.0798374506283,0.999999929188,0.000251973463944,-0.000276245791762,4.26754006111e-05,1793249599886165760
+89,1.483333333,BASELINE,765.645811103,745,718,678.645811103,661,637,877,783,812.645811103,651,629.354188897,654,0.400979366319,-0.00539149868787,0.0798384527082,0.999999929979,0.000250612388391,-0.000274583087031,4.28892357267e-05,1793249599902832384
+90,1.500000000,BASELINE,765.770635227,745,717.770635227,679,661,637,877,783,813,650.770635227,629,653.770635227,0.400979949997,-0.0053916632791,0.0798389265734,0.999999930298,0.000250506537802,-0.000273512011362,4.29258746261e-05,1793249599919498752
+91,1.516666667,BASELINE,765.191549255,745,717.191549255,679,661,637,877,783,813,650.191549255,629,653.191549255,0.400979222819,-0.00539040280443,0.0798385950493,0.999999929899,0.000252314576622,-0.000273343015197,4.26923356905e-05,1793249599936165632
+92,1.533333333,BASELINE,765,745.386891116,717,678.613108884,661,637,877,783,813,650.386891116,629,653.386891116,0.400978915331,-0.00538980580683,0.079838469156,0.999999929629,0.000253090483256,-0.000273639707467,4.25205469851e-05,1793249599952832000
+93,1.550000000,BASELINE,765,745.965012434,717,678.034987566,661,637,877,783,813,650.965012434,629,653.965012434,0.400978815284,-0.00538953674856,0.0798384449007,0.999999929424,0.000253356233993,-0.000274166577388,4.23792797896e-05,1793249599969498368
+94,1.566666667,BASELINE,765,745.459702877,717.540297123,678.540297123,661,636.459702877,877,783.540297123,813,651,629,654,0.400976998571,-0.00538993897802,0.0798370953814,0.999999929266,0.00025139616679,-0.000276518017504,4.24872344997e-05,1793249599986164736
+95,1.583333333,BASELINE,765,745,718,679,661,636.118652648,877,783.881347352,813,650.881347352,629,653.881347352,0.400975784652,-0.00539059049731,0.0798361448585,0.999999929328,0.000249375927044,-0.00027810733851,4.25576076186e-05,1793249600002831360
+96,1.600000000,BASELINE,765,745,718,679,661,636.709969228,877,783.290030772,813,650.290030772,629,653.290030772,0.400977412538,-0.00539206282359,0.0798371238565,0.999999930285,0.000247687161902,-0.000276192475439,4.24143169203e-05,1793249600019497984
+97,1.616666667,BASELINE,765.294520662,745.294520662,718,679,661,637,877,783,813,650,629,653.294520662,0.40097878472,-0.0053921167442,0.0798383105974,0.999999930749,0.00024822506587,-0.000274017047352,4.24401296096e-05,1793249600036164608
+98,1.633333333,BASELINE,765.872559638,745.872559638,718,679,661,637,877,783,813,650,629,653.872559638,0.400979910748,-0.00539080524613,0.0798396973203,0.999999930734,0.000250906457827,-0.000271590788237,4.26287285343e-05,1793249600052831488
+99,1.650000000,BASELINE,765.552301157,745.552301157,718,679,661,637,877,783,813,650.447698843,629,654,0.400979495472,-0.00539087793594,0.079839464171,0.999999930642,0.000250979630593,-0.000271873012962,4.25587018007e-05,1793249600069498368
+100,1.666666667,BASELINE,765,745,717.978017526,679,661,637,877,783,813,650.978017526,629,654,0.40097862849,-0.00539127670878,0.0798387763724,0.99999993051,0.000250360045823,-0.000272947922178,4.24263185985e-05,1793249600086164992
+101,1.683333333,BASELINE,765,745,717.404622823,679,661,637,877,783,813,650.404622823,629,654,0.400977365459,-0.00539003499419,0.079838176126,0.999999929899,0.00025086701501,-0.000274691543143,4.25645741158e-05,1793249600102831360
+102,1.700000000,BASELINE,765.174832267,745,717.174832267,679,661,637,877,783,813,650.174832267,629,654,0.400976895797,-0.00538940850566,0.0798379833199,0.999999929648,0.000250960929626,-0.000275512428644,4.25971949448e-05,1793249600119497728
+103,1.716666667,BASELINE,765.768816769,745,717.768816769,679,661,637,877,783,813,650.768816769,629,654,0.400978328195,-0.00539025699323,0.0798387673331,0.999999930265,0.000250064565028,-0.000274121098492,4.23765614968e-05,1793249600136164352
+104,1.733333333,BASELINE,766,745,717.648519264,679,661,636.648519264,877,783,813,651,629,654,0.400978622272,-0.00539063439175,0.0798388866064,0.999999930396,0.000250083675908,-0.000273607326673,4.24898498315e-05,1793249600152830976
+105,1.750000000,BASELINE,766,745,717.073068881,679,661,636.073068881,877,783,813,651,629,654,0.400978190991,-0.00539071160422,0.079838582296,0.999999930219,0.000250686143618,-0.00027365275017,4.28159189199e-05,1793249600169497856
+106,1.766666667,BASELINE,766,745,717.500284742,679,661,636,876.499715258,783,813,651,629,653.499715258,0.400977288925,-0.00539055045616,0.0798376359013,0.999999929683,0.000250983759941,-0.000275377228314,4.25248196217e-05,1793249600186164736
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,717,679,661,637,877,782,813,651,629,653,0.400977322416,-0.00539236091997,0.0798386070667,0.999999930531,0.000249190131556,-0.000273834869572,4.30804218259e-05,1793249600229671168
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,717.596369825,678.403630175,661,637,877,782.596369825,813,650.403630175,629,653,0.400978827774,-0.00539228703181,0.0798387935722,0.999999930325,0.000251045165747,-0.000272912845229,4.29635553897e-05,1793249600246338048
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,718,678.186204226,661.186204226,636.813795774,877,783,813.186204226,650,629,653.186204226,0.400979763408,-0.00539206037243,0.0798388594943,0.999999930396,0.000251377670723,-0.000272372091539,4.27884613243e-05,1793249600263004928
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,718,678.762352424,661.762352424,636.237647576,877,783,813.762352424,650,629,653.762352424,0.400979505937,-0.0053915137836,0.079838672894,0.999999931052,0.000248521735584,-0.000272629784605,4.24914284742e-05,1793249600279671296
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.662045685,745,718,679,661.662045685,636.337954315,877,783,813.662045685,650,629,654,0.400979138455,-0.0053920616667,0.079838466026,0.99999993096,0.000248301542731,-0.000273155031002,4.25814743996e-05,1793249600296337408
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.086827368,745,718,679,661.086827368,636.913172632,877,783,813.086827368,650,629,654,0.400978693739,-0.00539337793413,0.0798382449291,0.999999930343,0.00024993179768,-0.000273868115713,4.29432726333e-05,1793249600313003776
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,717.499765435,679,661,636.499765435,877,782.499765435,813,650.500234565,629,654,0.400979498437,-0.00539174695454,0.0798389493446,0.999999930387,0.000250541965586,-0.000273146803619,4.29624330849e-05,1793249600329670656
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.087822754,745,717.087822754,679,661,636.087822754,877,782.087822754,813,650.912177246,629,654,0.400980566923,-0.00539004918252,0.0798397523417,0.999999930531,0.000250948741952,-0.000272248428923,4.2931450949e-05,1793249600346337536
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.666582341,745,717.666582341,679,661,636.666582341,877,782.666582341,813,650.333417659,629,654,0.400981868307,-0.00539090706707,0.0798401866255,0.999999930585,0.000251232324495,-0.000271785790662,4.29606875574e-05,1793249600363004160
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,717.755537271,679,661,637,877.244462729,783,813,650,629,653.755537271,0.400989487043,-0.00539186168653,0.0798434752824,0.999999932096,0.000250777438179,-0.000266577203278,4.3070973472e-05,1793249600379671040
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,717.178851755,679,661,637,877.821148245,783,813,650,629,653.178851755,0.401005691008,-0.00539294776783,0.0798506430083,0.999999935491,0.000249318978862,-0.00025491891108,4.32914047038e-05,1793249600396337920
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,717.396375967,678.603624033,661,637,877.603624033,783,813,650.396375967,629,653.396375967,0.401039343789,-0.00539183341894,0.0798626424551,0.999999940555,0.000250830387246,-0.000232648327607,4.30075951725e-05,1793249600413004288
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,717.970948367,678.029051633,661,637,877.029051633,783,813,650.970948367,629,653.970948367,0.401080840934,-0.00538972983558,0.0798768140712,0.999999945784,0.000253676941463,-0.000205606837066,4.24970970553e-05,1793249600429670656
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.436855039,745,717.436855039,678.563144961,661,636.436855039,877,782.436855039,813,651,629,654,0.401148081298,-0.00539159009026,0.0798922645468,0.999999952462,0.000251529585693,-0.000173298929203,4.21435966871e-05,1793249600446337280
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.151796823,745,717.151796823,679,661,636.151796823,877,782.151796823,813.151796823,651,629,654,0.401218192381,-0.00539353639117,0.0799054881174,0.999999957062,0.000249192431081,-0.000148529550351,4.14588227241e-05,1793249600463003904
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.727916481,745,717.727916481,679,661,636.727916481,877,782.727916481,813.727916481,651,629,654,0.401292495831,-0.00539513314331,0.0799122963705,0.999999958084,0.000247068144414,-0.000145616857656,3.98246569172e-05,1793249600479670528
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.696437716,745,717.696437716,679,661,637,877.303562284,783,813.696437716,650.696437716,629,654,0.401379078914,-0.00539672540731,0.079917619334,0.999999959589,0.000245263864303,-0.00013876760469,3.75613109532e-05,1793249600496337408
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.121216004,745,717.121216004,679,661,637,877.878783996,783,813.121216004,650.121216004,629,654,0.401476651098,-0.00539831365477,0.0799216131039,0.999999961448,0.00024374595979,-0.000128395504129,3.47349085693e-05,1793249600513004544
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.464430396,745,717,679,661,637,877.535569604,783,813,650.464430396,629,654,0.401594063323,-0.00539953936132,0.0799271122054,0.999999962925,0.00024255345194,-0.00011970945606,3.14188807647e-05,1793249600529671168
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.947966098,745,717.052033902,679,661,637,877.052033902,783,813.052033902,650.947966098,629.052033902,653.947966098,0.40172019946,-0.0054007327245,0.0799331921157,0.999999964398,0.000241115124139,-0.000110872568019,2.78339837461e-05,1793249600546337536
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.368733505,745,717.631266495,679,661,637,877.631266495,783,813.631266495,650.368733505,629.631266495,653.368733505,0.401881055124,-0.00540257910695,0.0799410845804,0.999999967216,0.000236305953075,-9.594641937e-05,2.28494446709e-05,1793249600563004160
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.209842866,745,718,679,661,637,877.790157134,783,813.790157134,650,629.790157134,653,0.40205093652,-0.00540443988449,0.0799490468822,0.999999969702,0.000231664431904,-8.13206479672e-05,1.77156677904e-05,1793249600579670784
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.787269666,745,718,679,661,637,877.212730334,783,813.212730334,650,629.212730334,653,0.402236628368,-0.00540632587783,0.0799571315174,0.999999971828,0.000227316585352,-6.72210521075e-05,1.23204700202e-05,1793249600596337408
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.638480998,745,717.638480998,679,661,637,877,783,813,650,629,653.361519002,0.402434382669,-0.0054081635107,0.0799588108025,0.99999997367,0.000220378290014,-6.3703101392e-05,5.90347162514e-06,1793249600613004032
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.066085046,745,717.066085046,679,661,637,877,783,813,650,629,653.933914954,0.402639173114,-0.00540997293468,0.0799567537959,0.999999975341,0.000211928964597,-6.63575082767e-05,-1.10955182613e-06,1793249600629670656
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.522890026,745.522890026,717,678.477109974,661,636.477109974,877,783,813,650,629,654,0.402862239444,-0.00541270997067,0.0799479306283,0.999999976511,0.000200015660524,-8.29526617194e-05,-9.54724356844e-06,1793249600646337280
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.888459261,745.888459261,717.111540739,678.111540739,661,636,877,783,813,650.111540739,629,653.888459261,0.40310059266,-0.00541542740547,0.0799397240755,0.999999977195,0.00018892364324,-9.79217962385e-05,-1.81525167381e-05,1793249600663004160
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.310219723,745.310219723,717.689780277,678.689780277,661,636,877,783,813,650.689780277,629,653.310219723,0.403392927124,-0.00541755623896,0.0799377926482,0.999999978022,0.000183159729677,-9.84741555049e-05,-2.66809302149e-05,1793249600679671040
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.267120489,745,717.732879511,679,661,636.267120489,877,783.267120489,813,650.732879511,629,653,0.403705942977,-0.00541945242722,0.0799400063238,0.999999984559,0.000144545805272,-9.46529659886e-05,-3.20705374465e-05,1793249600696337664
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.843419741,745,717.156580259,679,661,636.843419741,877,783.843419741,813,650.156580259,629,653,0.404042896498,-0.00542107933999,0.0799470177513,0.999999993444,6.79096165147e-05,-8.57696094642e-05,-3.38271309326e-05,1793249600713004032
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.582275682,745,717.417724318,679,661,637,877.417724318,784,813,650,629,653.417724318,0.404408328562,-0.00542073166742,0.0799512739736,0.999999992672,8.69073199904e-05,-7.86938720197e-05,-3.01821087923e-05,1793249600729670656
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.008715251,745,717.991284749,679,661,637,877.991284749,784,813,650,629,653.991284749,0.404784384817,-0.00541964735659,0.0799545023397,0.999999987063,0.000141582177312,-7.22924845344e-05,-2.45219614107e-05,1793249600746337280
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,717.414207337,679,661.585792663,637,878,783.414207337,813,650.585792663,629,653.414207337,0.405203159878,-0.00542365582351,0.0799534862532,0.999999988719,0.000131209146285,-6.67601427565e-05,-2.98117835323e-05,1793249600763003904
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.174363545,745,717.174363545,679.174363545,662,637,878,783.174363545,813.174363545,651,629,653.174363545,0.405634578332,-0.00542825862729,0.0799498216405,0.999999989838,0.000120627530979,-6.8193501001e-05,-3.35052577102e-05,1793249600779670784
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.748578336,745,717.748578336,679.748578336,662,637,878,783.748578336,813.748578336,651,629,653.748578336,0.406093479096,-0.00543404416922,0.0799402335971,0.999999989532,0.000111869172701,-8.55698845317e-05,-3.31505375303e-05,1793249600796337408
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,718,679.676464088,662,637,878,783.676464088,813.676464088,650.676464088,629,654,0.406565649813,-0.00543641949577,0.0799310854988,0.999999988283,0.000108243621113,-0.000102668087058,-3.42894060795e-05,1793249600813004032
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,718,679.1009279,662,637,878,783.1009279,813.1009279,650.1009279,629,654,0.407048156471,-0.00543613862563,0.0799222800703,0.999999986286,0.000108615982435,-0.000119549617839,-3.65916223298e-05,1793249600829670912
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,717.512264706,679,662,637,878,783,813.487735294,650.487735294,629,654,0.40756209515,-0.00544247609579,0.0799201877978,0.99999998624,0.000102262644126,-0.000125206590278,-3.72208914167e-05,1793249600846337792
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.922564141,745,717,679,662,637,878,783,813.922564141,650.922564141,628.922564141,654,0.408090507144,-0.00544976145136,0.0799188240072,0.999999986471,9.43095607734e-05,-0.000129429006183,-3.75717632631e-05,1793249600863004672
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.34421059,745,717,679,662,637,878,783,813.34421059,650.34421059,628.34421059,654,0.408669305784,-0.00545407414234,0.0799129378368,0.999999985853,8.52600735629e-05,-0.000139812339954,-3.84230855043e-05,1793249600879671040
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.232304536,745,717,679.232304536,662,637,878,783,813.232304536,650,628.232304536,654,0.409290367501,-0.00546815048319,0.0799220010659,0.999999989203,6.61954980815e-05,-0.000125676196932,-3.76553702295e-05,1793249600896337664
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.806116983,745,717,679.806116983,662,637,878,783,813.806116983,650,628.806116983,654,0.409973559591,-0.00549658023996,0.0799530412153,0.99999999603,3.2407870442e-05,-7.5494285319e-05,-3.45075285732e-05,1793249600913004544
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,717,679.612668407,662,637,878,783,814,650,629,654,0.41065093031,-0.00551004393755,0.0799787035383,0.999999998708,1.7743089132e-05,-3.4170123857e-05,-3.31833200787e-05,1793249600929671168
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,717,679.027676393,662,637,878,783,814,650,629,654,0.411325330286,-0.00551587025689,0.0800016214846,0.999999999377,1.28369495432e-05,2.6338093182e-06,-3.27897357379e-05,1793249600946337536
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+152,2.533333333,POSE1_TO_POSE2_PRESS,765.86420015,745,718,679.86420015,662,637,879,783,813,650,628,654,0.412670580428,-0.00551261958058,0.0799479914982,0.999999995515,1.32563352215e-05,-8.60074422647e-05,-3.73718119537e-05,1793249600979670784
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.284954418,745,718,679.284954418,662,637,879,783,813,650,628,654,0.413393183352,-0.00551998258086,0.0799155263955,0.999999991721,-3.57093109102e-06,-0.000121262928628,-4.29076256399e-05,1793249600996337664
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.291526068,745,718,679.583052135,662,637.291526068,879,783,813.291526068,650,628,654,0.414158544412,-0.00552541142935,0.0799082735942,0.999999991271,-1.50141327535e-05,-0.000123095805146,-4.56081935904e-05,1793249601013004032
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.865329107,745,718,680.730658213,662,637.865329107,879,783,813.865329107,650,628,654,0.414965307127,-0.00552896749075,0.0799254331928,0.999999994452,-2.12440891825e-05,-9.25664578658e-05,-4.55634688485e-05,1793249601029670656
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,718,680.559056563,662,638,879.440943437,783,814,650.440943437,628.440943437,654,0.415759893384,-0.0055326109517,0.079940850746,0.999999995753,-2.46487002506e-05,-7.68988410105e-05,-4.44260823166e-05,1793249601046337280
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,718,680.017525468,662.017525468,638,879.982474532,783.017525468,814,650.982474532,629,654,0.416550948972,-0.00553636941181,0.0799549769224,0.999999996492,-2.74773403396e-05,-6.63830213245e-05,-4.30559729201e-05,1793249601063003904
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,718,680.607575205,662.607575205,638,879.392424795,783.607575205,814,650.392424795,629,654,0.417348655646,-0.00554300907408,0.079944368945,0.999999995361,-3.97958186525e-05,-7.5274483403e-05,-4.50300739031e-05,1793249601079670528
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,718,680.806741435,663,638,879.193258565,783.806741435,814,650,629,654,0.418184736624,-0.0055485028327,0.0799484928398,0.999999995939,-5.00141923854e-05,-5.86316349041e-05,-4.67154892413e-05,1793249601096337408
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,718,680.229728442,663,638,879.770271558,783.229728442,814,650,629,654,0.419097017588,-0.00555172116475,0.0799818698821,0.999999997247,-5.60623778728e-05,8.7148129648e-06,-4.78276599171e-05,1793249601113004288
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,718,680.346442873,663,637.653557127,880.346442873,783,814,650,629,654,0.419978414425,-0.00555624301609,0.0799843927773,0.999999996713,-6.27493821301e-05,1.64453114683e-05,-4.86431823543e-05,1793249601129670912
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,718,680.922057397,663,637.077942603,880.922057397,783,814,650,629,654,0.420839381401,-0.00556162714414,0.0799665056804,0.99999999623,-6.98589642631e-05,-1.52600898302e-05,-4.92624722637e-05,1793249601146337792
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,717.496003634,681,663,637.503996366,881.503996366,783,814,650,629,654,0.421698717084,-0.00556837849106,0.0799619703942,0.999999995339,-7.95523471481e-05,-2.31341324527e-05,-4.95711293366e-05,1793249601163004416
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,717,680.912457609,663,638,882,783,814.087542391,650,629,654,0.42256964881,-0.00557193021212,0.0799650061622,0.999999994961,-8.51443707126e-05,-1.9402387648e-05,-4.95140993365e-05,1793249601179671040
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,717,680.325393717,663,638,882,783,814.674606283,650,629,654,0.423508205641,-0.00555600288104,0.0799993109171,0.999999996323,-6.50248033161e-05,2.92556964636e-05,-4.76480365053e-05,1793249601196337664
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,717.255732427,680.255732427,663,638,882.255732427,783.255732427,814.744267573,650,629,654,0.424402309063,-0.00553346631415,0.08000042367,0.999999998072,-3.62110204412e-05,1.67575944626e-05,-4.75718926103e-05,1793249601213003776
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,717.829474904,680.829474904,663,638,882.829474904,783.829474904,814.170525096,650,629,654,0.42524113362,-0.00550271098528,0.0799602612934,0.999999996181,3.41425260373e-06,-7.17898389557e-05,-4.97215598929e-05,1793249601229670400
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,717.596663531,681,663,638,883.403336469,784,814,650.403336469,629,654.403336469,0.426147432503,-0.00550658234048,0.07993013809,0.999999993267,-5.56583201991e-06,-0.000103597720127,-5.198108105e-05,1793249601246337024
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,717.022751636,681,663,638,883.977248364,784,814,650.977248364,629,654.977248364,0.427082266971,-0.0055250977028,0.0799042605658,0.999999991704,-3.51016589355e-05,-0.000111409815928,-5.42870605785e-05,1793249601263003648
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.569484459,717.569484459,681,663,637.430515541,883.430515541,784,814,650.430515541,629,654.430515541,0.427967763785,-0.00553128839525,0.0799047612137,0.99999999069,-3.88852762957e-05,-0.000119305656055,-5.36056138811e-05,1793249601279670528
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,718,681.157188026,663,637.157188026,883.157188026,784,814.157188026,650,629,654,0.428859424183,-0.00553586450123,0.0799132791569,0.999999990971,-4.16118656806e-05,-0.000116461316976,-5.25679559162e-05,1793249601296337152
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,718,681.730877442,663,637.730877442,883.730877442,784,814.730877442,650,629,654,0.429772812671,-0.00553751048747,0.0799401553382,0.999999994095,-4.43543825588e-05,-8.51495458632e-05,-5.09132043692e-05,1793249601313004032
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,717.706692334,682,663.293307666,638,884,784,815,650,628.706692334,654,0.430702136775,-0.00554242495385,0.0799773645162,0.999999996996,-5.13561629625e-05,-3.07806528645e-05,-4.92228571507e-05,1793249601329670912
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,717.154211031,682,663.845788969,638,884,784,815,650,628.154211031,654,0.431645541919,-0.00555022752701,0.0800237041746,0.999999995976,-6.21215296978e-05,4.39620605123e-05,-4.75010566524e-05,1793249601346337536
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.567093569,717.432906431,681.567093569,664,638,884,784,815,650,628.432906431,654,0.432527448806,-0.00554787914992,0.0800129303999,0.999999996644,-6.18974950697e-05,2.25581089481e-05,-4.87019193667e-05,1793249601363004160
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.033175693,717.966824307,681.033175693,664,637.966824307,884.033175693,784,815,650.033175693,629,654,0.433382839855,-0.00554154081101,0.079978429776,0.999999996358,-5.72369939854e-05,-3.7261247249e-05,-5.11729985997e-05,1793249601379670528
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.629044612,717.370955388,681.629044612,664,637.370955388,884.629044612,784,815,650.629044612,629,654,0.434192374032,-0.00553419340357,0.0799165810011,0.999999990337,-4.95006439462e-05,-0.000117217092797,-5.59941181732e-05,1793249601396337408
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,717.216669382,682,664,637.216669382,885,784,815,651,629,654,0.435022162566,-0.00552952660779,0.0798892242766,0.999999986024,-4.68237931537e-05,-0.000149376183332,-5.87110376558e-05,1793249601413004032
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,717.790696965,682,664,637.790696965,885,784,815,651,629,654,0.435885357246,-0.00552928101032,0.0799187561391,0.999999991669,-5.24916994518e-05,-0.000102702910381,-5.795744875e-05,1793249601429670656
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.366359643,746,717.633640357,682,664,638,885,783.633640357,815.366359643,651,629,654,0.4367391384,-0.00553283710128,0.0799497408797,0.999999995027,-5.23496019262e-05,-6.4849030257e-05,-5.47648362321e-05,1793249601446337280
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.942960612,746,717.057039388,682,664,638,885,783.057039388,815.942960612,651,629,654,0.437587517398,-0.00553857485181,0.0799815593758,0.999999997033,-4.88733406686e-05,-3.20563022299e-05,-5.01725511455e-05,1793249601463003648
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.466070969,746,717.533929031,682.533929031,663.466070969,637.466070969,886.067858063,783.533929031,816,650.466070969,629,654,0.438407982919,-0.00554631719423,0.0799934041377,0.999999996532,-6.43054018644e-05,-7.8258275228e-06,-5.23502129031e-05,1793249601479670272
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,717.87677681,683,663,637,886.87677681,784,815.87677681,650.12322319,629,654,0.439201217697,-0.00555356788369,0.0799910265458,0.999999995312,-7.96801498712e-05,-6.17599451803e-06,-5.46636850051e-05,1793249601496336896
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,717.299465012,683,663,637,886.299465012,784,815.299465012,650.700534988,629,654,0.439905397451,-0.00555819580386,0.079944318923,0.999999991149,-8.71940882342e-05,-8.42739013107e-05,-5.47387614247e-05,1793249601513003776
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,717,683,663.277086895,637,886,784,815,650.722913105,629,654,0.440557134698,-0.0055571455633,0.0798705370722,0.999999974415,-8.68791292753e-05,-0.000200724842747,-5.77277506398e-05,1793249601529670912
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,717,683,663.852819748,637,886,784,815,650.147180252,629,654,0.441152349042,-0.00554997536589,0.0797675744547,0.999999930644,-7.81261349386e-05,-0.000358512913315,-6.38573722201e-05,1793249601546337792
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.563443836,717,683.436556164,663.563443836,637,886,783.563443836,815.436556164,650.436556164,629,654,0.441805764415,-0.00554616912205,0.0797213458064,0.999999905814,-7.80535660357e-05,-0.000421590097676,-6.7391261009e-05,1793249601563004416
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.022771235,717,684,663,636.977228765,886,783,816,651,629,654,0.442480846263,-0.00554369070393,0.0796982159625,0.999999894314,-8.07513192988e-05,-0.00044719724326,-6.975195031e-05,1793249601579671040
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.602381356,717,684,663,636.397618644,886,783,816,651,629,654,0.443196963952,-0.00554543112713,0.0797634697198,0.99999993288,-7.82931225009e-05,-0.000351931511023,-6.52232562753e-05,1793249601596337408
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,717,683.818226194,663,636.181773806,886,783,815.818226194,651,629,654,0.443882455108,-0.00554801156091,0.0798135055035,0.999999955927,-7.5460683863e-05,-0.000280412549697,-6.18028513266e-05,1793249601613004032
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,717,683.239309204,663,636.760690796,886,783,815.239309204,651,629,654,0.444501032916,-0.0055524272676,0.0798302927553,0.999999961571,-7.18105947083e-05,-0.000260776013752,-6.08038595782e-05,1793249601629670912
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,717,683,662.662956666,636.662956666,886.337043334,783,815.337043334,651,629,654.337043334,0.445070720014,-0.0055559098738,0.0798218341798,0.999999956213,-8.40579136447e-05,-0.000277063971021,-6.1185120886e-05,1793249601646337536
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,717,683,662.088411238,636.088411238,886.911588762,783,815.911588762,651,629,654.911588762,0.445605955581,-0.00555873495797,0.0797955857936,0.999999941491,-0.000107507553927,-0.000318666603707,-6.25389959335e-05,1793249601663004160
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,717,683.496936783,662,636,886.503063217,782.503063217,816,651,629,654.503063217,0.44611602552,-0.00555797294289,0.0797672457386,0.999999928899,-9.94740581352e-05,-0.000358163254527,-6.34457744613e-05,1793249601679670528
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,717,684,662,635.916927835,886.083072165,782.083072165,816,651,629,654,0.446617550085,-0.0055565932737,0.0797402933811,0.99999991661,-8.8046768916e-05,-0.000393558675733,-6.43389212869e-05,1793249601696337152
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,717,684,662,635.337822017,886.662177983,782.662177983,816,651,629,654,0.447095377643,-0.00555542090358,0.0797238985606,0.999999911023,-9.05436234949e-05,-0.00040675215186,-6.56361932869e-05,1793249601713003776
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,717,684,661.758908888,635.241091112,887,782.758908888,815.758908888,650.758908888,629,654,0.447549302907,-0.00555350445303,0.0797065444466,0.999999902671,-9.05374060194e-05,-0.000426569642349,-6.70714092161e-05,1793249601729670656
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,717,684,661.180265588,635.819734412,887,782.180265588,815.180265588,650.180265588,629,654,0.447969762477,-0.00555054621396,0.0796878472252,0.99999989004,-8.7026631712e-05,-0.00045566142836,-6.86997606016e-05,1793249601746337280
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,717,683.606461819,661,635.606461819,887,782,815,650,629,654,0.448346314408,-0.00555191347737,0.0796657074634,0.999999871305,-9.39931174062e-05,-0.000493689958844,-6.94665741524e-05,1793249601763003904
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,717,683.034847883,661,635.034847883,887,782,815,650,629,654,0.448702998199,-0.00555523802739,0.079642009953,0.999999848454,-0.00010570055557,-0.000535762361885,-6.98435424769e-05,1793249601779670528
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745.445695566,717,683,661,635,887,782,815.554304434,650.554304434,629,654,0.449057444294,-0.00555808170981,0.0796310967813,0.999999842337,-0.000100621737323,-0.000548109719739,-6.91098520621e-05,1793249601796336640
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745.142347936,717,683.142347936,661,635,887,782,815.857652064,651,629,654,0.449406594077,-0.00556087099713,0.0796255960414,0.999999840648,-9.64133134835e-05,-0.000551976982799,-6.8769633395e-05,1793249601813003264
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745.723464151,717,683.723464151,661,635,887,782,815.276535849,651,629,654,0.449739866575,-0.00556358884748,0.0796342200757,0.999999849271,-9.82469102149e-05,-0.000535653871281,-6.98644953378e-05,1793249601829669888
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,717,684,661.301407959,635,887.301407959,781.698592041,815.301407959,651,629,654,0.450048017168,-0.00556547826467,0.0796428594727,0.99999985545,-0.000101114450395,-0.000523315373845,-7.08334084416e-05,1793249601846336768
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+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745.973231559,716.973231559,684,661.026768441,634.973231559,887,781,816,650.973231559,628.026768441,654.973231559,0.450814618338,-0.0055711429905,0.0796453383298,0.999999851862,-0.000133210494144,-0.000523253386262,-6.88259354849e-05,1793249601896338176
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+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745.204229181,716.204229181,684,661.795770819,634,887.204229181,781,816,650.204229181,629,654,0.451186907526,-0.00557379472016,0.0796242698743,0.999999831729,-0.000118840356083,-0.000564635214358,-6.00438522448e-05,1793249601929671168
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+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,746,716.282124258,684,659.717875742,634,887,780.717875742,815.717875742,651,628,654,0.452008937595,-0.00556390787754,0.0794609503352,0.999999651878,-0.000112619479887,-0.000824186328518,-6.54103443961e-05,1793249603064927232
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,717,683.439642033,660,634,887.439642033,780.439642033,816,651,628,654.439642033,0.451757082073,-0.00555953329768,0.0794544628736,0.999999642121,-0.000112032951662,-0.000836429750207,-5.9938519873e-05,1793249603114926848
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.062043071,746,716.937956929,684,660,634,887,781,815.062043071,651,628.062043071,654,0.450910313735,-0.00554403196744,0.0794985726571,0.999999696038,-8.94425401829e-05,-0.000773746655491,-3.52244738201e-05,1793249603214926848
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+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.846578138,660,634,887.846578138,781,816,651,629,654,0.449619412648,-0.00551999489604,0.0795208890639,0.9999997292,-2.99700898586e-05,-0.000735323154325,-8.69787843903e-07,1793249603298260224
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,717,683.004579222,660,634.995420778,887.004579222,781,816,651,629,654,0.448946058289,-0.00550796927882,0.0795234830069,0.999999733564,1.5945685663e-05,-0.000729711736797,1.17546655887e-05,1793249603331593472
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.415926893,746,717,683.584073107,660.584073107,635,887.584073107,781,815.415926893,651,629,654,0.448564308824,-0.00550339324572,0.0795254946838,0.999999731812,4.37468165635e-05,-0.000730923077209,1.46434407188e-05,1793249603348260096
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,716.100281246,684,660,635,887,781,815.899718754,651,628.100281246,654,0.446854447093,-0.00547811199974,0.0795543729008,0.999999768225,4.40055824205e-05,-0.000679342129951,1.03911662507e-05,1793249603414926848
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.207479993,745,717,681,662,637,879,784,814,650.207479993,629,653.207479993,0.418696636027,-0.00539510148149,0.0798190355904,0.999999936834,0.000219816731168,-0.000274946065944,4.9164872563e-05,1793249604014927616
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.370449112,745,717,680.629550888,661.629550888,636.629550888,879,783.629550888,813.629550888,650,629,653.370449112,0.417826962016,-0.00540605080159,0.0798005465651,0.99999992984,0.000204264480453,-0.000310361424567,4.76539157513e-05,1793249604031594240
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.947856253,745,717,680.052143747,661.052143747,636.052143747,879,783.052143747,813.052143747,650,629,653.947856253,0.416977878941,-0.00542321923655,0.0797960738793,0.999999931042,0.000178943048305,-0.000322136742352,4.60723032744e-05,1793249604048260864
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.478056668,745,717,680.521943332,661.521943332,636.521943332,878.478056668,783,813,650,629,654,0.416132609626,-0.00542828806053,0.0797944233223,0.999999927301,0.000175343928511,-0.000335298879898,4.71835493919e-05,1793249604064927488
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.098324099,745.098324099,717,680.901675901,661.901675901,637,878,783,813,650,629,653.901675901,0.415302985596,-0.00542982970022,0.0797912239001,0.999999922637,0.000176682874308,-0.000348121900257,4.81614360159e-05,1793249604081594112
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.687808967,745.687808967,717,680.312191033,661.312191033,637,878,783,813,650,629,653.312191033,0.414549623643,-0.00541975203386,0.0797788879166,0.999999916189,0.000191917096676,-0.000358563204487,4.71377764479e-05,1793249604098260992
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.727348396,745.727348396,717,680,661,636.727348396,878,783,813,650,629,653.272651604,0.413815765117,-0.00541524791562,0.0797821034797,0.999999919388,0.000198015319009,-0.000346215286389,4.63598622769e-05,1793249604114927616
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.147732248,745.147732248,717,680,661,636.147732248,878,783,813,650,629,653.852267752,0.413103864557,-0.00541701877179,0.0798028277371,0.999999932667,0.000193827783406,-0.000308210143529,4.58586203552e-05,1793249604131594240
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.429439058,745.429439058,717.429439058,680.429439058,661,636,878,783,813.429439058,650.429439058,629,654,0.412375291918,-0.00541348440792,0.0798033864857,0.999999930362,0.000201333275844,-0.000310729758158,4.6772052206e-05,1793249604148260864
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.994273835,745.994273835,717.994273835,680.994273835,661,636.005726165,878,783,813.994273835,650.994273835,629,654,0.411641334308,-0.00540815485679,0.0797970095608,0.999999922702,0.000212773105314,-0.000327117304127,4.81456244023e-05,1793249604164927488
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.155041506,745,717,679.844958494,661,637,878,783,813.155041506,650,629,654,0.4102619699,-0.00540206469721,0.0797838500959,0.999999913354,0.000222645800817,-0.000348616544303,4.67714261194e-05,1793249604198260992
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.75046864,745,717,679.24953136,661,637,878,783,813.75046864,650,629,654,0.409658143378,-0.00540138113556,0.0798008456585,0.999999922495,0.000227331703273,-0.000317844567793,4.80091075549e-05,1793249604214927872
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,717.335002126,679.335002126,661,637,878,783,813.664997874,650.335002126,629,654,0.409072914341,-0.00539984546546,0.0798218158774,0.999999931244,0.000232990209268,-0.000284144506865,4.98891762994e-05,1793249604231594752
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,717.911676833,679.911676833,661,637,878,783,813.088323167,650.911676833,629,654,0.408501101679,-0.00539769507914,0.0798456534365,0.999999939157,0.000239350356987,-0.000248332109646,5.2232667071e-05,1793249604248261120
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,717.515345249,679.515345249,661.484654751,636.515345249,877.515345249,783,813.484654751,651,629,654,0.407911126739,-0.00539544097167,0.0798234489689,0.999999928289,0.000239552551169,-0.000288849735495,5.10054694664e-05,1793249604264927488
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,717.058946704,679,661.941053296,636,877.058946704,783,813.941053296,650.941053296,629,654,0.40732361278,-0.00539339767491,0.079793763503,0.999999912158,0.000238546160637,-0.000341125709411,4.91235658966e-05,1793249604281593856
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,717.651175281,679,661.348824719,636,877.651175281,783,813.348824719,650.348824719,629,654,0.406788080252,-0.00539343126016,0.0797717330615,0.999999900609,0.000236681605671,-0.000374885639122,4.71610383762e-05,1793249604298260480
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,717.762148019,679,661,636.237851981,877.762148019,783,813,650,629,654,0.406290892906,-0.0053926542694,0.0797650742685,0.999999898678,0.00023639725088,-0.00038033154435,4.59253262527e-05,1793249604314927104
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,717.183427827,679,661,636.816572173,877.183427827,783,813,650,629,654,0.405848658496,-0.00539071563349,0.0797804447513,0.999999910961,0.000238377498093,-0.000345200316099,4.57312212226e-05,1793249604331594240
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,717,679,661,637,877.393964701,783,813.393964701,650.393964701,629,654,0.405432344347,-0.00539015053036,0.0797984478176,0.999999921062,0.000239057868014,-0.000313961762501,4.64347795831e-05,1793249604348261120
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,717,679,661,637,877.970741202,783,813.970741202,650.970741202,629,654,0.405028057962,-0.00539022278872,0.0798176724855,0.999999929798,0.000239135054778,-0.000284529527087,4.75548814729e-05,1793249604364927744
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.456191686,745.543808314,717,678.456191686,661,637,877.456191686,783,813.456191686,650.456191686,629,654,0.404641673923,-0.00539097862185,0.0798249436618,0.999999930916,0.000239146122303,-0.000280451821042,4.82108372147e-05,1793249604381594368
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.120461552,745.879538448,717,678.120461552,661,636.879538448,877.120461552,783,813.240923104,650,629,654,0.404262476349,-0.00539131657508,0.0798304715356,0.99999993073,0.000240952794958,-0.000279395544325,4.91958899639e-05,1793249604398260736
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.711911255,745.288088745,717,678.711911255,661,636.288088745,877.711911255,783,814.42382251,650,629,654,0.403907636248,-0.00538987784989,0.0798316808901,0.999999926901,0.000249793852318,-0.000284855087,5.15646453715e-05,1793249604414927104
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.702888234,745.297111766,717,679,661,636.297111766,877.702888234,783,814.405776467,650,629,653.702888234,0.40357795182,-0.00538885697488,0.0798322475929,0.999999925534,0.000251362631321,-0.000288353226957,5.09989477463e-05,1793249604431593728
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.123622343,745.876377657,717,679,661,636.876377657,877.123622343,783,813.247244687,650,629,653.123622343,0.403272156663,-0.00538823291409,0.0798322039973,0.999999926554,0.000246025243297,-0.000289988707731,4.76465275456e-05,1793249604448260608
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745.547072796,717,679,661,637,877.452927204,783.452927204,813,650,628.547072796,653.452927204,0.403002585272,-0.00538887923348,0.0798319029643,0.999999926652,0.000243774403044,-0.000291572321839,4.74970368537e-05,1793249604464927488
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.600423647,745,717,678.399576353,661,636.399576353,877.399576353,783.399576353,813,650,628.600423647,653.399576353,0.402527194334,-0.00538848212938,0.0798344405652,0.999999927145,0.000244014897392,-0.000289353319176,4.94171179394e-05,1793249604498260992
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,717,678.179586738,661,636,877,783,813,650.179586738,629,653.179586738,0.402319696198,-0.00538771007709,0.0798370588637,0.999999927974,0.000245225107133,-0.00028526860047,5.03884553339e-05,1793249604514927616
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,717,678.775639031,661,636,877,783,813,650.775639031,629,653.775639031,0.402135958066,-0.00538810436213,0.0798393657535,0.999999929337,0.000245744515818,-0.000279906352374,5.08812244458e-05,1793249604531594240
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,717,679,661.937366822,636,877,783,813.937366822,651,629,653.062633178,0.401821139424,-0.00538689078668,0.0798478193122,0.999999932519,0.000245356242601,-0.000268134948473,5.35370702796e-05,1793249604564928000
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.488148118,745,717.511851882,679,661.488148118,636.511851882,877,783,814,651,629,653,0.401692235631,-0.0053866440444,0.0798463940608,0.999999931474,0.000248422664201,-0.000269266500947,5.32272681041e-05,1793249604581594112
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,717.911713014,679,661,636.911713014,877,783,814,650.911713014,629,653.088286986,0.401568404559,-0.00538679376467,0.0798437496317,0.999999929981,0.000251562554248,-0.000272252817546,5.1318206938e-05,1793249604598260480
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,717.322233553,679,661,636.322233553,877,783,814,650.322233553,629,653.677766447,0.401457895675,-0.00538878510182,0.0798383959862,0.999999927758,0.000252752856214,-0.000280837035025,4.15954709186e-05,1793249604614926848
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,717,679,661,636,877,783,813.737505056,650.262494944,629,653.737505056,0.401358336231,-0.0053897601368,0.0798325879908,0.999999925333,0.000252991771108,-0.000289745489225,3.71066218628e-05,1793249604631593472
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,717,679,661,636,877,783,813.1585051,650.8414949,629,653.1585051,0.401271979153,-0.00538950975862,0.0798262321604,0.999999922755,0.000252083544713,-0.000299044893504,3.89285671521e-05,1793249604648260096
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.418277625,745,717.418277625,679,661,636,877,783,813,651,629,653.418277625,0.401205314411,-0.00538928920062,0.0798229311278,0.999999921279,0.000251933473767,-0.000303886946426,4.02952617019e-05,1793249604664926720
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.994224554,745,717.994224554,679,661,636,877,783,813,651,629,653.994224554,0.401146072676,-0.00538907988331,0.0798207815981,0.99999992023,0.000252069188731,-0.000307048805303,4.14903499299e-05,1793249604681593344
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,717.322123482,678.677876518,661,636,877,783,813,651,629,653.322123482,0.401024498055,-0.00538782479089,0.0798256776789,0.999999922372,0.000254498176177,-0.000297655385073,4.34404968788e-05,1793249604748260096
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,717.902864752,678.097135248,661,636,877,783,813,651,629,653.902864752,0.401006298158,-0.00538724204343,0.0798247480057,0.999999922106,0.00025502553278,-0.000298089143854,4.35105631398e-05,1793249604764926720
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..195aa00a28bd25570d78cc053c7a40560d866787
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_03/simulation_data.csv
@@ -0,0 +1,405 @@
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+332,5.533333333,pose2_to_pose3_retreat,0.591191682925,0.000150052547745,1.07003352708,0.561762361527,0.00882268692666,1.06970492553
+333,5.550000000,pose2_to_pose3_retreat,0.590433290106,0.000150138317656,1.07003347344,0.561003967588,0.00882276888158,1.06970487101
+334,5.566666667,pose2_to_pose3_retreat,0.589678657486,0.000150134601051,1.07003353249,0.560249334843,0.00882276460226,1.06970492633
+335,5.583333333,pose2_to_pose3_retreat,0.588950982029,0.000150036697458,1.07003361205,0.559521660388,0.00882267006494,1.06970500505
+336,5.600000000,pose2_to_pose3_retreat,0.588247080272,0.000150118865074,1.07003355383,0.55881775786,0.00882274983119,1.06970495243
+337,5.616666667,pose2_to_pose3_retreat,0.587567279198,0.000150215295894,1.07003338787,0.558137955777,0.00882284262911,1.06970478088
+338,5.633333333,pose2_to_pose3_retreat,0.586908004418,0.000150068227898,1.07003373468,0.557478683677,0.00882270446326,1.06970512264
+339,5.650000000,pose2_to_pose3_retreat,0.586265561319,0.000150213100079,1.07003363737,0.556836239809,0.0088228470548,1.06970503398
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+341,5.683333333,pose2_to_pose3_retreat,0.585008669019,0.000150217164412,1.07003373941,0.555579346044,0.00882284596674,1.06970513119
+342,5.700000000,pose2_to_pose3_retreat,0.584404313958,0.000150130705226,1.07003356911,0.554974992032,0.00882276309995,1.06970496175
+343,5.716666667,pose2_to_pose3_retreat,0.583825128356,0.00015003515001,1.07003338195,0.554395806642,0.00882266823388,1.06970477374
+344,5.733333333,pose2_to_pose3_retreat,0.583274334212,0.000150119777494,1.07003336167,0.553845011498,0.00882274961871,1.06970475746
+345,5.750000000,pose2_to_pose3_retreat,0.582743404245,0.000150210732821,1.07003340178,0.553314081241,0.00882283950329,1.0697047952
+346,5.766666667,pose2_to_pose3_retreat,0.582228239778,0.00015007449415,1.07003374094,0.552798919529,0.00882271252626,1.06970513212
+347,5.783333333,pose2_to_pose3_retreat,0.581725027339,0.000150156292782,1.07003373762,0.552295706655,0.00882279293501,1.069705131
+348,5.800000000,pose2_to_pose3_retreat,0.581237415066,0.000150226907801,1.07003362543,0.551808093367,0.00882286028634,1.06970502389
+349,5.816666667,pose2_to_pose3_retreat,0.580772557056,0.000150067551701,1.07003359623,0.551343237136,0.00882270693896,1.06970499415
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+352,5.866666667,pose2_to_pose3_retreat,0.579560155156,0.000150078050747,1.07003357302,0.550130835203,0.00882271713386,1.06970496613
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+354,5.900000000,pose2_to_pose3_retreat,0.578865206811,0.000150159942545,1.07003325885,0.549435882913,0.00882278565284,1.06970465217
+355,5.916666667,pose2_to_pose3_retreat,0.578540696815,0.000150157324214,1.07003342727,0.549111376006,0.00882279398576,1.06970483298
+356,5.933333333,pose2_to_pose3_retreat,0.57823348091,0.000150130950766,1.07003356011,0.548804160027,0.00882276716807,1.06970496074
+357,5.950000000,pose2_to_pose3_retreat,0.577946846398,0.000150043805749,1.07003359415,0.548517525655,0.00882268037191,1.0697049912
+358,5.966666667,pose2_to_pose3_retreat,0.577681624261,0.000150103584769,1.07003344583,0.548252302825,0.00882273777488,1.06970484222
+359,5.983333333,pose2_to_pose3_retreat,0.577440415141,0.000150206943724,1.07003349465,0.548011093504,0.00882284040121,1.06970488978
+360,6.000000000,pose2_to_pose3_retreat,0.577220718861,0.000150185220648,1.07003351441,0.547791397841,0.00882282075146,1.06970490906
+361,6.016666667,pose2_to_pose3_retreat,0.577022552909,0.000150069467756,1.07003345211,0.547593231799,0.0088227045304,1.06970484227
+362,6.033333333,pose2_to_pose3_retreat,0.576842960896,0.00015006003505,1.07003370437,0.54741363779,0.00882268781084,1.069705081
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+365,6.083333333,pose2_to_pose3_retreat,0.576406099603,0.000150090446765,1.07003360165,0.546976778289,0.00882272468757,1.06970498857
+366,6.100000000,pose2_to_pose3_retreat,0.576288406415,0.000150054638859,1.07003357156,0.546859085646,0.00882269080724,1.06970496064
+367,6.116666667,pose2_to_pose3_retreat,0.576181927037,0.000149973733511,1.07003343956,0.546752607348,0.0088226137893,1.06970483439
+368,6.133333333,pose2_to_pose3_retreat,0.576086906032,0.000149892562969,1.07003343863,0.546657587077,0.00882253502268,1.06970483143
+369,6.150000000,pose2_to_pose3_retreat,0.576002846388,0.000150088492983,1.07003366875,0.54657352456,0.00882272091235,1.0697050543
+370,6.166666667,pose2_to_pose3_retreat,0.575930130257,0.000150176639743,1.07003370335,0.546500807268,0.00882280539803,1.06970509629
+371,6.183333333,pose2_to_pose3_retreat,0.575870136739,0.000150124529755,1.07003351151,0.546440815422,0.00882275888931,1.06970490247
+372,6.200000000,pose2_to_pose3_retreat,0.575821397566,0.000150045462607,1.07003364492,0.546392076902,0.00882268175245,1.06970502841
+373,6.216666667,pose2_to_pose3_retreat,0.575783088528,0.00015022476676,1.07003351611,0.546353765055,0.00882285192804,1.06970491025
+374,6.233333333,pose2_to_pose3_retreat,0.575752637266,0.000150288236976,1.07003340179,0.546323313624,0.00882291499451,1.06970480054
+375,6.250000000,pose2_to_pose3_retreat,0.575729237469,0.000150245923898,1.0700333427,0.546299914541,0.00882287519966,1.06970474409
+376,6.266666667,pose2_to_pose3_retreat,0.575710721555,0.000150174161587,1.07003339792,0.546281399529,0.00882280654217,1.06970480066
+377,6.283333333,pose2_to_pose3_retreat,0.575697008909,0.000150162265694,1.07003369412,0.546267688771,0.00882280085402,1.0697050917
+378,6.300000000,pose2_to_pose3_retreat,0.575687094334,0.000150241630109,1.07003349532,0.546257771127,0.00882286971602,1.06970489008
+379,6.316666667,pose2_to_pose3_retreat,0.575680253463,0.000150300864007,1.07003342916,0.546250928621,0.00882292343911,1.06970482467
+380,6.333333333,pose2_to_pose3_retreat,0.575675964178,0.000150331234297,1.07003353267,0.546246639523,0.00882295458129,1.06970493183
+381,6.350000000,pose2_to_pose3_retreat,0.575672986195,0.000150287446821,1.07003359019,0.546243662388,0.00882291363557,1.06970498838
+382,6.366666667,pose2_to_pose3_retreat,0.57567113295,0.000150195219355,1.07003361161,0.546241810392,0.00882282548613,1.06970500567
+383,6.383333333,pose2_to_pose3_retreat,0.575669884466,0.000150133088015,1.07003362604,0.546240562748,0.00882276610206,1.06970501732
+384,6.400000000,pose2_to_pose3_retreat,0.575669199328,0.000150098991833,1.07003363396,0.546239878071,0.00882273351352,1.06970502372
+385,6.416666667,pose2_to_pose3_retreat,0.575669067383,0.000150092425544,1.07003363549,0.546239746215,0.00882272723757,1.06970502495
+386,6.433333333,pose2_to_pose3_retreat,0.575669020606,0.000150090097664,1.07003363603,0.54623969947,0.00882272501262,1.06970502539
+387,6.450000000,pose2_to_pose3_retreat,0.575668737952,0.000150091707093,1.07003363799,0.546239416883,0.00882272683599,1.06970502699
+388,6.466666667,pose2_to_pose3_retreat,0.575668451142,0.000150103770447,1.07003363912,0.546239130059,0.00882273884494,1.06970502794
+389,6.483333333,pose2_to_pose3_retreat,0.575668197375,0.000150114444011,1.07003364012,0.54623887628,0.00882274947036,1.06970502877
+390,6.500000000,pose2_to_pose3_retreat,0.575667860201,0.00015012862571,1.07003364145,0.546238539089,0.0088227635881,1.06970502988
+391,6.516666667,pose2_to_pose3_retreat,0.575667633354,0.000150138167,1.07003364234,0.546238312231,0.00882277308635,1.06970503063
+392,6.533333333,pose2_to_pose3_retreat,0.57566753066,0.000150142486338,1.07003364274,0.546238209532,0.00882277738621,1.06970503097
+393,6.550000000,pose2_to_pose3_retreat,0.575667251181,0.000150154241344,1.07003364384,0.54623793004,0.0088227890882,1.06970503189
+394,6.566666667,pose2_to_pose3_retreat,0.575666814571,0.00015017260536,1.07003364556,0.546237493409,0.00882280736939,1.06970503333
+395,6.583333333,pose2_to_pose3_retreat,0.575666259351,0.000150195958192,1.07003364774,0.546236938161,0.00882283061689,1.06970503515
+396,6.600000000,pose2_to_pose3_retreat,0.575665723529,0.000150190931552,1.07003360368,0.546236401871,0.00882282410475,1.06970499383
+397,6.616666667,pose2_to_pose3_retreat,0.575665554081,0.000150183669726,1.07003358024,0.546236232184,0.00882281608837,1.06970497189
+398,6.633333333,pose2_to_pose3_retreat,0.575665486881,0.000150180789839,1.07003357094,0.546236164889,0.00882281290925,1.06970496319
+399,6.650000000,pose2_to_pose3_retreat,0.575665357637,0.000150175251015,1.07003355307,0.546236035463,0.0088228067949,1.06970494646
+400,6.666666667,pose2_to_pose3_retreat,0.575665000789,0.000150159958089,1.07003350371,0.546235678112,0.00882278991294,1.06970490026
+401,6.683333333,pose2_to_pose3_retreat,0.575664478783,0.000150233557607,1.07003353321,0.546235155588,0.00882286187062,1.0697049328
+402,6.700000000,pose2_to_pose3_retreat,0.575664290335,0.000150259742417,1.07003357771,0.546234967473,0.00882288925208,1.06970497898
+403,6.716666667,pose2_to_pose3_retreat,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650641,1.0697049751
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3adc02954d37b75c7f192f79fed2b5e8755f5957
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7275b6ed9267bf8abbbc3d0cf58fa239aae44eee25399662d915bb7d1571e560
+size 25790471
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f59f503348457dd779f41a23b0a5f0c8ba484a6e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_04/franka_data.csv
@@ -0,0 +1,407 @@
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+14,0.233333333,BASELINE,765,745,717.116198641,679,661,636.883801359,877,783,813,651,629,654,0.400974818024,-0.00539115550918,0.0798334121391,0.999999927193,0.00025230134259,-0.000283108215054,4.25269713674e-05,1793249605547095040
+15,0.250000000,BASELINE,765,745,717.707696748,679,661,636.292303252,877,783,813,651,629,654,0.400974246012,-0.00539034031367,0.0798331890617,0.999999927015,0.000252500969712,-0.000283564889744,4.24729081753e-05,1793249605563761664
+16,0.266666667,BASELINE,765.291951097,745,718,679,661,636.291951097,877,783,813,651,629,654,0.400974201424,-0.00538987186223,0.0798332414368,0.999999926802,0.000253386188285,-0.000283532802804,4.2440322831e-05,1793249605580428288
+17,0.283333333,BASELINE,765.869128504,745,718,679,661,636.869128504,877,783,813,651,629,654,0.40097467211,-0.00538974216801,0.0798335629196,0.999999926551,0.00025494120642,-0.000283023212318,4.2428720618e-05,1793249605597094912
+18,0.300000000,BASELINE,766,745,718,679,661,636.555067473,877.444932527,783,813.444932527,650.555067473,629,654,0.400975773155,-0.00539032949199,0.0798343224786,0.999999927269,0.000254381460653,-0.000280982710533,4.24411796064e-05,1793249605613761280
+19,0.316666667,BASELINE,766,745,718,679,661,636.020761265,878,783,814,650,629,654,0.40097698756,-0.00539111087054,0.0798351597977,0.999999928233,0.000253164184437,-0.000278639729054,4.24487881841e-05,1793249605630428160
+20,0.333333333,BASELINE,766,745,718,679,661,636.608258308,878,783,814,650,629,654,0.400976250665,-0.0053914500633,0.0798346131732,0.999999928348,0.000250925631374,-0.000280294053799,4.21313913676e-05,1793249605647094784
+21,0.350000000,BASELINE,765.807075113,745,718,678.807075113,661.192924887,637,877.807075113,782.807075113,813.807075113,650.192924887,629,654,0.400975954734,-0.00539173290496,0.0798344385115,0.999999928544,0.000249179654682,-0.000281177938372,4.1965870058e-05,1793249605663761408
+22,0.366666667,BASELINE,765.22807287,745,718,678.22807287,661.77192713,637,877.22807287,782.22807287,813.22807287,650.77192713,629,654,0.400976541254,-0.00539190297789,0.0798350082141,0.999999928912,0.000248419412071,-0.00028052003356,4.21042789601e-05,1793249605680428288
+23,0.383333333,BASELINE,765,745,717.650640701,678,661.650640701,637,877,782.349359299,813.349359299,650.650640701,629,654,0.400976508031,-0.00539140132101,0.0798350995343,0.999999928482,0.000250140253526,-0.000280501632964,4.22376702054e-05,1793249605697095168
+24,0.400000000,BASELINE,765,745,717.074228883,678,661.074228883,637,877,782.925771117,813.925771117,650.074228883,629,654,0.400976072031,-0.00539046309941,0.0798348799484,0.999999927526,0.000253473579207,-0.000280898853246,4.23678004327e-05,1793249605713761792
+25,0.416666667,BASELINE,765.501851636,745,717.501851636,678.501851636,661,637,877.501851636,783,814,650.501851636,629,654,0.400975531957,-0.00539177108092,0.0798349059045,0.999999927738,0.000252116430744,-0.00028135166677,4.24550661281e-05,1793249605730427904
+26,0.433333333,BASELINE,766,745.079545516,718,679,661,636.920454484,877.920454484,783,813.920454484,651,629,654,0.400975068885,-0.00539320791782,0.0798349672092,0.999999928089,0.000250308367445,-0.000281708761227,4.25282624584e-05,1793249605747094528
+27,0.450000000,BASELINE,766,745.667872089,718,679,661,636.332127911,877.332127911,783,813.332127911,651,629,654,0.400975196714,-0.00539334531515,0.0798350224665,0.999999928239,0.000250050689509,-0.000281401068062,4.25519948805e-05,1793249605763761152
+28,0.466666667,BASELINE,766,745.746587628,718,679,661.253412372,636.253412372,877,783,813.253412372,650.746587628,629,654,0.400975550936,-0.00539292165313,0.0798351917975,0.99999992838,0.000249949586682,-0.0002809938029,4.25203437536e-05,1793249605780427776
+29,0.483333333,BASELINE,766,745.164659439,718,679,661.835340561,636.835340561,877,783,813.835340561,650.164659439,629,654,0.400976198643,-0.00539177065145,0.0798355090102,0.999999928509,0.000250051462916,-0.000280457455757,4.24168951367e-05,1793249605797094400
+30,0.500000000,BASELINE,766,745,718,679,661.589124116,637,877,783,814,650.410875884,629,654,0.40097738851,-0.00539210193768,0.0798360966814,0.999999928832,0.000250161979755,-0.00027919618746,4.24758389576e-05,1793249605813761792
+31,0.516666667,BASELINE,766,745,718,679,661.01611151,637,877,783,814,650.98388849,629,654,0.400978792319,-0.00539301815313,0.0798367910789,0.999999929229,0.000250275906284,-0.000277648856293,4.25988648513e-05,1793249605830429184
+32,0.533333333,BASELINE,765.427359051,745,718,678.427359051,661,636.427359051,877,783,814,651,629,654,0.400977184174,-0.00539127047804,0.0798357325769,0.999999928005,0.000252953893846,-0.000279664023836,4.23415608254e-05,1793249605847095808
+33,0.550000000,BASELINE,765,745,718,678,661,636.158952438,876.841047562,783,813.841047562,650.841047562,629,654,0.400976030234,-0.00538976759976,0.079835037933,0.999999927157,0.000254786424201,-0.000281053537241,4.21733629156e-05,1793249605863762432
+34,0.566666667,BASELINE,765,745,718,678,661,636.737616109,876.262383891,783,813.262383891,650.262383891,629,654,0.400976305698,-0.00538911460066,0.0798354379562,0.999999927455,0.000254190667703,-0.000280518878655,4.22695019891e-05,1793249605880429056
+35,0.583333333,BASELINE,765.314671339,745,718,678.314671339,661.629342679,636.685328661,876.314671339,783,813,650.314671339,629,654,0.400976173249,-0.00538994384057,0.0798353165321,0.999999927964,0.000252094074625,-0.000280599818252,4.22464152946e-05,1793249605897095424
+36,0.600000000,BASELINE,765.89039228,745,718,678.89039228,662.780784561,636.10960772,876.89039228,783,813,650.89039228,629,654,0.400975702398,-0.00539200273771,0.0798347625181,0.99999992864,0.000248752395761,-0.000281191454634,4.21244195731e-05,1793249605913761280
+37,0.616666667,BASELINE,766,745,718,678.536369854,662.072739708,636,877,783,813,650.536369854,629,654,0.400974837902,-0.00539226796062,0.0798348203627,0.999999928137,0.000250195653194,-0.000281686617093,4.21916363142e-05,1793249605930427904
+38,0.633333333,BASELINE,765.962442872,745,717.962442872,678.037557128,661,636,877,783,813.037557128,650.037557128,629,654,0.400974066525,-0.0053920906892,0.0798350477993,0.999999927422,0.000252646160042,-0.000282021566079,4.22984292824e-05,1793249605947094528
+39,0.650000000,BASELINE,765.369696944,745,717.369696944,678.630303056,661,636,877,783,813.630303056,650.630303056,629,654,0.400976040055,-0.00539160731266,0.0798356553227,0.999999927719,0.000253353210253,-0.000280323514967,4.23325283255e-05,1793249605963761664
+40,0.666666667,BASELINE,765.218011511,745,717.218011511,679,661,636.218011511,877,783,813.781988489,651,629,654,0.400976827916,-0.00539107208265,0.0798356911064,0.999999927773,0.000254095919799,-0.000279457341801,4.23352023267e-05,1793249605980428544
+41,0.683333333,BASELINE,765.79737047,745,717.79737047,679,661,636.79737047,877,783,813.20262953,651,629,654,0.400975650569,-0.00539045090712,0.079834779249,0.999999927428,0.000254897733565,-0.000279969981139,4.22857902747e-05,1793249605997095168
+42,0.700000000,BASELINE,766,745,718,679,661,636.626554746,877.373445254,783,813,650.626554746,629,654,0.400975352743,-0.00539043018734,0.0798345285706,0.999999927721,0.00025292335019,-0.000280738185583,4.21064432814e-05,1793249606013761536
+43,0.716666667,BASELINE,766,745,718,679,661,636.052246424,877.947753576,783,813,650.052246424,629,654,0.400975527979,-0.00539073243163,0.0798346335172,0.999999928348,0.000249455747983,-0.000281643849488,4.18572088538e-05,1793249606030427904
+44,0.733333333,BASELINE,766,745,718,678.47824349,660.47824349,636,877.47824349,783,813,650.52175651,629,653.47824349,0.400975870781,-0.0053916956967,0.0798355624173,0.999999928772,0.000249312898179,-0.000280219665995,4.21416306036e-05,1793249606047094784
+45,0.750000000,BASELINE,766,745,717.901269648,678,660.098730352,636.098730352,876.901269648,783,813,650.901269648,629,653,0.400976466352,-0.00539259863238,0.0798365585993,0.999999929206,0.000249298407673,-0.000278638434268,4.24162865195e-05,1793249606063761152
+46,0.766666667,BASELINE,766,745,717.309301215,678,660.690698785,636.690698785,876.309301215,783,813,650.309301215,629,653,0.40097824093,-0.00539286968563,0.0798374789598,0.999999929799,0.000248262912569,-0.000277437464472,4.23753441226e-05,1793249606080427776
+47,0.783333333,BASELINE,766,745,717,678,661,636.723773598,876.276226402,783,813.276226402,650.276226402,629,653.276226402,0.400978235479,-0.00539251726166,0.0798371716494,0.999999929474,0.000249083242493,-0.000277862796304,4.24468377335e-05,1793249606097094656
+48,0.800000000,BASELINE,766,745,717,678,661,636.145293601,876.854706399,783,813.854706399,650.854706399,629,653.854706399,0.400976282275,-0.00539148261394,0.0798355209921,0.999999928136,0.000251934260801,-0.00028006766646,4.26413615312e-05,1793249606113761280
+49,0.816666667,BASELINE,765.571828131,745,717,678.428171869,661,636.428171869,877,783,814,650.571828131,629,654,0.400976169178,-0.00539090483743,0.0798351477399,0.999999927826,0.000252462463204,-0.000280722275688,4.24826966649e-05,1793249606130428416
+50,0.833333333,BASELINE,765.000044599,745,717,678.999955401,661,636.999955401,877,783,814,650.000044599,629,654,0.400976673265,-0.0053904802986,0.0798352029378,0.999999927864,0.000252211577701,-0.000280856917071,4.22055699857e-05,1793249606147095040
+51,0.850000000,BASELINE,765,745,717,679,661,636.409210128,877,783,813.409210128,650.590789872,629.590789872,654,0.4009761508,-0.00539068046713,0.0798357448192,0.999999928041,0.000251922367515,-0.000280514558159,4.20137551888e-05,1793249606163761408
+52,0.866666667,BASELINE,765.178099204,745,717.178099204,679,661,636.178099204,877,783,813,651,629.821900796,654,0.40097545105,-0.00539098421669,0.0798358397871,0.999999928131,0.00025148752824,-0.0002806017055,4.18773061771e-05,1793249606180427776
+53,0.883333333,BASELINE,765.757462876,745,717.757462876,679,661,636.757462876,877,783,813,651,629.242537124,654,0.400974352051,-0.00539152122855,0.0798349277557,0.999999928027,0.00025072458769,-0.000281656631068,4.18655834615e-05,1793249606197094400
+54,0.900000000,BASELINE,765.665794831,745,717.665794831,679,661,636.665794831,877,783,813,651,629,654,0.400975253938,-0.00539251949549,0.0798355198444,0.999999928626,0.00024961968087,-0.000280494016773,4.1953969313e-05,1793249606213761280
+55,0.916666667,BASELINE,765.090940127,745,717.090940127,679,661,636.090940127,877,783,813,651,629,654,0.400977596593,-0.00539384989616,0.0798371949976,0.999999929726,0.000248268536047,-0.000277734628997,4.21144398668e-05,1793249606230427904
+56,0.933333333,BASELINE,765.485049387,745,717,679,661,636.485049387,877,783,813,651,629,653.514950613,0.400977368794,-0.00539338263426,0.0798370610009,0.999999929435,0.000249078139771,-0.000278061011021,4.21074885065e-05,1793249606247094528
+57,0.950000000,BASELINE,765.937335571,745,717.062664429,678.937335571,661,636.937335571,877,783,813,651,629,653.062664429,0.400976779461,-0.00539263238498,0.0798366547495,0.999999928974,0.000250155570511,-0.00027875446087,4.20707053242e-05,1793249606263761152
+58,0.966666667,BASELINE,765.347847853,745,717.652152147,678.347847853,661,636.347847853,877,783,813,651,629,653.652152147,0.400977211762,-0.00539234318029,0.0798368179208,0.999999929301,0.000250070861439,-0.000277658649122,4.20476349733e-05,1793249606280428288
+59,0.983333333,BASELINE,765.238987314,745,718,678.238987314,661.238987314,636.238987314,877.238987314,783,813,651,629,654,0.400977424017,-0.00539163388689,0.0798367278968,0.999999929215,0.000250703716046,-0.000277412209963,4.19498325111e-05,1793249606297095168
+60,1.000000000,BASELINE,765.822004139,745,718,678.822004139,661.822004139,636.822004139,877.822004139,783,813,651,629,654,0.400977319507,-0.005390319863,0.0798362733903,0.999999928533,0.000252369525393,-0.000278388468333,4.17444508967e-05,1793249606313761792
+61,1.016666667,BASELINE,765.601779651,745,718,679,661.601779651,636.601779651,877.203559303,783,813.398220349,651,629,654,0.400976253698,-0.00539058729111,0.079835388913,0.999999928214,0.000252098856595,-0.000279777053856,4.17456681992e-05,1793249606330428160
+62,1.033333333,BASELINE,765.028552164,745,718,679,661.028552164,636.028552164,876.057104328,783,813.971447836,651,629,654,0.400974765424,-0.00539154972496,0.0798343154749,0.999999928052,0.000250977157607,-0.00028134684602,4.1837680184e-05,1793249606347094528
+63,1.050000000,BASELINE,765.546855547,745,718,679,661.546855547,636.546855547,876.546855547,783,814,650.453144453,629,654,0.400974754013,-0.00539265833529,0.0798347455019,0.999999928518,0.000249048707758,-0.000281398727545,4.18794208443e-05,1793249606363760896
+64,1.066666667,BASELINE,765.874057244,745,718,679,661.874057244,636.874057244,877,783,813.874057244,650,629,654,0.400975167524,-0.00539346954771,0.0798354464721,0.999999929036,0.000247649425874,-0.000280778899742,4.19567154162e-05,1793249606380427776
+65,1.083333333,BASELINE,765.281768664,745,718,679,661.281768664,636.281768664,877,783,813.281768664,650,629,654,0.400976867784,-0.00539315116972,0.0798368588719,0.999999929635,0.000248366162374,-0.000277966473755,4.21754183223e-05,1793249606397094656
+66,1.100000000,BASELINE,765,745,717.698189484,678.698189484,661,636,877,783,813,650.301810516,629,653.698189484,0.400977297582,-0.00539247868675,0.0798371923548,0.999999929603,0.000249588988721,-0.000276987763618,4.21621826891e-05,1793249606413761536
+67,1.116666667,BASELINE,765,745,717.122513325,678.122513325,661,636,877,783,813,650.877486675,629,653.122513325,0.40097657455,-0.0053914848857,0.0798365468185,0.999999929001,0.000251271045617,-0.000277672984285,4.19384838777e-05,1793249606430428160
+68,1.133333333,BASELINE,765,745,717,678.449795731,661,636,877,783,813,650.550204269,629,653.449795731,0.400976527747,-0.00539126165181,0.0798364125717,0.999999928678,0.000252385346825,-0.000277824371252,4.19425429481e-05,1793249606447095040
+69,1.150000000,BASELINE,765,745,717.022055147,679,661,636.022055147,877,783,813.022055147,650,629,654,0.400976692477,-0.00539124152093,0.0798364241365,0.999999928447,0.000253291255178,-0.000277821514294,4.20050122166e-05,1793249606463761408
+70,1.166666667,BASELINE,765,745,717.616655948,679,661,636.616655948,877,783,813.616655948,650,629,654,0.400977602613,-0.00539108585166,0.0798366325707,0.999999928652,0.000252771994214,-0.000277561108294,4.19853311752e-05,1793249606480427776
+71,1.183333333,BASELINE,765.205692859,745,717.794307141,679,661.205692859,637,877,783,813.794307141,650.205692859,629,654,0.400978078894,-0.00539119424518,0.0798368345184,0.99999992872,0.000252537054209,-0.000277525194232,4.19989930093e-05,1793249606497094144
+72,1.200000000,BASELINE,765.784633699,745,717.215366301,679,661.784633699,637,877,783,813.215366301,650.784633699,629,654,0.400977767906,-0.00539178180407,0.0798370246958,0.999999928543,0.000252818039776,-0.000277896640706,4.20731584518e-05,1793249606513761024
+73,1.216666667,BASELINE,765.638509079,745,717.361490921,679,661.638509079,637,876.638509079,783,813,650.638509079,629,653.638509079,0.400977617329,-0.00539106858759,0.0798374596577,0.999999928828,0.000252523844154,-0.000277182325103,4.17740045494e-05,1793249606530427904
+74,1.233333333,BASELINE,765.062886141,745,717.937113859,679,661.062886141,637,876.062886141,783,813,650.062886141,629,653.062886141,0.400977561774,-0.00538958484647,0.0798380396196,0.999999929385,0.000251888935369,-0.000275824849687,4.12537119631e-05,1793249606547094784
+75,1.250000000,BASELINE,765,745,717.489134609,679,661,637,876.510865391,783.510865391,813.510865391,650,629,653.510865391,0.400978274988,-0.00539038464946,0.0798380229295,0.999999929162,0.000253133232011,-0.000275395715709,4.19046432507e-05,1793249606563761664
+76,1.266666667,BASELINE,765.08703734,745,717,679,661,637,877,783.91296266,814,650.08703734,629,654,0.400978878685,-0.00539124549675,0.0798378843358,0.999999928863,0.000254293624178,-0.000275314002558,4.25633202723e-05,1793249606580428544
+77,1.283333333,BASELINE,765.678569127,745,717,679,661,637,877,783.321430873,814,650.678569127,629,654,0.400978301067,-0.00539083679327,0.0798374633144,0.999999928685,0.000253631745377,-0.000276586082345,4.24342655971e-05,1793249606597095168
+78,1.300000000,BASELINE,765.736016222,745,717,679,661,637,877,783,813.736016222,651,629,654,0.400977545772,-0.00539075453964,0.0798368643165,0.999999928652,0.000252601442674,-0.000277690601462,4.21436508695e-05,1793249606613761536
+79,1.316666667,BASELINE,765.157881247,745,717,679,661,637,877,783,813.157881247,651,629,654,0.400976579032,-0.00539106077434,0.0798360535196,0.999999928791,0.000251132700919,-0.000278595716628,4.16607732627e-05,1793249606630428160
+80,1.333333333,BASELINE,765.417658498,745,717.417658498,679,661,636.582341502,877,783,813.417658498,650.582341502,629,654,0.400975880647,-0.00539117599962,0.0798358112633,0.999999928632,0.000251384511684,-0.000278933477255,4.16961291109e-05,1793249606647094528
+81,1.350000000,BASELINE,765.992223311,745,717.992223311,679,661,636.007776689,877,783,813.992223311,650.007776689,629,654,0.400975283077,-0.00539121946635,0.0798357825968,0.999999928361,0.000252282701029,-0.000279058093701,4.19261753248e-05,1793249606663761152
+82,1.366666667,BASELINE,765.419999012,745,717.419999012,679,661,636,877,782.419999012,814,650,629,654,0.400976210585,-0.005391685747,0.0798360278571,0.999999928875,0.000250810606033,-0.000278575232399,4.17126290689e-05,1793249606680428288
+83,1.383333333,BASELINE,765,745,717,678.834623964,661,636.165376036,877,782.165376036,814,650,629,653.834623964,0.40097680413,-0.00539174618658,0.0798360707473,0.999999928961,0.000250688838007,-0.000278393562944,4.15962221383e-05,1793249606697095168
+84,1.400000000,BASELINE,765,745,717,678.255710111,661,636.744289889,877,782.744289889,814,650,629,653.255710111,0.400976510247,-0.00539077727714,0.0798355981944,0.999999927948,0.000254025008736,-0.000278985893354,4.17379403914e-05,1793249606713761792
+85,1.416666667,BASELINE,765.322580767,745,717.322580767,678.322580767,661,637,877,783,813.677419233,650.322580767,629,653,0.40097636956,-0.00539084311264,0.0798358566148,0.999999927929,0.000254432750799,-0.000278654512711,4.19300100119e-05,1793249606730428160
+86,1.433333333,BASELINE,765.900378729,745,717.900378729,678.900378729,661,637,877,783,813.099621271,650.900378729,629,653,0.400976350079,-0.00539172761046,0.0798366933615,0.999999928698,0.000252523598953,-0.000277592316784,4.21619162667e-05,1793249606747095040
+87,1.450000000,BASELINE,765.524948126,745,717.524948126,679,661.475051874,637,877,783,813,650.524948126,629,653,0.400974900766,-0.0053917054459,0.079835637608,0.999999928218,0.000252590687662,-0.000279248574824,4.22193209719e-05,1793249606763761408
+88,1.466666667,BASELINE,765.050354617,745,717,679,661.949645383,637,877,783,813.050354617,650,629,653.050354617,0.400973359869,-0.00539151116479,0.0798343920217,0.999999927577,0.00025296833002,-0.00028119268223,4.2227499779e-05,1793249606780427776
+89,1.483333333,BASELINE,765.639356171,745,717,679,661.360643829,637,877,783,813.639356171,650,629,653.639356171,0.400974025783,-0.00539149631211,0.0798353333718,0.999999928051,0.000252263773331,-0.000280157638081,4.2097996607e-05,1793249606797094400
+90,1.500000000,BASELINE,766,745,717.225700686,678.774299314,661.225700686,637,877,783,813.774299314,650.225700686,629,654,0.400974743976,-0.00539192420697,0.0798358337219,0.999999928529,0.000251217409092,-0.000279405550672,4.20131813892e-05,1793249606813761024
+91,1.516666667,BASELINE,766,745,717.807848899,678.192151101,661.807848899,637,877,783,813.192151101,650.807848899,629,654,0.400975544731,-0.00539305132993,0.0798356376037,0.999999929012,0.000249631230626,-0.000279100334974,4.19989415595e-05,1793249606830427904
+92,1.533333333,BASELINE,766,745.384318189,717.615681811,678.384318189,661.615681811,637,877,783.384318189,813.384318189,650.615681811,629,654,0.40097625228,-0.00539268951136,0.0798357883219,0.999999928868,0.000250726591967,-0.000278624822998,4.20568473955e-05,1793249606847095040
+93,1.550000000,BASELINE,766,745.957989532,717.042010468,678.957989532,661.042010468,637,877,783.957989532,813.957989532,650.042010468,629,654,0.400976913907,-0.00539159409302,0.079836109926,0.999999928411,0.000253143144908,-0.000278065406201,4.21502993212e-05,1793249606863762432
+94,1.566666667,BASELINE,765.467483327,745.467483327,717,679,661.532516673,637,877.532516673,783.467483327,813.467483327,650.532516673,629,653.467483327,0.400977482435,-0.00539137234893,0.0798369364737,0.999999928959,0.000252231708523,-0.000276999334375,4.16323311854e-05,1793249606880428800
+95,1.583333333,BASELINE,765.110495443,745,717.110495443,678.889504557,661.889504557,637,877.889504557,783,813,650.889504557,629,653.110495443,0.400977835645,-0.00539117898025,0.0798374767487,0.999999929382,0.000251373303858,-0.000276304318945,4.1267292058e-05,1793249606897095168
+96,1.600000000,BASELINE,765.703243753,745,717.703243753,678.296756247,661.296756247,637,877.296756247,783,813,650.296756247,629,653.703243753,0.400977281212,-0.00539080815231,0.0798365934588,0.999999928926,0.000251894071597,-0.00027740349295,4.17805645775e-05,1793249606913761536
+97,1.616666667,BASELINE,765.711726899,745,718,678,661,637,877,783,813,650,629,654,0.400976940129,-0.00539141418856,0.0798361287684,0.999999928723,0.000251896377963,-0.000278080416557,4.21205056881e-05,1793249606930428160
+98,1.633333333,BASELINE,765.134436478,745,718,678,661,637,877,783,813,650,629,654,0.400976812945,-0.00539299961094,0.079836083758,0.999999928775,0.00025137888444,-0.000278333999599,4.22866678782e-05,1793249606947094528
+99,1.650000000,BASELINE,765.440582887,745,718,678.440582887,661,637,877,783,813,650,629,654,0.400977297493,-0.00539249097924,0.0798367746263,0.999999929124,0.000251080010677,-0.000277369599677,4.21444857224e-05,1793249606963760896
+100,1.666666667,BASELINE,766,745,718,679,661,637,877,783,813,650,629,654,0.400977932113,-0.00539139410791,0.0798376488581,0.999999929552,0.000250817686682,-0.000276097901454,4.19111824354e-05,1793249606980427776
+101,1.683333333,BASELINE,766,745,718,679,661,637,877,783,813,650,629,654,0.400977230144,-0.00539207716967,0.0798370216134,0.999999929607,0.000249436879223,-0.000277168590316,4.177100297e-05,1793249606997094656
+102,1.700000000,BASELINE,765.810029703,745,718,679,661.189970297,636.810029703,877,783,813.189970297,650,629,654,0.40097660646,-0.00539222962493,0.0798365211673,0.999999929444,0.000249226877109,-0.000277975537878,4.15750939946e-05,1793249607013761536
+103,1.716666667,BASELINE,765.231452089,745,718,679,661.768547911,636.231452089,877,783,813.768547911,650,629,654,0.400976142916,-0.00539129666004,0.0798362801031,0.999999928835,0.000251411899704,-0.000278242970445,4.12651835552e-05,1793249607030428160
+104,1.733333333,BASELINE,765.346371442,745,717.653628558,679,661.653628558,636.346371442,876.653628558,783,814,650.346371442,629,654,0.400976621091,-0.00539123030367,0.0798367314527,0.999999928819,0.000252123958608,-0.000277633931287,4.14096428418e-05,1793249607047094784
+105,1.750000000,BASELINE,765.923692233,745,717.076307767,679,661.076307767,636.923692233,876.076307767,783,814,650.923692233,629,654,0.400977727174,-0.00539174177395,0.0798376444817,0.999999929199,0.000251853892864,-0.000276440488968,4.18570612331e-05,1793249607063761152
+106,1.766666667,BASELINE,766,745,717.496763048,679,661.496763048,636.503236952,876.496763048,783,813.503236952,651,629,654,0.400978217942,-0.00539166330804,0.0798376677715,0.999999929457,0.000251198017508,-0.000276099428081,4.18797193624e-05,1793249607080427776
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,636,877,783,813,650,629,654,0.40097808369,-0.00539213554789,0.079837445624,0.999999929903,0.000249280582097,-0.000276226179445,4.18682379008e-05,1793249607123268096
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,636.579586014,877,783,813,650.579586014,629,653.420413986,0.400978990118,-0.00539171627681,0.079837888537,0.999999929677,0.000251038580607,-0.000275422737054,4.20534692015e-05,1793249607139934720
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.842453592,745,718,679,661,636.842453592,877,783,813,650.842453592,629,653.157546408,0.400978872602,-0.0053914057322,0.079837802253,0.999999929244,0.000252408342841,-0.000275722748869,4.21694811548e-05,1793249607156601088
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.268786751,745,718,679,661,636.268786751,877,783,813,650.268786751,629,653.731213249,0.400976050586,-0.00539138236194,0.0798363182241,0.999999928269,0.000252752673975,-0.00027893726581,4.2102667116e-05,1793249607173267712
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,717.694230741,679,661,636.305769259,877,783,813,650,629,654,0.400975136268,-0.00539137778371,0.0798359722098,0.999999927973,0.000252829079345,-0.000279962239469,4.1864196495e-05,1793249607189934592
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,717.118890861,679,661,636.881109139,877,783,813,650,629,654,0.400975903803,-0.00539138977279,0.0798366294856,0.999999928283,0.000252669277449,-0.000279056879765,4.14743909415e-05,1793249607206600960
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,717.472368601,679,661,637,877,783,813,650.472368601,629,654,0.400976877987,-0.00539193543696,0.0798372218456,0.999999929166,0.000250699505808,-0.00027767849815,4.13782860355e-05,1793249607223267328
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.065563409,745,718,678.934436591,661,637,877,783,813,650.934436591,629,654,0.400977906411,-0.00539248926632,0.0798377414426,0.999999930069,0.000248623420458,-0.000276289591199,4.13717202743e-05,1793249607239933952
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.641543762,745,718,678.358456238,661,637,877,783,813,650.358456238,629,654,0.400978938063,-0.00539202448959,0.0798378262083,0.999999930016,0.000249389884628,-0.000275777925495,4.14666658709e-05,1793249607256600576
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.782720738,745,717.782720738,678.217279262,661,636.782720738,877,783,813,650.217279262,629,654,0.40098390599,-0.00539188764831,0.0798400841412,0.999999930799,0.000250222198785,-0.000272132863719,4.16586944438e-05,1793249607273267456
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.207388788,745,717.207388788,678.792611212,661,636.207388788,877,783,813,650.792611212,629,654,0.400995360474,-0.00539229120917,0.0798459232181,0.999999932906,0.000251163026496,-0.000263324304646,4.20107052341e-05,1793249607289934336
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.376535078,745,717.376535078,679,661,636,877,783,813,651,629,653.623464922,0.401023773404,-0.00539284877731,0.0798564423471,0.999999937652,0.00025150504862,-0.000244288585447,4.20099251262e-05,1793249607306601216
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.965301777,745,717.965301777,679,661,636,877,783,813,651,629,653.034698223,0.401061744857,-0.00539349315073,0.0798695993585,0.99999994341,0.000251509557723,-0.000219488391036,4.18102966679e-05,1793249607323267840
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,718,678.455031637,661,636.544968363,877,783,813.544968363,651,629,653,0.401125594491,-0.00539565212433,0.0798861944668,0.999999951022,0.000249032103698,-0.000184961614211,4.15651753374e-05,1793249607339934464
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.87683278,745,717.87683278,678.12316722,661,636.87683278,877,783,813.87683278,651,629,653,0.401192582959,-0.00539738941771,0.0799010334804,0.999999956427,0.000247115963953,-0.000156185489973,4.10544340093e-05,1793249607356600832
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.301926758,745,717.301926758,678.698073242,661,636.301926758,877,783,813.301926758,651,629,653,0.401265139835,-0.00539723223698,0.0799086420075,0.999999957147,0.000247828623657,-0.000150735017577,3.957993089e-05,1793249607373267200
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.272607011,745,717.272607011,679,661,636,877,783,813,650.727392989,629,653.272607011,0.401348787605,-0.00539731228216,0.0799158994134,0.999999958535,0.000248230018972,-0.000141091563626,3.74962007389e-05,1793249607389933824
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.846729018,745,717.846729018,679,661,636,877,783,813,650.153270982,629,653.846729018,0.401444702374,-0.00539765470933,0.0799227684639,0.999999960533,0.000248287142503,-0.000126810493307,3.47386395549e-05,1793249607406600448
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.566494678,744.566494678,717.566494678,679,661,636.433505322,877,783,813,650.433505322,629.433505322,654,0.401558397888,-0.00539993410377,0.0799275799143,0.999999962441,0.000245175601949,-0.000118387802653,3.14706298207e-05,1793249607423267328
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.02428022,717.02428022,679,661,636.97571978,877,782.97571978,813,650.97571978,629.97571978,654,0.401679897331,-0.00540283988504,0.0799318191542,0.999999964333,0.000240964075239,-0.000111746291895,2.79889978105e-05,1793249607439933952
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.60117168,717.60117168,679,661,636.39882832,877,782.39882832,813,650.39882832,629.39882832,654,0.401831628737,-0.0054039466701,0.0799400903508,0.999999966685,0.000237982004563,-9.70842327924e-05,2.38764530624e-05,1793249607456600832
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.178036812,745,718,679,661,636.178036812,877,782.178036812,813,650.178036812,629,654,0.401991750956,-0.00540462157536,0.0799478017891,0.999999968762,0.000234857149843,-8.33430470989e-05,1.92704481568e-05,1793249607473267968
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.754842896,745,718,679,661,636.754842896,877,782.754842896,813,650.754842896,629,654,0.402170667008,-0.00540432915027,0.0799542594724,0.999999970564,0.000231412485963,-7.16644481857e-05,1.35591850457e-05,1793249607489934080
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661,637,877,783,813,650.662493613,629,654,0.402361250651,-0.00540589121042,0.0799576811486,0.999999972628,0.000224542048524,-6.53419562781e-05,7.37771412998e-06,1793249607506600448
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,637,877,783,813,650.075500227,629,654,0.402560459075,-0.00540882411857,0.0799588585884,0.999999974874,0.000215139255776,-6.29787336183e-05,8.48661834257e-07,1793249607523266816
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.492773305,745,718,679,661,637,877.507226695,783.507226695,813,650,629,654,0.402790242321,-0.00541296193771,0.0799534681797,0.999999976011,0.000205893322329,-7.4406764526e-05,-7.01641676501e-06,1793249607539933440
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.088125084,745,718,678.911874916,661,636.911874916,878,783.911874916,813,650.088125084,629,653.911874916,0.403030086801,-0.0054168080153,0.0799474886167,0.999999976792,0.000196691548346,-8.65821446249e-05,-1.52424634919e-05,1793249607556600064
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.662410431,745,718,678.337589569,661,636.337589569,878,783.337589569,813,650.662410431,629,653.337589569,0.403300538949,-0.005418063474,0.079943607107,0.999999977905,0.000187605654184,-9.16501178223e-05,-2.43719327576e-05,1793249607573266944
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.763091391,745,717.763091391,678.236908609,661,636.236908609,877.763091391,783,813.236908609,650.763091391,629,653.236908609,0.403594414214,-0.0054205532383,0.0799431538689,0.999999985441,0.000140221126004,-9.17127089851e-05,-3.23337875602e-05,1793249607589934080
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.188289696,745,717.188289696,678.811710304,661,636.811710304,877.188289696,783,813.811710304,650.188289696,629,653.811710304,0.403921696899,-0.00542480344223,0.0799475902348,0.999999994942,3.82128176082e-05,-8.46363269388e-05,-3.86303207142e-05,1793249607606600960
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,717.398282219,679,661.398282219,637,877,783,813.601717781,650,629,654,0.404273441757,-0.00542427671432,0.0799502683354,0.999999994737,5.77725747273e-05,-7.87298153526e-05,-3.14654109113e-05,1793249607623267584
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,717.990587989,679,661.990587989,637,877,783,813.009412011,650,629,654,0.404637103378,-0.00542142289952,0.0799520898953,0.999999987826,0.000136554330322,-7.33932073062e-05,-1.77427464786e-05,1793249607639934208
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.566577035,718,679,662,637,877.566577035,783,813,650.566577035,629,654,0.4050641494,-0.0054249248,0.0799561153021,0.99999998891,0.000132965085921,-6.21532820177e-05,-2.52484470882e-05,1793249607656600576
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.857508014,718,679,662,637,878,783.142491986,813,651,629,654,0.405495691634,-0.00542924913364,0.0799571939194,0.999999990024,0.000125358870076,-5.69117631194e-05,-3.15851678238e-05,1793249607673267200
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.281016385,718,679,662,637,878,783.718983615,813,651,629,654,0.405937810999,-0.00543576584283,0.0799491888691,0.999999990976,0.000109568870325,-7.02304168123e-05,-3.33174090801e-05,1793249607689933568
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.301893833,745.301893833,718,679,662,637,878,783.698106167,813.301893833,651,629,653.698106167,0.406392956625,-0.00544012694321,0.0799398394888,0.999999990279,0.000103606963115,-8.69538347343e-05,-3.38507391549e-05,1793249607706600192
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.890908621,745.890908621,718,679,662,637,878,783.109091379,813.890908621,651,629,653.109091379,0.406860491136,-0.00544243791815,0.0799292115609,0.999999988008,0.000106992218505,-0.000106915409636,-3.3243825796e-05,1793249607723267072
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.528776867,745.528776867,717.528776867,679.471223133,662,637,878,783.471223133,814,651,629,653.471223133,0.407373960977,-0.00545812168503,0.0799257526452,0.999999988773,8.95948389566e-05,-0.000115581349962,-3.26778318256e-05,1793249607739933696
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.049333931,745,717.049333931,679.950666069,662,637,878,783.950666069,814,650.950666069,629,654,0.407902130939,-0.00547651890616,0.07992324463,0.999999989688,6.74685263964e-05,-0.00012261969161,-3.21785706107e-05,1793249607756600576
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.625033255,745,717.625033255,679.374966745,662,637,878,783.374966745,814,650.374966745,629,654,0.408475737741,-0.00549143454432,0.0799134953993,0.999999988697,4.52906363408e-05,-0.000139687436753,-3.22920696623e-05,1793249607773267456
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,718,679,662.200271165,637.200271165,878,783,814,650.200271165,629,654,0.409075099818,-0.00550058875082,0.0799148067879,0.999999989385,3.24499812287e-05,-0.000138247946114,-3.26332706552e-05,1793249607789934336
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,718,679,662.774647122,637.774647122,878,783,814,650.774647122,629,654,0.40972257249,-0.00549898065227,0.0799367793174,0.99999999353,3.70512010068e-05,-0.000102237099267,-3.33998168941e-05,1793249607806600960
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,717.640841542,679.359158458,663,637.640841542,878,783,814,651,629,654,0.410395026506,-0.005502042035,0.079966909959,0.999999997446,3.328994351e-05,-5.3868812527e-05,-3.31225769585e-05,1793249607823267328
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,717.049786144,679.950213856,663,637.049786144,878,783,814,651,629,654,0.411083610137,-0.00550811835005,0.0800023080274,0.999999999188,2.41293060638e-05,2.47827010561e-06,-3.21713981275e-05,1793249607839933696
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.469901775,745,717,680,662.469901775,637,879.06019645,783,814,651,629.530098225,654,0.411756126088,-0.00551063102625,0.0799862547813,0.999999998792,2.07351719312e-05,-2.80420962456e-05,-3.46261368012e-05,1793249607856600576
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.108388018,745,717.108388018,680,662.108388018,637,879.891611982,783,814,651,629.891611982,654,0.412436219619,-0.00551292270404,0.0799624062477,0.99999999685,1.61952286696e-05,-6.79441856392e-05,-3.77066034618e-05,1793249607873267456
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.684232028,745,717.684232028,680,662.684232028,637,879.315767972,783,814,651,629.315767972,654,0.413155367493,-0.00551567492972,0.0799253485718,0.999999992622,4.42610733796e-06,-0.000113848059375,-4.21346061965e-05,1793249607889934080
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.750102708,745.249897292,718,680,662.750102708,637,879.249897292,783,814,650.750102708,629,654,0.413902666277,-0.00552032878256,0.0799100334131,0.999999990821,-7.74881990182e-06,-0.00012759724545,-4.4904747177e-05,1793249607906600960
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.196795762,745.803204238,718,680,662.196795762,637,879.803204238,783,814,650.196795762,629,654,0.414684144228,-0.00552729147246,0.0799211166529,0.999999993516,-2.04164528359e-05,-0.000102306228362,-4.56620168226e-05,1793249607923267840
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.396195705,745.603804295,717.603804295,680,662.396195705,637,879.603804295,783,814,650,629,654,0.415467149842,-0.0055317703933,0.0799395938603,0.99999999608,-2.09630439529e-05,-7.39313016161e-05,-4.39910087223e-05,1793249607939934208
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,717,680.010472999,663,637.010472999,879.020945999,783,814,650.010472999,629,654,0.416251285465,-0.00553491431601,0.0799614258601,0.99999999803,-1.51852272313e-05,-4.4958596622e-05,-4.10833608173e-05,1793249607956600832
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,717,680.590994331,663,637.590994331,880.181988662,783,814,650.590994331,629,654,0.417051030661,-0.00554002064798,0.0799437028754,0.999999995713,-2.93539805839e-05,-7.61069609177e-05,-4.38244968631e-05,1793249607973267200
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.83044348,745,717.16955652,681,662.83044348,638,881,783,813.83044348,650.83044348,629,654,0.417888412341,-0.00554564548052,0.0799411213728,0.999999995046,-4.3618196772e-05,-7.66442748618e-05,-4.61739045329e-05,1793249607989933824
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.256553205,745,717.743446795,681,662.256553205,638,881,783,813.256553205,650.256553205,629,654,0.418815543992,-0.0055525067576,0.0799746470779,0.99999999717,-5.81100579502e-05,-4.18480104513e-06,-4.75891750612e-05,1793249608006600448
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.325925962,745,718,681,662.325925962,638,881.325925962,783.325925962,813.325925962,650.325925962,629,654,0.419691495536,-0.0055571515313,0.079984533181,0.999999996408,-6.67272590763e-05,1.87989541476e-05,-4.87555329634e-05,1793249608023267072
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.915348844,745,718,681,662.915348844,638,881.915348844,783.915348844,813.915348844,650.915348844,629,654,0.42052607015,-0.00556000435839,0.0799753076957,0.999999996271,-7.05950533377e-05,1.7837459562e-06,-4.97206559404e-05,1793249608039933952
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,718,680.504666884,663.495333116,638,882,784,814,651,629,654,0.421393003234,-0.00556631052837,0.0799658531179,0.999999995733,-7.53961521366e-05,-1.65432945936e-05,-5.07502593113e-05,1793249608056600832
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,718,680.073491483,663.926508517,638,882,784,814,650.926508517,629,654,0.422272858291,-0.00557084824618,0.0799614076323,0.999999995264,-7.81648995582e-05,-2.72425810038e-05,-5.11854703016e-05,1793249608073267456
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,718,680.649986162,663.350013838,638,882,784,814,650.350013838,629,654,0.423204014233,-0.0055593182163,0.0799915092075,0.999999996574,-6.59522113778e-05,1.57710838975e-05,-4.74784255309e-05,1793249608089934080
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,717.774635392,681,663,638,882.225364608,784,814,650,629,654,0.424111867673,-0.00554109193854,0.0799989430966,0.999999997839,-4.42492494441e-05,1.64697102913e-05,-4.57483278528e-05,1793249608106600704
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,717.200981939,681,663,638,882.799018061,784,814,650,629,654,0.424983708497,-0.00551251696908,0.079971345304,0.999999997698,-7.87957938619e-06,-4.82272664746e-05,-4.70734946517e-05,1793249608123267328
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.383897256,717.383897256,681,663,638,883,784,814,650.383897256,629,654,0.425864800171,-0.005507970743,0.0799392896467,0.999999994458,-5.20115748632e-06,-9.23501463166e-05,-5.02806749287e-05,1793249608139933696
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.974830464,717.974830464,681,663,638,883,784,814,650.974830464,629,654,0.426750880781,-0.00551638323,0.0799048298628,0.999999990441,-2.06924420102e-05,-0.000125377403225,-5.45028258239e-05,1793249608156600064
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,717.452681209,681.547318791,664.094637583,638,883.547318791,784,814.547318791,650.452681209,629.547318791,654,0.427648157504,-0.00552648845138,0.0799028528052,0.999999990144,-2.95660108543e-05,-0.000126113106797,-5.41612203631e-05,1793249608173267200
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,717,681.879098644,664.758197288,637.879098644,884,784,815,650,629.879098644,654,0.428553610764,-0.0055348914904,0.0799072176887,0.999999990566,-3.73084385749e-05,-0.000120956988239,-5.33485039103e-05,1793249608189934080
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,717,681.298231273,663.596462545,637.298231273,884,784,815,650,629.298231273,654,0.429488276427,-0.00553653212182,0.0799302125415,0.999999992911,-4.1867533333e-05,-9.88510096487e-05,-5.15158846832e-05,1793249608206600448
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.721282521,717.278717479,681,663.278717479,637.278717479,884,784,815,650,629,654,0.430442680715,-0.00553944556407,0.0799658580811,0.999999996354,-4.7246719842e-05,-5.07026962159e-05,-4.98915844438e-05,1793249608223266816
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.148468645,717.851531355,681,663.851531355,637.851531355,884,784,815,650,629,654,0.431417912696,-0.00554370204751,0.0800148523386,0.999999997083,-5.3491248202e-05,2.49249003953e-05,-4.84870976232e-05,1793249608239933440
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,717.559826479,681.440173521,664,638,884,784,815,650,629,654,0.432298961201,-0.00554072347384,0.0800171061208,0.999999997148,-5.15923674133e-05,2.47792432767e-05,-4.92698148762e-05,1793249608256600320
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,717,682,664,637.966520123,884,784,815,650,629,654,0.433145104699,-0.00553512462847,0.0799998659825,0.999999997594,-4.67354261255e-05,-5.54245049496e-06,-5.09707227608e-05,1793249608273266944
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,717,682,664,637.387453406,884,784,815,650,629,654,0.433959431267,-0.00552807721828,0.079931448353,0.999999993106,-4.01043688025e-05,-9.55841941104e-05,-5.5163902983e-05,1793249608289933568
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.190586952,717,682.190586952,663.809413048,637.190586952,884.190586952,784,815,650.190586952,629,654,0.434796579029,-0.00552501949106,0.0798923867557,0.999999987008,-4.05897531559e-05,-0.000144779473514,-5.80975179538e-05,1793249608306600448
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.766552053,717,682.766552053,663.233447947,637.766552053,884.766552053,784,815,650.766552053,629,654,0.435679872746,-0.00553002913879,0.0799126847891,0.999999990549,-5.54650050521e-05,-0.000111380791041,-5.84842185623e-05,1793249608323267072
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,717,683,663.341415848,637.658584152,885.341415848,784,815,650.658584152,629,654.341415848,0.436556732529,-0.00553572849218,0.0799418460638,0.999999993868,-5.7850411092e-05,-7.6104477679e-05,-5.59041255707e-05,1793249608339933952
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,717,683,663.915528995,637.084471005,885.915528995,784,815,650.084471005,629,654.915528995,0.43742920711,-0.00554189792493,0.0799770482178,0.999999996564,-5.17231668329e-05,-3.95484376571e-05,-5.13019680478e-05,1793249608356600832
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,717,682.493277386,663.493277386,637,886,784,815,650,629,654.493277386,0.438254253176,-0.00554401030849,0.0799927943151,0.999999996727,-6.01091716496e-05,-1.23725520959e-05,-5.2728010529e-05,1793249608373267456
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,717,682,663,637,886,783.902486697,815.097513303,650.097513303,629,654,0.439054908217,-0.00554561465427,0.0799964983935,0.999999996057,-6.98690369366e-05,-2.15444288466e-06,-5.47690552931e-05,1793249608389934080
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,717,682,663,637,886,783.328077385,815.671922615,650.671922615,629,654,0.439776292641,-0.00554815734119,0.0799577251884,0.999999993515,-7.41030218528e-05,-6.69555438654e-05,-5.47318142539e-05,1793249608406600448
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,717,682.247098475,663,637,886,783.247098475,815.752901525,651,629,654,0.440454753622,-0.00554736417715,0.0798923478277,0.999999981104,-7.47997871788e-05,-0.000170048288272,-5.72776796148e-05,1793249608423267072
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,717,682.823295214,663,637,886,783.823295214,815.176704786,651,629,654,0.44107604693,-0.00554212815762,0.0797915377082,0.99999994296,-7.07855029952e-05,-0.000324139775924,-6.32638562142e-05,1793249608439933696
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,717,683,663,637,886,783.602454446,815,651,629,654,0.441742220753,-0.00553834765398,0.0797351412513,0.999999913918,-6.98195468209e-05,-0.00040343585336,-6.72948645323e-05,1793249608456600576
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,717,683,663,637,886,783.029064996,815,651,629,654,0.442428246354,-0.00553521095934,0.0796983900099,0.999999893962,-7.02019389559e-05,-0.000449648149151,-7.04610560557e-05,1793249608473267456
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,717,683.565839757,663,636.434160243,886,783,815.565839757,651,629,654.565839757,0.443151499313,-0.00554003793541,0.079757582031,0.999999930047,-6.92663516762e-05,-0.000361610863215,-6.59276784528e-05,1793249608489934080
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,717,683.84537045,663,636,886,783,816,651,629,655,0.443848895652,-0.00554528091696,0.0798096874515,0.99999995479,-6.90382464336e-05,-0.000285982853336,-6.21841539054e-05,1793249608506600704
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,717,683.276060351,663,636,886,783,816,651,629,655,0.444471619857,-0.0055504991569,0.0798290494916,0.999999961039,-7.08961754573e-05,-0.000262857749601,-6.16613864499e-05,1793249608523267584
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,717,683,662.70207852,636,886,783,816,651,629,654.70207852,0.44506523161,-0.00555339376536,0.079824948083,0.999999957612,-8.05637401121e-05,-0.000272934247694,-6.15831933472e-05,1793249608539934464
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,717,683,662.123698832,636,886,783,816,651,629,654.123698832,0.445631437361,-0.0055541009464,0.0797987585823,0.99999994394,-9.75831625314e-05,-0.000314266169326,-6.19235149299e-05,1793249608556600832
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,717,683,662,636,886.466677986,783,816,651,629,654,0.44616777005,-0.00555478009344,0.079771730748,0.999999931907,-9.39387762145e-05,-0.000351318103514,-6.27529207278e-05,1793249608573267456
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,717,683,662,636,887,783,816,650.365246058,629,654,0.447185985026,-0.00555567798351,0.07972659507,0.999999912397,-8.9713840448e-05,-0.000403510666757,-6.58561602076e-05,1793249608606600960
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,717,683,662,635.78927883,887.21072117,782.78927883,816,650,629,654,0.447654360551,-0.00555532655544,0.0797063939017,0.999999901478,-9.19613033075e-05,-0.000428952009716,-6.7722492696e-05,1793249608623267584
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,717,683,662,635.213726245,887.786273755,782.213726245,816,650,629,654,0.448079180564,-0.00555390367152,0.0796836708914,0.999999884314,-9.16566557115e-05,-0.000467084295929,-6.93018370757e-05,1793249608639934208
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,717,683,661.630224337,635,887.630224337,782,816,650.369775663,629,654,0.448477196347,-0.00555199959847,0.0796569121919,0.999999862623,-9.48826721775e-05,-0.000510666314626,-7.05114573623e-05,1793249608656600576
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,717,683,661.042026807,635,887.042026807,782,816,650.957973193,629,654,0.448859379246,-0.00554981129286,0.079627769659,0.999999837039,-0.000100194207665,-0.000557467425248,-7.15026863092e-05,1793249608673267200
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+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746.305624936,717,683.305624936,661,635,887.694375064,782,816,651,629,654.694375064,0.449965604695,-0.0055590118393,0.0796376390709,0.999999849406,-9.79883122832e-05,-0.000535395048082,-7.02776809968e-05,1793249608723267072
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,717,683,660.728906559,635,887.728906559,781.728906559,816.271093441,651,629,654.728906559,0.450292405453,-0.00556127967787,0.0796454589448,0.999999854289,-0.000104669781636,-0.000524858115237,-7.0644960918e-05,1793249608739933952
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,717,683,660.1537755,635,887.1537755,781.1537755,816.8462245,651,629,654.1537755,0.450595823381,-0.00556227713989,0.0796529192564,0.999999858325,-0.000112413691494,-0.000515421302404,-7.1098066465e-05,1793249608756600576
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+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,717,683,660,635,888,781,816,651,629,654,0.451310489119,-0.00556582132371,0.079625845237,0.999999831867,-0.000111019553849,-0.000565425555496,-6.5070479271e-05,1793249608806600960
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,717,683.177363556,660,634.822636444,888,781,816,651,629,654,0.451493341367,-0.00556594863683,0.0796072661546,0.999999814609,-0.000107822649262,-0.000595866071816,-6.4023884745e-05,1793249608823267328
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+211,3.516666667,POSE1_TO_POSE2_PRESS,766,746,717,684,660,634,888,781,816,651,628.665212596,654.334787404,0.451803468967,-0.00556720224425,0.0795765943882,0.999999784964,-0.000109306844805,-0.000643234391614,-6.612567635e-05,1793249608856600576
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+214,3.566666667,POSE1_TO_POSE2_PRESS,766,746,717,683.083272354,660,634,887.083272354,781,816.083272354,651,629,654.083272354,0.452191779596,-0.00557102150006,0.0795599131823,0.999999767852,-0.000118032670884,-0.000667486250536,-6.94684073357e-05,1793249608906600704
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+216,3.600000000,POSE1_TO_POSE2_PRESS,766,746,717,683.767094734,660,634,888,781,817,651,629,654.767094734,0.452374850541,-0.00557061594593,0.0795551206994,0.999999761588,-0.000116803098022,-0.000676904096173,-7.0577263811e-05,1793249608939934464
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+220,3.666666667,POSE1_TO_POSE2_PRESS,766,746,717,683,660,634.435944491,888,780.435944491,816,651,629,654.435944491,0.452597742586,-0.005570091753,0.0795412610544,0.999999746726,-0.000121575541028,-0.000697643807065,-7.11309356928e-05,1793249609006600448
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,746,717,684,660,634,888.956618769,781,816.956618769,651,629,654,0.452718219663,-0.00557128751931,0.0795354414282,0.999999742584,-0.000124617808664,-0.00070322518025,-6.91074862086e-05,1793249609106601216
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,717,684,660,634,888.377973199,781,816.377973199,651,629,654,0.452720737851,-0.00556841499615,0.0795328031136,0.999999739404,-0.00012306095244,-0.000707915443715,-7.00237705444e-05,1793249609123267584
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,717,684,659.80065952,634,888,780.80065952,816,651.19934048,629,654.19934048,0.45272307594,-0.00556645410405,0.0795306328258,0.999999737043,-0.000121614594726,-0.000711438395578,-7.0557140683e-05,1793249609139934208
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+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,717,683.055198692,659.944801308,634,888,780.944801308,816,651.055198692,629,654.055198692,0.452727779991,-0.00556787755573,0.0795271548919,0.999999734715,-0.000124609248352,-0.000714221723236,-7.02061899625e-05,1793249609189934080
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+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,717,684,660,634,888,780.897030806,816,650.102969194,629,654,0.452728878622,-0.00556831557119,0.0795288304662,0.999999735294,-0.000124062329223,-0.000713591278872,-6.93346134889e-05,1793249609223267328
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+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,716.168343014,684,660,634,888,780.831656986,816,651,629,654.831656986,0.452730660805,-0.00556708050708,0.0795274445191,0.999999735024,-0.0001238311727,-0.000714003941565,-6.93985234316e-05,1793249609273266944
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+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,717,683.258293632,660,634,888,780.741706368,816,651,629,654,0.452732233043,-0.00556649353148,0.0795279632032,0.999999735021,-0.000123668966199,-0.000714087397106,-6.88685140729e-05,1793249609356600320
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+244,4.066666667,HOLD_POSE2,766,746,717,684,659,634,888,780,816,651,629,654,0.452732546193,-0.00556632191015,0.0795264076002,0.999999734067,-0.000123619592967,-0.00071537803342,-6.94201169773e-05,1793249609421497856
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+254,4.233333333,HOLD_POSE2,766,746,717,684,660,634,888,781,816,651,629,654.795148243,0.452736240334,-0.00556611971546,0.0795272367998,0.999999735638,-0.000122537383694,-0.000713497910991,-6.80332526052e-05,1793249609588163584
+255,4.250000000,HOLD_POSE2,766,746,717,684,660,634,888,780.61950036,816,651,629,654.61950036,0.452736429577,-0.00556699130706,0.079527737888,0.999999735807,-0.000122989923516,-0.000713216849283,-6.76862799124e-05,1793249609604830208
+256,4.266666667,HOLD_POSE2,766,746,717,684,660,634,888,780.029412706,816,651,629,654.029412706,0.452736744156,-0.0055681799111,0.0795286140892,0.999999736075,-0.000124485603805,-0.000712593266058,-6.75592208827e-05,1793249609621496576
+257,4.283333333,HOLD_POSE2,766,746,717,684.550080265,660,634,888,780,816,651,629,654,0.452735193098,-0.00556674379133,0.0795270257669,0.999999734767,-0.000122991961458,-0.000714671511868,-6.76982831192e-05,1793249609638163200
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+259,4.316666667,HOLD_POSE2,766,746,717,684.299662753,659.299662753,634,888,780.700337247,816,651,629,654.700337247,0.452733483628,-0.00556505101028,0.0795259110589,0.999999733405,-0.000118934047953,-0.000717224598842,-6.80638302487e-05,1793249609671496448
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,746,717,684,660,634,888,780,816,651,628,654,0.452734634304,-0.00556566950548,0.0795261716995,0.999999732398,-0.000123810414974,-0.000717766580077,-6.84498664642e-05,1793249609737332480
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.57724315,745.42275685,717,684,659.42275685,634,888,780,816,651,628.57724315,654,0.452734947155,-0.00556492816105,0.0795263297899,0.99999973328,-0.000122673565447,-0.000716742515601,-6.8351082266e-05,1793249609753998848
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745.728458791,717,684,659.728458791,634,888,780.728458791,816,651,629,654.728458791,0.452735549446,-0.00556339469267,0.0795276092372,0.99999973408,-0.000120300317948,-0.000716033923669,-6.82803406223e-05,1793249609787331840
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745.518292494,716.518292494,684,659.481707506,634,888,780,816,651,629,654.481707506,0.452736947005,-0.00556456183551,0.0795272592049,0.999999734843,-0.000120347595548,-0.000714979721141,-6.80799547022e-05,1793249609837331712
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,659,634,889.57604995,780.211975025,816,651,628.211975025,654,0.452730464249,-0.00556356246712,0.0795233726223,0.999999730786,-0.000119335737721,-0.000720779078983,-6.83026293861e-05,1793249609887331584
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,659,634,888.42663217,780.786683915,816,651,628.786683915,654,0.452721201128,-0.00556403977737,0.079518140888,0.999999725898,-0.000119310276863,-0.00072750715936,-6.85757736324e-05,1793249609903998208
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.304887313,659,634,888,781,815.695112687,651,629,654,0.452455699019,-0.00555731053515,0.0794406357763,0.999999626598,-0.000116252352534,-0.000853621695101,-6.79602205193e-05,1793249609987332096
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.495106645,746,717,684,660,634,888,780.504893355,816,651,628.504893355,654,0.451039357966,-0.00553187033638,0.0794776237748,0.999999668504,-7.78008627957e-05,-0.000809979424737,-2.95380300602e-05,1793249610153998080
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,717,684,659.916561784,634,887.916561784,781,816,651,629,654,0.450814613722,-0.00552803372666,0.079490601135,0.999999685521,-6.63456514988e-05,-0.000789965188057,-2.26010028206e-05,1793249610170664960
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,716.189125167,684,659.810874833,634,887,781,816,651,629,654,0.449974400774,-0.00551326466006,0.0795246639856,0.999999733983,-2.85232815157e-05,-0.000728848595273,4.02784158271e-07,1793249610220664832
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.397767764,746,716.397767764,683.602232236,660,634,887.397767764,781,816,651,629,654,0.449629295439,-0.00550577780363,0.0795292034685,0.999999739584,1.48687110967e-05,-0.000721500050686,6.9725284436e-06,1793249610237331456
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,746,717,683.567751798,660.567751798,634,887.432248202,781,816,651,629,654,0.448864973678,-0.00549195212469,0.0795289422487,0.999999738651,6.2909090981e-05,-0.000720103592645,1.37975554921e-05,1793249610270664960
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,661,634.143670612,887,781,816,650.856329388,629,654,0.448451580331,-0.00548587985898,0.0795244964524,0.999999733876,5.20290391181e-05,-0.000727578114367,1.31031537914e-05,1793249610287331584
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,661,634.716171931,887,781,816,650.283828069,629,654,0.448000780273,-0.0054792141893,0.0795154399121,0.999999720731,3.77310222832e-05,-0.000746351374591,8.61522882511e-06,1793249610303997952
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745,717,682,662.166642343,637,882.833357657,784,815,650.166642343,629,654,0.436499398821,-0.00543534495186,0.0798537085622,0.999999967202,0.00011672274958,-0.000224751474019,3.81937477149e-05,1793249610603998720
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745.320202266,717,682,662.679797734,636.679797734,882,784,814.679797734,650.679797734,629,653.679797734,0.434832787906,-0.00542851748697,0.0798627339199,0.999999966858,0.000144729027567,-0.000209172941109,3.9808318198e-05,1793249610637331712
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,717,681.927744226,662,636,881.855488453,783.927744226,814,650.927744226,629,653.072255774,0.432042532442,-0.00540905789154,0.0797335569536,0.99999989374,0.000157299032551,-0.000431947435968,3.46313231066e-05,1793249610687332864
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,717,681.353402576,662,636,880.706805152,783.353402576,814,650.353402576,629,653.646597424,0.431093139294,-0.00541181256205,0.0797102661006,0.999999870127,0.000173666487748,-0.000477566965237,3.89201245462e-05,1793249610703999488
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,717,679,660.783598343,636.783598343,877.783598343,783,813,650,629,654,0.405854815722,-0.00539400262759,0.0797786424335,0.999999910669,0.000235383095152,-0.000348134653565,4.53813486522e-05,1793249611253998592
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+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,637,877,783,813.475483746,650.524516254,629.475483746,654,0.400974453947,-0.00539598658635,0.0798319356275,0.999999927204,0.000247399668371,-0.000287398264548,4.22838821496e-05,1793249612020666112
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.930861614,745,718,679,661,636.930861614,877,783,813.930861614,650,629.930861614,654,0.400973281175,-0.00539689611899,0.0798315540545,0.999999927076,0.000246308793438,-0.00028876557852,4.23529836457e-05,1793249612037332480
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,717.780057758,679,661,636,877,783,813,650.219942242,629,654,0.400973501574,-0.00539730932183,0.0798326707872,0.999999927597,0.000246356166943,-0.000286927806835,4.22755740764e-05,1793249612070665728
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,717.207705641,679,661,636,877,783,813,650.792294359,629,654,0.400974748661,-0.00539527743006,0.0798334393759,0.999999926862,0.000250496699033,-0.000285892838111,4.23368581316e-05,1793249612087331840
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745.377794205,717.377794205,678.622205795,661,636,877,783,813.377794205,650.622205795,629,654,0.400974222443,-0.00539512880615,0.079832836231,0.999999926911,0.000249652503991,-0.000286486629327,4.21439236454e-05,1793249612103998464
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745.97078307,717.97078307,678.02921693,661,636,877,783,813.97078307,650.02921693,629,654,0.400972686136,-0.00539605290709,0.0798314517356,0.999999927401,0.000245968967486,-0.000288008175549,4.18061842014e-05,1793249612120664832
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e86b83c9338f65bc33c5fd20a543073dc2e738c8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_04/simulation_data.csv
@@ -0,0 +1,407 @@
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+402,6.700000000,pose2_to_pose3_retreat,0.575664327442,0.000150176404977,1.07003358431,0.546235005237,0.00882280809934,1.06970498448
+403,6.716666667,pose2_to_pose3_retreat,0.575664305939,0.000150186355031,1.07003357722,0.546234983823,0.00882281842517,1.06970497922
+404,6.733333333,pose2_to_pose3_retreat,0.575664290224,0.000150193626372,1.07003357204,0.546234968175,0.00882282597112,1.06970497537
+405,6.750000000,pose2_to_pose3_retreat,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650645,1.0697049751
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eb20b28cdc1e70d4377c8d85e3eb9775844bc49a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27c21e065a55e7615f91c516b11fcafa17b3d8d09217ab2af21a827af58a7850
+size 25720199
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9ebb7477e9ceeab7d2e2f922ea37487f17e08314
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_05/franka_data.csv
@@ -0,0 +1,406 @@
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+0,0.000000000,BASELINE,765,745,718,679,661,637,878,783,814,651,629,654,0.400970230393,-0.00539677446234,0.0798302103112,0.999999926138,0.000249065083942,-0.000289673607369,4.21853928104e-05,1793249612236466432
+1,0.016666667,BASELINE,765,744.422420759,717.422420759,679,661,636.422420759,877.422420759,783,813.422420759,650.422420759,629,654,0.400972300476,-0.00539724654787,0.0798321575113,0.999999927117,0.0002481226319,-0.000287065124676,4.23560168396e-05,1793249612253133568
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+9,0.150000000,BASELINE,765.788909628,745,718,679,661,637,877,783,814,650.788909628,629,653.788909628,0.400972979421,-0.00539604365575,0.0798338934443,0.999999928025,0.000246883002091,-0.000285030414125,4.19173295018e-05,1793249612386466048
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+21,0.350000000,BASELINE,765.825902703,745,717,679,661,636,876.825902703,782.825902703,813,650.825902703,629.825902703,653.825902703,0.400973750142,-0.00539542077199,0.0798346837022,0.999999928192,0.000248313111093,-0.000283184138107,4.19862889776e-05,1793249612586466304
+22,0.366666667,BASELINE,765.251959468,745,717,679,661,636,876.251959468,782.251959468,813,650.251959468,629.251959468,653.251959468,0.400973079023,-0.00539483521807,0.0798337742363,0.999999926962,0.000251312501511,-0.000284885387279,4.19247891762e-05,1793249612603133440
+23,0.383333333,BASELINE,765,745,717.332397647,679,661,636.332397647,876.664795295,782,813.332397647,650,629,653.332397647,0.400972213867,-0.00539572264132,0.0798331214353,0.999999927121,0.000249198452207,-0.000286212256085,4.17150926436e-05,1793249612619800064
+24,0.400000000,BASELINE,765,745,717.92490392,679,661,636.92490392,877.84980784,782,813.92490392,650,629,653.92490392,0.400971196874,-0.00539776270224,0.0798326694801,0.999999928344,0.000243083021784,-0.000287246164021,4.13894288327e-05,1793249612636466688
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+26,0.433333333,BASELINE,765.922275304,745,718,679,661,637,877.077724696,783,814,650,629,654,0.400973437503,-0.00539693310284,0.0798348651708,0.999999928245,0.00024739898462,-0.000283810953602,4.18877517838e-05,1793249612669799680
+27,0.450000000,BASELINE,765.370334764,745,718,679,661,637,877.629665236,783,814,650,629,654,0.400973314084,-0.00539698371953,0.0798343227949,0.999999928402,0.000246649024124,-0.00028391697729,4.18403457253e-05,1793249612686466304
+28,0.466666667,BASELINE,765,745,717.797663678,679,661,637,877.797663678,783,814,650.202336322,629,654,0.400973149805,-0.0053968825531,0.0798340828662,0.999999928491,0.000246246111319,-0.000283955689352,4.18255648614e-05,1793249612703132928
+29,0.483333333,BASELINE,765,745,717.182718411,679,661,637,877.182718411,783,814,650.817281589,629,654,0.400972902205,-0.00539647186698,0.0798344596947,0.999999928442,0.000246550906296,-0.000283857137974,4.18773140577e-05,1793249612719799808
+30,0.500000000,BASELINE,765.406754032,745,717,678.593245968,661,636.593245968,877,783,813.593245968,650.593245968,629,654,0.400973648724,-0.00539627246823,0.0798351372115,0.999999928768,0.000246739082788,-0.000282534891646,4.19241359298e-05,1793249612736466432
+31,0.516666667,BASELINE,765.98545815,745,717,678.01454185,661,636.01454185,877,783,813.01454185,650.01454185,629,654,0.400974815495,-0.00539616238854,0.0798359418404,0.99999992925,0.000246877960294,-0.000280695343873,4.1968874837e-05,1793249612753133312
+32,0.533333333,BASELINE,765.435321086,745,717,678,661,636,877,783,813,650,629,654,0.40097452338,-0.00539719419995,0.0798354134364,0.999999929006,0.000246340157899,-0.000282047231909,4.18728143404e-05,1793249612769799680
+33,0.550000000,BASELINE,765,745,717,678,661,636,877.142383308,783,813,650,629,654,0.400974143512,-0.00539775775019,0.0798349220517,0.999999928721,0.000246135646853,-0.000283240436851,4.18410689162e-05,1793249612786466048
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+35,0.583333333,BASELINE,765,745,717.296280335,678.296280335,661,636,877.703719665,783,813,650,629,654,0.400973230671,-0.00539701522757,0.0798346123373,0.999999928403,0.000246794371429,-0.000283743180572,4.2155813998e-05,1793249612819799040
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+39,0.650000000,BASELINE,765.623041444,745,717.623041444,679,661,637,877,783,813.623041444,650.376958556,629,654,0.40097439393,-0.00539596461045,0.079834982395,0.999999928492,0.000248085464932,-0.000282349768574,4.18067122837e-05,1793249612886465792
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+41,0.683333333,BASELINE,765.228712331,745,718,679,661,637,877,783,813.228712331,650,629,654,0.400972132372,-0.00539610692968,0.0798334997418,0.999999927862,0.000248136697371,-0.000284572868041,4.15002911083e-05,1793249612919799040
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+44,0.733333333,BASELINE,765.52906879,745,717.47093121,678.47093121,661,636.47093121,877,782.52906879,813,650.47093121,629,654,0.400973179809,-0.00539608241888,0.0798351517135,0.999999928447,0.000248281743407,-0.000282317003127,4.1937377594e-05,1793249612969799168
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+53,0.883333333,BASELINE,765,744.262828545,717.737171455,679,661,636.262828545,877.737171455,783,813,650,629,654,0.400976811352,-0.00539619829983,0.0798363361458,0.999999929328,0.000247797350179,-0.000279662482177,4.15876460401e-05,1793249613119799808
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+55,0.916666667,BASELINE,765.908503687,745.817007373,718,678.091496313,661,636.908503687,877.091496313,783,813.908503687,650.908503687,629,654,0.400975317675,-0.00539870977253,0.0798363675605,0.999999929804,0.000245409037519,-0.000279974501486,4.21976704072e-05,1793249613153133056
+56,0.933333333,BASELINE,765.508918648,745.508918648,718,678.491081352,661.982162704,637,877,783,814,650.508918648,629,654,0.400975177999,-0.00539751874605,0.0798359173433,0.999999929431,0.000246411780305,-0.000280455644907,4.19945580538e-05,1793249613169799680
+57,0.950000000,BASELINE,765,745.071626042,718,679,662.928373958,637,877,783,814,650.071626042,629,654,0.400975032758,-0.00539592432663,0.0798353498466,0.999999928911,0.000247854572138,-0.000281082277263,4.17036806525e-05,1793249613186466816
+58,0.966666667,BASELINE,765,745.646396313,718,679,662.353603687,637,877,783,814,650.646396313,629,654,0.40097320834,-0.00539519058064,0.0798344030339,0.999999928096,0.000249238260348,-0.000282764842948,4.16273391789e-05,1793249613203133696
+59,0.983333333,BASELINE,765,745.77380933,718,678.77380933,661.77380933,637,877,783,813.77380933,651,629.22619067,654,0.400972253827,-0.00539580978742,0.0798339133784,0.999999928063,0.00024830852402,-0.000283699485704,4.15994396671e-05,1793249613219800064
+60,1.000000000,BASELINE,765,745.185982315,718,678.185982315,661.185982315,637,877,783,813.185982315,651,629.814017685,654,0.400972690131,-0.00539859211113,0.0798341546309,0.999999929274,0.000243680057114,-0.0002834383406,4.16489897306e-05,1793249613236466432
+61,1.016666667,BASELINE,765.395583179,745,718,678,661,637,877.395583179,783,813.395583179,651,629.604416821,654,0.400972631569,-0.00539819970998,0.0798338082784,0.999999928972,0.00024454975554,-0.00028374174463,4.17355327179e-05,1793249613253133312
+62,1.033333333,BASELINE,765.974250673,745,718,678,661,637,877.974250673,783,813.974250673,651,629.025749327,654,0.400972343973,-0.00539633797843,0.0798331899698,0.999999927967,0.000247964122181,-0.000284306434029,4.18391968144e-05,1793249613269799936
+63,1.050000000,BASELINE,766,745,718,678.551079891,661,637,877.448920109,783,814,651,629,654,0.400974106908,-0.00539637227467,0.0798348108379,0.999999928564,0.000248048445225,-0.000282141420799,4.1718375972e-05,1793249613286466048
+64,1.066666667,BASELINE,766,745,718,679,661,637,877,783,813.872628505,651,629,654,0.400975410639,-0.00539646441418,0.0798360781651,0.999999929033,0.000248038707848,-0.000280497762513,4.16119911004e-05,1793249613303132672
+65,1.083333333,BASELINE,766,745,718,679,661,637,877,783,813.297924386,651,629,654,0.400974766252,-0.00539644959658,0.0798357376175,0.999999928805,0.000248243272064,-0.000281131575045,4.15930214057e-05,1793249613319799552
+66,1.100000000,BASELINE,766,745,718,679,661,637,877.28356706,783,813.28356706,651,629,654,0.400974343835,-0.00539654688428,0.079835521239,0.999999928692,0.00024816973889,-0.00028158848916,4.16630937772e-05,1793249613336466432
+67,1.116666667,BASELINE,766,745,718,679,661,637,877.872364314,783,813.872364314,651,629,654,0.400974160345,-0.00539676484156,0.0798354385157,0.999999928702,0.000247796863033,-0.000281854990644,4.18290105938e-05,1793249613353133312
+68,1.133333333,BASELINE,766,745,718,678.546727546,661,637,877.546727546,783,814,651,629,654,0.400973989748,-0.00539664634035,0.0798353210764,0.999999928737,0.000247505451742,-0.000281969917641,4.19417014542e-05,1793249613369800192
+69,1.150000000,BASELINE,765.96806177,745.03193823,718,678.03193823,661,637,877.03193823,783,813.96806177,651,629,654,0.400973879128,-0.00539635410793,0.0798352489951,0.999999928769,0.000247373634144,-0.000281966169866,4.20040178303e-05,1793249613386466560
+70,1.166666667,BASELINE,765.390403056,745.609596944,718,678.609596944,661,637,877.609596944,783,813.390403056,651,629,654,0.400974732356,-0.00539468452004,0.0798361161091,0.999999928612,0.000249583500138,-0.000280651466867,4.14573087815e-05,1793249613403132928
+71,1.183333333,BASELINE,765.186634071,745.813365929,717.813365929,679,661,637,877.813365929,783,813,651,629,654,0.400974976105,-0.00539440481964,0.0798364409742,0.999999928568,0.000250318264645,-0.000280183556618,4.12472400735e-05,1793249613419799552
+72,1.200000000,BASELINE,765.762375378,745.237624622,717.237624622,679,661,637,877.237624622,783,813,651,629,654,0.400973949171,-0.00539702284961,0.0798356353222,0.999999928767,0.000247977639009,-0.000281481096475,4.17390216348e-05,1793249613436466432
+73,1.216666667,BASELINE,765.653769828,745,717.346230172,679,661.346230172,637,877,783.346230172,813,651,629,654,0.400973127185,-0.00539859870529,0.0798351242604,0.999999928694,0.000247436850202,-0.000282168521263,4.20545501358e-05,1793249613453133312
+74,1.233333333,BASELINE,765.064212999,745,717.935787001,679,661.935787001,637,877,783.935787001,813,651,629,654,0.400972449234,-0.00539944213249,0.0798348202331,0.999999928433,0.000248160966539,-0.000282427163993,4.2246209947e-05,1793249613469800192
+75,1.250000000,BASELINE,765.515949114,745,717.484050886,679,661.484050886,637,877.515949114,783.484050886,813,651,629,654,0.400972807352,-0.00539745361436,0.0798348756555,0.999999927904,0.000250141706583,-0.000282604808136,4.18904122322e-05,1793249613486466816
+76,1.266666667,BASELINE,766,745,717.093951483,679,661,637,878,783,813.093951483,650.906048517,629,654,0.400973042849,-0.00539564123181,0.0798348725356,0.999999927532,0.000251415092315,-0.000282849027663,4.15023008301e-05,1793249613503133440
+77,1.283333333,BASELINE,766,745,717.666798341,679,661,637,878,783,813.666798341,650.333201659,629,654,0.4009720078,-0.00539649107548,0.0798343470582,0.99999992814,0.000248299979806,-0.000283483064819,4.12905663386e-05,1793249613519800064
+78,1.300000000,BASELINE,766,745,717.753675535,679,661,637,877.753675535,783,813.753675535,650,629,654,0.400971981176,-0.00539729205235,0.0798341291484,0.999999928588,0.000246353643156,-0.000283598607454,4.13029253538e-05,1793249613536466688
+79,1.316666667,BASELINE,766,745,717.164862638,679,661,637,877.164862638,783,813.164862638,650,629,654,0.400973356664,-0.00539802508494,0.0798343388793,0.999999928825,0.000246032367481,-0.000282993237582,4.1626862994e-05,1793249613553133312
+80,1.333333333,BASELINE,765.583305829,745,717,679,661,636.583305829,876.583305829,783,813,650,629,654,0.400974227375,-0.00539791256722,0.0798348802927,0.999999928975,0.000246123516346,-0.000282345242079,4.1873332432e-05,1793249613569799936
+81,1.350000000,BASELINE,765.004570665,745,717,679,661,636.004570665,876.004570665,783,813,650,629,654,0.400974901793,-0.0053974712381,0.0798355506884,0.999999929092,0.000246375045834,-0.000281680670581,4.20896766269e-05,1793249613586466304
+82,1.366666667,BASELINE,765,745,717.574007535,679,661,636.574007535,876.574007535,783,813.574007535,650.574007535,629,654,0.400974358573,-0.00539630322981,0.0798354558798,0.999999929083,0.00024647178824,-0.000281734876603,4.13589196322e-05,1793249613603132928
+83,1.383333333,BASELINE,765,745,717.848565969,679,661,637,877,783,814,650.848565969,629,654,0.400973652792,-0.00539533923428,0.0798351427148,0.999999928763,0.000247380927369,-0.000282134346913,4.09458058283e-05,1793249613619799552
+84,1.400000000,BASELINE,765,745,717.274351238,679,661,637,877,783,814,650.274351238,629,654,0.400972520228,-0.00539496096111,0.0798342369388,0.99999992757,0.000250561594264,-0.000283481767859,4.14405521471e-05,1793249613636465920
+85,1.416666667,BASELINE,765,745,717,679,661,637,877,783,814,650,628.693149202,653.693149202,0.40097204635,-0.00539522482316,0.0798335126854,0.999999927204,0.000251152833477,-0.00028422657773,4.15959221422e-05,1793249613653132544
+86,1.433333333,BASELINE,765,745,717,679,661,637,877,783,814,650,628.105554375,653.105554375,0.400972175116,-0.00539607618777,0.079832954511,0.9999999276,0.000249374952508,-0.000284420046407,4.14407898144e-05,1793249613669799168
+87,1.450000000,BASELINE,765,745,717.477257899,679,661,636.522742101,877,783,814,650,628.477257899,653.477257899,0.400972990709,-0.00539571494355,0.0798342401645,0.999999928147,0.000248783307218,-0.000282998512725,4.15269798067e-05,1793249613686465792
+88,1.466666667,BASELINE,765,745,718,679.058440905,661,636.058440905,877,783,813.941559095,650.058440905,629,654,0.400973892523,-0.00539520003626,0.079835760889,0.999999928668,0.000248474542916,-0.000281403633058,4.16693549931e-05,1793249613703132416
+89,1.483333333,BASELINE,765,745,718,679.634469294,661,636.634469294,877,783,813.365530706,650.634469294,629,654,0.400974225958,-0.00539567588855,0.0798357876867,0.999999928686,0.000248370597077,-0.000281405577255,4.1841327652e-05,1793249613719799040
+90,1.500000000,BASELINE,765.213912569,745,718,679.786087431,661,637,877,783,813.213912569,650.786087431,629,654,0.400974463129,-0.00539643938896,0.0798358800702,0.999999928976,0.000247371290189,-0.000281255454949,4.18535725648e-05,1793249613736465664
+91,1.516666667,BASELINE,765.799285758,745,718,679.200714242,661,637,877,783,813.799285758,650.200714242,629,654,0.400974533137,-0.00539770239224,0.079836086344,0.999999929732,0.000244817182808,-0.000280841268133,4.15884491496e-05,1793249613753132544
+92,1.533333333,BASELINE,766,745,717.619314439,679,661,636.619314439,876.619314439,783,813.619314439,650.380685561,629,654,0.400973604163,-0.00539795259261,0.0798352700902,0.999999929624,0.000244105119379,-0.000281878318348,4.13519635059e-05,1793249613769799168
+93,1.550000000,BASELINE,766,745,717.039987887,679,661,636.039987887,876.039987887,783,813.039987887,650.960012113,629,654,0.400972153921,-0.00539767431449,0.0798339202836,0.999999929065,0.000244354230692,-0.000283672621206,4.11304209717e-05,1793249613786465792
+94,1.566666667,BASELINE,766,745,717,678.462494967,661,636.537505033,876.537505033,783,813,650.462494967,629,654,0.400972442124,-0.00539858145234,0.079834575873,0.999999929237,0.000244333076538,-0.000283045209703,4.13847054365e-05,1793249613803132416
+95,1.583333333,BASELINE,765.885391941,745,717,678.114608059,661,636.885391941,877,783,813.114608059,650,629,653.885391941,0.400972812678,-0.0053990144747,0.0798351635931,0.999999929354,0.00024452044136,-0.000282440884246,4.15785034026e-05,1793249613819800064
+96,1.600000000,BASELINE,765.309311253,745,717,678.690688747,661,636.309311253,877,783,813.690688747,650,629,653.309311253,0.400972995832,-0.00539718456766,0.0798348793514,0.999999929031,0.000245628097954,-0.000282652485715,4.13866990289e-05,1793249613836472320
+97,1.616666667,BASELINE,765,745,717,679,661,636,877,783,814,650.271687251,629,653.271687251,0.400973067296,-0.00539624158123,0.079834956481,0.999999928836,0.000246532140984,-0.000282551590666,4.1412797837e-05,1793249613853139712
+98,1.633333333,BASELINE,765,745,717,679,661,636,877,783,814,650.858387782,629,653.858387782,0.40097300926,-0.00539632695294,0.0798354526099,0.99999992879,0.00024720010008,-0.000282088365193,4.16915489095e-05,1793249613869800960
+99,1.650000000,BASELINE,765.441546396,745,717,679,661,636.441546396,877,783,813.558453604,650.558453604,629,654,0.400974295585,-0.00539625076202,0.0798362221715,0.999999929179,0.000247613740484,-0.000280339507874,4.16956441682e-05,1793249613886466304
+100,1.666666667,BASELINE,765.976769211,745,717.023230789,679,661,637,877,783,813,650,629,653.976769211,0.400975891441,-0.00539611565159,0.079837009063,0.999999929664,0.0002479267062,-0.000278341408192,4.16074044116e-05,1793249613903132928
+101,1.683333333,BASELINE,765.403310527,745,717.596689473,679,661,637,877,783,813,650,629,653.403310527,0.40097468768,-0.00539580253045,0.0798361458644,0.999999929212,0.000247771674844,-0.000280128280371,4.14019527874e-05,1793249613919800320
+102,1.700000000,BASELINE,765,744.829182477,718,679,661,637,877,783,813,650,629.170817523,653,0.400974256884,-0.00539561137072,0.0798359908705,0.999999928981,0.000248297556924,-0.000280490204325,4.13716981298e-05,1793249613936467200
+103,1.716666667,BASELINE,765,744.25346788,718,679,661,637,877,783,813,650,629.74653212,653,0.400975658279,-0.0053957093021,0.0798375145689,0.999999929273,0.000250437441227,-0.000277474504009,4.17567213837e-05,1793249613953133568
+104,1.733333333,BASELINE,765,744.331004295,718,679,661,636.668995705,877,783,813.331004295,650,629.668995705,653.331004295,0.400974896312,-0.00539639184529,0.0798373800383,0.999999928926,0.000251084696854,-0.000278096982126,4.20360643314e-05,1793249613969799936
+105,1.750000000,BASELINE,765,744.922364935,718,679,661,636.077635065,877,783,813.922364935,650,629.077635065,653.922364935,0.400972432719,-0.00539753422359,0.0798359412031,0.999999928075,0.000250557903456,-0.000281581123206,4.22322829057e-05,1793249613986466304
+106,1.766666667,BASELINE,765,745,717.497432603,679,661,636.502567397,877.502567397,783,813.497432603,650,629,654,0.40097277858,-0.00539720865811,0.0798360816097,0.999999928079,0.000250667836225,-0.000281494232842,4.20628729954e-05,1793249614003132928
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,718,679,661,636,878,783,814,650,629,654,0.400974818651,-0.00539752497386,0.0798360876191,0.999999929131,0.000247379839711,-0.000280717942828,4.16987630948e-05,1793249614046558720
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,718,679,661,636.574723456,878,783,813.425276544,650.574723456,629,654,0.400973038519,-0.00539732207421,0.0798355078501,0.999999928977,0.000246754699064,-0.000281857042777,4.14144821519e-05,1793249614063225344
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.154169261,745,718,679,661,637,877.845830739,783,813.154169261,650.845830739,629,654,0.400971999521,-0.00539705268547,0.0798352934379,0.999999928917,0.000246329784228,-0.000282456419785,4.1304939331e-05,1793249614079891712
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.747053449,745,718,679,661,637,877.252946551,783,813.747053449,650.252946551,629,654,0.400973069546,-0.00539659409066,0.0798361187106,0.999999929129,0.000246474645945,-0.000281519923374,4.16926435726e-05,1793249614096558336
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,637,877.332064537,783,813.667935463,650,629,654,0.400973988751,-0.00539606466638,0.0798364882887,0.999999928964,0.000248068271052,-0.000280686752139,4.18254687056e-05,1793249614113224960
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661,637,877.911217242,783,813.088782758,650,629,654,0.400974795733,-0.00539548253815,0.0798365187858,0.999999928512,0.00025073991639,-0.000279930464894,4.17686390798e-05,1793249614129891584
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,637,877.51426909,783,813,650,629,654,0.400974784529,-0.00539579699534,0.0798365521373,0.999999928991,0.00024889853453,-0.00027991797835,4.14045577273e-05,1793249614146557952
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661.059490277,637,877,783,813.059490277,650.059490277,629,654,0.400974806178,-0.00539633642069,0.0798366118198,0.999999929626,0.000246282460603,-0.000280016764051,4.10289781805e-05,1793249614163224832
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661.633990788,637,877,783,813.633990788,650.633990788,629,654,0.400976394637,-0.00539741811522,0.0798368949767,0.999999930206,0.000244033473858,-0.000279913019738,4.10354387945e-05,1793249614179891200
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,718,678.783701781,661.783701781,637,877,783,813.783701781,651,629,654,0.400982420873,-0.00539788591134,0.0798392845353,0.99999993144,0.000243449036354,-0.000275978675914,4.10984001553e-05,1793249614196557824
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,718,678.187689262,661.187689262,637,877,783,813.187689262,651,629,654,0.400996237683,-0.00539727600082,0.0798453719092,0.999999933746,0.000245786736621,-0.000265319665488,4.1260549298e-05,1793249614213224448
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,718,678.392858013,661,637,877,783,813,651,629,654,0.401027351043,-0.00539656483196,0.0798568561088,0.999999938683,0.00024743963029,-0.000244308949853,4.14839038431e-05,1793249614229891328
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,718,678.966296606,661,637,877,783,813,651,629,654,0.401066414913,-0.00539580711878,0.0798708210065,0.999999944304,0.000248777746765,-0.000218539982407,4.17353919729e-05,1793249614246558464
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,637,877,783,813,651,629,654,0.401132416335,-0.00539902827184,0.0798879629958,0.999999952319,0.00024558241196,-0.000182556255028,4.1521470243e-05,1793249614263225088
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,717.881865117,679,661.118134883,637,877,783,813.118134883,650.881865117,629,654,0.401202140676,-0.00540205694,0.079903911226,0.99999995824,0.000242687431309,-0.000151460091141,4.10255564527e-05,1793249614279891456
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,717.289615902,679,661.710384098,637,877,783,813.710384098,650.289615902,629,654,0.401280055527,-0.00540331596133,0.0799142723018,0.999999959746,0.000242133997971,-0.000142539242542,3.95145516419e-05,1793249614296558080
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,717,679,661.703960105,637,877,783,813.703960105,650.296039895,629,654,0.401366291296,-0.00540408253306,0.0799205808996,0.9999999613,0.000241102829842,-0.000133720044368,3.72660964489e-05,1793249614313224704
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,717,679,661.124614156,637,877,783,813.124614156,650.875385844,629,654,0.401460490065,-0.00540437783732,0.0799230113318,0.999999962892,0.000239614476206,-0.000124998124768,3.43119116024e-05,1793249614329891072
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,717,679,661,637,877.447391856,783,813,651,629,654,0.401574773162,-0.00540543992821,0.0799272728024,0.999999964247,0.000238325139714,-0.000117308134342,3.07573954024e-05,1793249614346557696
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.982392148,745,717.017607852,679,661,637,877.982392148,783,813.017607852,650.982392148,629,654,0.401695601204,-0.0054067343643,0.079932156596,0.999999965538,0.000237005661475,-0.000109648538201,2.7018076765e-05,1793249614363224576
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.405138536,745,717.594861464,679,661,637,877.405138536,783,813.594861464,650.405138536,629,654,0.401849518239,-0.00540873490871,0.0799408718541,0.999999968186,0.000232994719172,-9.3966868557e-05,2.26339139822e-05,1793249614379891456
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,717.823073991,679,661,636.823073991,877.353852019,783,814,650.176926009,629,653.823073991,0.402012075696,-0.00541015239185,0.0799488778787,0.999999970325,0.000229362097688,-8.01254207853e-05,1.79929676146e-05,1793249614396558080
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,717.229685159,679,661,636.229685159,878.540629683,783,814,650.770314841,629,653.229685159,0.402194971659,-0.00541019741769,0.0799552144502,0.999999971747,0.000226619999179,-7.0615639108e-05,1.27475838022e-05,1793249614413224704
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,717.354440408,679,661,636.354440408,878.291119184,783,814,651,629,653.354440408,0.40239094063,-0.0054127009429,0.0799582023048,0.999999974001,0.000218374978651,-6.53273550008e-05,6.47268976324e-06,1793249614429891072
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,717.932716119,679,661,636.932716119,877.134567762,783,814,651,629,653.932716119,0.40259516545,-0.00541675705336,0.0799590753867,0.999999976681,0.000206654766545,-6.27050193419e-05,-4.52358464026e-07,1793249614446557952
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.509082381,745,718,679,661.509082381,637,877,783,813.490917619,650.490917619,629,654,0.402821193806,-0.00541821195658,0.0799533687141,0.999999977186,0.000200125333937,-7.42101427338e-05,-8.42411492641e-06,1793249614463224320
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.913268322,745,718,679,662,637,877.086731678,783,813.086731678,650,629,654,0.403056005576,-0.00541958404658,0.079947479838,0.999999977427,0.00019361501784,-8.5934101937e-05,-1.65883834079e-05,1793249614479890944
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.326777041,745,718,679,662,637,877.673222959,783,813.673222959,650,629,654,0.403324885912,-0.00542245253927,0.0799455332564,0.999999979001,0.000183276512852,-8.8200268326e-05,-2.50677788139e-05,1793249614496557568
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,718,679,661.742439635,637,878,783,813.742439635,650,629,654,0.403627530099,-0.00542528735604,0.0799477020751,0.999999987459,0.000129985114402,-8.4217187945e-05,-3.30605781768e-05,1793249614513224448
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,718,679,661.160812308,637,878,783,813.160812308,650,629,654,0.403972656537,-0.005428079801,0.0799550489626,0.999999996307,2.26496322368e-05,-7.23711949418e-05,-4.04411331078e-05,1793249614529891328
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.415747603,745,717.584252397,679,661,637,877.584252397,783,813.415747603,650,629,654,0.404334531122,-0.00542878550372,0.0799583849872,0.999999995949,5.35024395036e-05,-6.52672001876e-05,-3.13044240158e-05,1793249614546558720
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.990371013,745,717.009628987,679,661,637,877.009628987,783,813.990371013,650,629,654,0.404702805917,-0.00542869376857,0.0799601882809,0.999999988669,0.000137163192803,-5.99753357257e-05,-1.58557272e-05,1793249614563225856
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.577556543,717.577556543,679,661.577556543,637,877,783.577556543,814,650.577556543,629,654,0.405104406334,-0.00542976685827,0.0799581183373,0.999999988896,0.000133996030087,-6.05906092907e-05,-2.41419751975e-05,1793249614579891968
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.837451309,745.837451309,717.837451309,679,662,637,877.162548691,783.837451309,814,650.837451309,629,654,0.405520207994,-0.00543293030174,0.0799551027445,0.999999989739,0.000124895197934,-6.30874758581e-05,-3.0699576417e-05,1793249614596558336
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.258624653,745.258624653,717.258624653,679,662,637,877.741375347,783.258624653,814,650.258624653,629,654,0.405970923666,-0.00544139618329,0.0799498344464,0.999999991586,0.000104388197084,-7.01451769212e-05,-3.17942938812e-05,1793249614613224960
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,717,679,661.679613626,637,878,783,814,650.320386374,629,654,0.406447107687,-0.00545355971096,0.079942223271,0.999999992218,8.74894964008e-05,-8.31799590415e-05,-3.147787425e-05,1793249614629891584
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,717,679,661.100453621,637,878,783,814,650.899546379,629,654,0.406943862347,-0.00546870980013,0.0799327197709,0.999999991743,7.35051900155e-05,-0.000101042384706,-3.00216900627e-05,1793249614646557952
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.48097552,745,717.48097552,679.48097552,661.48097552,637,877.51902448,783,813.51902448,650.51902448,629,654,0.407444498639,-0.0054865142603,0.0799276766287,0.999999991894,5.18305923453e-05,-0.000112420385609,-2.97878582941e-05,1793249614663224832
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.93740183,745,718,679.93740183,662,637,877,783,813,650.06259817,629,654,0.407952237139,-0.00550214416187,0.0799228148088,0.999999991419,3.21487093702e-05,-0.000123397764137,-3.00179023168e-05,1793249614679891712
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.358111926,745,718,679.358111926,662,637,877,783,813,650.641888074,629,654,0.408511875005,-0.00549522747821,0.0799117239731,0.999999988473,4.22350335341e-05,-0.000142299869053,-3.19596210296e-05,1793249614696558592
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.221214562,745,717.778785438,679.221214562,662,637,877.221214562,783,813.221214562,650.778785438,629,654,0.409111156372,-0.00549366850319,0.0799144638003,0.999999988954,4.36053464465e-05,-0.000138149313963,-3.3257423838e-05,1793249614713225216
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.800600248,745,717.199399752,679.800600248,662,637,877.800600248,783,813.800600248,650.199399752,629,654,0.409774624968,-0.00550078425822,0.0799395970187,0.999999994289,3.08634614446e-05,-9.66739221852e-05,-3.35126546219e-05,1793249614729891840
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,717,680,662,637,878.379312963,783,814,650,629,654,0.410475686307,-0.00550664010206,0.0799702793172,0.999999998061,2.38471377948e-05,-4.7208391421e-05,-3.28873767897e-05,1793249614746557952
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,717,680,662,637,878.957672514,783,814,650,629,654,0.411196474627,-0.00551183480026,0.0800038735256,0.999999999277,1.98353346874e-05,6.45000800399e-06,-3.18000470964e-05,1793249614763224320
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,717.531659463,680,662,637,879,783,814,650.531659463,629,654,0.41185731812,-0.00551246621492,0.0799822358378,0.999999998761,1.68398350119e-05,-3.1751648334e-05,-3.44461932066e-05,1793249614779890944
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745.107922738,718,679.892077262,662,637,879,783,814,650.892077262,629,654,0.412519676255,-0.00551417949845,0.0799550919871,0.999999996331,1.12095133501e-05,-7.61155784755e-05,-3.7666571157e-05,1793249614796557568
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745.695845781,718,679.304154219,662,637,879,783,814,650.304154219,629,654,0.413209823663,-0.00552230717977,0.0799228564733,0.999999992407,-6.49644868662e-06,-0.00011562532471,-4.2129704624e-05,1793249614813224960
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,717.719843939,679.280156061,662,637,879.280156061,783.280156061,814,650,629,654,0.413949085438,-0.00552762578841,0.0799115499207,0.999999991114,-1.95765790888e-05,-0.000123926455966,-4.50744837743e-05,1793249614829891840
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,717.139405883,679.860594117,662,637,879.860594117,783.860594117,814,650,629,654,0.414740989957,-0.00552993352636,0.0799226758263,0.999999993662,-2.76985681911e-05,-9.87770034915e-05,-4.63918332157e-05,1793249614846558208
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.437117623,745.562882377,717,680,662.437117623,637.437117623,880,783.562882377,814,650,629,654,0.415556057542,-0.00553303961838,0.0799414268728,0.999999996073,-2.6315926107e-05,-7.18972349253e-05,-4.46323437155e-05,1793249614863224576
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.987672532,745,717,680,663,638,880,783,814,650,629,654,0.416377754534,-0.00553646295183,0.0799617686847,0.999999997826,-2.23293197608e-05,-4.56516202779e-05,-4.20197686773e-05,1793249614879891200
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.415924077,745,717,680,663,638,880,783,814,650,629,654,0.417168041428,-0.00554283098881,0.0799449231634,0.999999995664,-3.65108326244e-05,-7.30038241331e-05,-4.48288604866e-05,1793249614896557568
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,717.162561312,680.162561312,663,638,880.162561312,783.162561312,814,650,629,654,0.41798849411,-0.00554878995521,0.0799413954824,0.999999994949,-4.92954202863e-05,-7.38309120069e-05,-4.71371140724e-05,1793249614913224192
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,717.759028788,680.759028788,663,638,880.759028788,783.759028788,814,650,629,654,0.418889464806,-0.0055536570363,0.079973415578,0.999999997133,-5.83513556846e-05,-3.85756482714e-06,-4.81085377257e-05,1793249614929890816
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.342662754,718,681,663.342662754,638,881.342662754,784,814,650,629,654,0.419764712133,-0.00555874790987,0.0799818250228,0.999999996432,-6.68371748033e-05,1.58178847396e-05,-4.91768581613e-05,1793249614946557696
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.917597572,718,681,663.917597572,638,881.917597572,784,814,650,629,654,0.42062252298,-0.00556399047975,0.0799742301164,0.999999995926,-7.49365434991e-05,1.39917823094e-06,-5.03108596122e-05,1793249614963224320
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.507131531,745.507131531,717.507131531,681,663.507131531,638,882,784,814,650,629,654,0.421520524829,-0.00556903800102,0.0799696756833,0.999999995432,-8.06841299784e-05,-9.67981966367e-06,-5.03239211314e-05,1793249614979891456
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.069948066,745,717,681,663,638,882.069948066,783.930051934,814,650,629,654,0.422425947618,-0.00557033498082,0.0799693215301,0.999999995336,-8.14178925348e-05,-1.41814768338e-05,-4.99753775722e-05,1793249614996558080
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.660059496,745,717,681,663,638,882.660059496,783.339940504,814,650,629,654,0.423336551941,-0.0055439840154,0.0799964196605,0.99999999735,-4.77926862223e-05,2.60736900515e-05,-4.83323921926e-05,1793249615013224448
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,717,681,663.245457502,638,883,783.245457502,814,650,628.754542498,654,0.424220421666,-0.0055228304333,0.079999238205,0.999999998532,-1.98919246052e-05,1.77003800438e-05,-4.71981215715e-05,1793249615029890816
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,717,681,663.824450835,638,883,783.824450835,814,650,628.175549165,654,0.42506796366,-0.00550873922507,0.0799690648431,0.999999997297,2.30275609e-07,-5.67509186423e-05,-4.67551092195e-05,1793249615046557184
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,717.400789944,681,664,638,883,783.599210056,814.400789944,650,628.400789944,654,0.425963930025,-0.00551364509903,0.0799378744252,0.999999994187,-1.19041573988e-05,-9.4837341321e-05,-4.98975892051e-05,1793249615063224064
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,717.975974097,681,664,638,883,783.024025903,814.975974097,650,628.975974097,654,0.426880967051,-0.00552681710217,0.0799062414613,0.999999990928,-3.80742980808e-05,-0.000117100448989,-5.46002109293e-05,1793249615079890944
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,718,681.547754279,664,638,883,783.547754279,815,650,628.452245721,654,0.42780593546,-0.00553039006175,0.0799040260052,0.999999990134,-3.81502870217e-05,-0.000123861320783,-5.41824597025e-05,1793249615096557568
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.124056286,718,682,663.875943714,638,883.124056286,784,815,650.124056286,628.124056286,654,0.428730168147,-0.00553391048503,0.0799085673419,0.999999990248,-3.91499139527e-05,-0.000123005557427,-5.33047026581e-05,1793249615113224192
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.718049454,718,682,663.281950546,638,883.718049454,784,815,650.718049454,628.718049454,654,0.4296503041,-0.00553881697919,0.0799338463529,0.999999992928,-4.79572777947e-05,-9.58571367098e-05,-5.15299239588e-05,1793249615129891072
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,717.695877768,681.695877768,663,638,884,784,815,650.695877768,629,654,0.430592978824,-0.0055429095752,0.0799719978576,0.999999996392,-5.43730179084e-05,-4.21408707474e-05,-4.98456087395e-05,1793249615146557696
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,717.116961603,681.116961603,663,638,884,784,815,650.116961603,629,654,0.431556018722,-0.00554626676177,0.0800217804841,0.999999996485,-5.86277719551e-05,3.55811454466e-05,-4.82430329663e-05,1793249615163224320
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.542705615,717,681,663,638,884,784,815,650,629,654,0.43243176096,-0.00554262278594,0.0800138475805,0.999999996943,-5.74248322928e-05,1.93409320786e-05,-4.94291114275e-05,1793249615179890944
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.968631232,745,717,681.031368768,663.031368768,638,884.031368768,784,815,650.031368768,629,654,0.433284586059,-0.00553700716111,0.0799890227248,0.999999996937,-5.42409161628e-05,-2.31557400151e-05,-5.14499775122e-05,1793249615196557312
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.376718533,745,717,681.623281467,663.623281467,638,884.623281467,784,815,650.623281467,629,654,0.434122857609,-0.0055278348916,0.0799234725934,0.999999991611,-4.03504810304e-05,-0.00010972386159,-5.57712223792e-05,1793249615213224192
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.209742248,745.209742248,717,682.209742248,664,638,885,784,815.209742248,651,629,654,0.434980364293,-0.00552490659464,0.0798919722401,0.999999986498,-3.90562971813e-05,-0.000148531817411,-5.84465169776e-05,1793249615229890816
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.786659003,745.786659003,717,682.786659003,664,638,885,784,815.786659003,651,629,654,0.435871544115,-0.00553290898645,0.0799200793734,0.999999991135,-5.98130926602e-05,-0.000103730903994,-5.82404143948e-05,1793249615246557696
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,717,682.638006293,664,638,885.361993707,784,815.638006293,650.638006293,629,654,0.436740474137,-0.00553913889093,0.0799518111134,0.999999994521,-6.2312703733e-05,-6.36326181987e-05,-5.50182001989e-05,1793249615263224320
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,717,682.06359995,664,638,885.93640005,784,815.06359995,650.06359995,629,654,0.437596348247,-0.00554432872517,0.0799856697182,0.99999999694,-5.40992635515e-05,-2.62937685173e-05,-5.00261756229e-05,1793249615279890944
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,717,682,664,638,886,784,815.510062608,650.510062608,629,654,0.438427786969,-0.00554783913793,0.0799961766526,0.999999996545,-6.42443807173e-05,-5.16954596246e-06,-5.24932566325e-05,1793249615296557824
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.913162717,746,717,682.086837283,663.913162717,637.913162717,885.913162717,783.913162717,815.913162717,650.913162717,629,654,0.43924239127,-0.0055507458072,0.0799952936632,0.999999995597,-7.57640796016e-05,-9.53969342727e-07,-5.53632204348e-05,1793249615313224448
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.317614089,746,717,682.682385911,663.317614089,637.317614089,885.317614089,783.317614089,815.317614089,650.317614089,629,654,0.439976199089,-0.00555134058786,0.0799447187711,0.999999991596,-8.19456430098e-05,-8.39659060587e-05,-5.5152687257e-05,1793249615329890816
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+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,717.422189369,683,663,637,886,783,815.422189369,650.422189369,629,654,0.441955617751,-0.00553161640666,0.0797211905772,0.999999905302,-6.15476967715e-05,-0.000425421639243,-6.80011550318e-05,1793249615379890688
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,717.99443472,683,663,637,886,783,815.99443472,650.99443472,629,654,0.442649845468,-0.00552987160434,0.0797051808959,0.999999898812,-6.74726137552e-05,-0.000439250617791,-6.9872982493e-05,1793249615396557312
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+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.147497054,717,683,663.852502946,636.852502946,887,783,816,650.852502946,629,654.147497054,0.444101394498,-0.00554502327248,0.0798188056648,0.999999959667,-6.60014787746e-05,-0.000269146945109,-6.22058363063e-05,1793249615429891328
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.74278525,717,683,663.25721475,636.25721475,887,783,816,650.25721475,629,654.74278525,0.444744506139,-0.00554976677748,0.0798253089174,0.999999960399,-7.58000741063e-05,-0.000263929861163,-6.1626042226e-05,1793249615446557696
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,717,683,663,636,887,783,816,650.328912189,629,654.671087811,0.44534849601,-0.00555257425601,0.0798139952554,0.999999953668,-8.41020950324e-05,-0.000285880597047,-6.21513409017e-05,1793249615463224320
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,717,683,663,636,887,783,816,650.90806898,629,654.09193102,0.445922721023,-0.005553908757,0.0797891260396,0.999999939862,-9.12654841014e-05,-0.000328501288112,-6.35174216702e-05,1793249615479891200
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,717,683,662.518824812,636,887,783,816,651,629,654,0.446457207038,-0.00555751164958,0.0797628052254,0.999999928441,-9.61751268557e-05,-0.00036013180751,-6.46056205038e-05,1793249615496557824
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,717,683,662,636,887.053561505,783,816,650.946438495,629,654,0.446981329359,-0.00556115238751,0.0797367053549,0.999999917065,-9.98843054267e-05,-0.000389326471779,-6.57176541292e-05,1793249615513224448
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,717,683,662,636,887.630065542,783,816,650.369934458,629,654,0.44747747334,-0.00556098383016,0.0797154367562,0.999999907,-9.60246852689e-05,-0.000414984824624,-6.75743064927e-05,1793249615529890816
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,717,683.212921756,662,636,887.787078244,782.787078244,816,650.212921756,628.787078244,654.212921756,0.447951158357,-0.0055608351376,0.0796921358894,0.999999891922,-9.74828950646e-05,-0.000449267006547,-6.93773364724e-05,1793249615546557952
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,717,683.80715368,662,636,887.19284632,782.19284632,816,650.80715368,628.19284632,654.80715368,0.448384622764,-0.00556072201984,0.0796651955446,0.999999867094,-0.000108464522029,-0.000498993138945,-7.10843367437e-05,1793249615563225344
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,717,683.609740065,662,635.609740065,887,782,816,651,628.390259935,654.609740065,0.448801869152,-0.0055595480863,0.0796435082174,0.999999850552,-0.000107513883213,-0.000531251905365,-7.14719859316e-05,1793249615579891968
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,717,683.031979103,662,635.031979103,887,782,816,651,628.968020897,654.031979103,0.449211323606,-0.00555786448207,0.0796243447088,0.999999838302,-0.000100830368707,-0.000555118451671,-7.12257508976e-05,1793249615596558080
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+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,717,683,660.709051626,635,887.709051626,781,816,651,629,654,0.450687742031,-0.00555881992937,0.0796579251067,0.99999986117,-0.000109553884343,-0.000510647616203,-6.99844289829e-05,1793249615663224064
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765.407793239,746,717,683,660,634,888.592206761,781,816,651,629,654.592206761,0.451679742176,-0.00556358247039,0.0796021511876,0.99999981024,-9.90515623944e-05,-0.000604157332125,-6.85832009895e-05,1793249615729891840
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.172310071,746,717,683.172310071,660,634,888.827689929,781,816,651,629,654.827689929,0.451870345926,-0.00556435316697,0.0795806395825,0.999999789712,-0.00010043210352,-0.000637069821509,-6.80510027736e-05,1793249615746558208
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.764872441,746,717,683.764872441,660,634,888.235127559,781,816,651,629,654.235127559,0.452050242594,-0.00556218709808,0.079565287287,0.999999773966,-0.00010997361423,-0.000659917053601,-6.69510955655e-05,1793249615763224320
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+214,3.566666667,POSE1_TO_POSE2_PRESS,766,746,716.915205498,684,660,634,888,781,816,651,629,654,0.452633162151,-0.00556733266054,0.0795499303304,0.999999755357,-0.000123471397709,-0.000684838188321,-7.09694348998e-05,1793249615829891072
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,717,683.143594735,659.856405265,634,889,780.856405265,816.143594735,651,629,654.143594735,0.453219168795,-0.00556321140374,0.0795192322984,0.999999720349,-0.000129359346645,-0.000732870788388,-7.39530688242e-05,1793249616196558080
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.43330455,746,717,683,659.56669545,634,888.56669545,781,816,651,629,654,0.453220166026,-0.00556306840517,0.0795194321068,0.999999721099,-0.000128270853069,-0.000732027516609,-7.40621197957e-05,1793249616213224448
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,716.990566304,683.009433696,659.009433696,634,888,780.990566304,816.009433696,651,629,654,0.453221495466,-0.00556233128026,0.0795194251353,0.99999972237,-0.000125588563401,-0.000730734763249,-7.4255362291e-05,1793249616229890816
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,716.414661785,683.585338215,659.585338215,634,888,780.414661785,816.585338215,651,629,654,0.453220418558,-0.00556342827601,0.0795180648771,0.999999720545,-0.000126560849495,-0.000733091559901,-7.39568689823e-05,1793249616246557696
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.835062189,746,716.164937811,684,660,634,888,780.164937811,816.835062189,651,629,654.164937811,0.453219768779,-0.00556391144578,0.0795171428293,0.999999719348,-0.000127014691846,-0.000734669605329,-7.37018698883e-05,1793249616263224320
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.245960141,746,716.754039859,684,660,634,888,780.754039859,816.245960141,651,629,654.754039859,0.453220217429,-0.00556281606275,0.0795173477108,0.999999719782,-0.000126135272276,-0.000734244966002,-7.35587232151e-05,1793249616279891200
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.337053412,746,717,684,659.662946588,634,888,780.662946588,816.337053412,651,628.662946588,654.662946588,0.453220028578,-0.00556160485278,0.0795169199149,0.999999719615,-0.000124865525328,-0.000734679035914,-7.36592287113e-05,1793249616296558080
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.915702779,746,717,684,659.084297221,634,888,780.084297221,816.915702779,651,628.084297221,654.084297221,0.453219382773,-0.00556031061944,0.079516038623,0.999999719015,-0.000123315996311,-0.000735728618611,-7.39343812465e-05,1793249616313224960
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,717,683.508717791,659,634,888,780.491282209,816.508717791,651,628.491282209,654.491282209,0.453221282055,-0.00556103186141,0.0795180288728,0.99999972078,-0.000123715456783,-0.000733296340864,-7.35585558456e-05,1793249616329891328
+245,4.083333333,HOLD_POSE2,765,746,717,684,659,634,888,780,816,651,629,654,0.453220959148,-0.0055616757927,0.0795177508042,0.999999720336,-0.000124476484208,-0.000733796278246,-7.33244732373e-05,1793249616373775360
+246,4.100000000,HOLD_POSE2,765.594561836,746,717,684,659,634,888,780,816,651,629,654,0.453222530721,-0.00556316013963,0.0795183019851,0.99999972095,-0.000126508542796,-0.000732614678131,-7.32921410005e-05,1793249616390441472
+247,4.116666667,HOLD_POSE2,766,746,717,684,659.185373829,634,888,780,816,651,629,654,0.453223703919,-0.00556363961378,0.0795188843406,0.999999721531,-0.000126947141869,-0.00073176747697,-7.30618517525e-05,1793249616407107584
+248,4.133333333,HOLD_POSE2,766,746,717,684,659.768147123,634,888,780,816,651,629,654,0.453224023091,-0.00556196486876,0.0795195335278,0.999999722048,-0.000123969725365,-0.000731637151139,-7.2407187543e-05,1793249616423774208
+249,4.150000000,HOLD_POSE2,766,746,717,684,659.656931832,634,888,780,816,651,629,654,0.453223486582,-0.00556170333205,0.0795192556009,0.999999721764,-0.000123628517704,-0.000732093998071,-7.22866525644e-05,1793249616440441088
+250,4.166666667,HOLD_POSE2,766,746,717,684,659.087198796,634,888,780,816,651,629,654,0.453222384724,-0.00556237550106,0.0795183651304,0.999999720955,-0.000125029051323,-0.000732938789592,-7.25190163861e-05,1793249616457108224
+251,4.183333333,HOLD_POSE2,765.501949467,746,717,684,659,634,888,780.498050533,816,651,629,654,0.453222218685,-0.00556181915753,0.0795178884458,0.999999720316,-0.00012490170404,-0.000733810015396,-7.27407879961e-05,1793249616473774848
+252,4.200000000,HOLD_POSE2,765,746,717,684,659,634,888,780.914910023,816.085089977,651,628.914910023,654,0.453222196171,-0.00556115443184,0.0795175758954,0.999999719813,-0.000124581462572,-0.000734533767031,-7.28874977378e-05,1793249616490441472
+253,4.216666667,HOLD_POSE2,765,746,717,684,659,634,888,780.333780814,816.666219186,651,628.333780814,654,0.453222024495,-0.00556115207767,0.0795177842699,0.999999719934,-0.00012474629664,-0.000734369957918,-7.26077864758e-05,1793249616507107840
+254,4.233333333,HOLD_POSE2,765,746,717,683.755259399,659,634,888,780,817,651,628.244740601,654,0.453222131842,-0.00556186767196,0.0795177861401,0.999999719936,-0.000126163661178,-0.000734128194612,-7.25736647446e-05,1793249616523774208
+255,4.250000000,HOLD_POSE2,765,746,717,683.180257082,659,634,888,780,817,651,628.819742918,654,0.453222615715,-0.00556355209156,0.0795175093459,0.999999719772,-0.000129271235103,-0.000733781237137,-7.28709503296e-05,1793249616540440832
+256,4.266666667,HOLD_POSE2,765,745.605066416,717,683.394933584,659,634,888,780,816.605066416,651,629,654,0.453222638996,-0.0055623749543,0.0795174900921,0.999999720047,-0.000127517871475,-0.000733709094051,-7.29123131073e-05,1793249616557107968
+257,4.283333333,HOLD_POSE2,765,745.029789692,717,683.970210308,659,634,888,780,816.029789692,651,629,654,0.453222451953,-0.00555989111102,0.0795175884418,0.999999720512,-0.000123544801372,-0.000733762442634,-7.28368108867e-05,1793249616573775104
+258,4.300000000,HOLD_POSE2,765.561121229,745.561121229,717,684,659,634,888.561121229,780,816,651,629,654,0.453221108741,-0.00556045447078,0.0795164788526,0.999999718898,-0.000124085838406,-0.000735855778725,-7.29611206471e-05,1793249616590441728
+259,4.316666667,HOLD_POSE2,766,746,717,684,659,634,888.851009608,780,816.148990392,651,629,654,0.453220906828,-0.0055613832889,0.0795163635773,0.999999718305,-0.000124948606763,-0.000736517947725,-7.29367226525e-05,1793249616607108096
+260,4.333333333,HOLD_POSE2,766,746,717,684,659,634,888.274323014,780,816.725676986,651,629,654,0.453224162411,-0.00556288349742,0.0795192919752,0.999999720971,-0.000126027277037,-0.000732751961192,-7.24541156169e-05,1793249616623774720
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,746,717,684,659,634,888,781,816,651,629,655,0.453224304327,-0.00556111772774,0.0795188576489,0.999999721219,-0.000124815828439,-0.000732661255412,-7.20395865932e-05,1793249616660605696
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,746,716.412823553,684,659,634,888,781,816,651,629,654.412823553,0.453225844251,-0.005559407639,0.0795194217133,0.999999721608,-0.000123858003182,-0.000732254216998,-7.24348032098e-05,1793249616677272832
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,746,716.171885452,684,659,634,888.171885452,780.828114548,816,651,629,654,0.453227215878,-0.00555832450106,0.0795200641237,0.999999722287,-0.000122973323543,-0.000731447839968,-7.27124540527e-05,1793249616693939968
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,746,716.750752295,684,659,634,888.750752295,780.249247705,816,651,629,654,0.453228189018,-0.0055587258241,0.0795208920375,0.999999723654,-0.000122261834085,-0.000729695929749,-7.27117388809e-05,1793249616710606336
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,659.328155699,634,888.671844301,780,816,651,629,654.328155699,0.453227468747,-0.0055600751231,0.0795202494679,0.999999723045,-0.000123210003937,-0.000730370671194,-7.27170954731e-05,1793249616727272704
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,659.90445246,634,888.09554754,780,816,651,629,654.90445246,0.453225467971,-0.00556214125179,0.0795184949647,0.999999720934,-0.000125413156225,-0.000732880370734,-7.27270433429e-05,1793249616743939840
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,746,716.51874888,684,659.51874888,634,888,780,816,650.51874888,629,654.51874888,0.453226152334,-0.00556149824551,0.0795192478899,0.999999721642,-0.000124928612356,-0.00073202652932,-7.24251444181e-05,1793249616760606208
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,746,716.059226452,684,659,634,888,780,816,650.059226452,628.940773548,654,0.453227170417,-0.00556047976679,0.079520277025,0.999999722789,-0.000124010269754,-0.000730644246257,-7.21324036654e-05,1793249616777272320
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,746,716.646808974,684,659,634,888,780,816,650.646808974,628.353191026,654,0.45322640482,-0.00556091504958,0.0795193245097,0.999999722864,-0.000123987351446,-0.000730511364584,-7.24742708746e-05,1793249616793938944
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.768409125,746,717,683.768409125,659,634,888.231590875,780,816,651,628.231590875,654,0.453225074305,-0.00556101878204,0.0795184341621,0.999999722684,-0.000123864023232,-0.000730759083906,-7.26682948131e-05,1793249616810605568
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.18784737,746,717,683.18784737,659,634,888.81215263,780,816,651,628.81215263,654,0.453222892551,-0.00556062292048,0.0795176374914,0.99999972212,-0.000123589393149,-0.000731580308844,-7.26395422559e-05,1793249616827272192
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.38782358,746,717,683.38782358,659,634,888.61217642,780,816,651,629,654,0.453204839561,-0.00556041810825,0.0795084996161,0.999999711421,-0.0001242739722,-0.000745930089059,-7.28094231108e-05,1793249616843938816
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.961155158,746,717,683.961155158,659,634,888.038844842,780,816,651,629,654,0.453179194869,-0.00556030468077,0.0794953718849,0.999999695512,-0.000125417370544,-0.000766750994993,-7.30743164339e-05,1793249616860605440
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,659,634,888,780,816,651,628.463093274,654,0.45312623317,-0.00555858982526,0.0794747846854,0.999999666929,-0.00012367163729,-0.000803415780613,-7.32830908028e-05,1793249616877272064
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766.116393409,746,717,684,659,634,888.116393409,780,816.116393409,651,628.116393409,654,0.453068084641,-0.00555707153049,0.0794540989008,0.999999638283,-0.000122214222272,-0.000838519952066,-7.33595336797e-05,1793249616893938432
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766.710488075,746,717,684,659,634,888.710488075,780,816.710488075,651,628.710488075,654,0.452996796459,-0.00555683763304,0.0794352335084,0.999999617855,-0.000122801892279,-0.000862493158272,-7.29096018753e-05,1793249616910605056
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766.70417092,746,717,684,659,634,888.70417092,780,817,651,629,654,0.452921147033,-0.00555575878287,0.0794245446974,0.999999605324,-0.000122338585757,-0.000877045646032,-7.19444576808e-05,1793249616927271680
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766.127150476,746,717,684,659,634,888.127150476,780,817,651,629,654,0.452841352163,-0.00555387678853,0.0794216278892,0.99999960068,-0.000120876305368,-0.000882643554371,-7.04895940233e-05,1793249616943938048
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,746,717,683.551453198,659,634,888,780,816.551453198,651,629,654,0.45274996464,-0.00555067031971,0.0794231864891,0.999999603713,-0.000117041335413,-0.000879867501255,-6.86154410012e-05,1793249616960604672
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.024389577,659,634,888,780,816,651,628.975610423,654,0.452653990284,-0.00554717852661,0.0794259598019,0.999999608697,-0.000112669712113,-0.000874919622218,-6.65351221808e-05,1793249616977271552
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,717,683.612233558,659,634,888,780,816,651,628.387766442,654,0.452527744862,-0.00554574336274,0.0794275731819,0.999999609493,-0.000111392856386,-0.000874476133047,-6.24296914627e-05,1793249616993938432
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,717,684,659,634,888,780.196693787,816,651.196693787,628.196693787,654,0.452392809014,-0.00554385784543,0.0794303211784,0.999999611496,-0.000109233536132,-0.000872739493863,-5.8325170788e-05,1793249617010605056
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,659,634,888,780.774595964,816,651.774595964,628.774595964,654,0.452241030436,-0.00554109950708,0.0794352681529,0.999999615836,-0.000105363928743,-0.000868496625925,-5.42224143278e-05,1793249617027271680
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,659,634,888,780.649436077,816,651.649436077,629,654,0.452072406599,-0.00553768575427,0.0794413247813,0.99999962244,-9.99299481754e-05,-0.000861783448701,-4.9634130215e-05,1793249617043938304
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,717,684,659,634,888,780.074704891,816,651.074704891,629,654,0.451893011088,-0.00553385289797,0.0794480909757,0.999999630405,-9.34956325321e-05,-0.000853490637627,-4.47353761984e-05,1793249617060604928
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,659,634,888,780.502729052,816,651,629,653.497270948,0.451683851077,-0.00552977190848,0.0794530101598,0.999999636496,-8.41854553518e-05,-0.000847590933246,-3.8852238234e-05,1793249617077272064
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,659.082207991,634,888,781,816,651,629,653.082207991,0.451465490049,-0.00552559597869,0.0794584345699,0.999999643166,-7.46030254858e-05,-0.000840851442794,-3.27406401323e-05,1793249617093938944
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,717,684,659.671816912,634,888,781,816,651,629,653.671816912,0.451217785589,-0.0055210628722,0.0794686805072,0.999999655747,-6.59921301053e-05,-0.000826721893987,-2.61266794048e-05,1793249617110605056
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,659.743273264,634,888,781,816,651,629,654,0.45095792566,-0.00551669780533,0.0794807650399,0.999999672857,-5.52587465931e-05,-0.000806775345024,-1.86244266879e-05,1793249617127271424
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,659.164262527,634,888,781,816,651,629,654,0.450682806278,-0.00551254368865,0.0794951576675,0.999999695243,-4.18608807881e-05,-0.000779526377992,-1.00070497664e-05,1793249617143938304
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,717,684,659.411400455,634,888,781,816,651,629,654,0.450375165611,-0.00550643669228,0.0795095267256,0.999999714974,-2.56408425388e-05,-0.00075457821138,-2.46615767836e-06,1793249617160605184
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,659.985737534,634,888,781,816,651,629,654,0.450054644779,-0.00549955625103,0.0795238864486,0.999999733109,-8.30307309671e-06,-0.000730541285254,4.64838853321e-06,1793249617177272064
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,746,717,683.427995852,660,634,888,781,816,651,629,654,0.449697701165,-0.00549531776427,0.0795355395378,0.999999747374,4.66776074678e-05,-0.000709193667735,1.08681662058e-05,1793249617193938944
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,746,717,683.156550733,660.156550733,634.156550733,887.843449267,781,816,651,629,654,0.44931718957,-0.00548990440501,0.0795422591993,0.999999753717,7.9959846453e-05,-0.000697123163257,1.38425997305e-05,1793249617210605312
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.784211441,660.215788559,635.215788559,886.784211441,782,816,651,628,654,0.445943510176,-0.00544346718201,0.0796038226945,0.999999810004,8.31462118539e-05,-0.000610643968968,1.38773983169e-05,1793249617327272192
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,746,717,683.205158962,660.794841038,635.794841038,886.205158962,782,816,651,628,654,0.44535682445,-0.00543026276417,0.0796377288973,0.999999833887,0.000100175153008,-0.000567501971386,1.14714947594e-05,1793249617343939328
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745.617109231,717.382890769,679.617109231,661,637,878.382890769,783,813,650.617109231,629,654,0.405968204472,-0.00539744214076,0.0797761044133,0.999999908317,0.000229152567908,-0.000358851349722,4.56127708564e-05,1793249618193938432
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.46478452,745,718,679.53521548,661,637,878.46478452,783.53521548,813,650,629,654,0.405142177595,-0.00539583732215,0.0798143094523,0.999999928139,0.00023198086965,-0.000296134105289,4.70342305876e-05,1793249618227271936
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,718,679.886611566,661.113388434,637,878,783.886611566,813.113388434,650.113388434,629,654,0.40474181822,-0.00539596850578,0.0798268543808,0.999999931999,0.000230944630057,-0.000283510653811,4.78315657594e-05,1793249618243938560
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,718,679.297494366,661.702505634,637,878,783.297494366,813.702505634,650.702505634,629,654,0.404365679257,-0.00539526293235,0.0798299301823,0.99999993083,0.00023770764199,-0.000281769548286,4.94092299339e-05,1793249618260605184
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.276940372,745.276940372,718,679,661.723059628,637,877.723059628,783.276940372,814,651,629,654,0.404002390386,-0.00539398168063,0.0798287229885,0.999999927379,0.000244218599252,-0.00028819909245,5.03992724729e-05,1793249618277271552
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.836396996,745.836396996,718,679,661.163603004,637,877.163603004,783.836396996,814,651,629,654,0.403652210349,-0.00539211316003,0.079823146566,0.999999921448,0.000250472426567,-0.000302963793137,5.07898621781e-05,1793249618293938176
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.577622709,745.577622709,718,679,661,637,877.422377291,783.577622709,814,650.577622709,629,654,0.403354185839,-0.00539202634648,0.0798275389193,0.999999924271,0.000245355384832,-0.000298157061223,4.85894001955e-05,1793249618310604800
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.018602076,745,718,679.018602076,661,637,878,783,814,650.018602076,629,654,0.403078557866,-0.00539267921387,0.0798358108684,0.999999930336,0.000235820094757,-0.00028574017951,4.54940867622e-05,1793249618327271424
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.593374592,745,718,679.593374592,661,637,878,783,814,650.593374592,629,654,0.402828076931,-0.00539343123188,0.0798368947848,0.999999929958,0.00023469331041,-0.000287631428022,4.76611298625e-05,1793249618343938048
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.826294839,745,718,679.826294839,661,637,877.826294839,783,813.826294839,650.826294839,629,654,0.402588212983,-0.00539356944673,0.0798370065712,0.999999929128,0.000235677854292,-0.000289416475049,4.93676272695e-05,1793249618360604672
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.232523474,745,718,679.232523474,661,637,877.232523474,783,813.232523474,650.232523474,629,654,0.402374023822,-0.00539222331889,0.0798347674835,0.999999927202,0.000241768162773,-0.000290944697794,4.99603999347e-05,1793249618377271296
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.349009853,745,717.650990147,679,661,637,877,783,813.349009853,650.349009853,629,653.650990147,0.402185753169,-0.00539238462151,0.0798349508154,0.999999927816,0.00024244029763,-0.0002880996594,5.08821638919e-05,1793249618393937920
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.922666011,745,717.077333989,679,661,637,877,783,813.922666011,650.922666011,629,653.077333989,0.402014165396,-0.00539351620801,0.0798366933798,0.999999930051,0.000239624930717,-0.000282439695009,5.20156889154e-05,1793249618410604544
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.501742468,745,717.498257532,679,661,636.501742468,877,783,813.501742468,650.501742468,629,653.498257532,0.401865040299,-0.00539297993546,0.0798391187914,0.999999930144,0.000241909058854,-0.000279909512407,5.33180911561e-05,1793249618427271424
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.07610562,745,718,679,661,636.07610562,877,783,813,650.07610562,629,654,0.401722148093,-0.00539255852718,0.0798409374157,0.999999929645,0.00024498022137,-0.000278781215655,5.45534730761e-05,1793249618443938304
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.66718263,745,718,679,661,636.66718263,877,783,813,650.66718263,629,654,0.401597748011,-0.00539467281166,0.0798379302539,0.999999927444,0.000248000373668,-0.000283839031928,5.51573093307e-05,1793249618460604672
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,636.747058752,877,783,813.252941248,650.747058752,629,654,0.401483065308,-0.00539565027656,0.0798344372431,0.999999925972,0.000248680181209,-0.000289339613913,4.99698909355e-05,1793249618477271296
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,636.168153943,877,783,813.831846057,650.168153943,629,654,0.401380905331,-0.00539516273015,0.0798303181224,0.999999925327,0.000246344003127,-0.000295410784543,3.73193243823e-05,1793249618493937920
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.592021932,745,718,679,661,636.407978068,877,783,813.592021932,650.407978068,629,653.592021932,0.401299450267,-0.00539493130054,0.07982809186,0.999999924589,0.000247191411393,-0.000297434487075,3.53767162858e-05,1793249618510604800
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.01702507,745,718,679,661,636.98297493,877,783,813.01702507,650.98297493,629,653.01702507,0.401226471421,-0.00539480472051,0.0798266404995,0.999999923856,0.000249342122029,-0.000297801229705,3.78177517852e-05,1793249618527271424
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,718,679,660.430580632,637,877.569419368,783.569419368,813.569419368,651,629,653.569419368,0.401172492147,-0.00539421588793,0.0798256434237,0.999999923006,0.000249378972035,-0.000300452711732,3.90560669302e-05,1793249618543937792
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.154122319,745,717.845877681,679,660.154122319,637,877.845877681,783.845877681,813.845877681,651,629,654,0.401122707842,-0.0053939653288,0.0798248501623,0.999999922358,0.000248968755208,-0.000302791259257,4.01948788401e-05,1793249618560604672
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.733062213,745,717.266937787,679,660.733062213,637,877.266937787,783.266937787,813.266937787,651,629,654,0.401082888487,-0.00539468605233,0.0798245804815,0.999999922293,0.000247504041304,-0.000304075089811,4.11605760595e-05,1793249618577271296
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.688419987,745,717.311580013,679,661,637,877,783,813,651,629.311580013,654,0.401050700591,-0.00539570301959,0.0798245918977,0.999999922117,0.000247352186969,-0.000304652012166,4.20607114327e-05,1793249618593937920
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.110263252,745,717.889736748,679,661,637,877,783,813,651,629.889736748,654,0.401025041893,-0.00539697344248,0.0798248438105,0.999999921849,0.000248323568186,-0.000304624129275,4.29047545414e-05,1793249618610604544
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.464833,745,718,679,661,637,877,783,813,650.535167,629.535167,654,0.401009825818,-0.00539664731315,0.0798254917327,0.999999922362,0.000248170860016,-0.00030303623204,4.3086887481e-05,1793249618627272192
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,637,877.040123088,783,813,650.040123088,629,654,0.400997489532,-0.00539604019689,0.0798262927021,0.99999992308,0.000247796314293,-0.00030095836893,4.31307516002e-05,1793249618643939584
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,637,877.627903832,783,813,650.627903832,629,654,0.400990870876,-0.00539673325426,0.0798279088702,0.999999924136,0.000248009568879,-0.000297210704751,4.34164317401e-05,1793249618660605952
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745.212461602,717.787538398,679,661,637,877.787538398,783,813,651,629.212461602,654,0.40098494911,-0.00539706478958,0.0798291980916,0.999999924884,0.000248170274175,-0.000294539553946,4.3463454268e-05,1793249618677272320
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745.791459103,717.208540897,679,661,637,877.208540897,783,813,651,629.791459103,654,0.400980229612,-0.00539677263186,0.0798299232685,0.999999925122,0.000248240322134,-0.000293725589777,4.30987478746e-05,1793249618693938688
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.643962756,745.643962756,717.356037244,679,661.356037244,637,877.356037244,783,813.356037244,651,630,654,0.400977228291,-0.00539608420103,0.079830022501,0.999999925209,0.000248451458733,-0.000293277448222,4.29296122913e-05,1793249618710605568
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.087501716,745.087501716,717.912498284,679,661.912498284,637,877.912498284,783,813.912498284,651,630,654,0.400975194181,-0.00539517269646,0.0798297693711,0.99999992521,0.00024874201826,-0.000293035238963,4.28705692594e-05,1793249618727272192
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.503608687,745.503608687,718,679,661.496391313,637,877.496391313,783.503608687,813.496391313,650.496391313,630,654,0.40097545203,-0.00539448765555,0.0798305063923,0.99999992508,0.000250256236773,-0.000292220691213,4.26439566321e-05,1793249618743939072
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.100199606,745.899800394,718,679,661,637,877.100199606,783.899800394,813,650.100199606,629.899800394,654.100199606,0.400975899029,-0.00539407503331,0.0798313011897,0.999999925066,0.000251377058195,-0.000291333736971,4.2444903136e-05,1793249618760605696
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.691960021,745.308039979,718,679,661,637,877.691960021,783.308039979,813,650.691960021,629.308039979,654.691960021,0.400975175991,-0.00539479155104,0.0798314730802,0.999999925755,0.000249447855026,-0.000290615466751,4.25344365068e-05,1793249618777272320
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.446403669,745,718,678.723201835,661.276798165,637,877.723201835,783,813.276798165,650.723201835,629,654.723201835,0.400974937309,-0.00539472231884,0.0798319844512,0.999999925961,0.000249459942974,-0.000289896676422,4.25154302593e-05,1793249618793938944
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.291758487,745,718,678.145879243,661.854120757,637,877.145879243,783,813.854120757,650.145879243,629,654.145879243,0.400975224502,-0.00539379998479,0.0798328644021,0.999999925644,0.000251579723115,-0.000289177321311,4.23785807329e-05,1793249618810605824
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.429043969,745,717.570956031,678,661.570956031,637,877,783,813.570956031,650,629,654,0.400976069184,-0.00539464115607,0.0798337886298,0.999999926323,0.00025065411985,-0.000287589041797,4.26475707475e-05,1793249618827272192
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745.003237732,717.003237732,678,661,636.996762268,877,783,813.003237732,650,629,654,0.400977085494,-0.00539607306097,0.0798347151371,0.999999927324,0.00024871078616,-0.000285731464908,4.30497266976e-05,1793249618843939072
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.592241883,717.592241883,678,661,636.407758117,877,783,813.592241883,650,629,654,0.400975049699,-0.00539650246713,0.079833345567,0.999999926543,0.000248933376101,-0.000288306842982,4.27180497194e-05,1793249618860605696
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.821714574,718,678,661,636.178285426,877.178285426,783,813.821714574,650,629,653.821714574,0.40097402571,-0.00539682435557,0.0798325646563,0.999999926341,0.000248489138378,-0.000289431787572,4.24325569221e-05,1793249618877272320
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745.242331688,718,678,661,636.757668312,877.757668312,783,813.242331688,650,629,653.242331688,0.400975278031,-0.00539690435612,0.0798331080814,0.999999927446,0.000246544705768,-0.000287293620716,4.22509669604e-05,1793249618893938944
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.665252935,745,718,678.334747065,661,637,878,783,813.334747065,650.334747065,629,653.334747065,0.400975655425,-0.00539611663108,0.0798337225144,0.999999927583,0.000247077504502,-0.000286381544347,4.21066418775e-05,1793249618910605568
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.089830824,745,718,678.910169176,661,637,878,783,813.910169176,650.910169176,629,653.910169176,0.400975403767,-0.00539470503232,0.0798343880002,0.999999927022,0.00024939137276,-0.000286350997484,4.19891093494e-05,1793249618927272448
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.485217291,745,718,679,661,637,877.514782709,783,813.514782709,650.514782709,629,654,0.400976241366,-0.0053955019362,0.0798349200543,0.999999927467,0.000249130575691,-0.000285002058872,4.21160975347e-05,1793249618943939328
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.938149375,745,718,679,661,637,877,783,813,650,629,654,0.400977162843,-0.0053965889531,0.0798354480989,0.999999928042,0.000248527860417,-0.000283478029175,4.23092578755e-05,1793249618960605952
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.347368352,745,718,679,661,637,877,783,813,650,629,654,0.400977078422,-0.00539666306916,0.0798361529452,0.999999928155,0.000249074293942,-0.00028254237475,4.26814711583e-05,1793249618977272320
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.238521768,745,718,679,661,636.761478232,877.238521768,783,813,650,629,654,0.400976387899,-0.00539663874318,0.0798358803144,0.999999928029,0.000249472922711,-0.000282618568079,4.27903655134e-05,1793249618993938688
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.817432283,745,718,679,661,636.182567717,877.817432283,783,813,650,629,654,0.400974832424,-0.00539647393292,0.0798342127495,0.999999927563,0.000249660622904,-0.000284138745161,4.2523483738e-05,1793249619010605312
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.60648351,745,718,679,661,636.39351649,877.60648351,783,813.39351649,650.39351649,629,654,0.400974672228,-0.00539662909577,0.0798342916624,0.999999927544,0.000249166893014,-0.000284646710959,4.24731786862e-05,1793249619027271936
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.031701222,745,718,679,661,636.968298778,877.031701222,783,813.968298778,650.968298778,629,654,0.400975154742,-0.00539693164808,0.0798351750567,0.999999927731,0.000248359275459,-0.000284688421018,4.25226355507e-05,1793249619043938560
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1d3145143cafb1cff752519b7400d7854e7bcd3c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_05/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,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
+1,0.016666667,pose1_baseline,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
+2,0.033333333,pose1_baseline,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
+3,0.050000000,pose1_baseline,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
+4,0.066666667,pose1_baseline,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
+5,0.083333333,pose1_baseline,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
+6,0.100000000,pose1_baseline,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
+7,0.116666667,pose1_baseline,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
+8,0.133333333,pose1_baseline,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
+9,0.150000000,pose1_baseline,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
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+371,6.183333333,pose2_to_pose3_retreat,0.576031689412,0.000150263250246,1.0700333644,0.546602365486,0.00882288904982,1.06970476308
+372,6.200000000,pose2_to_pose3_retreat,0.575956536547,0.000150047377004,1.07003348297,0.54652721583,0.00882268405859,1.06970488149
+373,6.216666667,pose2_to_pose3_retreat,0.575893098345,0.000150174026606,1.07003346994,0.546463775487,0.0088228035208,1.06970487049
+374,6.233333333,pose2_to_pose3_retreat,0.575840698747,0.000150076398047,1.07003336962,0.546411377509,0.00882271134622,1.06970476909
+375,6.250000000,pose2_to_pose3_retreat,0.575797348979,0.000150057663685,1.07003334979,0.546368028531,0.00882269527276,1.06970474877
+376,6.266666667,pose2_to_pose3_retreat,0.575762386894,0.000150195442941,1.0700333311,0.546333065083,0.00882282856271,1.06970473372
+377,6.283333333,pose2_to_pose3_retreat,0.575734374861,0.000150218738117,1.07003342177,0.546305052475,0.00882284972441,1.06970481966
+378,6.300000000,pose2_to_pose3_retreat,0.575712989521,0.000150178258215,1.07003350518,0.546283667716,0.00882281099172,1.06970489733
+379,6.316666667,pose2_to_pose3_retreat,0.575697441516,0.000150175837991,1.07003353534,0.546268119605,0.00882280819808,1.06970492699
+380,6.333333333,pose2_to_pose3_retreat,0.575686584702,0.000150159437356,1.07003362134,0.546257261049,0.00882278587388,1.06970501218
+381,6.350000000,pose2_to_pose3_retreat,0.575679369024,0.000150147995729,1.0700334998,0.54625004674,0.00882277936638,1.0697048984
+382,6.366666667,pose2_to_pose3_retreat,0.575674256918,0.000150165891483,1.07003359079,0.546244934331,0.0088227960266,1.06970498398
+383,6.383333333,pose2_to_pose3_retreat,0.575670851774,0.000150195640283,1.07003377283,0.546241528111,0.00882282170838,1.06970515493
+384,6.400000000,pose2_to_pose3_retreat,0.575668535433,0.000150226468135,1.07003368598,0.546239212122,0.00882285403162,1.06970507618
+385,6.416666667,pose2_to_pose3_retreat,0.575667178079,0.00015024515285,1.07003362276,0.546237855037,0.00882287384206,1.06970501862
+386,6.433333333,pose2_to_pose3_retreat,0.575666499816,0.000150222877665,1.07003360532,0.546237177269,0.00882285331149,1.06970500283
+387,6.450000000,pose2_to_pose3_retreat,0.575666208491,0.000150206148751,1.07003360104,0.546236886239,0.00882283759971,1.06970499898
+388,6.466666667,pose2_to_pose3_retreat,0.575666204635,0.000150205927344,1.07003360098,0.546236882387,0.00882283739177,1.06970499893
+389,6.483333333,pose2_to_pose3_retreat,0.575666126156,0.000150201420842,1.07003359983,0.546236803988,0.00882283315926,1.06970499789
+390,6.500000000,pose2_to_pose3_retreat,0.575665975284,0.000150192757189,1.07003359761,0.546236653268,0.00882282502237,1.0697049959
+391,6.516666667,pose2_to_pose3_retreat,0.575665959224,0.000150191834996,1.07003359737,0.546236637224,0.00882282415624,1.06970499569
+392,6.533333333,pose2_to_pose3_retreat,0.575665843304,0.000150185178435,1.07003359567,0.546236521421,0.00882281790441,1.06970499416
+393,6.550000000,pose2_to_pose3_retreat,0.575665836497,0.000150184787562,1.07003359557,0.546236514621,0.0088228175373,1.06970499407
+394,6.566666667,pose2_to_pose3_retreat,0.575665783882,0.000150181766265,1.07003359479,0.54623646206,0.0088228146997,1.06970499337
+395,6.583333333,pose2_to_pose3_retreat,0.575665570031,0.000150169486174,1.07003359165,0.546236248425,0.00882280316625,1.06970499055
+396,6.600000000,pose2_to_pose3_retreat,0.575665418497,0.000150160784536,1.07003358942,0.546236097044,0.00882279499368,1.06970498854
+397,6.616666667,pose2_to_pose3_retreat,0.575665045775,0.000150176529655,1.07003356955,0.546235724033,0.00882280974356,1.06970496836
+398,6.633333333,pose2_to_pose3_retreat,0.57566485369,0.00015021775174,1.07003354648,0.546235531203,0.00882284840597,1.06970494436
+399,6.650000000,pose2_to_pose3_retreat,0.575664775542,0.000150234522601,1.07003353709,0.546235452752,0.00882286413545,1.0697049346
+400,6.666666667,pose2_to_pose3_retreat,0.575664714585,0.000150247604176,1.07003352977,0.546235391559,0.00882287640473,1.06970492698
+401,6.683333333,pose2_to_pose3_retreat,0.575664547172,0.00015028353145,1.07003350966,0.546235223498,0.00882291010111,1.06970490607
+402,6.700000000,pose2_to_pose3_retreat,0.575664379323,0.000150278680359,1.07003353137,0.546235055915,0.00882290615001,1.06970492767
+403,6.716666667,pose2_to_pose3_retreat,0.575664261331,0.000150227143393,1.07003359594,0.54623493919,0.00882285893916,1.069704993
+404,6.733333333,pose2_to_pose3_retreat,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e70c8b192a0e6a85ebb9f19121a608f6b70025c1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55d1de964a87012b6a8d49012571e43325570b222ed49751bce9ab988cbc5432
+size 25395801
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f1c0d94a0d45e71f9b3bbf1ed1f44322cccb7a55
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_01/franka_data.csv
@@ -0,0 +1,401 @@
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+0,0.000000000,BASELINE,766,745,718,679,662,638,879,784,813,651,629,654,0.400920828329,-0.0154295618876,0.0599265768117,0.99999997179,-9.50546973003e-05,-0.00021314093212,-4.4214448568e-05,1793249620653138176
+1,0.016666667,BASELINE,766,745,718,679,662,638,879,784,813,651,629,654,0.400918764754,-0.0154305464406,0.0599253260029,0.99999997137,-9.40530385553e-05,-0.000215584586673,-4.40176371644e-05,1793249620669804800
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+11,0.183333333,BASELINE,767,745.627420088,718,679,662,638,878.627420088,784,813,651,629.372579912,653.372579912,0.400920154062,-0.0154304872665,0.059924696309,0.999999971921,-9.19467460171e-05,-0.000214023063038,-4.35751413576e-05,1793249620836472064
+12,0.200000000,BASELINE,767,745.040552722,718,679,662,638,878.040552722,784,813,651,629.959447278,653.959447278,0.400921468655,-0.0154292076304,0.0599249437618,0.999999972308,-8.97697431292e-05,-0.000213048975761,-4.39950181314e-05,1793249620853139200
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+17,0.283333333,BASELINE,766,745,718,678.846680733,662,637.153319267,879,784.153319267,812.846680733,651,629,653.153319267,0.400919354786,-0.015428451154,0.0599237106913,0.999999972016,-8.81616884554e-05,-0.000215068405075,-4.40682738433e-05,1793249620936472576
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+21,0.350000000,BASELINE,766.822562641,745,718,679,661.822562641,638,879,784,813,651,629,654,0.400916374347,-0.0154310770922,0.0599223344721,0.999999971309,-8.90499137193e-05,-0.000218123555069,-4.32826136228e-05,1793249621003138816
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+27,0.450000000,BASELINE,766,745.657004709,717.657004709,679,662,638,878.657004709,784,813,651,629,653.342995291,0.400920557801,-0.0154315905874,0.0599242183831,0.999999971885,-9.34894055254e-05,-0.00021352430434,-4.35552744618e-05,1793249621103138304
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+39,0.650000000,BASELINE,766,744.377069062,718,679,662,638,879,784,813,651,629,653,0.400917987424,-0.0154315553785,0.0599232737026,0.999999971391,-9.23141942906e-05,-0.000216390268667,-4.32692668287e-05,1793249621303139328
+40,0.666666667,BASELINE,766,744.199296322,718,679,662,638,878.601407356,784,813,651,629,653.199296322,0.400916815064,-0.0154311268273,0.059922574495,0.999999971148,-9.1915986072e-05,-0.000217658830056,-4.33575508854e-05,1793249621319805952
+41,0.683333333,BASELINE,766,744.774089632,718,679,662,638,877.451820737,784,813,651,629,653.774089632,0.400917025392,-0.0154320951662,0.0599227799102,0.999999971355,-9.10332449663e-05,-0.000217132111178,-4.3085232195e-05,1793249621336472576
+42,0.700000000,BASELINE,766,745,718,678.642830451,662,638,877.357169549,784,813,651,629,653.642830451,0.400917926551,-0.0154325187059,0.0599230010219,0.999999971441,-9.13188518367e-05,-0.000216643005848,-4.29505688349e-05,1793249621353138944
+43,0.716666667,BASELINE,766,745,718,678.054384772,662,638,877.945615228,784,813,651,629,653.054384772,0.400919275041,-0.0154325894746,0.0599232322976,0.999999971448,-9.23609929945e-05,-0.000216178256242,-4.29050407214e-05,1793249621369805312
+44,0.733333333,BASELINE,766,745.525710061,718,678,662,638,878,784,813,651,629,653,0.400919972794,-0.0154326297367,0.0599237307803,0.999999971643,-9.24308231064e-05,-0.000215212976309,-4.3056454723e-05,1793249621386471936
+45,0.750000000,BASELINE,766,745.895516191,718,678,662,638,878,784,813,651,629.104483809,653.104483809,0.400920355569,-0.0154327635764,0.0599240277309,0.99999997176,-9.25885426906e-05,-0.000214577066527,-4.31802276984e-05,1793249621403138304
+46,0.766666667,BASELINE,766,745.318869702,718,678,662,638,878,784,813,651,629.681130298,653.681130298,0.400919614414,-0.0154333343317,0.0599232909929,0.999999971437,-9.35908746861e-05,-0.000215659916669,-4.30884616091e-05,1793249621419805184
+47,0.783333333,BASELINE,766,745,718,678.25776531,662,638,878,784,813,651,629.74223469,653.74223469,0.400919069011,-0.0154332667444,0.0599228344689,0.999999971334,-9.3460811255e-05,-0.000216193185374,-4.30997795913e-05,1793249621436472064
+48,0.800000000,BASELINE,766,745,718,678.834386203,662,638,878,784,813,651,629.165613797,653.165613797,0.400918765754,-0.0154324095275,0.0599227245693,0.999999971502,-9.19299752827e-05,-0.000216046622215,-4.32386125151e-05,1793249621453138688
+49,0.816666667,BASELINE,766,745,718,678.581522029,662,638,878,784,813,651,629.418477971,653,0.40091910469,-0.0154317092035,0.0599230047657,0.999999971686,-9.04032662362e-05,-0.000215832201218,-4.32709806919e-05,1793249621469805312
+50,0.833333333,BASELINE,766,745,718,678.005504501,662,638,878.005504501,784,813,651,629.994495499,653.005504501,0.400919697414,-0.0154310867756,0.0599234343495,0.999999971871,-8.89057369442e-05,-0.00021559767436,-4.32611961327e-05,1793249621486472192
+51,0.850000000,BASELINE,766,745,718,678.584656214,662,638,878.584656214,784,813,651,629.415343786,653.584656214,0.400919771006,-0.015431993855,0.0599230510218,0.999999971633,-9.02758421772e-05,-0.000216117365777,-4.33292430969e-05,1793249621503138816
+52,0.866666667,BASELINE,766,745,717.836961586,679,662,638,879,784,813,651,629,654,0.40092017035,-0.0154326967668,0.0599229743922,0.999999971534,-9.17181033444e-05,-0.000215968921523,-4.33217831996e-05,1793249621519805440
+53,0.883333333,BASELINE,766,745,717.260530565,679,662,638,879,784,813,651,629,654,0.400921395654,-0.0154328820009,0.0599236754117,0.999999971789,-9.3343319655e-05,-0.000214126383554,-4.31228716173e-05,1793249621536471552
+54,0.900000000,BASELINE,766,745,717.31457904,678.68542096,662,638,878.68542096,784,813,651,629.31457904,653.68542096,0.400921178984,-0.0154327076555,0.0599239942662,0.999999971926,-9.29383963827e-05,-0.000213692205474,-4.29657924566e-05,1793249621553138176
+55,0.916666667,BASELINE,766,745,717.888598814,678.111401186,662,638,878.111401186,784,813,651,629.888598814,653.111401186,0.400919773084,-0.0154322367563,0.0599239979404,0.999999971967,-9.0859169164e-05,-0.000214419535013,-4.28432134881e-05,1793249621569805056
+56,0.933333333,BASELINE,766,745,718,678.475782158,662,638,878.475782158,784,813,651,629.524217842,653.475782158,0.400920601108,-0.0154318160795,0.0599243240415,0.999999972219,-9.03111361416e-05,-0.000213451558496,-4.29464790799e-05,1793249621586472192
+57,0.950000000,BASELINE,766,745,718,679,662,638,879,784.065017854,813,651,629,654,0.400921607167,-0.0154315720616,0.0599244753602,0.999999972398,-9.02863671671e-05,-0.000212595600922,-4.30819565754e-05,1793249621603138816
+58,0.966666667,BASELINE,766,745,718,679,662,638,879,784.645395333,813,651,629,654,0.400919760457,-0.0154326324588,0.0599226258517,0.99999997159,-9.14865791233e-05,-0.000215863436268,-4.30416831673e-05,1793249621619805696
+59,0.983333333,BASELINE,766,745,718,679,662,638,879,784.776260029,813,651,629,654,0.40091954626,-0.015432685352,0.0599221330203,0.999999971406,-9.13911185432e-05,-0.000216743822156,-4.30906554609e-05,1793249621636472576
+60,1.000000000,BASELINE,766,745,718,679,662,638,879,784.201108136,813,651,629,654,0.40092189613,-0.0154311558328,0.059923771022,0.999999972209,-8.92606405671e-05,-0.000213874417231,-4.32797994097e-05,1793249621653139200
+61,1.016666667,BASELINE,766,745,718,679,662,638,878.627388397,784,813,651,629,653.627388397,0.400921702816,-0.0154315457271,0.0599239544617,0.999999972236,-8.99098612e-05,-0.000213501983441,-4.31426647765e-05,1793249621669805568
+62,1.033333333,BASELINE,766,745,718,679,662,638,878.054438703,784,813,651,629,653.054438703,0.400920142134,-0.0154329676121,0.0599233558427,0.999999971847,-9.20536127464e-05,-0.000214472069556,-4.28301034205e-05,1793249621686472192
+63,1.050000000,BASELINE,766,745,718,678.461722664,662,637.461722664,878,784,813,651,629,653.538277336,0.400918851558,-0.0154330860259,0.0599226710303,0.999999971486,-9.22196911516e-05,-0.000215993233528,-4.32462710015e-05,1793249621703139072
+64,1.066666667,BASELINE,766.128835532,745,717.871164468,678.128835532,662.128835532,637.128835532,878,784,813,651,629,653.871164468,0.400917755882,-0.0154330289372,0.0599219471264,0.999999971183,-9.18432026611e-05,-0.000217490586867,-4.35589976039e-05,1793249621719805696
+65,1.083333333,BASELINE,766.704705592,745,717.295294408,678.704705592,662.704705592,637.704705592,878,784,813,651,629,653.295294408,0.400917238076,-0.0154328377387,0.0599211189823,0.999999971072,-9.03045711141e-05,-0.000218704565992,-4.32473303475e-05,1793249621736472064
+66,1.100000000,BASELINE,766.719851529,745,717.280148471,678.719851529,662.719851529,638,878.280148471,784.280148471,813,651,629,653.280148471,0.400918490637,-0.015432878143,0.0599219700865,0.999999971401,-9.07180165356e-05,-0.000217051888165,-4.30990473074e-05,1793249621753138688
+67,1.116666667,BASELINE,766.144858277,745,717.855141723,678.144858277,662.144858277,638,878.855141723,784.855141723,813,651,629,653.855141723,0.400921606438,-0.0154331622996,0.0599245885307,0.999999972175,-9.31859430344e-05,-0.000212382171338,-4.3122719476e-05,1793249621769805568
+68,1.133333333,BASELINE,766,745,718,678.441291845,662,638,879,784.558708155,813,651,629,653.558708155,0.400920900489,-0.0154334502506,0.0599238954052,0.999999971979,-9.34111538912e-05,-0.00021318386498,-4.32223454252e-05,1793249621786472192
+69,1.150000000,BASELINE,766,745,718,678.969367964,662.030632036,638,879,784,813,651,629,653.030632036,0.400919026593,-0.0154336478814,0.0599222032633,0.999999971494,-9.27816893873e-05,-0.000215694183756,-4.33430831463e-05,1793249621803138816
+70,1.166666667,BASELINE,766,745,718,678.390187209,662.609812791,638,879,784,813,651,629,653.609812791,0.400919285849,-0.0154322052036,0.0599225926061,0.999999971689,-9.03724342809e-05,-0.000215804803814,-4.3383818364e-05,1793249621819805184
+71,1.183333333,BASELINE,766,745,718,678,662.812466015,638,879,784,813,651,628.812466015,653.812466015,0.400919382749,-0.015431254482,0.0599226944611,0.999999971802,-8.85743057245e-05,-0.000216030829648,-4.33666226941e-05,1793249621836471808
+72,1.200000000,BASELINE,766,745,718,678,662.237758057,638,879,784,813,651,628.237758057,653.237758057,0.400919144458,-0.0154313194303,0.0599222027819,0.999999971755,-8.80378802797e-05,-0.000216495116923,-4.32298256067e-05,1793249621853138688
+73,1.216666667,BASELINE,766,745,718,678,662,638,879,784,812.66259605,651,628.33740395,653,0.400919509648,-0.0154319666541,0.0599222819184,0.999999971829,-8.89738089923e-05,-0.000215759206578,-4.32827512294e-05,1793249621869805312
+74,1.233333333,BASELINE,766,745,718,678,662,638,879,784,812.087113691,651,628.912886309,653,0.400920300664,-0.0154330247423,0.0599227638329,0.999999971984,-9.09486577996e-05,-0.000214176414778,-4.34695486795e-05,1793249621886472192
+75,1.250000000,BASELINE,765.498981811,745,718,678.501018189,662,638,878.498981811,784,812.501018189,651,629,653,0.400920493868,-0.0154324340092,0.0599233237887,0.999999972092,-9.09275762487e-05,-0.000213703902614,-4.3347122288e-05,1793249621903139328
+76,1.266666667,BASELINE,765.089515346,745,718,679,662,638,878,784,813,651,629,653,0.400920664037,-0.0154318785869,0.0599238557159,0.999999972174,-9.08994788273e-05,-0.000213358755502,-4.32062456247e-05,1793249621919805952
+77,1.283333333,BASELINE,765.667689074,745,718,679,662,638,878,784,813,651,629,653,0.400921290579,-0.0154331214598,0.0599241586443,0.999999972155,-9.2776614992e-05,-0.000212627753475,-4.32657561727e-05,1793249621936472320
+78,1.300000000,BASELINE,766,745,718,679,662,638,878,784.244666478,813,651,629,653,0.400922053583,-0.0154334291639,0.0599245000779,0.999999972329,-9.28132891416e-05,-0.000211819915069,-4.31376184578e-05,1793249621953138944
+79,1.316666667,BASELINE,766,745,718,679,662,638,878,784.82002687,813,651,629,653,0.40092300103,-0.0154324728834,0.0599248935554,0.999999972762,-9.03623743574e-05,-0.000210908223823,-4.27558532736e-05,1793249621969805312
+80,1.333333333,BASELINE,766,745,718,678.594028016,662,638,878.405971984,784.594028016,813,651,629,653.405971984,0.40092206833,-0.0154313699999,0.0599240771015,0.999999972528,-8.99072538841e-05,-0.000212163715308,-4.29701266028e-05,1793249621986472192
+81,1.350000000,BASELINE,766,745,718,678.003264876,662,638,878.996735124,784.003264876,813,651,629,653.996735124,0.400920279821,-0.0154302003851,0.0599227099086,0.999999971988,-9.03605829196e-05,-0.000214405669367,-4.34557059239e-05,1793249622003139584
+82,1.366666667,BASELINE,766,745,718,678.57515526,662,638,879,784.57515526,812.42484474,651,629,653.42484474,0.40092139629,-0.015431843083,0.0599232447167,0.999999971975,-9.22173180151e-05,-0.000213664465893,-4.35250700012e-05,1793249622019805952
+83,1.383333333,BASELINE,766.153027114,745,718,679,662,638,879,784.846972886,812.153027114,651,629,653.153027114,0.400921816771,-0.0154329542371,0.0599233723709,0.999999971923,-9.32932613442e-05,-0.000213438114177,-4.35186598312e-05,1793249622036472576
+84,1.400000000,BASELINE,766.72957151,745,718,679,662,638,879,784.27042849,812.72957151,651,629,653.72957151,0.400920266358,-0.0154325510392,0.0599223439348,0.999999971769,-9.21867039423e-05,-0.000214682545797,-4.33089386335e-05,1793249622053139200
+85,1.416666667,BASELINE,766.695481967,745,718,679,662,638,878.695481967,784,813,650.695481967,629,653.695481967,0.400920558947,-0.0154325352113,0.0599227704861,0.999999971985,-9.12989374391e-05,-0.000214099137279,-4.30706869782e-05,1793249622069805824
+86,1.433333333,BASELINE,766.121947071,745,718,679,662,638,878.121947071,784,813,650.121947071,629,653.121947071,0.400922479678,-0.0154328615932,0.0599244824005,0.999999972528,-9.06044549297e-05,-0.000211900980896,-4.28072310014e-05,1793249622086472704
+87,1.450000000,BASELINE,766,745,718,678.534478477,662.465521523,638,878.465521523,784,813,650.465521523,629,653,0.400922724776,-0.0154332954792,0.0599250488371,0.999999972569,-9.16146488399e-05,-0.000211256991757,-4.28965618121e-05,1793249622103138816
+88,1.466666667,BASELINE,766,745,718,678.055452427,662.944547573,638,879,784,813,651,629,653,0.400922408519,-0.0154335291503,0.0599251568925,0.999999972475,-9.26005122488e-05,-0.000211223953732,-4.31164122946e-05,1793249622119805184
+89,1.483333333,BASELINE,766,745,718,678.633137096,662.366862904,638,879,784,813,651,629,653,0.400921066998,-0.0154316038655,0.0599238611902,0.999999972401,-8.90219886061e-05,-0.000212992163953,-4.36682626848e-05,1793249622136471808
+90,1.500000000,BASELINE,766,745,718,679,662.419987671,638,879,784,813,651,629,653.209993836,0.40092029,-0.0154306142947,0.0599228827421,0.99999997228,-8.74378606889e-05,-0.000214171748025,-4.38793460607e-05,1793249622153138176
+91,1.516666667,BASELINE,766,745,718,679,663.570819576,638,879,784,813,651,629,653.785409788,0.400920495358,-0.0154312530126,0.059922456366,0.999999972097,-8.93242936318e-05,-0.000214327030354,-4.3497441479e-05,1793249622169805056
+92,1.533333333,BASELINE,766,745,718,679,663.263365105,638,878.631682553,784,812.631682553,651,629.368317447,654,0.400919856619,-0.0154322107841,0.0599220460926,0.999999971894,-9.02277463316e-05,-0.000214944705417,-4.32296578585e-05,1793249622186471936
+93,1.550000000,BASELINE,766,745,718,679,662.088638741,638,878.044319371,784,812.044319371,651,629.955680629,654,0.400918715878,-0.0154333583032,0.0599216453957,0.999999971682,-9.05466012488e-05,-0.000215837374677,-4.3029744214e-05,1793249622203138560
+94,1.566666667,BASELINE,766,745,718,679,662.535603232,638,878,784,812,651,629.464396768,653.464396768,0.400919606554,-0.0154331930265,0.059921961279,0.999999971916,-8.98408379912e-05,-0.000215048600346,-4.30186615549e-05,1793249622219804928
+95,1.583333333,BASELINE,766,745,718,679,662.885404561,637.885404561,878,784,812.114595439,650.885404561,629,653.114595439,0.400920386555,-0.015432819682,0.0599222484496,0.999999972112,-8.93418443406e-05,-0.00021433970639,-4.30342788609e-05,1793249622236471552
+96,1.600000000,BASELINE,766,745,718,679,662.307718056,637.307718056,878,784,812.692281944,650.307718056,629,653.692281944,0.400920049336,-0.0154320384831,0.0599221832577,0.999999972013,-9.00163507247e-05,-0.000214508165547,-4.30955157848e-05,1793249622253138176
+97,1.616666667,BASELINE,766,745,718,679,662.268893035,637.268893035,878,784.268893035,813,650.268893035,629,654,0.400920201568,-0.0154324722664,0.0599225354697,0.999999972014,-9.07446260488e-05,-0.000214207274903,-4.30430349954e-05,1793249622269805056
+98,1.633333333,BASELINE,766,745,718,679,662.844278301,637.844278301,878,784.844278301,813,650.844278301,629,654,0.40092091169,-0.0154342909223,0.0599233634511,0.999999972129,-9.15341887601e-05,-0.000213371405467,-4.28609353907e-05,1793249622286471680
+99,1.650000000,BASELINE,766,745,718,679,662.571374991,638,878.428625009,785,813,651,629,653.571374991,0.400921247472,-0.0154333002385,0.0599236410309,0.999999972315,-9.04682265713e-05,-0.000212948218986,-4.28793871233e-05,1793249622303138048
+100,1.666666667,BASELINE,766,745,718,678.983944018,662,638,879,784.983944018,813,651,629,653,0.400921430607,-0.0154313095123,0.0599236920046,0.999999972517,-8.87272652713e-05,-0.00021271234592,-4.29757766304e-05,1793249622319804672
+101,1.683333333,BASELINE,766,745,718,678.404962024,662,638,879,784.404962024,813,651,629,653,0.400921131885,-0.0154308053431,0.0599229586049,0.999999972414,-8.74602418599e-05,-0.000213674899343,-4.31955976456e-05,1793249622336471552
+102,1.700000000,BASELINE,766,745.173359212,718,678.173359212,662,638,878.826640788,784.173359212,813,651,629,653.173359212,0.400920715406,-0.0154307440356,0.059922533881,0.999999972321,-8.68771109859e-05,-0.000214328026892,-4.32968946127e-05,1793249622353138176
+103,1.716666667,BASELINE,766,745.750142719,718,678.750142719,662,638,878.249857281,784.750142719,813,651,629,653.750142719,0.400920024896,-0.015431713312,0.0599228274766,0.999999972254,-8.78854668936e-05,-0.000214261089234,-4.31223741886e-05,1793249622369804800
+104,1.733333333,BASELINE,766,745.675667291,718,679,662,638,878,784.675667291,813,651,629,654,0.40092017192,-0.0154332974949,0.0599230197409,0.999999972123,-8.98297959083e-05,-0.000214124528692,-4.28296236635e-05,1793249622386471680
+105,1.750000000,BASELINE,766,745.103459368,718,679,662,638,878,784.103459368,813,651,629,654,0.40092095904,-0.0154353516276,0.0599231345614,0.999999971938,-9.24894538518e-05,-0.000213934758006,-4.24465143279e-05,1793249622403138304
+106,1.766666667,BASELINE,766,745,718,679,662.485204616,638,878,784,813,651,629,654,0.400920373837,-0.0154338160375,0.0599232524648,0.999999972069,-9.10312547696e-05,-0.000213950956778,-4.24217738359e-05,1793249622419804928
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,718,679,662,638,879,785,813,651,629,654,0.400919006978,-0.0154299182046,0.0599212566545,0.999999971675,-8.91291387112e-05,-0.000216340726206,-4.36129793695e-05,1793249622463142400
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,718,679,662,638,878.425673965,784.425673965,813,651,629,654,0.400919169369,-0.0154316703881,0.0599218485455,0.999999971768,-9.02510943642e-05,-0.00021555310795,-4.30862648297e-05,1793249622479809024
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.848297657,745,718,679,662,638,878.151702343,784,812.848297657,651,629,653.848297657,0.400919938974,-0.0154326322361,0.0599225132279,0.99999997199,-9.0533277606e-05,-0.000214468379405,-4.2740938951e-05,1793249622496475648
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.262186577,745,718,679,662,638,878.737813423,784,812.262186577,651,629,653.262186577,0.400922447373,-0.0154313309114,0.059923386353,0.999999972586,-8.84107225442e-05,-0.000212532857576,-4.2915030238e-05,1793249622513142272
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.645578112,745,718,679,662,638,878.677210944,784,812.322789056,651,629,653.322789056,0.400924020897,-0.0154315916782,0.0599241405446,0.999999972906,-8.81053669645e-05,-0.00021118151802,-4.27590450504e-05,1793249622529808896
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.81369123,745,718,679,662,638,878.093154385,784,812.906845615,651,629,653.906845615,0.400924837727,-0.0154331168118,0.0599247984704,0.999999973006,-8.92708642617e-05,-0.000210303019404,-4.2335893867e-05,1793249622546475520
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.516238616,745,718,679,662,638,878.483761384,784,813,651,629,654,0.400931358968,-0.0154342041276,0.05992637114,0.999999973684,-9.08251802868e-05,-0.000206406799363,-4.21733797016e-05,1793249622563142912
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,718,679,662,638,878.940705067,784,813,651,629,653.940705067,0.40094058258,-0.0154351305719,0.0599286307451,0.999999974732,-9.20731598258e-05,-0.000200727014635,-4.20410822191e-05,1793249622579810304
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,718,679,662,638,878.365407944,784,813,651,629,653.365407944,0.400963902981,-0.0154353800605,0.0599353576945,0.999999978056,-9.00132274904e-05,-0.000184509468766,-4.17413332299e-05,1793249622596476672
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,718,679,662,638,878.215625673,784,813,651,629,653.215625673,0.400990942295,-0.0154363238146,0.0599406756052,0.999999980914,-8.980718359e-05,-0.000168436717719,-4.1665265151e-05,1793249622613143040
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,718,679,662,638,878.806646215,784,813,651,629,653.806646215,0.401024456076,-0.0154384762548,0.0599435404404,0.999999983164,-9.2828678643e-05,-0.000152616049863,-4.19786157978e-05,1793249622629809664
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,718,679,662,638,879,784,813,651,629,654,0.401066445009,-0.0154400327619,0.0599465940463,0.999999985461,-9.28362974492e-05,-0.000136717074578,-4.20364415249e-05,1793249622646476544
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,718,679,662,638,879,784,813,651,629,654,0.401112554741,-0.0154412995142,0.0599497394368,0.99999998765,-9.13785072778e-05,-0.000120780023166,-4.19700257506e-05,1793249622663143424
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,717.45704521,678.45704521,662,638,878.45704521,784,813,651,629,653.45704521,0.401170934981,-0.0154443889934,0.059951106349,0.999999987621,-9.33738806481e-05,-0.000119286174672,-4.25476333057e-05,1793249622679809792
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,717.115753712,678.115753712,662.115753712,638,878,784,813,651,629,653.115753712,0.401234720754,-0.0154478526708,0.0599527336295,0.999999987685,-9.5750190749e-05,-0.000116651351774,-4.30508742674e-05,1793249622696476160
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,717.683528241,678.683528241,662.683528241,638,878,784,813,651,629,653.683528241,0.401316867929,-0.0154523694969,0.0599557758524,0.999999988533,-9.88409110081e-05,-0.000106327192154,-4.3119516588e-05,1793249622713142784
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,718,679,662.735196388,638,878.264803612,784,813,651,629,653.735196388,0.401410771715,-0.015457124223,0.0599592684599,0.999999989323,-0.000101082873303,-9.61798531026e-05,-4.34296687845e-05,1793249622729809408
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,718,679,662.136919111,638,878.863080889,784,813,651,629,653.136919111,0.401519480883,-0.0154621785422,0.0599633282475,0.999999990082,-0.000102255973753,-8.62551891428e-05,-4.40439602724e-05,1793249622746475776
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,718,678.556397039,662,638,879,784,813,651,629,653,0.401639948911,-0.015467281886,0.0599620385064,0.999999990167,-0.000103157212157,-8.36229796345e-05,-4.50715734663e-05,1793249622763142400
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.018963806,745,718,678.018963806,662.018963806,638,879,784.018963806,813,651,629,653.018963806,0.401764984315,-0.0154724839943,0.0599592402846,0.999999990062,-0.000104127431362,-8.30460741113e-05,-4.62197275746e-05,1793249622779809536
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.597513468,745,718,678.597513468,662.597513468,638,879,784.597513468,813,651,629,653.597513468,0.401921819246,-0.0154801711343,0.059958776752,0.999999989744,-0.000109513903456,-7.92555319236e-05,-4.73052594168e-05,1793249622796476672
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.824733339,745.175266661,718,679,662.824733339,638,879,785,813,651,629,654,0.402089606114,-0.0154883219345,0.0599584528261,0.999999989521,-0.000114078933329,-7.49384841005e-05,-4.82475630978e-05,1793249622813143552
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.248800978,745.751199022,718,679,662.248800978,638,879,785,813,651,629,654,0.402282429468,-0.0154975326768,0.0599584480459,0.99999998958,-0.000116766116908,-6.94178265595e-05,-4.88624420624e-05,1793249622829809920
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.662862266,718,679,662.337137734,638,879,785,813,651,629,653.662862266,0.402502431793,-0.0155088233483,0.059960121802,0.999999989098,-0.000125692910144,-5.99065411128e-05,-4.91587753807e-05,1793249622846476288
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.069313124,718,679,662.930686876,638,879,785,813,651,629,653.069313124,0.402743105209,-0.015521695919,0.0599630721752,0.999999987956,-0.000139365262899,-4.7360167575e-05,-4.9212837628e-05,1793249622863142656
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.508181355,745.508181355,718,679,663,637.491818645,879,784.491818645,813,651,629.508181355,653.508181355,0.403006229637,-0.0155294395068,0.0599656891405,0.999999984212,-0.000166040743234,-3.94104166267e-05,-4.95270711364e-05,1793249622879809280
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,718,679.083352312,663,637.083352312,879.083352312,784,813,651,630,654,0.403275100417,-0.0155363847873,0.0599660517023,0.999999980204,-0.00018921959856,-3.5875846548e-05,-5.00089027944e-05,1793249622896476160
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,718,679.657341444,663,637.657341444,879.657341444,784,813,651,630,654,0.403560323077,-0.0155426227344,0.0599534036489,0.99999998068,-0.000181696315083,-5.47529380953e-05,-5.12747841257e-05,1793249622913143296
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.761423165,745.761423165,718,679.761423165,662.761423165,638,879.761423165,784.238576835,813,651,629.761423165,653.761423165,0.403861270384,-0.0155458642627,0.0599416870213,0.999999981133,-0.000172284936309,-7.2837650756e-05,-5.23982630765e-05,1793249622929809920
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.169454284,745.169454284,718,679.169454284,662.169454284,638,879.169454284,784.830545716,813,651,629.169454284,653.169454284,0.404185509815,-0.0155446673437,0.0599313500693,0.999999981739,-0.000160076816,-8.97486507052e-05,-5.33108083698e-05,1793249622946476544
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,718,679,662.412298159,638,879,785,813,651,629,653.412298159,0.404545481504,-0.015536743474,0.0599195874889,0.999999981585,-0.000147388095335,-0.000110043939617,-5.47542166423e-05,1793249622963143168
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,718,679,662.98995317,638,879,785,813,651,629,653.98995317,0.404919784011,-0.0155261216845,0.0599072531443,0.999999980691,-0.000134506624678,-0.000131696535531,-5.64105334854e-05,1793249622979810048
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,718,679,662.433909308,638,879,784.433909308,813,651,629,654,0.405365339482,-0.0155313531568,0.0599192505112,0.999999982051,-0.000142749799669,-0.00011184462405,-5.48800762959e-05,1793249622996476928
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.144871634,718,679,662.144871634,638,879.144871634,784,813,651,629.144871634,653.855128366,0.40582371295,-0.0155371198547,0.0599351317199,0.999999983866,-0.000149133161172,-8.47877982068e-05,-5.326887239e-05,1793249623013143552
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.731800484,718,679,662.731800484,638,879.731800484,784,813,651,629.731800484,653.268199516,0.406317350428,-0.0155436634868,0.0599615498122,0.999999986892,-0.000148700592952,-3.79877691359e-05,-5.15833987268e-05,1793249623029810176
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,718,679.314299735,663,638,880,784,813,651,629.685700265,653.314299735,0.406838626537,-0.0155485750385,0.0599857897962,0.999999988031,-0.000146574295213,1.93776080386e-06,-4.95077766852e-05,1793249623046476544
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,718,679.893071697,663,638,880,784,813,651,629.106928303,653.893071697,0.40738315964,-0.0155521132524,0.0600081969815,0.999999988012,-0.000143022783374,3.60786454491e-05,-4.71038582739e-05,1793249623063143168
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.529300798,718,679.529300798,663,638,880,784.470699202,813,651,629,654,0.407922599296,-0.015550452803,0.0600030342058,0.999999989613,-0.000135287825181,1.40235224632e-05,-4.76971742825e-05,1793249623079810048
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,718,679,663,638,880,785,813,651,629,654,0.408464193587,-0.0155477450885,0.0599916415204,0.999999990345,-0.00012850517411,-1.98091289773e-05,-4.90297861909e-05,1793249623096477184
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,718,679,663,638,880,785,813,651,629,654,0.409042224771,-0.0155464782028,0.0599804463959,0.999999987595,-0.000142648539772,-4.30981129343e-05,-5.10238521005e-05,1793249623113144064
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,717.798027078,679.201972922,663,638,880.201972922,784.798027078,813,651,629,654,0.409642969922,-0.0155470371939,0.0599748496598,0.999999986197,-0.000149098332302,-5.1281486408e-05,-5.23949366525e-05,1793249623129810944
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,717.208804673,679.791195327,663,638,880.791195327,784.208804673,813,651,629,654,0.41028726529,-0.0155510970002,0.059979986903,0.999999988241,-0.000140796977284,-3.05023629131e-05,-5.25715579951e-05,1793249623146477056
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,717.373764163,679.626235837,663,638,880.626235837,784,813,651,629,654,0.410968230675,-0.0155547589055,0.0599881191661,0.999999988774,-0.000140004719304,-1.05560484822e-05,-5.23395776012e-05,1793249623163143424
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,717.952680952,679.047319048,663,638,880.047319048,784,813,651,629,654,0.411669323572,-0.0155582024098,0.0599978953434,0.999999988342,-0.000143334073881,8.93315090418e-06,-5.1883322833e-05,1793249623179810048
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.528816996,717.471183004,679.528816996,663,638,880.528816996,784,813,650.471183004,629,654,0.412350695598,-0.0155560128568,0.0599710599458,0.999999987461,-0.000142712799646,-4.21759589607e-05,-5.41569273027e-05,1793249623196476416
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,717,680,663,638,881,784,813,650.104695297,629,654,0.413035316675,-0.0155529707361,0.0599418485161,0.999999983797,-0.00014026321513,-9.76106146408e-05,-5.66058306262e-05,1793249623213143040
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+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,717.243623413,680,664,638,881.756376587,784.243623413,814.243623413,650.756376587,629,653.756376587,0.419493520894,-0.015572029886,0.0599709124783,0.999999986614,-0.00014764791059,-4.26661177669e-05,-5.61366350144e-05,1793249623346476032
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,717,680.339779,663.660221,638,882.339779,784.339779,813.660221,651,629.339779,654,0.420304240967,-0.015569770912,0.0599392310749,0.999999983512,-0.000144226995534,-9.30692686153e-05,-5.92736857868e-05,1793249623363143168
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,717,680.918458362,663.081541638,638,882.918458362,784.918458362,813.081541638,651,629.918458362,654,0.421112386636,-0.0155646588129,0.0599020607015,0.999999977103,-0.000139745826648,-0.000149503876218,-6.25600293137e-05,1793249623379810048
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.493930245,745,717,681,663.493930245,638,882.506069755,785,813.987860491,651,629.506069755,654,0.421964253432,-0.0155621259127,0.0598847145168,0.999999970594,-0.000139586017163,-0.000187444618409,-6.47424925343e-05,1793249623396476672
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745,717,681,664,638,882.068906894,785,814.931093106,651,629,653.931093106,0.422840930055,-0.0155614349244,0.0598809503702,0.999999967312,-0.000140368588907,-0.000203355661169,-6.57158409616e-05,1793249623413143040
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745,717,681,664,638,882.644110019,785,814.355889981,651,629,653.355889981,0.423847206497,-0.0155711691137,0.0599530894939,0.999999984871,-0.000142867414946,-7.96906324684e-05,-5.91355200449e-05,1793249623429809408
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.774706926,745,717.225293074,681,664,638,883,785,814.225293074,651,629.225293074,653.225293074,0.424814842636,-0.0155774221442,0.0600068286151,0.999999988102,-0.000143836715399,1.20499486342e-05,-5.44310169526e-05,1793249623446476288
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.183819858,745,717.816180142,681,664,638,883,785,814.816180142,651,629.816180142,653.816180142,0.425719775437,-0.0155780261313,0.0600307091717,0.999999987128,-0.000142323983651,5.19851990153e-05,-5.27704944666e-05,1793249623463142912
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.39916448,745,717.60083552,681,663.60083552,638,883.39916448,785,815,651,629.60083552,654,0.426618766463,-0.0155792833222,0.0600225379468,0.999999986999,-0.000143295684282,5.04091292147e-05,-5.41084752447e-05,1793249623479809536
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.978580138,745,717.021419862,681,663.021419862,638,883.978580138,785,815,651,629.021419862,654,0.427515074302,-0.0155808354811,0.0599998930595,0.999999987365,-0.000145389283094,3.00877409834e-05,-5.68004938001e-05,1793249623496476160
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745,717.554601005,681,664.109202011,638,884.554601005,785,815,651,629,654,0.428381766461,-0.0155800652053,0.0599767138037,0.999999986861,-0.000150499937587,-5.69723753216e-06,-5.99539638375e-05,1793249623513143040
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745,717.867312943,681.132687057,664.867312943,638,885,784.867312943,815,651,629.132687057,654,0.429237321436,-0.0155781085869,0.0599504983006,0.999999985137,-0.000152799845782,-4.93684386086e-05,-6.27806901564e-05,1793249623529809920
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745,717.281733153,681.718266847,664.281733153,638,885,784.281733153,815,651,629.718266847,654,0.430058742867,-0.0155724069927,0.0599139893743,0.999999980442,-0.000145110694702,-0.000117931096554,-6.44317002782e-05,1793249623546476800
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745,717,681.699541848,664,638,885,784,815,651,630,654,0.430948991968,-0.0155719022271,0.0599168272254,0.999999981559,-0.000143333654134,-0.000110416777881,-6.43879198637e-05,1793249623563143424
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745,717,681.120492452,664,638,885,784,815,651,630,654,0.431903059513,-0.0155762160726,0.0599561482543,0.999999986696,-0.000147038449488,-3.23622505725e-05,-6.27726931285e-05,1793249623579809792
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745.457605268,717,681.457605268,664,638,885.457605268,784.457605268,815,651,630,654,0.432802198135,-0.0155778379082,0.0599880644615,0.999999987613,-0.000144686175561,1.76825446257e-05,-5.93927777261e-05,1793249623596476160
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,717,682,664,638,885.964677249,785,815.035322751,651,630,654,0.433683379155,-0.0155788676659,0.0600146915564,0.999999986947,-0.000141199576673,5.51680651089e-05,-5.59108027092e-05,1793249623613142528
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,717,682,664,638,885.388951933,785,815.611048067,651,630,654,0.434510641906,-0.0155816611918,0.0599901681341,0.999999987764,-0.000144708561588,1.31092685672e-05,-5.79615271377e-05,1793249623629809152
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,717,681.809528896,664,638,885.190471104,785,816,651,630,654,0.435327022092,-0.0155832696683,0.0599655332772,0.999999986882,-0.00014692986457,-3.16231856503e-05,-6.03959462256e-05,1793249623646476032
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,717,681.222405319,664,638,885.777594681,785,816,651,630,654,0.436120739693,-0.0155824103023,0.0599406663554,0.999999983893,-0.000146469595133,-8.19234891405e-05,-6.36294026466e-05,1793249623663142912
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,745.640137286,717,681.359862714,664,638,886,785,816,651,630,654,0.436895549037,-0.0155803073473,0.0599245759899,0.999999980804,-0.000144698047155,-0.000114814803469,-6.53564663894e-05,1793249623679809792
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,745.060830201,717,681.939169799,664,638,886,785,816,651,630,654,0.437658828075,-0.0155774460513,0.0599138375722,0.999999978314,-0.000142126881326,-0.000137090108975,-6.6164931356e-05,1793249623696476928
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.483305435,745,717,682,664.516694565,638,886,784.483305435,816,651,630,654,0.438416754116,-0.0155775904673,0.0599082539487,0.99999997658,-0.000143831359058,-0.000147374084161,-6.65811470914e-05,1793249623713143040
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.093649985,745,717,682.093649985,664.906350015,638,886,784.093649985,816.093649985,651,630,654,0.43918274356,-0.0155793330984,0.059913107128,0.999999977082,-0.000147761859911,-0.000140082045398,-6.61791214108e-05,1793249623729809664
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.668753418,745,717,682.668753418,664.331246582,638,886,784.668753418,816.668753418,651,630,654,0.439993415588,-0.0155874791933,0.0599685065917,0.999999983967,-0.000160557397831,-4.96646846013e-05,-6.18071172757e-05,1793249623746476288
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,745.249518752,717,682.750481248,664,637.750481248,886.249518752,785,816.750481248,651.249518752,630,654,0.440741025205,-0.0155919331018,0.060000747645,0.999999984622,-0.000165108740532,2.96681869041e-07,-5.9122466413e-05,1793249623763142912
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,745.837974964,717,682.162025036,664,637.162025036,886.837974964,785,816.162025036,651.837974964,630,654,0.441402973004,-0.015591371674,0.060001531127,0.999999985709,-0.000158461459991,-4.69595334891e-06,-5.87298575472e-05,1793249623779809536
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.580444033,745.580444033,717,682,664,637,887,785,816,651.580444033,629.580444033,654,0.442045339998,-0.0155926302605,0.0599644612102,0.999999982732,-0.000164320855275,-6.09302654596e-05,-6.1830305392e-05,1793249623796476160
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.001475259,745.001475259,717,682,664,637,887,785,816,651.001475259,629.001475259,654,0.442680267202,-0.0155945803723,0.0599130086675,0.99999997317,-0.00017493223572,-0.000136634160338,-6.62579607536e-05,1793249623813143296
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.574382171,745.574382171,717,682.574382171,664,637.574382171,887,785,816,651.574382171,629.574382171,654,0.443259121947,-0.0156000025001,0.0598811343098,0.999999962759,-0.000188025317176,-0.000185308647241,-6.91978954827e-05,1793249623829809920
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.85029968,745.85029968,717,683,664,637.85029968,887,784.85029968,816,651.85029968,630.14970032,654,0.443838613806,-0.0156056023695,0.0598595504222,0.999999954034,-0.000198553897428,-0.000217808959149,-7.11941017029e-05,1793249623846476032
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.276486704,745.276486704,717,683,664,637.276486704,887,784.276486704,816,651.276486704,630.723513296,654,0.444420316612,-0.0156116806677,0.0598669785357,0.999999956204,-0.000201799089426,-0.000204682208207,-7.05274198692e-05,1793249623863142400
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.306510886,745.306510886,717,682.693489114,664,637,887,784,816,651.306510886,630.693489114,654.306510886,0.444966530761,-0.0156144456227,0.0598640044451,0.999999953534,-0.000204255143773,-0.000215057694038,-7.04376243247e-05,1793249623879809024
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.898049307,745.898049307,717,682.101950693,664,637,887,784,816,651.898049307,630.101950693,654.898049307,0.445479743618,-0.0156141294661,0.0598513572405,0.999999945699,-0.000205977370805,-0.000247288145265,-7.08842810964e-05,1793249623896475904
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.517649686,746,717,682,664,637,887,784,816,651.517649686,630,654.517649686,0.445929741478,-0.0156171215937,0.0598244559337,0.999999931983,-0.000213960585018,-0.000291521803751,-7.25928867744e-05,1793249623913142272
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.063611272,746,717,682.063611272,664,637,887,784,816,651,630.063611272,654,0.446369262335,-0.0156209050089,0.0597971928483,0.999999916774,-0.000222839058955,-0.00033354031947,-7.44690243827e-05,1793249623929809152
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.63269114,746,717,682.63269114,664,637,887,784,816,651,630.63269114,654,0.446830132706,-0.0156255019392,0.0597906412821,0.999999913889,-0.000228471391966,-0.000338095119901,-7.55882580006e-05,1793249623946476544
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,717,682.796901122,664,637,887.203098878,784,816.203098878,651,630.796901122,654,0.447281096589,-0.0156302782342,0.0597922667586,0.99999991508,-0.000232857716793,-0.000331493573676,-7.56973333566e-05,1793249623963143936
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,717,682.224076163,664,637,887.775923837,784,816.775923837,651,630.224076163,654,0.447714026413,-0.0156353810484,0.0598087779211,0.999999923272,-0.000234975777637,-0.000304582744988,-7.39674921589e-05,1793249623979810816
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,717,682.36384002,663.63615998,637,887.63615998,784,817,651,630,654,0.448104914732,-0.0156407524798,0.0598124664683,0.999999923824,-0.00023978362767,-0.00029919483647,-7.3059529133e-05,1793249623996477440
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,717.112894712,682,664,637,887,783,816.112894712,651.887105288,630,654.887105288,0.449014209692,-0.0156453151616,0.059738767244,0.999999877258,-0.000252026325557,-0.000419418317739,-7.78093040934e-05,1793249624046476800
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+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746,718,682,663.731042168,637,887.268957832,783,817,651,629.731042168,654,0.449513013343,-0.0156463226549,0.059693168974,0.999999846383,-0.000253998384109,-0.000485980742861,-8.08840859248e-05,1793249624079810048
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+208,3.466666667,POSE1_TO_POSE2_PRESS,767,745,717,682.597039441,663,637,887,783,816.402960559,652,629.402960559,654,0.450377112832,-0.0156546959052,0.0596990114727,0.999999850862,-0.000261133018864,-0.000473118052832,-7.9029918998e-05,1793249624146476544
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+221,3.683333333,POSE1_TO_POSE2_PRESS,767,745.133582734,717,683,663,636,887.133582734,782,817,651.133582734,629.866417266,654,0.451398435908,-0.0156647146176,0.0596853216548,0.999999839771,-0.000269957702794,-0.000491693230737,-7.62736346166e-05,1793249624363142656
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,745.706011713,717,683,663,636,887.706011713,782,817,651.706011713,629.293988287,654,0.451409720276,-0.0156628691182,0.0596837065115,0.999999839166,-0.000267997487434,-0.000494016619194,-7.61160443299e-05,1793249624379809024
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,746,717,683,663,636,888,782,817,651.710784068,629.289215932,654,0.451419455266,-0.0156630358552,0.0596822783411,0.999999838438,-0.0002679140537,-0.000495595300221,-7.57087304261e-05,1793249624396475904
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,746,717,683,663,636,888,782,817,651.116202867,629.883797133,654,0.451427554364,-0.0156653271882,0.0596810475836,0.999999837585,-0.000269812197714,-0.000496387690881,-7.50377487349e-05,1793249624413142784
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766.953444481,746,717,682,663.953444481,636,887.046555519,782,817,651.953444481,629,654,0.451433663762,-0.0156615252901,0.0596797204116,0.999999837256,-0.000266507211385,-0.000498828517878,-7.50467261388e-05,1793249624446476544
+227,3.783333333,POSE1_TO_POSE2_PRESS,766.377755776,746,717,682,663.377755776,636,887.622244224,782,817,651.377755776,629,654,0.451434416022,-0.0156606725335,0.0596794736848,0.99999983732,-0.000265246991009,-0.000499379670939,-7.4986918221e-05,1793249624463142912
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+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,717.765825588,682.765825588,663,636,888,782,817,651,629,654,0.451435470443,-0.0156594888459,0.0596774942474,0.999999836304,-0.000263012923736,-0.000502556553172,-7.51806697671e-05,1793249624496475904
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+232,3.866666667,POSE1_TO_POSE2_PRESS,767,745.473407856,717,682,663,636,887.526592144,782,817,651,629,654,0.451437273404,-0.015658682666,0.0596780660717,0.999999837019,-0.000261586124064,-0.000501914934057,-7.49341886712e-05,1793249624546476544
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,745.101147625,717,682.101147625,663.101147625,636,888,782,817,651,629,654.101147625,0.451437363873,-0.0156582831781,0.0596775920914,0.999999837173,-0.000261002830884,-0.000501900965272,-7.50164707496e-05,1793249624563143680
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+235,3.916666667,POSE1_TO_POSE2_PRESS,767,746,717.255232647,683,663.744767353,636,888,782.255232647,817,651.255232647,629,654.744767353,0.45143656163,-0.0156589048775,0.0596764947253,0.999999835799,-0.000261373052685,-0.000504565790317,-7.41646412335e-05,1793249624596476672
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,746,717.850063253,683,663.149936747,636,888,782.850063253,817,651.850063253,629,654.149936747,0.451437431792,-0.0156584509701,0.0596756696132,0.999999835774,-0.000261326470722,-0.000504623961139,-7.42636673286e-05,1793249624613143040
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,746,718,682.136431146,663,636,887.568215573,782.568215573,817,651.568215573,629,654,0.451438043815,-0.0156583883191,0.0596756869695,0.999999835732,-0.000261729015579,-0.000504465353151,-7.44871054618e-05,1793249624629809408
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746,717.990925859,681.009074141,663,636,887,782,817,651.009074141,629,654,0.451438583843,-0.015658425424,0.0596759944893,0.999999835703,-0.000262237776033,-0.000504219606882,-7.47513734333e-05,1793249624646476032
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746,717.414469263,681.585530737,663,636,887,782,817,651.585530737,629,654,0.45144006189,-0.0156564551468,0.059676692012,0.99999983686,-0.000259923568687,-0.00050309346408,-7.49469172614e-05,1793249624663142656
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+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746,717,681.248830432,663,636,887,782,817,651.248830432,629,654.751169568,0.451441181182,-0.0156563882404,0.0596772213646,0.999999837639,-0.000259232286102,-0.000502037893232,-7.40169504127e-05,1793249624696476160
+242,4.033333333,HOLD_POSE2,766,746,717,682,663,636,888,782,817,651,629,654,0.451439812613,-0.0156568699889,0.0596755833221,0.999999836273,-0.000260156504767,-0.000504219332746,-7.44071589199e-05,1793249624732357376
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+256,4.266666667,HOLD_POSE2,767,746,717,681.115588953,663.884411047,636,887,782.884411047,817,651.115588953,629,654.115588953,0.451443934876,-0.015653852033,0.0596766239364,0.999999838477,-0.00025557854538,-0.000502250948906,-7.39599080084e-05,1793249624965689088
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+258,4.300000000,POSE2_TO_POSE3_RETREAT,767,746,717,682,663,636,887,782,817,652,629,654,0.45144091519,-0.0156518385705,0.0596752304261,0.999999837636,-0.000252013045446,-0.000505701480635,-7.40551594256e-05,1793249625020169728
+259,4.316666667,POSE2_TO_POSE3_RETREAT,767,745.407790873,717,682,663,636,887,782,817,652,629,654,0.451441763792,-0.0156525426728,0.059675617086,0.999999837825,-0.000252740586969,-0.000505039054133,-7.35358830345e-05,1793249625036836864
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,767,746,717,682.671568536,663.671568536,636,888,781.671568536,816.671568536,651,629,654,0.451444859867,-0.0156534031967,0.0596776154431,0.999999838863,-0.000255664140282,-0.000501552462755,-7.3183580413e-05,1793249625086836736
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,717,682,663.934545328,637,887,784,816,651.934545328,629,654,0.444953285684,-0.0154753269307,0.059672515871,0.999999865198,-8.94724980026e-05,-0.000510368936793,-3.34917003169e-05,1793249625653502208
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,745,717,679.845520013,662.154479987,637.154479987,879,785,813.845520013,651,629.154479987,654,0.412320629997,-0.01538961344,0.0597999509302,0.999999920328,0.000184939795403,-0.000352648058852,2.79315291916e-05,1793249626336836352
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,766.005911862,745,717,679.005911862,662,637,879,785,813.005911862,651,629,654,0.410850305929,-0.0153822438222,0.0597337002121,0.999999884416,0.000185928005555,-0.000442954381416,1.97517386474e-05,1793249626370169344
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766.585793232,745,717,679.585793232,662,637,879,785,813,651,629,653.414206768,0.410250386925,-0.0153872717449,0.059766616212,0.999999908203,0.000183461071516,-0.000386521694626,2.31844108248e-05,1793249626386835968
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766.826559335,745,717,680,661.826559335,637,879,785,813,651,629,653.173440665,0.409658358309,-0.0153908878152,0.0598018034144,0.99999992863,0.00018277999397,-0.000329575097439,2.66761335802e-05,1793249626403502592
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766.24879597,745,717,680,661.24879597,637,879,785,813,651,629,653.75120403,0.409081621967,-0.0153910128912,0.0598406701727,0.999999944697,0.00018630249071,-0.00027384383819,3.01165448066e-05,1793249626420169472
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,717.326918488,679.673081512,661.326918488,637.326918488,879,785,813,651,629.326918488,654,0.408503473134,-0.0153904059466,0.0598563801307,0.99999995017,0.000189529650252,-0.000250465705845,3.17069199216e-05,1793249626436836096
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,717.901083335,679.098916665,661.901083335,637.901083335,879,785,813,651,629.901083335,654,0.407924256077,-0.0153892453795,0.0598545767466,0.999999949316,0.000192533448264,-0.000251556040072,3.18981244128e-05,1793249626453502976
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,718,679,661.513028877,637.513028877,878.513028877,785,813,651,629.513028877,654,0.40736469791,-0.01538746598,0.0598374020985,0.999999942876,0.000192463109302,-0.000276250356609,2.9861180031e-05,1793249626470170112
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.074111047,745,718,679,661.074111047,637,878.074111047,785,813,651,629.074111047,654,0.406818680025,-0.0153859730695,0.059819827646,0.999999936085,0.000190867932746,-0.000301050963902,2.77231000208e-05,1793249626486836992
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.653157953,745,718,679,661.653157953,637,878.653157953,785,813,651,629.653157953,654,0.40633703725,-0.0153873096323,0.0598213269915,0.999999939863,0.000183243070284,-0.000293103303644,2.80556639665e-05,1793249626503503360
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745,717.767880919,679,661.767880919,637,879,785,813,651,629.767880919,654,0.40587395319,-0.0153879382575,0.0598243444172,0.999999941865,0.00018615446477,-0.000284291697051,2.81931081087e-05,1793249626520169728
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745,717.189047971,679,661.189047971,637,879,785,813,651,629.189047971,654,0.405438590135,-0.0153875094435,0.0598296293835,0.999999941045,0.000204803757799,-0.00027418962343,2.80391037865e-05,1793249626536836352
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745,717.386818789,678.613181211,661.386818789,637,879,785,813,651,629,654.386818789,0.405015547697,-0.015386361885,0.059822997598,0.999999937964,0.000209365100285,-0.000281965637923,2.70721320094e-05,1793249626553502976
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745,717.961246984,678.038753016,661.961246984,637,879,785,813,651,629,654.961246984,0.404598480792,-0.0153848657313,0.0598105861179,0.999999933701,0.000207093704927,-0.000298412630154,2.57108661839e-05,1793249626570169600
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.547601027,661.452398973,637,879,784.452398973,813,651,629.547601027,653.904797946,0.404203638759,-0.0153824197494,0.0597886861205,0.99999992284,0.000199816717321,-0.000337435360537,2.30553904425e-05,1793249626586836736
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745,717.866926478,679,661.133073522,637,879,784,813,651,629.866926478,653,0.403828103029,-0.0153807754416,0.0597705293415,0.999999912968,0.000194127548618,-0.000368712281055,2.07440736524e-05,1793249626603503360
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745,717.287307105,679,661.712692895,637,879,784,813,651,629.287307105,653,0.403511956729,-0.015382051838,0.0597672368618,0.999999912891,0.000194981676874,-0.000368516619583,1.99018105671e-05,1793249626620170240
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745,717.291243224,679,662,637.291243224,878.708756776,784.291243224,813,651.291243224,629,653.291243224,0.403231598566,-0.0153834940921,0.0597760132934,0.999999919835,0.000193671476514,-0.000349868879685,2.03366557457e-05,1793249626636836864
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745,717.868742778,679,662,637.868742778,878.131257222,784.868742778,813,651.868742778,629,653.868742778,0.402986415765,-0.0153850993637,0.0597966519832,0.999999932652,0.000190234006607,-0.000313085011885,2.20267415747e-05,1793249626653503232
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.55538304,745,718,679,662,637.55538304,878.44461696,785,813,651.55538304,629.44461696,653.55538304,0.402760518082,-0.0153856556128,0.0598144285569,0.999999940369,0.000194328025412,-0.00028448327928,2.38315896973e-05,1793249626670169344
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.020549995,745,718,678.979450005,661.979450005,637,878.979450005,784.979450005,813,651,629.979450005,653,0.402540899127,-0.0153858707424,0.0598309774084,0.999999946022,0.000200545942004,-0.00025899831487,2.56262782092e-05,1793249626686835968
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.611383885,745,718,678.388616115,661.388616115,637,878.388616115,784.388616115,813,651,629.388616115,653,0.402338103459,-0.0153851822675,0.0598368181804,0.999999946742,0.000204227253529,-0.000253218918768,2.62022620982e-05,1793249626703502848
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745,717.803718476,678,661.196281524,637.196281524,878.196281524,784.196281524,813,651,629.196281524,653.196281524,0.402142381517,-0.01538386072,0.0598380909351,0.999999945925,0.000207155133845,-0.00025407057136,2.61751425822e-05,1793249626720169728
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745,717.230229014,678,661.769770986,637.769770986,878.769770986,784.769770986,813,651,629.769770986,653.769770986,0.401960253674,-0.0153813225525,0.0598305850108,0.999999942101,0.000208635092263,-0.000267665574792,2.49889969906e-05,1793249626736836352
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745,717.345757656,678,661.654242344,637.654242344,878.654242344,784.654242344,813,651,630,654,0.401800626166,-0.0153825541905,0.0598260531169,0.999999940255,0.000203599843949,-0.000278275721193,2.44799780648e-05,1793249626753502976
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745,717.923419294,678,661.076580706,637.076580706,878.076580706,784.076580706,813,651,630,654,0.401656089896,-0.0153863142839,0.0598235159416,0.999999939695,0.000194194765199,-0.000286883888031,2.44251163362e-05,1793249626770169856
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.488960423,745,717.488960423,678,661.511039577,637,878,784,813,651,629.488960423,654,0.401538993919,-0.0153908485836,0.0598251841958,0.999999941226,0.000186267735838,-0.000286781934492,2.46494206234e-05,1793249626786836480
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.098504054,745,717,678,661.901495946,637,878,784,813,651,629.098504054,654,0.401431027086,-0.0153944533287,0.0598276677702,0.999999942887,0.000180328298107,-0.000284762979803,2.48707292529e-05,1793249626803503104
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.677779864,745,717,678,661.322220136,637,878,784,813,651,629.677779864,654,0.401347148653,-0.0153929436676,0.0598309937608,0.999999943781,0.000182987240158,-0.000279884772359,2.48691795119e-05,1793249626820169472
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745,717.258463782,678.258463782,661,637,878,784.258463782,813.258463782,651,629.741536218,654,0.401273201687,-0.0153910074065,0.0598329247704,0.999999944161,0.000185395309898,-0.000276928632918,2.4831758495e-05,1793249626836835840
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745,717.84091273,678.84091273,661,637,878,784.84091273,813.84091273,651,629.15908727,654,0.401211703851,-0.0153885364011,0.0598331071667,0.999999943924,0.000187488910247,-0.000276381812094,2.47493727212e-05,1793249626853502464
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.586898953,661,637,878,785,813.586898953,651,629,654,0.401160009679,-0.0153883158283,0.0598343333294,0.99999994454,0.000187743025376,-0.00027397569261,2.46889668087e-05,1793249626870169344
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.018566302,661,637,878,785,813.018566302,651,629,654,0.401111999446,-0.0153889409042,0.0598359517098,0.999999945469,0.000187305914319,-0.000270870901675,2.46368203035e-05,1793249626886835968
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,745,718,678,661.570790697,637,878,784.429209303,813,651,629,653.429209303,0.401075323305,-0.0153888429002,0.0598353861676,0.999999944682,0.00018698233582,-0.000273987724729,2.45956495288e-05,1793249626903503104
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745,717.841775694,678,662,637,878,784,813,651,629.158224306,653,0.401042275325,-0.0153883363328,0.0598340926263,0.999999943583,0.000187462306055,-0.000277657681213,2.44467635191e-05,1793249626920170240
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,745,717.261368787,678,662,637,878,784,813,651,629.738631213,653,0.401017886886,-0.015386804771,0.0598310533925,0.999999941817,0.000190076117831,-0.000282242906064,2.40094769081e-05,1793249626936836352
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.684678516,745,717.315321484,678,662,637,878,784,813,651,629.684678516,653.315321484,0.401002353284,-0.0153870498263,0.0598307990259,0.999999941836,0.000190405564732,-0.000281974437397,2.37692613008e-05,1793249626953502720
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.111033,745,717.888967,678,662,637,878,784,813,651,629.111033,653.888967,0.400994073917,-0.0153887503576,0.0598328261342,0.999999943318,0.000188863568406,-0.000277729628436,2.3690494132e-05,1793249626970169088
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.464071115,745,718,678,662,637,878,784,813,651,629.464071115,654,0.400989433395,-0.0153894442028,0.0598346775358,0.999999944477,0.000188974255486,-0.000273436388155,2.38354961384e-05,1793249626986835968
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.959226069,745,718,678,661.959226069,637,878,784.040773931,813,651,629.959226069,653.959226069,0.400985657062,-0.0153898647685,0.0598363813249,0.999999945442,0.000189622241967,-0.000269413819739,2.40110030941e-05,1793249627003502592
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.365592553,745,718,678,661.365592553,637,878,784.634407447,813,651,629.365592553,653.365592553,0.400981756245,-0.0153898560271,0.0598366554298,0.99999994501,0.000192177105049,-0.000269218939745,2.38719034809e-05,1793249627020169216
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.221106148,745,717.778893852,678,661,637,878,784.778893852,812.778893852,651,629.221106148,653.221106148,0.400978215048,-0.0153899622404,0.0598365259404,0.999999944638,0.000193359806146,-0.000269775702419,2.36088828953e-05,1793249627036836096
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.796687003,745,717.203312997,678,661,637,878,784.203312997,812.203312997,651,629.796687003,653.796687003,0.400975250389,-0.0153902527475,0.0598357494132,0.999999944368,0.000192342673562,-0.000271537489554,2.31471937115e-05,1793249627053502976
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745,717.37178842,678,661.37178842,637,878,784.37178842,812.37178842,651,629.62821158,653.62821158,0.400974879158,-0.0153910331843,0.0598366861786,0.999999944647,0.000192204603021,-0.000270589174026,2.33570372058e-05,1793249627070169856
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745,717.946627976,678,661.946627976,637,878,784.946627976,812.946627976,651,629.053372024,653.053372024,0.400975924322,-0.0153920811949,0.0598385586536,0.999999945221,0.000192546629621,-0.000268160743964,2.39336362821e-05,1793249627086836480
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745,717.464497863,678.535502137,661.464497863,637,878,785,813,651,629.535502137,653.535502137,0.40097405671,-0.0153922304224,0.0598374779151,0.999999944792,0.000192145576109,-0.0002700555194,2.37741530337e-05,1793249627103503104
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745,717,679,661,637,878,784.876648689,813,651,630,653.876648689,0.40097263564,-0.0153924469313,0.0598366929392,0.999999944486,0.000191772598935,-0.000271467670665,2.35705950345e-05,1793249627120169472
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745,717,679,661,637,878,784.297887178,813,651,630,653.297887178,0.40097396385,-0.0153932514671,0.0598381158509,0.999999945028,0.000191784068668,-0.000269464363212,2.3482459456e-05,1793249627136835840
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745,717.280183121,678.719816879,661,637,878,784.280183121,813,651,630,653,0.400974059064,-0.0153936040386,0.0598387135245,0.999999945405,0.000191196444783,-0.000268483625977,2.34438984091e-05,1793249627153502464
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745,717.857520411,678.142479589,661,637,878,784.857520411,813,651,630,653,0.4009728466,-0.0153934772701,0.0598384359744,0.99999994561,0.000189973439419,-0.000268587397092,2.34579146754e-05,1793249627170169088
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745,718,678,661,637,878,784.568196794,813,651.431803206,629.568196794,653,0.400972741158,-0.0153924331033,0.0598385724988,0.999999945366,0.000191191847186,-0.000268657993143,2.3147273154e-05,1793249627186835968
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745,718,678,661,637,878,784.005238567,813,651.994761433,629.005238567,653.005238567,0.400972998651,-0.0153910974309,0.0598388516341,0.999999944981,0.000193182794106,-0.000268703104519,2.27328757166e-05,1793249627203502848
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745,718,678,661,637,878,784.595813682,813,651.404186318,629.595813682,653.595813682,0.400973280988,-0.0153907759319,0.0598399063272,0.999999945615,0.000192114285071,-0.000267115196512,2.26108954203e-05,1793249627220169728
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745,717.817160428,678.182839572,661,637.182839572,878,785,813,651.182839572,629.817160428,654,0.400973906642,-0.0153911513765,0.0598408624635,0.999999946239,0.000191079726682,-0.000265511234203,2.26806911165e-05,1793249627236836352
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745,717.237831112,678.762168888,661,637.762168888,878,785,813,651.762168888,629.237831112,654,0.400975276783,-0.0153930381513,0.0598416048779,0.999999946845,0.000190118790727,-0.000263872458047,2.31663552959e-05,1793249627253502720
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.660919286,745,717.339080714,679,661,638,878,785,813,652,629,654,0.400975198773,-0.0153939909805,0.059841233356,0.999999946755,0.000190392677656,-0.000264004303972,2.32995834987e-05,1793249627270169344
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c93fca96a70ba4396ad422beb52ba1eb5a0ccbda
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_01/simulation_data.csv
@@ -0,0 +1,401 @@
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+350,5.833333333,pose2_to_pose3_retreat,0.579014779635,-0.00984986697006,1.05003363507,0.549585458731,-0.00117723111134,1.04970502787
+351,5.850000000,pose2_to_pose3_retreat,0.578674340398,-0.00984990789411,1.05003353751,0.549245019572,-0.00117727161696,1.04970493432
+352,5.866666667,pose2_to_pose3_retreat,0.57835380566,-0.00984984753411,1.05003337791,0.548924483502,-0.00117721577973,1.04970477497
+353,5.883333333,pose2_to_pose3_retreat,0.578057148241,-0.00984978487608,1.05003338031,0.548627824721,-0.00117715760888,1.04970478095
+354,5.900000000,pose2_to_pose3_retreat,0.577789264711,-0.00985002319793,1.05003350615,0.548359943753,-0.00117738747532,1.04970490043
+355,5.916666667,pose2_to_pose3_retreat,0.577549401594,-0.00984983730333,1.05003348518,0.548120079166,-0.00117720636579,1.04970488449
+356,5.933333333,pose2_to_pose3_retreat,0.577335749235,-0.0098497753036,1.0500336031,0.547906426699,-0.00117714504879,1.04970499422
+357,5.950000000,pose2_to_pose3_retreat,0.577141041078,-0.00984978875908,1.0500335561,0.547711718965,-0.00117715717458,1.04970494438
+358,5.966666667,pose2_to_pose3_retreat,0.576960385157,-0.00984983492076,1.05003346053,0.547531063621,-0.00117720122088,1.0497048529
+359,5.983333333,pose2_to_pose3_retreat,0.576790154227,-0.00984987612037,1.0500336222,0.547360833219,-0.00117724051722,1.04970501756
+360,6.000000000,pose2_to_pose3_retreat,0.57663130122,-0.00984984727511,1.0500336404,0.547201979218,-0.00117721517739,1.04970503224
+361,6.016666667,pose2_to_pose3_retreat,0.576485067483,-0.0098499768624,1.05003353465,0.547055746387,-0.00117734167664,1.04970492694
+362,6.033333333,pose2_to_pose3_retreat,0.576353002853,-0.00984989816581,1.05003351437,0.546923680922,-0.0011772657809,1.04970490756
+363,6.050000000,pose2_to_pose3_retreat,0.576235735064,-0.009849785598,1.0500335365,0.546806411778,-0.00117715800662,1.04970492455
+364,6.066666667,pose2_to_pose3_retreat,0.576134806246,-0.00984983819963,1.05003352236,0.546705484584,-0.00117720504932,1.0497049128
+365,6.083333333,pose2_to_pose3_retreat,0.576048084935,-0.00984991342382,1.05003359853,0.546618765388,-0.00117727283907,1.04970499657
+366,6.100000000,pose2_to_pose3_retreat,0.575975265534,-0.00984983672906,1.05003379527,0.546545944707,-0.00117720048445,1.04970519202
+367,6.116666667,pose2_to_pose3_retreat,0.575913354059,-0.00984999907099,1.05003343016,0.546484034525,-0.00117735863534,1.0497048216
+368,6.133333333,pose2_to_pose3_retreat,0.575861438804,-0.00984992574078,1.05003328767,0.5464321187,-0.001177287043,1.04970468423
+369,6.150000000,pose2_to_pose3_retreat,0.575817288859,-0.00984983149005,1.05003335116,0.5463879669,-0.00117719925466,1.0497047433
+370,6.166666667,pose2_to_pose3_retreat,0.57578002865,-0.00984985441329,1.05003345174,0.546350706226,-0.00117722376872,1.04970484347
+371,6.183333333,pose2_to_pose3_retreat,0.575748999689,-0.00984995668629,1.05003342371,0.546319678227,-0.00117732250539,1.04970482262
+372,6.200000000,pose2_to_pose3_retreat,0.575723856996,-0.00984998098559,1.05003327063,0.546294535785,-0.00117734581284,1.0497046733
+373,6.216666667,pose2_to_pose3_retreat,0.575705361051,-0.00985005059745,1.05003349501,0.546276041252,-0.00117741091566,1.04970489026
+374,6.233333333,pose2_to_pose3_retreat,0.575692181597,-0.00984995007297,1.0500334992,0.546262858831,-0.00117732041387,1.04970489561
+375,6.250000000,pose2_to_pose3_retreat,0.575683561613,-0.00984995881066,1.05003351714,0.54625423965,-0.00117732655038,1.04970491038
+376,6.266666667,pose2_to_pose3_retreat,0.575678084833,-0.0098500004387,1.05003353846,0.546248764676,-0.00117736219789,1.04970492781
+377,6.283333333,pose2_to_pose3_retreat,0.57567466212,-0.00984992788166,1.05003365334,0.546245341352,-0.00117729174527,1.04970504187
+378,6.300000000,pose2_to_pose3_retreat,0.575672011042,-0.00984986363971,1.05003375062,0.546242689659,-0.00117722960998,1.04970513864
+379,6.316666667,pose2_to_pose3_retreat,0.575669983713,-0.00984986807535,1.0500337389,0.54624066211,-0.00117723470488,1.04970512932
+380,6.333333333,pose2_to_pose3_retreat,0.575668639664,-0.00984989914378,1.05003368593,0.546239318045,-0.0011772657106,1.0497050794
+381,6.350000000,pose2_to_pose3_retreat,0.575667576391,-0.0098499237219,1.05003364401,0.54623825476,-0.00117729023911,1.04970503991
+382,6.366666667,pose2_to_pose3_retreat,0.575666864898,-0.0098499679284,1.05003361043,0.546237543533,-0.00117733351134,1.0497050071
+383,6.383333333,pose2_to_pose3_retreat,0.575666720534,-0.00984998693459,1.05003360161,0.546237399323,-0.00117735200218,1.04970499813
+384,6.400000000,pose2_to_pose3_retreat,0.575666628511,-0.00984999904993,1.05003359599,0.546237307398,-0.00117736378902,1.04970499242
+385,6.416666667,pose2_to_pose3_retreat,0.575666283157,-0.00985004451748,1.05003357489,0.546236962412,-0.00117740802372,1.04970497097
+386,6.433333333,pose2_to_pose3_retreat,0.575666135538,-0.00985006395228,1.05003356587,0.54623681495,-0.00117742693155,1.0497049618
+387,6.450000000,pose2_to_pose3_retreat,0.575666094804,-0.00985006931508,1.05003356339,0.546236774259,-0.00117743214894,1.04970495927
+388,6.466666667,pose2_to_pose3_retreat,0.57566601818,-0.00985007940308,1.0500335587,0.546236697716,-0.00117744196341,1.04970495451
+389,6.483333333,pose2_to_pose3_retreat,0.575666001077,-0.00985008165483,1.05003355766,0.546236680631,-0.0011774441541,1.04970495345
+390,6.500000000,pose2_to_pose3_retreat,0.575665728384,-0.00985011755621,1.050033541,0.546236408229,-0.00117747908202,1.04970493652
+391,6.516666667,pose2_to_pose3_retreat,0.575665452613,-0.00985015386284,1.05003352416,0.546236132751,-0.0011775144042,1.04970491939
+392,6.533333333,pose2_to_pose3_retreat,0.575665327659,-0.00985017031372,1.05003351652,0.54623600793,-0.00117753040902,1.04970491163
+393,6.550000000,pose2_to_pose3_retreat,0.575665326761,-0.00985017043195,1.05003351647,0.546236007033,-0.00117753052405,1.04970491157
+394,6.566666667,pose2_to_pose3_retreat,0.575665194935,-0.00985013359319,1.05003353643,0.546235874991,-0.00117749445804,1.04970493048
+395,6.583333333,pose2_to_pose3_retreat,0.575664856132,-0.00985000383689,1.05003360588,0.546235535402,-0.00117736749254,1.04970499662
+396,6.600000000,pose2_to_pose3_retreat,0.575664511397,-0.00984992874199,1.05003358793,0.546235190527,-0.00117729292235,1.04970497734
+397,6.616666667,pose2_to_pose3_retreat,0.575664345629,-0.00984998872719,1.05003342974,0.546235025806,-0.00117734925258,1.04970482192
+398,6.633333333,pose2_to_pose3_retreat,0.57566436487,-0.00984999923942,1.05003361848,0.546235045448,-0.00117735861373,1.04970500505
+399,6.650000000,pose2_to_pose3_retreat,0.575664376717,-0.00984999925846,1.05003367177,0.54623505735,-0.00117735850587,1.04970505684
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9bb56c6a4637f319ca3102c4a201f583721dd435
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec9642f1d799e2c299359ab495bcbb36723b95b9fd4669611c52afd37da3acad
+size 25454915
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c4773b2510d2416df48cc4959558e5e1f534d9c0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_02/franka_data.csv
@@ -0,0 +1,402 @@
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+21,0.350000000,BASELINE,767,745,717.186180559,679,661,637,878,785,813,651.813819441,629.186180559,654,0.400973309739,-0.0153934081566,0.0598427029313,0.999999946945,0.000192700538078,-0.000261682322755,2.23410143234e-05,1793249627868853504
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+29,0.483333333,BASELINE,767,745.818008942,718,678,661,637.181991058,878,784,813,651,629.181991058,653,0.400973673439,-0.0153951918982,0.0598436635895,0.999999947755,0.000190237111849,-0.000260382124968,2.23637661761e-05,1793249628002186752
+30,0.500000000,BASELINE,767,745.597781505,718,678,661.402218495,637,878,784,813,651,629,653.402218495,0.400973138525,-0.0153947468332,0.0598429617479,0.9999999474,0.000190654175121,-0.000261457778194,2.21652623575e-05,1793249628018853120
+31,0.516666667,BASELINE,767,745.010101964,718,678,661.989898036,637,878,784,813,651,629,653.989898036,0.400972383277,-0.0153941008223,0.0598415308823,0.999999946719,0.000191299711337,-0.000263598071258,2.19678865281e-05,1793249628035519744
+32,0.533333333,BASELINE,767,745,717.431316737,678.568683263,661.431316737,637,878,784,813,651,629,654,0.400972490043,-0.0153947831354,0.0598423019211,0.99999994706,0.000190546930878,-0.000262831130278,2.21742231235e-05,1793249628052186624
+33,0.550000000,BASELINE,767,745,717.147108323,679,661,637,878,784,813,651,629,654,0.400972540638,-0.0153952606096,0.0598426935719,0.999999947261,0.000190014507009,-0.00026243816346,2.23239537787e-05,1793249628068853760
+34,0.566666667,BASELINE,767,745,717.724934225,679,661,637,878,784,813,651,629,654,0.40097238263,-0.0153950703148,0.0598418616564,0.999999947003,0.000190198871166,-0.000263289031609,2.22872742765e-05,1793249628085520384
+35,0.583333333,BASELINE,767,745,718,678.698442583,661,637,878,784.301557417,813,651.301557417,629,654,0.400972746512,-0.0153955206686,0.0598421766874,0.999999947236,0.000189544262388,-0.000262883966322,2.22177974545e-05,1793249628102187008
+36,0.600000000,BASELINE,767,745,718,678.12291202,661,637,878,784.87708798,813,651.87708798,629,654,0.400973584545,-0.0153965530691,0.0598435337506,0.999999947911,0.000188127423813,-0.000261337851317,2.21185233678e-05,1793249628118853888
+37,0.616666667,BASELINE,767,745,718,678.461794771,661.461794771,637,878.461794771,784.538205229,813,652,629,654,0.400973792117,-0.0153969058709,0.059843789125,0.999999947989,0.000188449513462,-0.000260800761695,2.21695846176e-05,1793249628135520512
+38,0.633333333,BASELINE,766.951711344,745,718,679,661.951711344,637,878.951711344,784.048288656,813,651.951711344,629,654,0.400973798346,-0.0153970642132,0.0598437029612,0.999999947907,0.000189133019497,-0.000260614701535,2.22606314083e-05,1793249628152186880
+39,0.650000000,BASELINE,766.372959239,745,718,679,661.372959239,637,878.372959239,784.627040761,813,651.372959239,629,654,0.400973473506,-0.0153971136978,0.0598431513942,0.999999947833,0.00018859932802,-0.000261274736042,2.23424597988e-05,1793249628168853504
+40,0.666666667,BASELINE,766.205706834,745,718,679,661,637.205706834,878,785,813,651.205706834,629,653.794293166,0.400973249166,-0.0153973928766,0.0598427859139,0.999999947821,0.000188052547151,-0.000261711580321,2.23844947641e-05,1793249628185520128
+41,0.683333333,BASELINE,766.784216954,745,718,679,661,637.784216954,878,785,813,651.784216954,629,653.215783046,0.400973206962,-0.0153980883312,0.0598427576794,0.99999994792,0.000187482044359,-0.000261743936052,2.23544119468e-05,1793249628202186752
+42,0.700000000,BASELINE,767,745,718,679,661,637.639529357,878,785,813,651.639529357,629.360470643,653.360470643,0.400973549179,-0.0153981012343,0.0598430774412,0.999999948098,0.000187525009413,-0.00026102407726,2.24795215973e-05,1793249628218853632
+43,0.716666667,BASELINE,767,745,718,679,661,637.064618021,878,785,813,651.064618021,629.935381979,653.935381979,0.400974120086,-0.0153977080939,0.0598436042229,0.99999994832,0.000187932920907,-0.000259856732917,2.26969538308e-05,1793249628235520768
+44,0.733333333,BASELINE,766.478255452,745,718,678.478255452,661,637,878,785,813,651,630,654,0.400975187601,-0.0153975961139,0.0598442193872,0.99999994859,0.000187556924512,-0.000259098119667,2.26056776158e-05,1793249628252187648
+45,0.750000000,BASELINE,766.108217725,745,718,678.108217725,661.108217725,637.108217725,878,785,813,651.108217725,630,654,0.40097582367,-0.0153975133813,0.0598445346437,0.999999948655,0.000187538828466,-0.000258872062503,2.24816159767e-05,1793249628268854016
+46,0.766666667,BASELINE,766.688843554,745,718,678.688843554,661.688843554,637.688843554,878,785,813,651.688843554,630,654,0.400974301814,-0.0153974029036,0.0598434918421,0.999999947797,0.000189516421369,-0.000260744859976,2.23850825774e-05,1793249628285520384
+47,0.783333333,BASELINE,767,745,718,679,661.733065035,637.733065035,878,784.733065035,813,651.733065035,630,654,0.400973713512,-0.0153973049226,0.0598433283972,0.99999994754,0.000190233737174,-0.00026120964099,2.23630566972e-05,1793249628302186752
+48,0.800000000,BASELINE,767,745,718,679,661.157900042,637.157900042,878,784.157900042,813,651.157900042,630,654,0.400974203185,-0.0153972213718,0.0598441803459,0.999999947982,0.000189495810214,-0.00026004858446,2.24270646993e-05,1793249628318853376
+49,0.816666667,BASELINE,767,745,718,679,661,637,878,784.42641951,813,651,629.57358049,654,0.400973159618,-0.0153974157522,0.0598431855916,0.999999947498,0.000190065603065,-0.000261496559987,2.2320229771e-05,1793249628335520256
+50,0.833333333,BASELINE,767,745,718,679,661,637.013985578,878.013985578,785,813,651,629,654,0.400971604012,-0.0153976673953,0.0598415469356,0.999999946689,0.000191122723517,-0.0002638264454,2.21463596436e-05,1793249628352186624
+51,0.850000000,BASELINE,767,745,718,679,661,637.592760635,878.592760635,785,813,651,629,654,0.400972801131,-0.015395984213,0.059842126214,0.999999947057,0.000191875536578,-0.000261900236721,2.18761588401e-05,1793249628368853504
+52,0.866666667,BASELINE,767,745,718,679,661.17054271,638,878.82945729,785,813,651,629,654,0.400973434957,-0.0153949713071,0.059842547114,0.99999994722,0.000192634409714,-0.000260727367684,2.17556629334e-05,1793249628385520384
+53,0.883333333,BASELINE,767,745,718,679,661.745967329,638,878.254032671,785,813,651,629,654,0.40097273148,-0.0153955496911,0.059842592011,0.999999946905,0.000193407669907,-0.000261342986781,2.19905783328e-05,1793249628402187264
+54,0.900000000,BASELINE,767,745,718,679,661.677425184,638,878.322574816,784.677425184,813,651.322574816,629.322574816,654,0.400972364354,-0.0153954866273,0.0598424584188,0.999999946804,0.000192971235712,-0.000262053115247,2.19785276695e-05,1793249628418854144
+55,0.916666667,BASELINE,767,745,718,679,661.09988277,638,878.90011723,784.09988277,813,651.90011723,629.90011723,654,0.400972263084,-0.0153949165544,0.0598421837461,0.99999994687,0.000191578642298,-0.000262837945196,2.17712716014e-05,1793249628435520256
+56,0.933333333,BASELINE,767,745,718,679,661,638,878.513700759,784.486299241,813.486299241,651.513700759,630,654,0.40097339946,-0.0153948993294,0.0598436466605,0.999999947303,0.000192291877586,-0.000260641810474,2.197357684e-05,1793249628452186880
+57,0.950000000,BASELINE,767,745,718,679,661,637.926812141,878,785,813.926812141,651,629.926812141,653.926812141,0.400974629569,-0.0153950911401,0.0598451733845,0.999999947742,0.000193204786949,-0.000258251010331,2.2230740689e-05,1793249628468853248
+58,0.966666667,BASELINE,767,745,718,679,661,637.347530371,878,785,813.347530371,651,629.347530371,653.347530371,0.400974718226,-0.0153959290212,0.0598446288238,0.999999947738,0.000192453442706,-0.000258824533866,2.22750316555e-05,1793249628485519616
+59,0.983333333,BASELINE,767,745,718,678.770258415,661,637,878,784.770258415,813.229741585,651.229741585,629.229741585,653,0.400974439544,-0.0153962306229,0.059844020119,0.999999947673,0.000191964764605,-0.000259439544154,2.22313425502e-05,1793249628502186496
+60,1.000000000,BASELINE,767,745,718,678.196000255,661,637,878,784.196000255,813.803999745,651.803999745,629.803999745,653,0.400973610008,-0.0153957280292,0.0598433152247,0.999999947519,0.000191869976071,-0.000260116767356,2.2055720032e-05,1793249628518853376
+61,1.016666667,BASELINE,767,745,718,678.377687059,661,637.377687059,878,784,814,651.622312941,630,653.377687059,0.400973597515,-0.0153961045132,0.0598433455176,0.999999947524,0.000191597536835,-0.00026029534106,2.21204918468e-05,1793249628535520768
+62,1.033333333,BASELINE,767,745,718,678.951078546,661,637.951078546,878,784,814,651.048921454,630,653.951078546,0.400974008385,-0.015396936505,0.0598437567591,0.99999994761,0.000191233045129,-0.000260215531722,2.23098277378e-05,1793249628552187904
+63,1.050000000,BASELINE,767,745,718,679,661.545862541,637.454137459,878,784,813.454137459,651,629.454137459,653.454137459,0.400974516127,-0.0153974100651,0.0598441277071,0.999999948156,0.000188581655776,-0.000260065360416,2.21631510143e-05,1793249628568854016
+64,1.066666667,BASELINE,767,745,718,679,661.862164414,637,878.137835586,784.137835586,813.137835586,651.137835586,629,653,0.400974633213,-0.0153976710283,0.059844197182,0.999999948488,0.000186793924243,-0.000260084965647,2.2072981633e-05,1793249628585520128
+65,1.083333333,BASELINE,767,745,718,679,661.285493798,637,878.714506202,784.714506202,813.714506202,651.714506202,629,653,0.400973477779,-0.0153973615793,0.0598433188058,0.999999948025,0.000188435019014,-0.000260665993842,2.22625049657e-05,1793249628602186496
+66,1.100000000,BASELINE,767,745,718,679,661.289575226,637.289575226,879,785,813.710424774,652,629.289575226,653.289575226,0.400972787671,-0.0153970357806,0.0598431413034,0.999999947725,0.000189600663087,-0.000260977186934,2.21699021202e-05,1793249628618853120
+67,1.116666667,BASELINE,767,745,718,679,661.863073883,637.863073883,879,785,813.136926117,652,629.863073883,653.863073883,0.400972553809,-0.0153966939516,0.0598436509957,0.999999947589,0.00019030013599,-0.000261023811405,2.1800679493e-05,1793249628635519744
+68,1.133333333,BASELINE,767,745,718,679,661.550429684,637.550429684,878.550429684,784.550429684,813,652,629.550429684,654,0.400973167726,-0.0153973192779,0.0598445463316,0.99999994806,0.000189132206287,-0.000260062412934,2.18142874108e-05,1793249628652186368
+69,1.150000000,BASELINE,767,745,718,679,661.03933782,637.03933782,878.078675639,784,813,651.96066218,629,654,0.400973996818,-0.0153980063423,0.0598454132819,0.999999948612,0.000187784949121,-0.000258903846195,2.1936585039e-05,1793249628668853248
+70,1.166666667,BASELINE,767,745,718,679,661.61805952,637.61805952,879.236119039,784,813,651.38194048,629,654,0.400974130439,-0.0153953806955,0.0598442325644,0.999999947688,0.000192009569025,-0.000259376779951,2.19028333334e-05,1793249628685520384
+71,1.183333333,BASELINE,767,745,718,678.80512251,662,637.80512251,879.80512251,784.19487749,813,651.19487749,629.19487749,654,0.400974563018,-0.0153940662118,0.0598437207737,0.99999994732,0.000194045725004,-0.000259275697399,2.19719288874e-05,1793249628702187520
+72,1.200000000,BASELINE,767,745,718,678.231999461,662,637.231999461,879.231999461,784.768000539,813,651.768000539,629.768000539,654,0.400975575858,-0.015395296617,0.0598445073296,0.999999948055,0.000191834204092,-0.000258060483596,2.22406448188e-05,1793249628718853632
+73,1.216666667,BASELINE,767,745,718,678.343322365,661.656677635,637,878.656677635,785,813,652,630,654,0.400975838961,-0.015396346986,0.0598449286655,0.999999948542,0.000190236236541,-0.000257355926747,2.22284119965e-05,1793249628735520000
+74,1.233333333,BASELINE,767,745,718,678.920139553,661.079860447,637,878.079860447,785,813,652,630,654,0.400975592165,-0.0153972749118,0.0598451016139,0.999999948862,0.000189055549055,-0.000256998669672,2.20251048618e-05,1793249628752186624
+75,1.250000000,BASELINE,767,745,718,678.491153205,661.508846795,637.508846795,878,785,813,651.491153205,630,653.491153205,0.400974871702,-0.0153963041003,0.0598445856044,0.999999948464,0.000190084599895,-0.000257784475629,2.20676045546e-05,1793249628768853504
+76,1.266666667,BASELINE,767,745,718,678.09750312,662,638,878.09750312,784.90249688,813,651,630,653.09750312,0.400973934812,-0.0153952573398,0.0598439833935,0.999999947988,0.000191113223113,-0.00025886716655,2.20694838682e-05,1793249628785520384
+77,1.283333333,BASELINE,767,745,718,678.676472945,662,638,878.676472945,784.323527055,813,651,630,653.676472945,0.400972305082,-0.0153953422427,0.0598435022283,0.999999947709,0.000190386250977,-0.00026050881446,2.16757272992e-05,1793249628802186752
+78,1.300000000,BASELINE,767,745,718,679,662,637.745685342,878.745685342,784.254314658,813,651,629.745685342,654,0.400972270264,-0.0153957033801,0.0598434319875,0.999999947728,0.000190116284906,-0.000260627479285,2.17598369967e-05,1793249628818853888
+79,1.316666667,BASELINE,767,745,718,679,662,637.169272468,878.169272468,784.830727532,813,651,629.169272468,654,0.400974255457,-0.0153964143779,0.0598438821962,0.999999948124,0.00019042513271,-0.00025881723379,2.24491807036e-05,1793249628835522048
+80,1.333333333,BASELINE,767,745,718,678.586349711,662,637.413650289,878.413650289,784.586349711,813,651,629,654,0.400974436396,-0.0153967229018,0.0598442478665,0.9999999482,0.000190362883636,-0.000258579691925,2.23435737695e-05,1793249628852188160
+81,1.350000000,BASELINE,767,745,718,678.000720359,662,637.999279641,878.999279641,784.000720359,813,651,629,654,0.400973867198,-0.0153968640935,0.059844578389,0.999999948143,0.000190146347515,-0.000258996016477,2.19074585645e-05,1793249628868853760
+82,1.366666667,BASELINE,767,745,718,678,661.421857406,638,878.421857406,784.578142594,813,651,629,654,0.400974487576,-0.0153962925549,0.0598447339631,0.999999948536,0.000189056818213,-0.000258289646004,2.17261883593e-05,1793249628885520128
+83,1.383333333,BASELINE,767,745,718,678,661,638,878.156844079,785,813,651,629.156844079,654,0.400974969072,-0.0153962396193,0.0598447977882,0.99999994887,0.000188024876195,-0.000257759440888,2.1607160343e-05,1793249628902186496
+84,1.400000000,BASELINE,767,745,718,678,661,638,878.735134217,785,813,651,629.735134217,654,0.400975073451,-0.0153975825485,0.0598446156589,0.999999949047,0.000187150562163,-0.000257706314009,2.16545360804e-05,1793249628918853120
+85,1.416666667,BASELINE,767,745,718,678,661.311317538,637.688682462,878.688682462,785,813.311317538,651,630,653.688682462,0.400975158558,-0.0153979145515,0.0598446789586,0.999999949114,0.000186910562847,-0.000257617892761,2.16566486674e-05,1793249628935520000
+86,1.433333333,BASELINE,767,745,718,678,661.885720417,637.114279583,878.114279583,785,813.885720417,651,630,653.114279583,0.40097522738,-0.0153973922505,0.0598449496631,0.99999994909,0.000187206604384,-0.000257499645279,2.16205106877e-05,1793249628952186880
+87,1.450000000,BASELINE,767,745,718,678,661.529244132,637,878,784.529244132,813.529244132,651.470755868,630,653.470755868,0.400974792151,-0.0153969238713,0.0598445514318,0.999999948906,0.000188068535423,-0.000257573335148,2.1765277792e-05,1793249628968853760
+88,1.466666667,BASELINE,767,745,718,678.057578235,661.057578235,637,878,784,813,652,629.942421765,654,0.400974296297,-0.0153964993021,0.059844048776,0.999999948675,0.000189052686523,-0.000257739178507,2.19222477148e-05,1793249628985520640
+89,1.483333333,BASELINE,767,745,718,678.636666808,661.636666808,637,878,784,813,652,629.363333192,654,0.400974385225,-0.0153963502367,0.0598441051197,0.999999948376,0.000189870829761,-0.000258307918867,2.17827855515e-05,1793249629002187008
+90,1.500000000,BASELINE,767,745,718,679,661.784646724,637.215353276,878,784.215353276,813,651.784646724,629.215353276,654,0.400974328532,-0.0153962736371,0.0598440912253,0.999999948105,0.000190695481108,-0.000258760695732,2.16329013228e-05,1793249629018853120
+91,1.516666667,BASELINE,767,745,718,679,661.206637463,637.793362537,878,784.793362537,813,651.206637463,629.793362537,654,0.400974026612,-0.0153963190701,0.0598439590496,0.999999947882,0.000191531092057,-0.000259018189438,2.1465466298e-05,1793249629035519744
+92,1.533333333,BASELINE,766.63152486,745,718,678.63152486,661,638,878,784.63152486,813,651,630,654,0.400974475413,-0.0153965260092,0.0598439811489,0.999999948066,0.000191009676183,-0.000258686076752,2.15812553515e-05,1793249629052186624
+93,1.550000000,BASELINE,766.058023953,745,718,678.058023953,661,638,878,784.058023953,813,651,630,654,0.400975341929,-0.0153968228131,0.0598440890894,0.999999948473,0.000189733187831,-0.000258025897172,2.18546350315e-05,1793249629068853504
+94,1.566666667,BASELINE,766.532691407,745,718,678.532691407,661.532691407,638,878.532691407,784,813,651,630,654,0.400975248594,-0.0153956621632,0.0598444736405,0.999999948222,0.000191523948566,-0.000257678583535,2.18258456359e-05,1793249629085520128
+95,1.583333333,BASELINE,767,745,718,679,662,637.877684883,878.877684883,784,813.122315117,651.122315117,629.877684883,654,0.400974874237,-0.0153951857277,0.0598446687582,0.999999948063,0.000192385400636,-0.000257655337501,2.18000029931e-05,1793249629102186752
+96,1.600000000,BASELINE,767,745,718,679,662,637.299355094,878.299355094,784,813.700644906,651.700644906,629.299355094,654,0.400973854986,-0.0153978718108,0.059844041549,0.99999994853,0.000188495009631,-0.000258708981705,2.19119544332e-05,1793249629118853888
+97,1.616666667,BASELINE,767,745,718,679,662,637,878.277101335,784.277101335,813.722898665,652,629.277101335,653.722898665,0.400973160528,-0.0153984270392,0.0598434659049,0.99999994863,0.000186724679002,-0.000259610578641,2.18377420288e-05,1793249629135520768
+98,1.633333333,BASELINE,767,745,718,679,662,637,878.851547512,784.851547512,813.148452488,652,629.851547512,653.148452488,0.400972814592,-0.0153966957443,0.0598429455931,0.999999948349,0.000187229288993,-0.000260349020506,2.1563765662e-05,1793249629152187392
+99,1.650000000,BASELINE,767,745,718,679,661.563988185,637,878.563988185,785,813,651.563988185,630,653.436011815,0.400972479511,-0.0153964011125,0.0598429468766,0.999999948031,0.000188438600704,-0.000260698127221,2.15565359593e-05,1793249629168853760
+100,1.666666667,BASELINE,767,745,718,679,661,637,878.023591367,785,813,651,630,654,0.400972157848,-0.0153966152677,0.0598430965603,0.99999994771,0.000189812731071,-0.000260928712772,2.16390817707e-05,1793249629185520128
+101,1.683333333,BASELINE,767,745,718,679,661,637,878.60232517,785,813,651,630,654,0.400972062944,-0.0153970207613,0.0598424610427,0.999999947643,0.000189286463526,-0.000261563015114,2.16467560663e-05,1793249629202186752
+102,1.700000000,BASELINE,767,745,718,678.819391221,661.180608779,637,878.819391221,785,813,651.180608779,630,654,0.400971669077,-0.0153976099081,0.0598420162561,0.999999947609,0.000188775806024,-0.000262060613211,2.16893255043e-05,1793249629218853376
+103,1.716666667,BASELINE,767,745,718,678.242096486,661.757903514,637,878.242096486,785,813,651.757903514,630,654,0.400970618576,-0.0153986024278,0.0598419903878,0.999999947644,0.000188299434213,-0.000262257956418,2.18085380204e-05,1793249629235520256
+104,1.733333333,BASELINE,767,745,718,678.332815558,662,637.332815558,878.332815558,785,813,651.667184442,629.667184442,654,0.400971475717,-0.015398495127,0.0598428096127,0.9999999478,0.000188994001814,-0.000261147772939,2.1968534148e-05,1793249629252187136
+105,1.750000000,BASELINE,767,745,718,678.906006766,662,637.906006766,878.906006766,785,813,651.093993234,629.093993234,654,0.400973710651,-0.0153975934823,0.0598442392052,0.999999948038,0.000190534278992,-0.000259093229851,2.21579862034e-05,1793249629268854016
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,746,718,679,662,637,879,784,814,652,630,654,0.400973143698,-0.0153992292899,0.05984388759,0.999999948516,0.000187069860298,-0.000259821361434,2.15756222407e-05,1793249629299858432
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745.418436689,718,679,662,637.581563311,879,784.581563311,813.418436689,652,629.418436689,654,0.400972621439,-0.0153975314425,0.0598435827167,0.999999948041,0.000188924612859,-0.000260300264901,2.1665791527e-05,1793249629316525312
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661.839099834,637.839099834,878.839099834,785,813,651.839099834,629.160900166,654,0.400972399049,-0.0153963102763,0.0598434794802,0.999999947775,0.000190144712038,-0.000260431930895,2.16847943131e-05,1793249629333191936
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661.265473942,637.265473942,878.265473942,785,813,651.265473942,629.734526058,654,0.400972945856,-0.0153963118463,0.0598438934631,0.999999948053,0.000189736859431,-0.000259672896624,2.15212476152e-05,1793249629349858304
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745,718,678.691676438,661,637,878.308323562,785,813,651,630,654,0.400973392707,-0.0153967096218,0.0598440442908,0.999999948261,0.000189216997109,-0.000259255742251,2.14594743444e-05,1793249629366524928
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745,718,678.117731123,661,637,878.882268877,785,813,651,630,654,0.400973753446,-0.0153974487295,0.0598439684096,0.999999948409,0.000188600638074,-0.000259133118568,2.14853792226e-05,1793249629383191296
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.527686891,745,717.527686891,678,661,637,878.527686891,785,813,651,630,654,0.400973092904,-0.0153968806742,0.0598435435924,0.999999947922,0.000190163616424,-0.000259841264575,2.18185605877e-05,1793249629399857920
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.064625221,745,717.064625221,678,661,637,878,784.935374779,813,651,629.935374779,654,0.400972504043,-0.0153960690217,0.0598432987226,0.999999947406,0.000191989565712,-0.000260453420019,2.21610486009e-05,1793249629416524800
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.641969417,745,717.641969417,678,661,637,878,784.358030583,813,651,629.358030583,654,0.400974574846,-0.0153960010038,0.0598451959144,0.999999947997,0.000191439909235,-0.000258603105785,2.19482593232e-05,1793249629433191680
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,718,678.218002287,661,637.218002287,878.218002287,784.218002287,813,651,629.218002287,654,0.40097725361,-0.0153960092722,0.0598466134245,0.999999948417,0.000191429719645,-0.000256991062345,2.18133279827e-05,1793249629449858304
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,718,678.791894355,661,637.791894355,878.791894355,784.791894355,813,651,629.791894355,654,0.400980924873,-0.0153961420781,0.0598472478519,0.999999948564,0.000192300212397,-0.000255767997305,2.18055001202e-05,1793249629466524672
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,718,678.624435631,661.375564369,637.624435631,878.624435631,785,813.375564369,651,629.624435631,654,0.401002025229,-0.0153983152345,0.0598559728843,0.999999952501,0.000191315609984,-0.00024056580077,2.29169667689e-05,1793249629483191296
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,718,678.035202629,661.964797371,637.035202629,878.035202629,785,813.964797371,651,629.035202629,654,0.401033041462,-0.015401649201,0.0598693008789,0.99999995815,0.000189275594217,-0.00021741050151,2.46652300478e-05,1793249629499857920
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,718,678,661.455924269,637.544075731,878,784.455924269,813.455924269,651.544075731,629.544075731,654,0.401085479754,-0.0154043419393,0.0598866876678,0.99999996421,0.000188557236895,-0.000187995183926,2.61341827183e-05,1793249629516524544
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,718,678.12235754,661.12235754,637.87764246,878.12235754,784.12235754,813,651.87764246,630,654,0.4011437076,-0.0154074758169,0.059903873057,0.999999969161,0.000187789104159,-0.000160153777266,2.76389846948e-05,1793249629533191424
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,718,678.699287057,661.699287057,637.300712943,878.699287057,784.699287057,813,651.300712943,630,654,0.40121838752,-0.015412399942,0.0599193521296,0.999999972425,0.000186524066221,-0.000139637327592,2.93429040396e-05,1793249629549858560
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,637.274866464,879,785,813,651.274866464,630,654,0.401300933261,-0.0154168851091,0.0599316614416,0.999999975158,0.000185248067791,-0.000120260174783,3.00722395743e-05,1793249629566525440
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662,637.848975993,879,785,813,651.848975993,630,654,0.401392042403,-0.0154208923887,0.0599405198811,0.999999977422,0.000183960136931,-0.000102123358906,2.97405599959e-05,1793249629583192576
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745,718,678.56575565,662,638,879,785,813,651.56575565,629.56575565,654,0.401491825717,-0.0154248461179,0.0599424070884,0.999999978118,0.000182730168495,-9.76668945378e-05,2.88893718092e-05,1793249629599858688
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745,718,678.023232583,662,638,879,785,813,651.023232583,629.023232583,654,0.401595438724,-0.0154289394713,0.0599417168495,0.999999978345,0.000181410482438,-9.81090320281e-05,2.78467023623e-05,1793249629616524800
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,718,678.60587957,662,638,879,785,813,651.60587957,629.60587957,654,0.401716710529,-0.015436855098,0.0599388834678,0.999999979011,0.000177432300123,-9.89191671321e-05,2.66586392288e-05,1793249629633191168
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,878.814511724,785,813.185488276,651.814511724,629.814511724,654,0.40185246347,-0.0154443614468,0.059937203203,0.999999979809,0.000173763784829,-9.77362364073e-05,2.52287233107e-05,1793249629649857792
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,878.241254706,785,813.758745294,651.241254706,629.241254706,654,0.402018489643,-0.0154510121873,0.0599379335636,0.999999980885,0.000170742638124,-9.23867423786e-05,2.32932071252e-05,1793249629666524416
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,878,785,813.667858886,651,629.332141114,654,0.402206139967,-0.0154602145799,0.0599416026386,0.999999982788,0.000165034739821,-8.19213252115e-05,2.18171717152e-05,1793249629683191040
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,878,785,813.094362143,651,629.905637857,654,0.402409503843,-0.0154712711719,0.0599474071773,0.999999985109,0.000157374470345,-6.7738340463e-05,2.06750251225e-05,1793249629699857920
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661.504260493,638,878,785,813.495739507,651,629.504260493,654,0.402640365294,-0.0154835378168,0.0599477123496,0.999999986817,0.000148604722157,-6.26470288839e-05,1.89417006208e-05,1793249629716525056
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,717.913386385,679,661.086613615,638,878,785,814,651.086613615,629,654,0.402881181289,-0.0154954522511,0.0599470257184,0.999999988289,0.0001400719413,-5.92861749655e-05,1.69630555359e-05,1793249629733192192
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745,717.33664629,679,661.66335371,638,878,785,814,651.66335371,629,654,0.403147683065,-0.0155040250624,0.0599468554909,0.99999998936,0.000134116563719,-5.55853265094e-05,1.4255037846e-05,1793249629749858560
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745,717.23966452,678.76033548,662,638,878.23966452,785,813.76033548,652,629.23966452,654,0.403423696603,-0.0155133924073,0.0599414367576,0.999999990083,0.000125744869236,-6.2437867743e-05,1.11126044063e-05,1793249629766524928
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,717.815373375,678.184626625,662,638,878.815373375,785,813.184626625,652,629.815373375,654,0.403713046993,-0.0155238738026,0.0599286588599,0.999999989941,0.000113985149145,-8.40877885193e-05,7.36105738695e-06,1793249629783191552
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,718,678.400560287,662,637.599439713,878.599439713,785,813.400560287,651.599439713,630,653.599439713,0.404025171532,-0.0155212289346,0.0599177668312,0.999999991354,8.0436487241e-05,-0.000103963821151,3.56873448818e-06,1793249629799857920
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,718,678.990221692,662,637.009778308,878.009778308,785,813.990221692,651.009778308,630,653.009778308,0.404348047547,-0.0155123872684,0.0599077651056,0.999999991765,3.66014506599e-05,-0.00012300241542,-2.42838257505e-07,1793249629816524544
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,717.430510212,679,662,637,878,785,813.430510212,651,630,653.569489788,0.404739455732,-0.0155019195551,0.0599010316386,0.999999989479,5.57409982704e-05,-0.000133788933635,-5.93422111707e-06,1793249629833191424
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,717.147677452,679,662.147677452,637.147677452,878.295354905,785,813,651,629.852322548,654,0.40514701823,-0.0154973016826,0.0598999787463,0.999999988524,6.64830279647e-05,-0.000135722349642,-1.05454964107e-05,1793249629849858560
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,717.723242321,679,662.723242321,637.723242321,879.446484642,785,813,651,629.276757679,654,0.405598038539,-0.0155097128547,0.0599152253313,0.99999999237,4.98168683472e-05,-0.000112407562596,-1.19353731821e-05,1793249629866525696
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662.701590679,638,879.701590679,785,813,651,629,654,0.406083079082,-0.0155201164657,0.0599382512332,0.999999996824,2.70359931232e-05,-7.38305332684e-05,-1.30552610794e-05,1793249629883192320
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662.126792121,638,879.126792121,785,813,651,629,654,0.406599629506,-0.015528660658,0.0599684824059,0.999999999679,-1.40838540471e-06,-2.11174831846e-05,-1.39250831305e-05,1793249629899858688
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662.460069093,638,879.460069093,785,813,651,629,654,0.407122742147,-0.0155306709175,0.0599880494159,0.999999999831,-5.86479194943e-06,7.12779154846e-06,-1.59046654999e-05,1793249629916525312
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745,717.950635004,679,662.950635004,638,879.950635004,785,813,651,629,654,0.407649643424,-0.0155307278098,0.0600022501107,0.999999999533,-5.70594895374e-06,2.37115778098e-05,-1.84163162741e-05,1793249629933191936
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745,717.371840551,679,662.371840551,638,879.371840551,785,813,651,629,654,0.408197259341,-0.0155296674745,0.0599912667765,0.999999999258,-2.8859417667e-05,-1.05054433279e-05,-2.32658734163e-05,1793249629949858304
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745,717,679,662.2046086,638,879.2046086,785,813,651,629,654,0.408757525943,-0.0155297949185,0.0599803413347,0.999999997713,-4.69688856523e-05,-3.99415268525e-05,-2.78108391693e-05,1793249629966524928
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745,717,679,662.776843836,638,879.776843836,785,813,651,629,654,0.409340522391,-0.0155320564826,0.0599695199104,0.999999996078,-5.60156392676e-05,-6.07875489859e-05,-3.18085358564e-05,1793249629983191808
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745,717.359568317,679.359568317,662.640431683,638,880,785,813.359568317,651,629.359568317,654,0.409969136234,-0.0155342646118,0.0599732335523,0.999999997352,-4.47475158563e-05,-4.89666235017e-05,-2.9931747692e-05,1793249629999858432
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745,717.948998244,679.948998244,662.051001756,638,880,785,813.948998244,651,629.948998244,654,0.410626911935,-0.0155364385815,0.0599862390416,0.999999999363,-2.04926795151e-05,-1.62626636364e-05,-2.42995713094e-05,1793249630016525056
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745,718,680,662.529081168,638,880,785,814,651,630,654,0.41131935791,-0.015536006923,0.059989614348,0.999999999623,-1.3550069836e-05,-7.95205862236e-06,-2.25136997796e-05,1793249630033191936
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745,718,680,663,638,880,785,813.892165032,651,629.892165032,654,0.412011358213,-0.0155354535952,0.059985064337,0.999999999552,-1.14704993004e-05,-1.5937724387e-05,-2.26075905179e-05,1793249630049858560
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745,718,680,663,638,880,785,813.315341302,651,629.315341302,654,0.412687137092,-0.0155354445382,0.0599500133524,0.999999995706,-2.34089118142e-05,-8.47488579797e-05,-2.9292277819e-05,1793249630066524928
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,717.738693939,680,663,638,880.261306061,785,813.261306061,651,629,654,0.413386564592,-0.0155352318855,0.0599227723906,0.999999989643,-3.19581164878e-05,-0.000135997589565,-3.46169547605e-05,1793249630083191296
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745,717.162259195,680,663,638,880.837740805,785,813.837740805,651,629,654,0.414114511836,-0.0155347737013,0.0599049501193,0.999999984814,-3.64200215409e-05,-0.000166066505746,-3.83014936602e-05,1793249630099857920
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745,717.424353341,680,663,638,881,785.424353341,814,651,629.424353341,654,0.414927992294,-0.0155390293212,0.0599388982697,0.999999993408,-3.81320847053e-05,-0.000102263814218,-3.56778791318e-05,1793249630116524544
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745,718,680.014610791,663,638,881.014610791,785.985389209,814,651,629.985389209,654,0.415774473059,-0.015545125431,0.0599922967859,0.999999998767,-3.89026230477e-05,-3.51931872011e-06,-3.066100921e-05,1793249630133190912
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745,718,680.591689069,663,638,881.591689069,785.408310931,814,651,629.408310931,654,0.41660137821,-0.0155509824837,0.0600136878224,0.999999998278,-4.48996845468e-05,2.46323779101e-05,-2.86489587194e-05,1793249630149858304
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745.168277136,718,681,663,638.168277136,882,785,814.168277136,651,629,654,0.417432312793,-0.0155546813327,0.0600224574513,0.999999997668,-5.05183434747e-05,3.60308769138e-05,-2.85129223334e-05,1793249630166525440
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745.743679168,718,681,663,638.743679168,882,785,814.743679168,651,629,654,0.418272996023,-0.0155531586848,0.0600006912059,0.99999999791,-5.52215057248e-05,6.89716664971e-06,-3.2915661017e-05,1793249630183191808
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745.67385783,718,681,663.65228434,639,882,785,814.67385783,651,629,654,0.419099191161,-0.0155532757857,0.0599781144154,0.999999997173,-5.89004856103e-05,-2.90767174654e-05,-3.6599497271e-05,1793249630199857920
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745.085722715,718,681,664.828554571,639,882,785,814.085722715,651,629,654,0.419913747844,-0.0155547101116,0.0599548865079,0.999999994816,-6.17567302936e-05,-7.05453734595e-05,-3.97058324797e-05,1793249630216524288
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745,718,681,664.50591204,639,882,785,814.49408796,651,629,654,0.420722626291,-0.0155530457338,0.059920683309,0.999999988827,-6.25451735175e-05,-0.000128740864089,-4.31172624522e-05,1793249630233190912
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745,718,681,664,638.927489259,882.072510741,785,814.927489259,651,629,654,0.421541558603,-0.0155509014576,0.059888765472,0.999999980284,-6.28219682953e-05,-0.000182574700302,-4.63959082953e-05,1793249630249857536
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745,718,681,664,638.348840315,882.651159685,785,814.348840315,651,629,654,0.422437430974,-0.015549097881,0.0598858711838,0.999999979602,-6.1990062793e-05,-0.000186042137604,-4.83843359245e-05,1793249630266524416
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745,718,681,663.772057052,638.227942948,883,785,814.227942948,651,629,654.227942948,0.423375428573,-0.0155516632943,0.0599126596095,0.999999986818,-6.44301360391e-05,-0.000141424777626,-4.70209258477e-05,1793249630283191296
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745,718,681,663.198105733,638.801894267,883,785,814.801894267,651,629,654.801894267,0.424377370734,-0.0155608606613,0.059984505219,0.999999996313,-7.18369427605e-05,-2.38165978189e-05,-4.05695586555e-05,1793249630299858176
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745.385003966,718,681,663.385003966,638.614996034,883.385003966,785,815,651,629,654.614996034,0.425311111153,-0.01556473064,0.0600190434756,0.999999996023,-7.3018456055e-05,3.37685349065e-05,-3.84962725775e-05,1793249630316524800
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745.972940952,718,681,663.972940952,638.027059048,883.972940952,785,815,651,629,654.027059048,0.426208902831,-0.0155657925874,0.0600339172714,0.999999994952,-7.0918658626e-05,5.97159132468e-05,-3.87306443813e-05,1793249630333191680
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745.448002237,718,681,664,638,884,785,815,651.551997763,629,654,0.427113325314,-0.0155691708741,0.0600177913586,0.99999999426,-8.49478971093e-05,5.02789350216e-05,-4.1667183117e-05,1793249630349858048
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745.130545192,718,681,664,638,884.130545192,785,815,651.869454808,629,654.130545192,0.428007570229,-0.0155715294533,0.05999788339,0.999999994004,-9.52211931346e-05,3.09018576661e-05,-4.43848624285e-05,1793249630366524672
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745.708814909,718,681,664,638,884.708814909,785,815,651.291185091,629,654.708814909,0.428865812449,-0.0155700075283,0.0599701335136,0.999999994762,-8.99441970173e-05,-1.67115849096e-05,-4.5904828275e-05,1793249630383191296
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745.715153787,717.715153787,681.284846213,664,638,885,785,815.284846213,651.284846213,629.284846213,654.715153787,0.429726067176,-0.0155665926734,0.0599414166186,0.999999992573,-8.83694608053e-05,-6.82755651766e-05,-4.88113904144e-05,1793249630399857664
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745.141392902,717.141392902,681.858607098,664,638,885,785,815.858607098,651.858607098,629.858607098,654.141392902,0.430588363102,-0.0155612578521,0.0599117188947,0.99999998682,-9.05498641434e-05,-0.000123846505682,-5.31243534769e-05,1793249630416524544
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745.444320506,717,681.555679494,664,638,885,785.444320506,816,651.555679494,630,654,0.431513877849,-0.0155632905945,0.0599410382914,0.999999992003,-9.36546640079e-05,-6.73844051041e-05,-5.17826824096e-05,1793249630433191168
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745.966497023,717.033502977,681,664,638,885,785.966497023,815.966497023,651,630,654,0.432456034278,-0.0155674766333,0.0599877261881,0.999999993925,-9.65607676183e-05,2.13604343168e-05,-4.868416696e-05,1793249630449857792
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,745.384512857,717.615487143,681,664,638,885,785.384512857,815.384512857,651,630,654,0.433332179061,-0.0155674709548,0.0600027969972,0.999999993973,-9.12650740005e-05,3.88206068177e-05,-4.70972570305e-05,1793249630466524416
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,745,718,681,664,638,885.194253972,785,815.194253972,651,630,654,0.43419141371,-0.0155680081757,0.0600030850315,0.999999994205,-9.03890872865e-05,3.43888417736e-05,-4.72912943148e-05,1793249630483191040
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,745,718,681,664,638,885.766756157,785,815.766756157,651,630,654,0.435017721373,-0.0155696025215,0.059974588287,0.999999993808,-9.81190818119e-05,-1.26705492375e-05,-5.09531630695e-05,1793249630499857664
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,745.338886034,718,681,664,638,885.661113966,785,816,651,630,654.338886034,0.435832042907,-0.0155697500676,0.0599486037231,0.999999991734,-0.000100485620629,-5.93716431415e-05,-5.39400174486e-05,1793249630516524544
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,745.910759913,718,681,664,638,885.089240087,785,816,651,630,654.910759913,0.436638123796,-0.015568902923,0.0599243463126,0.99999998789,-9.91647246424e-05,-0.000105826400996,-5.64627918303e-05,1793249630533191680
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,745.496037661,717.496037661,681,664.503962339,638,885,785.503962339,816,651,630,654.496037661,0.437363675271,-0.0155675510634,0.059905879286,0.999999982569,-0.000100411612013,-0.000146241745372,-5.82530845078e-05,1793249630549858048
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,745.097347832,717,681.097347832,665.097347832,638,885.097347832,785.902652168,816,651,630,654,0.43809358173,-0.0155666445902,0.0598937391157,0.999999977673,-0.00010278116357,-0.000174776569181,-5.95244472468e-05,1793249630566524160
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,745.672283687,717,681.672283687,665.672283687,638,885.672283687,785.327716313,816,651,630,654,0.43891790434,-0.0155683810225,0.0599073858438,0.999999981071,-0.000108329188359,-0.0001505041452,-5.89143982771e-05,1793249630583191040
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,717,682,665.753038718,638,885.753038718,785.246961282,816,651,630,654,0.43973623699,-0.0155719802758,0.0599397948509,0.999999987113,-0.000114203433602,-9.76161459236e-05,-5.65877558415e-05,1793249630599858176
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,717,682,665.17870352,638,885.17870352,785.82129648,816,651,630,654,0.440546629233,-0.0155780488998,0.059997075289,0.999999991364,-0.000120510118337,-6.79510473353e-06,-5.19855826569e-05,1793249630616524800
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,717,682,664.59239555,638,885,785.59239555,816,651,630,654,0.441268557064,-0.0155817253901,0.0600030198502,0.999999991075,-0.000123352580527,1.02122566517e-06,-5.13088085323e-05,1793249630633191424
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,717,682,664.000679527,638,885,785.000679527,816,651,630,654,0.44195052632,-0.0155843213739,0.0599857764236,0.99999999045,-0.000124630282685,-2.86549801683e-05,-5.24051045164e-05,1793249630649858304
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,717.577714308,682,664,638,885,785,816,651,630,654,0.442566217736,-0.0155885308722,0.0599353959654,0.999999983875,-0.000137821035212,-0.000100197574755,-5.67013577417e-05,1793249630666524928
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,717.844913654,682,664.155086346,638,885,785,816,651,630,654.155086346,0.443175383288,-0.0155920182914,0.0598930207857,0.999999973939,-0.000149392414085,-0.000161641040163,-6.06276409267e-05,1793249630683191296
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,717.270264369,682,664.729735631,638,885,785,816,651,630,654.729735631,0.443767100376,-0.015593547216,0.0598724057492,0.999999966592,-0.000156545769699,-0.000195632616365,-6.35430739203e-05,1793249630699857920
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,717,682,664.695543355,638,885,785,816.304456645,651.304456645,629.695543355,655,0.444351710191,-0.0155974150674,0.0598636846293,0.999999962114,-0.000163740780073,-0.000211421382088,-6.52855042902e-05,1793249630716524544
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,717,682,664.120758688,638,885,785,816.879241312,651.879241312,629.120758688,655,0.4449300094,-0.0156033596593,0.0598655241569,0.999999960936,-0.000170972775531,-0.000211047812675,-6.59864217777e-05,1793249630733191168
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,717.467477677,682,664,637.532522323,885,785,817,651.532522323,629.467477677,655,0.445447012611,-0.0156062877587,0.0598448707891,0.999999948666,-0.000184370269475,-0.000252977934665,-6.83956539666e-05,1793249630749858048
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,718,682,664,637,885,784.941998101,817,651,630,654.941998101,0.445945998915,-0.0156085345324,0.059818998588,0.99999993177,-0.000198680181197,-0.000303145756364,-7.13301965787e-05,1793249630766524928
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,718,682,664,637,885,784.363059207,817,651,630,654.363059207,0.446429592783,-0.015611867874,0.0597999852079,0.999999922665,-0.00020645669487,-0.000326244222204,-7.49019221792e-05,1793249630783191552
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664,637,885.214020202,784,817,651.214020202,630,654,0.446905270897,-0.0156165455038,0.0597905590265,0.99999991767,-0.000214996575615,-0.000335378844434,-7.71836171429e-05,1793249630799857920
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,718,682,664,637,885.787972331,784,817,651.787972331,630,654,0.447367636517,-0.0156234839117,0.0597972562732,0.999999920211,-0.000224820260595,-0.00032102954522,-7.72957819538e-05,1793249630816524544
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,717.636734535,682,664.363265465,637,886,784,817,652,630,654.363265465,0.447809709958,-0.0156292901162,0.0598050403786,0.999999922009,-0.000235746873304,-0.00030740657124,-7.68495097007e-05,1793249630833191168
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,717.060655738,682,664.939344262,637,886,784,817,652,630,654.939344262,0.44823989559,-0.0156344330379,0.0598134612035,0.999999923243,-0.000247319619694,-0.000294209102013,-7.60760859212e-05,1793249630849857792
+200,3.333333333,POSE1_TO_POSE2_PRESS,766.472086805,746,717.527913195,682,664.472086805,637,886,784,817,651.472086805,630,655,0.448581146594,-0.0156374811955,0.0597900645014,0.999999916932,-0.000222360001669,-0.000334522327093,-6.91877524713e-05,1793249630866524672
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766.693668596,746,718,682,664,637,886,784,817,651,630,654.306331404,0.449193124142,-0.0156358349948,0.0597257727857,0.999999886209,-0.000187250570901,-0.000433864580147,-6.54327868617e-05,1793249630899858688
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+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746,717.154072856,682,664,637,886,783.154072856,817,651.845927144,630,654,0.449746190912,-0.0156414607804,0.0596860998277,0.999999856652,-0.000193453916779,-0.000494393851253,-6.96137852539e-05,1793249630933191680
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+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,717.400232347,682,664,637,886,783,817,652,630,654.400232347,0.450493218008,-0.0156502781906,0.0596944784956,0.99999985385,-0.000245584950972,-0.000476241036887,-7.19919774657e-05,1793249630983190784
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,717.179441012,682,664,636.820558988,886.179441012,783,817,652,629.820558988,654.179441012,0.450703454138,-0.0156496590601,0.0597013852301,0.999999854159,-0.000261425062811,-0.000467045154386,-7.21712524815e-05,1793249630999857664
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+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,718,682.327029259,664,636.327029259,887,783,817,651.672970741,629,654.672970741,0.451033671819,-0.0156454358218,0.0596955028909,0.999999855276,-0.000243613754237,-0.000474000046721,-7.3647275574e-05,1793249631033191168
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,746,718,682.900308301,664,636.900308301,887,783,817,651.099691699,629,654.099691699,0.451170270071,-0.0156457203192,0.0596855662114,0.99999984909,-0.000242211318351,-0.000487461488275,-7.44014493795e-05,1793249631049858048
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746,717.50946876,682.50946876,663.50946876,636.50946876,887,783,817,651.49053124,629.49053124,654.49053124,0.451294160315,-0.0156507381517,0.0596826572236,0.999999846113,-0.000244981930829,-0.000492148016909,-7.44862477751e-05,1793249631066524672
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,746,717,682.082175786,663.082175786,636,887,783,817,651.917824214,629.917824214,654.917824214,0.451412297176,-0.0156559756569,0.0596820315103,0.999999844615,-0.000247976842643,-0.000493705053513,-7.43809912683e-05,1793249631083191040
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,746,717,682.660859609,663.660859609,636,887,783,817,651.339140391,629.339140391,654.339140391,0.451511834891,-0.015656520265,0.0596862631138,0.999999847919,-0.000247019419967,-0.00048751413919,-7.39787742906e-05,1793249631099857664
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,746,717,683,664,636,887,783,817,651.237607828,629,654.237607828,0.451601047972,-0.0156573305599,0.0596894918476,0.999999850537,-0.000247075917177,-0.000482146011481,-7.35836222569e-05,1793249631116524288
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+217,3.616666667,POSE1_TO_POSE2_PRESS,767,746,717.394686751,683,663.605313249,636.394686751,886.605313249,782.605313249,817,652,629,654.605313249,0.451734041779,-0.0156594408904,0.0596905820779,0.999999851516,-0.000248810970306,-0.000479258729917,-7.33010879353e-05,1793249631149857792
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,746,717.982185465,683,663.017814535,636.982185465,886.017814535,782.017814535,817,652,629,654.017814535,0.451784527087,-0.0156602365035,0.0596886286577,0.999999849651,-0.000248443922983,-0.000483270929516,-7.36419856453e-05,1793249631166524416
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+223,3.716666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664,636,887,782,817,652,629,654,0.451908777593,-0.0156585091178,0.0596800094654,0.99999984337,-0.000254347389172,-0.000493109718774,-7.35521308835e-05,1793249631249857536
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+226,3.766666667,POSE1_TO_POSE2_PRESS,767,746,717.376875138,682,663.623124862,636,887,782.623124862,817.623124862,652,629,654.623124862,0.451932916214,-0.0156580590977,0.0596804560567,0.999999844716,-0.000253483005844,-0.000490931345066,-7.28131143293e-05,1793249631299857664
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,746,717,682,663.798474202,636,887,782.798474202,817.798474202,652,629,654.798474202,0.451935100552,-0.0156575981562,0.0596793166589,0.999999843831,-0.000253401924779,-0.000492810106321,-7.25512259896e-05,1793249631316524288
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+229,3.816666667,POSE1_TO_POSE2_PRESS,767,746,717,682,663,636,886.650464229,782.349535771,817,651.650464229,629,654.349535771,0.451937237325,-0.015655729326,0.0596772877021,0.999999842541,-0.00025294776168,-0.000495650902118,-7.25684061643e-05,1793249631349857536
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+238,3.966666667,POSE1_TO_POSE2_PRESS,767.413210887,746,717.586789113,682,663.586789113,636,886.413210887,782,817.586789113,652,629,654,0.451941103998,-0.0156540425455,0.0596758128143,0.999999842504,-0.000249005991448,-0.000497908845217,-7.1243683627e-05,1793249631499857664
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+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746,717,682,663.31607727,636,886.31607727,782,817,652,629,655,0.451941832463,-0.0156484369987,0.0596754956929,0.999999843418,-0.000242797052983,-0.000498986266101,-7.22949710254e-05,1793249631549857792
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,746,717,682,663.889750745,636,886.889750745,782,817,652,629,655,0.451940239434,-0.0156482141053,0.0596743267546,0.99999984276,-0.000241541316798,-0.000500923448772,-7.21983870495e-05,1793249631566524416
+243,4.050000000,HOLD_POSE2,767,745,717,682,664,636,887,782,816,652,629,654,0.451942935946,-0.0156499737593,0.0596753985812,0.999999843168,-0.000244293257587,-0.000498855573141,-7.16080244183e-05,1793249631597951488
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,746,717.035327202,683,663,636,886.964672798,782,817,651.964672798,629,654.035327202,0.451878419005,-0.0156414441599,0.0596498145816,0.999999823193,-0.000236252366176,-0.000540863038421,-7.25706313069e-05,1793249632085686528
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767,746,717.552653337,682.447346663,663,636,887,782,817,652,629,654,0.451824744787,-0.0156391557919,0.0596334508392,0.999999809429,-0.000237975643105,-0.000564783484361,-7.43626774466e-05,1793249632102353152
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,767,746,717.281920133,682,663,636,887,782,817,651.281920133,629,654,0.451696404538,-0.0156335524132,0.0596059851385,0.999999788707,-0.000237260539884,-0.000600404000594,-7.62137189761e-05,1793249632135685632
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766.703816986,746,717,682.296183014,663.296183014,636,887,782,817,651.296183014,628.703816986,654,0.451618767839,-0.0156297053471,0.0595986826153,0.999999783548,-0.00023585784804,-0.000609465168464,-7.63332100795e-05,1793249632152352000
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746,717.778086424,682.221913576,663,636,886,782,817,651.221913576,629,654.221913576,0.450875557111,-0.0155904459211,0.0595914307575,0.999999774952,-0.000217091768598,-0.000630693512302,-7.20666762083e-05,1793249632252352256
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,718,682.328691132,664,636.328691132,887,782.671308868,817,651.328691132,629,654.328691132,0.449765716812,-0.0155374737517,0.0595848069947,0.999999774352,-0.000188973109639,-0.000641214240033,-6.65480103617e-05,1793249632335685376
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766.257972162,746,717.742027838,682,664,636.257972162,886.742027838,783,817,651.257972162,629,654.257972162,0.449476408558,-0.0155273165351,0.0595832793481,0.999999775967,-0.000183440145518,-0.000640458425932,-6.50253450006e-05,1793249632352352000
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+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746,717,682,664,636.587231767,886.412768233,783,817,652,629,654.587231767,0.448831746264,-0.0155136842591,0.0595833588361,0.999999780905,-0.000176636729861,-0.000635025787406,-6.10803109998e-05,1793249632385686016
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,745,717,682,663.530244754,637,886,783.469755246,817,651,629,654,0.445933471574,-0.0154882548109,0.0597009282079,0.999999888544,-7.68371877314e-05,-0.000464783786553,-3.13843194271e-05,1793249632502352384
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,745.898859399,717,682,664,637.101140601,885,784.898859399,816.898859399,651,629,654,0.441124187399,-0.0154432544658,0.0597780166883,0.999999935707,5.91630956665e-05,-0.000353619221451,6.1885432794e-06,1793249632635686912
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,745,718,680.457555677,663,638,881,785,814,651,630,654,0.42154905738,-0.0154020086256,0.0598288361052,0.999999948071,0.000165280858117,-0.000275307441952,2.73246798865e-05,1793249633019019008
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,745,718,680.96714183,663,638,881,785,814,651.03285817,630,654,0.420648693214,-0.0153991344429,0.0598125107456,0.999999939864,0.000160871252308,-0.000306124536571,2.60815366103e-05,1793249633035685632
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745,718,680.377152687,663,638,881,785,814,651.622847313,630,654,0.419734691734,-0.0153945366258,0.0597530118288,0.999999902501,0.000162427540052,-0.000410132170786,2.01482841651e-05,1793249633052352000
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,663,637.791216401,880.791216401,785,813.791216401,651.791216401,630,654,0.418854866509,-0.0153922609063,0.0597190972791,0.999999880803,0.000162768446832,-0.000460024550422,1.66641166013e-05,1793249633069018624
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,663,637.212461804,880.212461804,785,813.212461804,651.212461804,630,654,0.418035602515,-0.0153941000148,0.05973051901,0.999999901186,0.000160955663515,-0.000414023047183,1.75198025518e-05,1793249633085686016
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662.635513333,637,880.364486667,785,813,651,630,654,0.417228170417,-0.0153951181296,0.0597657034403,0.999999921966,0.000163788375304,-0.000358888016991,2.09808296599e-05,1793249633102352896
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662.05961251,637,880.94038749,785,813,651,630,654,0.416427601254,-0.0153956600413,0.0598146710109,0.999999940792,0.000169315625547,-0.000298455245206,2.5953039531e-05,1793249633119019264
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,745.525355396,718,680,662,637,880.474644604,785,813,651,630,654,0.41565703533,-0.0153963719545,0.0598305732986,0.999999942838,0.000173484949073,-0.000288757642097,2.90900043109e-05,1793249633135685888
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,745.893723682,718,680,662,637,880,785,813.106276318,651,629.893723682,654,0.414891508051,-0.0153969677057,0.0598404675223,0.999999943495,0.000176992419603,-0.000284073950823,3.14062044646e-05,1793249633152352256
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,745.334512285,718,680,662,637,880,785,813.665487715,651,629.334512285,654,0.414132690507,-0.0153969847343,0.0598410272984,0.999999945581,0.000178347385461,-0.000275792592371,3.11275241691e-05,1793249633169018880
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,637.241190107,880,785,813.758809893,651,629.241190107,654,0.413368506883,-0.0153947891137,0.059833104505,0.999999942147,0.000180662844997,-0.000286663289141,2.98499256466e-05,1793249633185685504
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,637.841442789,880,785,813.158557211,651,629.841442789,654,0.412596334777,-0.015389299496,0.0598125536097,0.999999929477,0.00018440820258,-0.000326045878411,2.70852256916e-05,1793249633202352128
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,745.422060515,718,680,662,637.577939485,879.577939485,785,813,651,630,654,0.4118361844,-0.0153827337021,0.0597747863287,0.999999907931,0.000187538823911,-0.000385290689802,2.27600745941e-05,1793249633219019008
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745.995629849,718,680,662,637.004370151,879.004370151,785,813,651,630,654,0.411080349449,-0.0153757815883,0.0597308388084,0.999999879704,0.000190448770463,-0.000451665527512,1.78747615574e-05,1793249633235686400
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746,718,680,662,637.569038485,879.569038485,785,813.569038485,651,630,654,0.410460680914,-0.0153802899332,0.0597531786747,0.999999898224,0.000192543018396,-0.000407524132618,2.00731639695e-05,1793249633252353280
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745.852542124,718,679.852542124,662,638,879.852542124,785,813.852542124,651,629.852542124,654,0.409853110517,-0.0153844315305,0.0597806613692,0.99999991649,0.000193009824584,-0.000359506941717,2.28634957959e-05,1793249633269020160
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745.258959117,718,679.258959117,662,638,879.258959117,785,813.258959117,651,629.258959117,654,0.409278979236,-0.0153871973466,0.0598221636377,0.999999936146,0.000188571850053,-0.000302330873033,2.72801318872e-05,1793249633285686528
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745,717.673765049,679,662,638,879.652469903,785,813,651,629,654,0.408701800168,-0.0153879719303,0.059846306405,0.999999945488,0.000190541182221,-0.000267977617618,3.00989940727e-05,1793249633302352896
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745,717.095063056,679,662,638,880.809873888,785,813,651,629,654,0.408122262511,-0.0153872055368,0.059857014981,0.999999948429,0.000197469008086,-0.000251286508425,3.16813691153e-05,1793249633319019264
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745,717.481104228,679,662,638,880.037791545,785,813,651,629,654,0.407551735978,-0.0153842277304,0.0598439963792,0.99999994338,0.000202906759732,-0.000266733007599,3.03709090003e-05,1793249633335685888
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,662.057630062,638,879,785,813,651.057630062,629.057630062,654,0.406991552667,-0.0153812046176,0.0598275922415,0.999999937293,0.000205888919815,-0.000286731473038,2.84443670364e-05,1793249633352352512
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,662.641986601,638,879,785,813,651.641986601,629.641986601,654,0.406509715699,-0.0153817402122,0.0598228708369,0.999999939556,0.0001891044121,-0.000290598813754,2.608393902e-05,1793249633369019392
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745.225821562,717.774178438,679,662.774178438,638,879,785,813.225821562,651.774178438,629.774178438,654,0.406042138855,-0.0153823388428,0.0598222226066,0.999999941583,0.000181230317174,-0.000288746752377,2.48133393916e-05,1793249633385686272
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745.808831474,717.191168526,679,662.191168526,638,879,785,813.808831474,651.191168526,629.191168526,654,0.405597117697,-0.0153830371791,0.0598280170316,0.999999943512,0.00018745007572,-0.00027784815072,2.52665523686e-05,1793249633402352896
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.612847514,745.612847514,717.387152486,679,662,637.612847514,879,785.387152486,813.612847514,651.387152486,629.387152486,654,0.405166949546,-0.015381147669,0.0598242447793,0.999999939743,0.000202290920855,-0.000280995488169,2.5190362027e-05,1793249633419019264
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.036814034,745.036814034,717.963185966,679,662,637.036814034,879,785.963185966,813.036814034,651.963185966,629.963185966,654,0.404744027727,-0.0153779956202,0.0598158052101,0.999999932857,0.000221337756273,-0.000290995449908,2.48558904749e-05,1793249633435685888
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.548666305,745,718,679,662,637,878.451333695,785.451333695,813,651.451333695,629.451333695,654,0.404341592354,-0.015377276353,0.0597945189999,0.999999923222,0.000213271838886,-0.000327886623077,2.36924398265e-05,1793249633452352512
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,637.133176778,878.133176778,785,813,651,629.133176778,653.866823222,0.403955355128,-0.0153772193064,0.0597750726821,0.99999991317,0.000206996939319,-0.000360964356732,2.27159666962e-05,1793249633469018880
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,637.712280337,878.712280337,785,813,651,629.712280337,653.287719663,0.403618672117,-0.0153788234855,0.0597647238089,0.999999906719,0.000212917121329,-0.000375125822637,2.25550731185e-05,1793249633485685248
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745.290654021,717.709345979,679,662,637.709345979,878.709345979,784.709345979,813,651,630,653.290654021,0.403324758534,-0.0153797584178,0.0597687173575,0.999999909968,0.000217494841789,-0.000363615831191,2.33299925548e-05,1793249633502351872
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745.868306975,717.131693025,679,662,637.131693025,878.131693025,784.131693025,813,651,630,653.868306975,0.403073076556,-0.0153800325194,0.0597868729671,0.999999921937,0.000220746982131,-0.000326757209813,2.50289567814e-05,1793249633519018496
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.556576364,745.556576364,717.443423636,679,661.556576364,637,878.886847272,784.443423636,813,651.443423636,629.556576364,654,0.402843819101,-0.0153791487687,0.0598067843006,0.99999993328,0.000215542857227,-0.000293832206937,2.5367135501e-05,1793249633535685376
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.018214753,745,718,679,661,637,879.963570495,784.981785247,813,652,629.018214753,654,0.40262160893,-0.0153780364299,0.0598268114576,0.999999943681,0.000207168209274,-0.000262843150769,2.51418478324e-05,1793249633552352512
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766.606252512,745,718,679,661,637,878.787494977,784.393747488,813,652,629.606252512,654,0.402412702629,-0.0153804694079,0.0598342424141,0.999999951221,0.000177728192343,-0.000256078221267,1.98604054052e-05,1793249633569019136
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.807555267,661,637,878,784.192444733,813,652,630,654,0.402210104398,-0.0153809535879,0.0598371455382,0.999999954435,0.000159643791331,-0.000255682617394,1.64301981869e-05,1793249633585685760
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.22510327,661,637,878,784.77489673,813,652,630,654,0.402020290086,-0.0153774883462,0.0598308725853,0.999999950353,0.000164572612564,-0.000268195049201,1.67516930439e-05,1793249633602352384
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.350798459,661.350798459,637.350798459,878,785,813,652,629.649201541,654,0.40185264774,-0.0153784317282,0.0598258806089,0.999999945907,0.000171600416177,-0.000280071246854,1.7315164253e-05,1793249633619018752
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.922574061,661.922574061,637.922574061,878,785,813,652,629.077425939,654,0.401698972079,-0.0153821522174,0.0598216955527,0.999999941147,0.000179950424268,-0.000291546665139,1.8031062738e-05,1793249633635685376
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,637.500067428,878.499932572,785,813,652,629.499932572,653.500067428,0.401578807619,-0.0153890048202,0.0598237757064,0.999999939686,0.000191102242686,-0.000289387246512,1.90728813761e-05,1793249633652351744
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.920241833,637,879,785,813,652,630,653.079758167,0.401467452324,-0.0153953052301,0.0598267451504,0.999999938992,0.000200808071116,-0.000285109578936,2.01090512161e-05,1793249633669018624
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.330226751,637,879,785,813,652,630,653.669773249,0.401378875976,-0.0153949345955,0.0598291261612,0.999999940627,0.000198455707838,-0.000280942356358,2.0782512399e-05,1793249633685686016
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.255112689,637.255112689,878.744887311,785,813,651.744887311,630,654,0.40129886121,-0.0153933820873,0.0598309194723,0.99999994169,0.000197617268459,-0.000277701350762,2.11957819794e-05,1793249633702353152
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.834508708,637.834508708,878.165491292,785,813,651.165491292,630,654,0.401229729399,-0.0153903272552,0.0598319657359,0.999999942044,0.000198703234802,-0.000275637694641,2.1278312193e-05,1793249633719019520
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,637.590113103,878.409886897,785,813,651,630,653.590113103,0.401174515235,-0.0153895590108,0.0598332621167,0.999999942642,0.000196618918261,-0.000274944352259,2.14885737175e-05,1793249633735686144
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,637.016341374,878.983658626,785,813,651,630,653.016341374,0.401124865756,-0.0153897050115,0.0598346585018,0.99999994333,0.00019326702939,-0.000274798901646,2.17499059734e-05,1793249633752352768
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.429176282,662,637,878.429176282,785,813,651,630,653,0.401088942221,-0.0153899540591,0.0598356409229,0.999999943591,0.000195350534438,-0.000272336731437,2.21009035876e-05,1793249633769018880
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,745,718,678,662,637.156135894,878,785,813,651.156135894,630,653.156135894,0.401055678008,-0.0153894353801,0.0598357733686,0.999999943326,0.000197429620541,-0.000271795048912,2.23108221585e-05,1793249633785685504
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,745,718,678,662,637.735363066,878,785,813,651.735363066,630,653.735363066,0.401028529567,-0.0153868281583,0.0598336354669,0.999999941676,0.000199064954187,-0.000276641469376,2.21313270373e-05,1793249633802352128
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.313710941,662,637.686289059,878,785,813,651.686289059,630,654,0.401010961646,-0.0153875286646,0.0598338557385,0.999999942278,0.000197135530915,-0.000275839754615,2.22175078473e-05,1793249633819019008
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.891319206,662,637.108680794,878,785,813,651.108680794,630,654,0.40100145297,-0.0153910116703,0.059836059733,0.999999944747,0.000192207392482,-0.000270286762774,2.25271783469e-05,1793249633835685888
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,637,878,784.533790796,812.533790796,651,630,653.533790796,0.400996576024,-0.0153901428358,0.0598386410534,0.999999945855,0.000193449654909,-0.000265257560952,2.24739756321e-05,1793249633852352512
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.958489946,661.958489946,637,878,784.041510054,812.041510054,651,630,653,0.400992470929,-0.01538850183,0.0598410155846,0.999999946499,0.000195893026144,-0.000261013015254,2.2362021131e-05,1793249633869019392
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.369459734,661.369459734,637,878,784.630540266,812.630540266,651,630,653,0.400984387434,-0.0153899793636,0.0598395090758,0.999999945421,0.00019531624821,-0.000265516907317,2.25844264431e-05,1793249633885686016
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,745,718,678,661,637,878.216271319,784.783728681,813,651.216271319,629.783728681,653,0.400979210794,-0.0153910225469,0.059838734684,0.999999944767,0.000195476036369,-0.000267845716858,2.26509015987e-05,1793249633902352640
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745,718,678,661,637,878.796451013,784.203548987,813,651.796451013,629.203548987,653,0.400978925368,-0.0153913348715,0.0598391921874,0.999999944853,0.000196875205598,-0.000266514629157,2.24550012675e-05,1793249633919019008
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745,718,678,661.374665733,637,878.625334267,784.374665733,813,651.625334267,629,653.374665733,0.400979445006,-0.01539164449,0.0598403181081,0.99999994543,0.000196448566958,-0.000264660447068,2.24032145297e-05,1793249633935685376
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745,718,678,661.951818471,637,878.048181529,784.951818471,813,651.048181529,629,653.951818471,0.40098039974,-0.0153919526461,0.0598418052729,0.99999994627,0.00019503517573,-0.000262523560184,2.24293135701e-05,1793249633952352000
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..156a06fe74c1519790786e0045ab533c6a61050d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_02/simulation_data.csv
@@ -0,0 +1,402 @@
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+370,6.166666667,pose2_to_pose3_retreat,0.575828560288,-0.00984998806088,1.05003368041,0.546399239532,-0.00117735207346,1.04970506393
+371,6.183333333,pose2_to_pose3_retreat,0.575788704452,-0.00985003312421,1.05003366403,0.546359384176,-0.00117739537946,1.04970505091
+372,6.200000000,pose2_to_pose3_retreat,0.575755919674,-0.00985005859357,1.05003362821,0.546326599806,-0.00117741945876,1.04970501532
+373,6.216666667,pose2_to_pose3_retreat,0.575729409535,-0.00985005950558,1.0500335367,0.546300090342,-0.00117741786814,1.04970492942
+374,6.233333333,pose2_to_pose3_retreat,0.575709652396,-0.00985001139914,1.05003360092,0.546280332684,-0.00117737129227,1.04970499977
+375,6.250000000,pose2_to_pose3_retreat,0.575695269453,-0.00985006936456,1.05003353488,0.546265950949,-0.00117742537473,1.04970492819
+376,6.266666667,pose2_to_pose3_retreat,0.575685491112,-0.00985002100328,1.05003346971,0.546256171394,-0.00117738127938,1.04970485922
+377,6.283333333,pose2_to_pose3_retreat,0.575678731135,-0.009849951769,1.05003341706,0.54624941009,-0.00117731654377,1.04970480668
+378,6.300000000,pose2_to_pose3_retreat,0.575674047587,-0.00984990884691,1.05003337431,0.546244726897,-0.00117727206747,1.04970477292
+379,6.316666667,pose2_to_pose3_retreat,0.575670796602,-0.00984989782802,1.05003340028,0.546241476121,-0.00117726022873,1.04970480174
+380,6.333333333,pose2_to_pose3_retreat,0.575668384885,-0.00984990576323,1.0500334673,0.546239064527,-0.00117726777798,1.04970486794
+381,6.350000000,pose2_to_pose3_retreat,0.575666865167,-0.00984991633499,1.05003355487,0.546237544299,-0.0011772802202,1.04970495183
+382,6.366666667,pose2_to_pose3_retreat,0.575666245205,-0.00984992205518,1.05003360206,0.546236923981,-0.00117728723741,1.0497049967
+383,6.383333333,pose2_to_pose3_retreat,0.575666101899,-0.00984992337743,1.05003361296,0.546236780593,-0.00117728885946,1.04970500708
+384,6.400000000,pose2_to_pose3_retreat,0.575666038135,-0.00984992396576,1.05003361782,0.546236716792,-0.0011772895812,1.04970501169
+385,6.416666667,pose2_to_pose3_retreat,0.575665932886,-0.00984992493686,1.05003362583,0.546236611483,-0.00117729077249,1.04970501931
+386,6.433333333,pose2_to_pose3_retreat,0.575665705997,-0.00984992703029,1.0500336431,0.546236384464,-0.00117729334059,1.04970503573
+387,6.450000000,pose2_to_pose3_retreat,0.575665594503,-0.00984992559257,1.05003364396,0.546236272893,-0.00117729216669,1.04970503639
+388,6.466666667,pose2_to_pose3_retreat,0.575665573111,-0.00984992434483,1.05003364111,0.546236251483,-0.0011772909816,1.0497050336
+389,6.483333333,pose2_to_pose3_retreat,0.57566542764,-0.0098499158596,1.0500336218,0.546236105882,-0.00117728292247,1.04970501462
+390,6.500000000,pose2_to_pose3_retreat,0.575665201475,-0.00984990266761,1.05003359177,0.546235879516,-0.00117727039292,1.0497049851
+391,6.516666667,pose2_to_pose3_retreat,0.575664987583,-0.0098498901915,1.05003356337,0.546235665435,-0.00117725854331,1.04970495718
+392,6.533333333,pose2_to_pose3_retreat,0.575664826874,-0.00984988081749,1.05003354203,0.546235504583,-0.00117724964002,1.04970493621
+393,6.550000000,pose2_to_pose3_retreat,0.575664739313,-0.00984987571014,1.0500335304,0.546235416944,-0.00117724478914,1.04970492478
+394,6.566666667,pose2_to_pose3_retreat,0.575664666297,-0.00984987145119,1.0500335207,0.546235343864,-0.00117724074406,1.04970491525
+395,6.583333333,pose2_to_pose3_retreat,0.575664575863,-0.00984986617625,1.0500335087,0.546235253349,-0.001177235734,1.04970490344
+396,6.600000000,pose2_to_pose3_retreat,0.575664513896,-0.00984989691629,1.050033444,0.546235191902,-0.00117726468163,1.04970483952
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+398,6.633333333,pose2_to_pose3_retreat,0.575664444719,-0.00984994584187,1.05003334776,0.546235123549,-0.00117731076688,1.04970474443
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b8df5c1e21eb9dd6df08eea332aa888cca75e5f3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49466e2f09a7c273b7c931cf024a61b3fff7daf3e5cf1511602c03b94783a727
+size 25456368
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..98c3b96b8bed9974815471832feecae3e76c5ea5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_03/franka_data.csv
@@ -0,0 +1,402 @@
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+16,0.266666667,BASELINE,767,745,718,678,661.703645613,637.703645613,878.296354387,785,813,651.703645613,630,654,0.400976441853,-0.015394788368,0.0598451417029,0.999999947863,0.000193667948651,-0.000257481721211,2.16806858962e-05,1793249634651614720
+17,0.283333333,BASELINE,767,745,718,678,661.124735917,637.124735917,878.875264083,785,813,651.124735917,630,654,0.400975625887,-0.0153941184799,0.0598449007649,0.999999947644,0.000194638959969,-0.0002575586372,2.21430545942e-05,1793249634668281344
+18,0.300000000,BASELINE,767,745,717.549741995,678.450258005,661,637,879,785,813,651,629.549741995,654,0.400976633834,-0.0153949910801,0.0598455487698,0.999999948336,0.000192315934897,-0.000256625939635,2.20473288532e-05,1793249634684947968
+19,0.316666667,BASELINE,767,745,717.024919733,678.975080267,661,637,879,785,813,651,629.024919733,654,0.400978010618,-0.0153962077325,0.059846350236,0.999999949191,0.000189329195689,-0.000255533831561,2.18085490035e-05,1793249634701614848
+20,0.333333333,BASELINE,767,745,717.616482131,678.383517869,661,637,879,785,813,651,629.616482131,654,0.400976383832,-0.0153956147834,0.059845089731,0.999999948309,0.000191821845333,-0.000257122012242,2.18022258577e-05,1793249634718281472
+21,0.350000000,BASELINE,766.796468691,745,718,678.203531309,661.203531309,637,878.796468691,785,813,651.203531309,630,654,0.400975242643,-0.0153945385597,0.0598442462955,0.999999947656,0.000193885273151,-0.00025811866834,2.1697434256e-05,1793249634734948096
+22,0.366666667,BASELINE,766.217739436,745,718,678.782260564,661.782260564,637,878.217739436,785,813,651.782260564,630,654,0.400974996624,-0.0153925714477,0.0598441717032,0.999999947439,0.000195157455603,-0.00025802488363,2.14111218721e-05,1793249634751614720
+23,0.383333333,BASELINE,766.358852723,745,717.641147277,679,661.641147277,637,878.358852723,784.641147277,813,652,630,654,0.400976042408,-0.0153924184934,0.0598448456485,0.999999947892,0.000194074330853,-0.000257106712351,2.11276505237e-05,1793249634768281600
+24,0.400000000,BASELINE,766.934155897,745,717.065844103,679,661.065844103,637,878.934155897,784.065844103,813,652,630,654,0.400977867372,-0.0153933597907,0.0598459710919,0.999999948744,0.000191570547347,-0.000255691292932,2.08458927848e-05,1793249634784948224
+25,0.416666667,BASELINE,767,745,717.519124037,679,661,637,878.480875963,784.519124037,813,651.480875963,630,654,0.400977046299,-0.0153947345436,0.0598457476173,0.999999948761,0.000190832103989,-0.000256143703108,2.1255528866e-05,1793249634801614848
+26,0.433333333,BASELINE,767,745,718,678.895906841,661,637.104093159,878.104093159,785,813,651.104093159,629.895906841,653.895906841,0.400976405357,-0.0153959552626,0.0598455988472,0.999999948766,0.000190486567215,-0.000256347637258,2.16455569934e-05,1793249634818281472
+27,0.450000000,BASELINE,767,745,718,678.316635239,661,637.683364761,878.683364761,785,813,651.683364761,629.316635239,653.316635239,0.400978147829,-0.0153962170946,0.0598465869413,0.99999994921,0.000190893096081,-0.000254315300487,2.15381631918e-05,1793249634834948096
+28,0.466666667,BASELINE,767,745,718,678,661.262255438,637.737744562,878.737744562,784.737744562,813,651.737744562,629.262255438,653.262255438,0.400978649933,-0.0153955722685,0.0598469176135,0.999999949169,0.000191956262358,-0.000253678967879,2.14919170584e-05,1793249634851614976
+29,0.483333333,BASELINE,767,745,718,678,661.840686834,637.159313166,878.159313166,784.159313166,813,651.159313166,629.840686834,653.840686834,0.400977656644,-0.0153938343726,0.0598464556959,0.999999948545,0.00019381107268,-0.000254725662282,2.15193907475e-05,1793249634868281600
+30,0.500000000,BASELINE,767,745,718,678.415855594,661.584144406,637.415855594,878.415855594,784.415855594,813,651.415855594,629.584144406,653.584144406,0.400976694634,-0.0153939300538,0.0598457935038,0.999999948502,0.000192593758289,-0.000255821862548,2.1426389293e-05,1793249634884947968
+31,0.516666667,BASELINE,767,745,718,678.989784163,661.010215837,637.989784163,878.989784163,784.989784163,813,651.989784163,629.010215837,653.010215837,0.400975744513,-0.0153947227054,0.0598450551843,0.999999948675,0.00019020868297,-0.000256936880714,2.1287593421e-05,1793249634901614592
+32,0.533333333,BASELINE,767,745,718,679,661.566196646,638,878.433803354,785,813,651.433803354,629.566196646,653.566196646,0.400975537737,-0.0153954943468,0.0598453869205,0.999999949338,0.000187198594382,-0.000256578049756,2.11808603353e-05,1793249634918281472
+33,0.550000000,BASELINE,767,745,717.854225246,678.854225246,661.854225246,637.854225246,878.145774754,785,813.145774754,651,629.854225246,654,0.400975511257,-0.015395865868,0.0598455942272,0.999999949625,0.000185850654024,-0.000256438333462,2.12054228841e-05,1793249634934948096
+34,0.566666667,BASELINE,767,745,717.265157643,678.265157643,661.265157643,637.265157643,878.734842357,785,813.734842357,651,629.265157643,654,0.400975992084,-0.0153950218037,0.0598453641813,0.999999948757,0.000189591657751,-0.000257046155365,2.16274811545e-05,1793249634951614720
+35,0.583333333,BASELINE,767,745,717.318596083,678.318596083,661,637,879,785,813.681403917,651,629.318596083,654,0.400976293288,-0.0153942173437,0.0598454649832,0.999999948467,0.000191489622983,-0.000256771088433,2.1607318087e-05,1793249634968281600
+36,0.600000000,BASELINE,767,745,717.897999851,678.897999851,661,637,879,785,813.102000149,651,629.897999851,654,0.400976447452,-0.0153934453045,0.0598458366222,0.999999948656,0.000191878848785,-0.000255773275102,2.12251458334e-05,1793249634984948992
+37,0.616666667,BASELINE,767,745,718,679,661.47279249,637.47279249,878.52720751,785,813,651,630,653.52720751,0.400976435578,-0.0153949101488,0.0598456529836,0.999999949058,0.000189298459034,-0.000256129037673,2.11502869958e-05,1793249635001615872
+38,0.633333333,BASELINE,767,745.048026445,718,678.951973555,661.951973555,637.951973555,878.048026445,784.951973555,813,651.048026445,629.951973555,653,0.400976529838,-0.0153966171002,0.0598455119867,0.999999949492,0.000186448549412,-0.000256526234351,2.11546153675e-05,1793249635018282496
+39,0.650000000,BASELINE,767,745.639399632,718,678.360600368,661.360600368,637.360600368,878.639399632,784.360600368,813,651.639399632,629.360600368,653,0.400978226192,-0.0153956561452,0.0598471956318,0.999999949864,0.00018772756745,-0.000254120338705,2.13119909752e-05,1793249635034948352
+40,0.666666667,BASELINE,767,745.774071454,718,678,661,637,879,784.225928546,813,651.774071454,629.225928546,653.225928546,0.400978480632,-0.0153951333866,0.0598477716894,0.999999949842,0.000188923330488,-0.000253312072577,2.13753240747e-05,1793249635051614464
+41,0.683333333,BASELINE,767,745.195112126,718,678,661,637,879,784.804887874,813,651.195112126,629.804887874,653.804887874,0.400976481968,-0.0153952953435,0.0598466170561,0.999999949213,0.000189989001093,-0.000255000225953,2.12917084912e-05,1793249635068281088
+42,0.700000000,BASELINE,767,745,718,678,661.380598555,637.380598555,879,785,813,651,629.619401445,653.619401445,0.400975049998,-0.0153944040357,0.0598461675878,0.999999948634,0.000191318800136,-0.000256280758108,2.12061495276e-05,1793249635084948480
+43,0.716666667,BASELINE,767,745,718,678,661.954657911,637.954657911,879,785,813,651,629.045342089,653.045342089,0.400973906083,-0.0153929773463,0.0598460765596,0.999999948079,0.000192782857403,-0.000257354093607,2.11196027332e-05,1793249635101615872
+44,0.733333333,BASELINE,767,745,718,678,662,638,878.459510245,785,813,651.540489755,629,653,0.400976297864,-0.0153948021037,0.0598467585716,0.99999994909,0.000190916291088,-0.000254790319033,2.12595349096e-05,1793249635118281984
+45,0.750000000,BASELINE,767,745,718,678.125583443,661.874416557,638,878,784.874416557,813,652,629.125583443,653.125583443,0.400978319503,-0.0153965907434,0.0598474444322,0.999999949989,0.000189071885364,-0.000252614040389,2.14349926149e-05,1793249635134948352
+46,0.766666667,BASELINE,767,745,718,678.704369756,661.295630244,638,878,784.295630244,813,652,629.704369756,653.704369756,0.400977911141,-0.0153972427707,0.0598479049376,0.999999950035,0.000188338227765,-0.000252961777165,2.16685624274e-05,1793249635151615488
+47,0.783333333,BASELINE,767,745,718,678.717456251,661.282543749,638,878,784.282543749,813,651.717456251,630,653.717456251,0.400978108127,-0.0153970299436,0.0598480482451,0.999999950083,0.000188098590196,-0.000252947786662,2.16970838206e-05,1793249635168282368
+48,0.800000000,BASELINE,767,745,718,678.139921483,661.860078517,638,878,784.860078517,813,651.139921483,630,653.139921483,0.400978937131,-0.0153959141616,0.0598478603808,0.999999950134,0.000188374736283,-0.000252556133275,2.15115235553e-05,1793249635184949248
+49,0.816666667,BASELINE,767,745,718,678,662,638,878.43617446,785,813,651,630,653,0.400978184158,-0.0153947017576,0.0598472868671,0.99999994945,0.000190823365163,-0.000253437777552,2.13480876284e-05,1793249635201615872
+50,0.833333333,BASELINE,767,745,718,678,661.988189548,638,878.988189548,785,813,651,629.988189548,653.011810452,0.400976947019,-0.0153935369512,0.0598465971662,0.999999948547,0.000193837983051,-0.000254720166669,2.12009124844e-05,1793249635218282496
+51,0.850000000,BASELINE,767,745,718,678,661.41254729,638,878.41254729,785,813,651,629.41254729,653.58745271,0.400976743546,-0.015396119316,0.059846247352,0.999999948893,0.000190711531571,-0.000255698146167,2.14923152219e-05,1793249635234949120
+52,0.866666667,BASELINE,767,745,718,678,661.168329284,637.831670716,878.168329284,785,813,651,629.168329284,654,0.40097677117,-0.0153975416951,0.0598461712557,0.999999949178,0.000188679427483,-0.000256080286642,2.16291706549e-05,1793249635251615488
+53,0.883333333,BASELINE,767,745,718,678,661.762445982,637.237554018,878.762445982,785,813,651,629.762445982,654,0.400977383352,-0.0153960299005,0.0598467875265,0.999999949331,0.000189415465488,-0.000254955257604,2.13751000521e-05,1793249635268282112
+54,0.900000000,BASELINE,767,745,718,678,662,637,879,785,813,651,630,654,0.400978399019,-0.0153952772801,0.0598473915561,0.999999949516,0.000189966098561,-0.000253817866227,2.13632869948e-05,1793249635284948480
+55,0.916666667,BASELINE,767,745,718,678,662,637,879,785,813,651,630,654,0.400979683501,-0.015395030447,0.0598479874303,0.999999949722,0.000190393208634,-0.00025267223869,2.15128740351e-05,1793249635301615616
+56,0.933333333,BASELINE,767,745.505534351,717.494465649,678.505534351,661.494465649,637,879,785,813.505534351,651,629.494465649,654,0.400977165393,-0.0153957993241,0.0598463188327,0.999999949275,0.000189494244603,-0.000255115112578,2.1383544804e-05,1793249635318282496
+57,0.950000000,BASELINE,766.909897518,745.909897518,717.090102482,678.909897518,661,637,879,785,813.909897518,651,629.090102482,653.909897518,0.400974875418,-0.0153964133234,0.0598449262842,0.999999948878,0.000188704923699,-0.000257262234976,2.12343572037e-05,1793249635334949120
+58,0.966666667,BASELINE,766.330613956,745.330613956,717.669386044,678.330613956,661,637,879,785,813.330613956,651,629.669386044,653.330613956,0.400977091321,-0.0153953137335,0.0598469781612,0.99999994935,0.000189650279881,-0.000254720315411,2.12170093197e-05,1793249635351615744
+59,0.983333333,BASELINE,766.247867743,745,718,678,661,637.247867743,878.752132257,785,813,651,629.752132257,653.247867743,0.400978586989,-0.0153953312741,0.0598482574362,0.999999949914,0.000189228742975,-0.000252807642935,2.1255175549e-05,1793249635368282112
+60,1.000000000,BASELINE,766.82528342,745,718,678,661,637.82528342,878.17471658,785,813,651,629.17471658,653.82528342,0.40097912508,-0.0153968340746,0.0598485095129,0.999999950605,0.000186989878988,-0.000251731573837,2.13671495297e-05,1793249635384948224
+61,1.016666667,BASELINE,767,745,718,678,661.402023251,637.597976749,878.402023251,785,813,651,629,654,0.400978593636,-0.0153965818778,0.0598482636284,0.99999995037,0.000187650206213,-0.000252170939133,2.13921483227e-05,1793249635401614848
+62,1.033333333,BASELINE,767,745,718,678,661.978469823,637.021530177,878.978469823,785,813,651,629,654,0.40097759816,-0.0153955682511,0.0598478016965,0.999999949731,0.00018956838758,-0.000253267796561,2.13794117266e-05,1793249635418281472
+63,1.050000000,BASELINE,767,745,718,678,662,637.564909506,879,785,813,651.564909506,629.564909506,654,0.400978162268,-0.0153964729073,0.0598480628799,0.999999950183,0.000187652345338,-0.000252898879323,2.15126281958e-05,1793249635434948352
+64,1.066666667,BASELINE,767,745,718,678.149710794,662,638,879,785,813,651.850289206,630,654,0.400978370684,-0.0153968687754,0.0598480903496,0.9999999504,0.000186515500261,-0.000252878483348,2.15495927789e-05,1793249635451614976
+65,1.083333333,BASELINE,767,745,718,678.728702362,662,638,879,785,813,651.271297638,630,654,0.400977385685,-0.0153955923313,0.0598473672203,0.999999949831,0.000188039491048,-0.000254020507933,2.12943270778e-05,1793249635468281856
+66,1.100000000,BASELINE,767,745,718,679,661.693417991,638,878.693417991,785,813,651,630,653.693417991,0.400977182561,-0.0153952253323,0.0598471104542,0.999999949391,0.000190025629155,-0.000254281360909,2.11797848068e-05,1793249635484948480
+67,1.116666667,BASELINE,767,745,718,679,661.116518768,638,878.116518768,785,813,651,630,653.116518768,0.400977668824,-0.0153956602026,0.0598472648864,0.999999949065,0.000192419248287,-0.000253765273734,2.11893201672e-05,1793249635501615104
+68,1.133333333,BASELINE,767,745,718,679,661.914950997,637.542524502,878,785,813,651,630,653.457475498,0.400978057279,-0.015396729416,0.0598477569341,0.999999949736,0.000189496096778,-0.000253324435791,2.11285411315e-05,1793249635518281728
+69,1.150000000,BASELINE,767,745,718,679,662.968346193,637.031653807,878.031653807,785,813,651.031653807,629.968346193,654,0.400978392048,-0.0153978213576,0.0598482800803,0.999999950559,0.000185625821325,-0.000252943787925,2.10706600345e-05,1793249635534948608
+70,1.166666667,BASELINE,767,745,718,679,662.377941874,637.622058126,878.622058126,785,813,651.622058126,629.377941874,654,0.40097821612,-0.0153964805239,0.0598478438567,0.999999949873,0.000188790018854,-0.000253289430307,2.13780674552e-05,1793249635551615232
+71,1.183333333,BASELINE,767,745,718,679,661.791288015,637.791288015,879,785,813,652,629.208711985,654,0.400977797747,-0.0153960841714,0.0598473731322,0.99999994951,0.000190008686025,-0.000253797872721,2.15312485641e-05,1793249635568281856
+72,1.200000000,BASELINE,767,745,718,679,661.21130562,637.21130562,879,785,813,652,629.78869438,654,0.400976948096,-0.0153973679231,0.0598468410353,0.999999949733,0.000187766518192,-0.000254595914453,2.1410081962e-05,1793249635584949248
+73,1.216666667,BASELINE,767,745,718,678.633702447,661,637.366297553,879,785,813,652,629.633702447,654,0.400976428381,-0.0153970795995,0.059846646027,0.999999949745,0.00018731879299,-0.00025488818985,2.1289881373e-05,1793249635601615872
+74,1.233333333,BASELINE,767,745,718,678.057462951,661,637.942537049,879,785,813,652,629.057462951,654,0.400976097767,-0.0153958902473,0.0598466442197,0.999999949638,0.000187899545375,-0.000254890587296,2.11702344576e-05,1793249635618281984
+75,1.250000000,BASELINE,766.48201979,745,717.48201979,678,661.51798021,638,878.48201979,785,813,651.48201979,629,653.48201979,0.40097681601,-0.0153957567106,0.0598472890101,0.999999949433,0.000189961779731,-0.000254158135563,2.12709550585e-05,1793249635634948096
+76,1.266666667,BASELINE,766.096007567,745,717.096007567,678,661.903992433,638,878.096007567,785,813,651,629.096007567,653.096007567,0.400977518556,-0.0153955396853,0.0598478764142,0.999999949196,0.00019211666351,-0.000253461063247,2.1376186248e-05,1793249635651614720
+77,1.283333333,BASELINE,766.687836262,745,717.687836262,678,661.312163738,638,878.687836262,785,813,651,629.687836262,653.687836262,0.400977540044,-0.0153942875224,0.0598477975721,0.999999948875,0.000193902557152,-0.000253367068141,2.13786526496e-05,1793249635668281344
+78,1.300000000,BASELINE,767,745,718,678,661.273521483,637.726478517,879,784.726478517,813,651.273521483,629.726478517,654,0.400977275712,-0.0153941218013,0.0598473589645,0.999999948745,0.000193987633723,-0.000253819608502,2.13309525095e-05,1793249635684948224
+79,1.316666667,BASELINE,767,745,718,678,661.852349285,637.147650715,879,784.147650715,813,651.852349285,629.147650715,654,0.400976692348,-0.0153951687731,0.0598465187846,0.999999948827,0.000192174247975,-0.00025488219503,2.12272561749e-05,1793249635701614848
+80,1.333333333,BASELINE,767,745,718,678.426409145,661.573590855,637.426409145,879,784.426409145,813,651.573590855,629,654,0.400977115273,-0.015395316337,0.059846979703,0.99999994901,0.000192429090819,-0.000253967672546,2.12349842337e-05,1793249635718281472
+81,1.350000000,BASELINE,767,745,718,678.998836336,661.001163664,637.998836336,879,784.998836336,813,651.001163664,629,654,0.400977882789,-0.0153951559109,0.0598478861649,0.999999949226,0.000193392170424,-0.000252376115906,2.12808680605e-05,1793249635734948096
+82,1.366666667,BASELINE,767,745,718,678.412148173,661,638,878.412148173,785,813,651,629,653.412148173,0.400977141849,-0.0153950452654,0.0598466849722,0.99999994919,0.000191774668207,-0.000253780876696,2.0922022924e-05,1793249635751614720
+83,1.383333333,BASELINE,767,745,718,678,661.173825831,638,878.173825831,785,813,651,629.173825831,653.173825831,0.400976548861,-0.015394635158,0.0598458042375,0.999999949017,0.000191112238835,-0.000254972158979,2.07477541113e-05,1793249635768281344
+84,1.400000000,BASELINE,767,745,718,678,661.752635099,638,878.752635099,785,813,651,629.752635099,653.752635099,0.400976307736,-0.015393527121,0.059845680116,0.999999948536,0.000192687206977,-0.000255651854306,2.1005436193e-05,1793249635784947968
+85,1.416666667,BASELINE,767,745,718,678,662,637.669562173,879,784.669562173,813,651,630,654,0.400976398197,-0.0153936767303,0.0598460065218,0.999999948382,0.000193576940886,-0.000255574829727,2.11191169463e-05,1793249635801614848
+86,1.433333333,BASELINE,767,745,718,678,662,637.092510683,879,784.092510683,813,651,630,654,0.400976736129,-0.0153947649514,0.0598466691668,0.999999948472,0.000193955267987,-0.00025493304692,2.11253260446e-05,1793249635818281472
+87,1.450000000,BASELINE,767,745,718,678.482635813,662,637.482635813,879,784.482635813,813.482635813,651,630,654,0.400976494464,-0.0153950174965,0.0598467313898,0.999999948831,0.000192205325983,-0.000254854255598,2.10938674366e-05,1793249635834948096
+88,1.466666667,BASELINE,767,745,718,678.940884178,661.940884178,637.940884178,878.940884178,785,813.940884178,651,630,654,0.400976291742,-0.0153951487366,0.0598467371516,0.999999949214,0.000190278875419,-0.000254797014086,2.10652373689e-05,1793249635851614720
+89,1.483333333,BASELINE,767,745,718,678.349111485,661.349111485,637.349111485,878.349111485,785,813.349111485,651,630,654,0.400977436986,-0.0153956245869,0.0598472670854,0.999999949397,0.000190423283976,-0.000253965428087,2.11268934889e-05,1793249635868281344
+90,1.500000000,BASELINE,767,745,718,678,661,637,878,785,813,651,629.763040334,653.763040334,0.400977815959,-0.015396611797,0.0598474679767,0.999999949613,0.000189610563832,-0.000253710637456,2.12957865688e-05,1793249635884948480
+91,1.516666667,BASELINE,767,745,718,678,661,637,878,785,813,651,629.18517192,653.18517192,0.400977092514,-0.0153983346896,0.0598471954813,0.999999949872,0.000187420843307,-0.000254285669924,2.16189591399e-05,1793249635901616128
+92,1.533333333,BASELINE,767,745,718,678,661.391271141,637,878.391271141,785,813,651,629,653.391271141,0.400977104353,-0.0153981015487,0.0598473694384,0.999999949693,0.000188707445693,-0.000254046195388,2.15569746643e-05,1793249635918282752
+93,1.550000000,BASELINE,767,745,718,678,661.967042143,637,878.967042143,785,813,651,629,653.967042143,0.400977462907,-0.0153969460606,0.0598477539154,0.9999999493,0.000191633272004,-0.000253422648545,2.13133733949e-05,1793249635934949376
+94,1.566666667,BASELINE,767,745,718,678.553424878,661.446575122,637,878.446575122,785,813,651,629.553424878,654,0.400977876156,-0.0153971794234,0.059847697028,0.999999949693,0.000189822136801,-0.000253258035502,2.10308657351e-05,1793249635951616000
+95,1.583333333,BASELINE,767,745,718,679,661.138521709,637.138521709,878,785,813,651.138521709,629.861478291,654,0.400977879027,-0.0153974379516,0.0598475570359,0.999999949975,0.000188203804357,-0.000253361536689,2.09001809173e-05,1793249635968282368
+96,1.600000000,BASELINE,767,745,718,679,661.717481453,637.717481453,878,785,813,651.717481453,629.282518547,654,0.400976566516,-0.015397508374,0.0598472380141,0.999999949765,0.000188112981845,-0.000254228924684,2.12597367882e-05,1793249635984948480
+97,1.616666667,BASELINE,767,745,718,678.703899901,661.703899901,637.703899901,878.296100099,784.703899901,813,652,629,653.703899901,0.400976463605,-0.015396691496,0.059847164884,0.999999949641,0.000189039621616,-0.000254019406784,2.13660918991e-05,1793249636001615104
+98,1.633333333,BASELINE,767,745,718,678.125606367,661.125606367,637.125606367,878.874393633,784.125606367,813,652,629,653.125606367,0.400977513485,-0.0153950289907,0.059847326097,0.999999949597,0.000190935937446,-0.000252783561002,2.12311380789e-05,1793249636018281728
+99,1.650000000,BASELINE,767,745,718,678,661,637.448303012,879,784.448303012,813,652,629.448303012,653.448303012,0.400977558062,-0.0153957859327,0.0598475323252,0.99999994984,0.00019012999954,-0.000252428876345,2.12204373863e-05,1793249636034949120
+100,1.666666667,BASELINE,767,745,718,678.021606898,661,637.978393102,878.978393102,785,813,651.978393102,630,654,0.400977311367,-0.0153971000023,0.0598477011091,0.999999950123,0.000188701697249,-0.000252378917869,2.12287929462e-05,1793249636051616512
+101,1.683333333,BASELINE,767,745,718,678.61096509,661,637.38903491,878.38903491,785,813,651.38903491,630,654,0.400976740609,-0.0153954135081,0.0598465577916,0.999999949379,0.000190621677576,-0.000253911634906,2.08319649995e-05,1793249636068282624
+102,1.700000000,BASELINE,767,745,718,679,661.196900867,637.196900867,878.196900867,784.803099133,813,651.196900867,629.803099133,654,0.400976423922,-0.0153949015799,0.0598460273805,0.999999949099,0.000190945231866,-0.000254785382004,2.06373170966e-05,1793249636084948992
+103,1.716666667,BASELINE,767,745,718,679,661.776190127,637.776190127,878.776190127,784.223809873,813,651.776190127,629.223809873,654,0.40097660065,-0.0153966707001,0.0598466872553,0.999999949725,0.000188168470564,-0.00025437938618,2.08353099791e-05,1793249636101615360
+104,1.733333333,BASELINE,767,745,718,679,662,638,878.645914681,784,813,651.645914681,629.354085319,654,0.400975780931,-0.0153971817568,0.0598463355425,0.999999949525,0.000187967112316,-0.000255290863872,2.10801380254e-05,1793249636118282240
+105,1.750000000,BASELINE,767,745,718,679,662,638,878.068897139,784,813,651.068897139,629.931102861,654,0.400974333847,-0.0153969007364,0.0598453469339,0.999999948806,0.000189387228333,-0.000257031823246,2.13544535244e-05,1793249636134949120
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,637,879,785,813,652,630,654,0.40097751282,-0.0153967304441,0.0598473283079,0.999999949636,0.000188836039429,-0.00025421432529,2.10919494004e-05,1793249636166187776
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661.406362403,637.593637597,879,785,813,652,630,654.593637597,0.400978476527,-0.0153971291337,0.059848150091,0.999999950007,0.000189671006228,-0.000252106962199,2.12800000061e-05,1793249636182854656
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661,637.817614317,878.817614317,785.182385683,813,651.817614317,630,654.817614317,0.40097859837,-0.0153969721739,0.0598484552017,0.999999950057,0.000190241630507,-0.000251476133761,2.13131533681e-05,1793249636199521792
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661,637.239475712,878.239475712,785.760524288,813,651.239475712,630,654.239475712,0.400976893478,-0.015395609528,0.0598476392018,0.999999949413,0.000190238666477,-0.000254049190747,2.10102001379e-05,1793249636216188416
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.66181748,745,718,679,661.33818252,637.33818252,878.33818252,785.66181748,813.33818252,651,630,654,0.400976352025,-0.0153952848365,0.0598470562956,0.999999949283,0.000190249020961,-0.000254558087728,2.09441563522e-05,1793249636232855040
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.084498963,745,718,679,661.915501037,637.915501037,878.915501037,785.084498963,813.915501037,651,630,654,0.400976633263,-0.0153956941045,0.0598466382148,0.999999949519,0.000190268793248,-0.000253607373458,2.10456362524e-05,1793249636249521408
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.4869886,745,717.5130114,678.5130114,661.5130114,638,879,785,813.5130114,651,629.5130114,654,0.400977089902,-0.0153960717498,0.059847007604,0.999999949692,0.000189436814532,-0.000253540149115,2.1138325099e-05,1793249636266187776
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745,717.060181608,678,661.060181608,638,879,785,813,651,629.060181608,654,0.400977545491,-0.015396353769,0.059847506367,0.999999949827,0.00018868251188,-0.000253565967216,2.12170230628e-05,1793249636282854400
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745,717.65752037,678,661.65752037,638,879,785,813,651,629.65752037,654,0.400977723274,-0.015395830662,0.0598479547363,0.999999949718,0.000189925022861,-0.00025307016452,2.11842976672e-05,1793249636299521024
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,718,678.245812998,661.754187002,637.754187002,879,784.754187002,813,651.245812998,630,654,0.400979807847,-0.0153959030027,0.0598490992518,0.999999949867,0.000190635068085,-0.000251933264119,2.12972370577e-05,1793249636316187648
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,718,678.821949386,661.178050614,637.178050614,879,784.178050614,813,651.821949386,630,654,0.400984454765,-0.0153967755055,0.0598511792483,0.999999950363,0.00019062958598,-0.000249934856968,2.16059207211e-05,1793249636332854784
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661,637.397296278,878.602703722,784.397296278,813,651.602703722,630,654,0.401006252863,-0.0153982128234,0.0598601041252,0.999999954199,0.000190142949101,-0.000234382436644,2.2623035996e-05,1793249636349521920
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661,637.972290105,878.027709895,784.972290105,813,651.027709895,630,654,0.40103572212,-0.0153999027645,0.0598720904922,0.999999959134,0.000189441107453,-0.00021276775205,2.39570094328e-05,1793249636366188544
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661.561822782,638,878.561822782,785,813,651,630,654,0.401090514725,-0.0154026974591,0.05988940319,0.999999965062,0.000188909575138,-0.000183160362046,2.53365394158e-05,1793249636382854912
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661.850902501,637.850902501,879,785,813,651,630,653.850902501,0.401150914945,-0.0154060023751,0.059906065697,0.999999969773,0.000187871727508,-0.000156348893951,2.67172929653e-05,1793249636399521280
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661.272253637,637.272253637,879,785,813,651,630,653.272253637,0.401223776848,-0.0154106160943,0.0599200780481,0.999999972801,0.000185350337631,-0.000138758396327,2.80949266453e-05,1793249636416187904
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661.304478085,637.304478085,878.695521915,784.695521915,813,651,630,653,0.401305209643,-0.0154147926266,0.059930127011,0.99999997524,0.000183828073202,-0.00012211581436,2.85442749806e-05,1793249636432854272
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661.879506257,637.879506257,878.120493743,784.120493743,813,651,630,653,0.401394258271,-0.0154185806875,0.0599366542251,0.999999977172,0.000183193601813,-0.000106315522855,2.81687767391e-05,1793249636449520896
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661.545739699,637.545739699,878,784.454260301,813,651.454260301,630,653.454260301,0.401492042725,-0.0154239288466,0.0599374569273,0.999999977854,0.000180857432762,-0.000104069230643,2.74181792738e-05,1793249636466187776
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745,717.970240214,678.970240214,661,637,878.029759786,785,813,651.970240214,630,654,0.401593669984,-0.0154297199385,0.0599367057391,0.999999978224,0.000178232051174,-0.000105263978859,2.65376698915e-05,1793249636482855168
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,717.379313837,678.379313837,661,637,878.620686163,785,813,651.379313837,630,654,0.401724091227,-0.0154360646992,0.0599352688437,0.99999997836,0.000178659448801,-0.000103592055381,2.50824909394e-05,1793249636499521536
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,717.20753851,678.20753851,661,637.20753851,879,785,813,651,630,653.79246149,0.401867795699,-0.0154421834305,0.0599357634764,0.999999979026,0.000177935218272,-9.86465781953e-05,2.35915886994e-05,1793249636516188160
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,717.787088126,678.787088126,661,637.787088126,879,785,813,651,630,653.212911874,0.402035310238,-0.0154478970051,0.0599397203581,0.999999980562,0.000175146703499,-8.78332825493e-05,2.20366529088e-05,1793249636532854784
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,718,678.63672785,661.36327215,638,879,785,813,651,630,653.36327215,0.402223535286,-0.0154576714379,0.0599438341828,0.999999982632,0.000168386605949,-7.7126783555e-05,2.08008913146e-05,1793249636549521152
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,718,678.062498221,661.937501779,638,879,785,813,651,630,653.937501779,0.402423787246,-0.0154698040714,0.059948039147,0.999999984904,0.000159320151594,-6.64823019129e-05,1.97504787203e-05,1793249636566187520
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.488922785,745,718,678.511077215,661.488922785,638,879,785,813,651.511077215,630,654,0.402649766374,-0.015479752428,0.0599460511907,0.999999985914,0.000153860925254,-6.47875903454e-05,1.73741134863e-05,1793249636582854400
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.087853694,745,718,679,661,638,879,785,813,651.912146306,629.912146306,654,0.402885439408,-0.0154899104811,0.0599438965616,0.999999986912,0.000148025019058,-6.35732087608e-05,1.49331877419e-05,1793249636599521536
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.683597822,745,718,679,661,638,879,785,813,651.316402178,629.316402178,654,0.40315898924,-0.0155028230222,0.0599451508929,0.999999988737,0.000137464605155,-5.88166724379e-05,1.3055219758e-05,1793249636616187904
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661,638,879.269490192,785,813,651,629,654,0.403440406919,-0.0155113636521,0.0599403303413,0.999999988955,0.000133098023016,-6.5364499286e-05,1.01364232358e-05,1793249636632854528
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661,638,879.844223741,785,813,651,629,654,0.403730736253,-0.0155149523503,0.0599286289543,0.99999998718,0.000135747006621,-8.47164352531e-05,6.03871194969e-06,1793249636649521408
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,718,678.580472719,661.419527281,638,879.580472719,785,813,651.419527281,629,654,0.404046090542,-0.0155101563096,0.0599171951231,0.999999989125,0.000103089689699,-0.000105449478398,1.94277304909e-06,1793249636666188032
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,718,678.00495726,661.99504274,638,879.00495726,785,813,651.99504274,629,654,0.404370749576,-0.0155022426643,0.0599058607745,0.99999999033,5.73048220919e-05,-0.00012669604266,-2.15250675763e-06,1793249636682854656
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745.585821792,718,678.585821792,661.414178208,638,878.414178208,785,813.585821792,651.414178208,629,654,0.404755491426,-0.0154938057081,0.05989775158,0.99999998893,4.91841049666e-05,-0.000140224925398,-7.57699313484e-06,1793249636699521024
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.826871521,745.826871521,717.826871521,679,661.173128479,638,878.173128479,785,813.826871521,651.173128479,629,654,0.405160753276,-0.0154920156982,0.0598962416033,0.999999988761,4.27961196444e-05,-0.000143193406744,-1.18821579053e-05,1793249636716187648
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.248013263,745.248013263,717.248013263,679,661.751986737,638,878.751986737,785,813.248013263,651.751986737,629,654,0.405612880692,-0.0155058135858,0.0599101313467,0.999999991731,3.970192515e-05,-0.00012157053465,-1.35371064346e-05,1793249636732854272
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.327564662,745,717.327564662,679,662,638,879,785,813,652,629,654,0.406102684697,-0.0155159099695,0.0599352310317,0.999999996346,2.92376798349e-05,-7.90281399373e-05,-1.44362318697e-05,1793249636749520896
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.900683592,745,717.900683592,679,662,638,879,785,813,652,629,654,0.406620732478,-0.0155232315741,0.0599687340942,0.999999999587,1.32485785899e-05,-2.08037151663e-05,-1.4768765229e-05,1793249636766188288
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745.486685891,718,679,662,638,879,785,813.486685891,652,629,654,0.407143419215,-0.0155223633888,0.0599872047421,0.999999999807,7.35926630061e-06,5.38901138792e-06,-1.73957377105e-05,1793249636782855424
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.925832671,745.925832671,717.925832671,679,662,638,879,785,813.925832671,651.925832671,629,654,0.407669831749,-0.0155202561811,0.0599989549138,0.999999999629,1.13692167983e-06,1.76265617275e-05,-2.07484625059e-05,1793249636799522048
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.346667454,745.346667454,717.346667454,679,662,638,879,785,813.346667454,651.346667454,629,654,0.408214992155,-0.015521401485,0.0599864010851,0.999999999242,-2.17679490713e-05,-1.94379767069e-05,-2.57680212453e-05,1793249636816189184
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.231602349,745,717.231602349,679.231602349,662,638,879.231602349,785,813.231602349,651.231602349,629,654,0.408777623446,-0.0155228623532,0.0599747625033,0.999999997465,-4.11412361839e-05,-4.92634751043e-05,-3.08271123961e-05,1793249636832856064
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.808537004,745,717.808537004,679.808537004,662,638,879.808537004,785,813.808537004,651.808537004,629,654,0.409366304792,-0.0155247937458,0.0599644886076,0.999999995496,-5.52487294401e-05,-6.82951499563e-05,-3.59451483732e-05,1793249636849521920
+148,2.466666667,POSE1_TO_POSE2_PRESS,767.385134944,745,718,679.614865056,662,638,880,785,813.614865056,651.614865056,629,654,0.410011951777,-0.0155289507949,0.0599694211652,0.99999999557,-6.71924010786e-05,-5.23767033551e-05,-4.00235049467e-05,1793249636866188032
+149,2.483333333,POSE1_TO_POSE2_PRESS,767.961565621,745,718,679.038434379,662,638,880,785,813.038434379,651.038434379,629,654,0.410685893461,-0.0155342133231,0.0599819067373,0.999999995821,-7.80613064997e-05,-1.90986028107e-05,-4.35854547158e-05,1793249636882854656
+150,2.500000000,POSE1_TO_POSE2_PRESS,768,745,718,679.544343226,662.544343226,638,880.544343226,785,813.544343226,651,629,654,0.411357934716,-0.0155386303286,0.0599870648731,0.999999994937,-9.00697167614e-05,-1.04879360787e-05,-4.36299485992e-05,1793249636899521536
+151,2.516666667,POSE1_TO_POSE2_PRESS,767.872469215,745,717.872469215,680,663,638,880.872469215,785,814,651.127530785,629,654,0.412032253383,-0.015539777203,0.0599829129936,0.99999999544,-8.38387686299e-05,-2.03818629429e-05,-4.09264877082e-05,1793249636916188416
+152,2.533333333,POSE1_TO_POSE2_PRESS,767.289437053,745,717.289437053,680,663,638,880.289437053,785,814,651.710562947,629,654,0.412715191036,-0.0155294599025,0.0599473782354,0.99999999544,-1.21715897615e-05,-9.00744199556e-05,-2.93056831215e-05,1793249636932855040
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,717.290005577,679.709994423,663,638,880.290005577,785,814,651.709994423,629.290005577,653.709994423,0.41342107459,-0.0155226143774,0.0599208151139,0.99999998978,1.73292499431e-05,-0.000139347717809,-2.68756407479e-05,1793249636949521664
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745,717.865909579,679.134090421,663,638,880.865909579,785,814,651.134090421,629.865909579,653.134090421,0.414149579158,-0.0155191914579,0.0599030965658,0.99999998523,5.26093217441e-06,-0.000168490949549,-3.3506196878e-05,1793249636966188288
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745,717.55744069,679.44255931,663,638.44255931,881,785,814,651,629.55744069,653.44255931,0.414981966608,-0.0155291500406,0.0599397925288,0.999999994428,-1.41664951856e-05,-9.93510462492e-05,-3.27623969706e-05,1793249636982854656
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745,717,680,663,638.980156927,881.019843073,785,814,651,629,654,0.415843871879,-0.0155429093247,0.0599917975069,0.999999998924,-3.53794684204e-05,-2.96001249461e-06,-2.98482813624e-05,1793249636999520768
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745,717,680,663,638.391178462,881.608821538,785,814,651,629,654,0.41664811007,-0.0155491945966,0.0600092183659,0.999999998436,-4.37446392574e-05,1.94951571479e-05,-2.88788345375e-05,1793249637016187648
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745,717,680.194464035,663,638,881.805535965,785,814,651,629,654,0.417468479171,-0.0155526532416,0.060014803018,0.999999998034,-4.86841181541e-05,2.66087127673e-05,-2.92325713808e-05,1793249637032854016
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,717,680.773509131,663,638,881.226490869,785,814,651,629,654,0.418320749458,-0.0155505218181,0.0599969798395,0.999999998378,-4.68487898783e-05,3.38198216421e-06,-3.22030974704e-05,1793249637049520896
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745,717,680.649985799,663,638,881.350014201,785,814,651,629,654,0.419157833931,-0.0155497732511,0.0599749376605,0.999999997643,-4.84410188037e-05,-3.31381938356e-05,-3.56227233757e-05,1793249637066187520
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745,717,680.075112537,663,638,881.924887463,785,814,651,629,654,0.419985162574,-0.0155499130704,0.0599501850765,0.999999994805,-5.22352078161e-05,-7.8198455735e-05,-3.93308635919e-05,1793249637082854400
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.501281028,745,717,680,663,638,882,785,814.498718972,651,629,654,0.420797977007,-0.0155464316599,0.0599169460797,0.999999988469,-5.19668298974e-05,-0.000135957411386,-4.33157500548e-05,1793249637099521280
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.07513994,745,717,680.07513994,663,638,882,785,814.92486006,651,629,654,0.42161822199,-0.0155431807199,0.0598867794285,0.999999979926,-5.11355538027e-05,-0.000187978235451,-4.68747749015e-05,1793249637116187904
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.670575115,745,717,680.670575115,663,638,882,785,814.329424885,651,629,654,0.422505023385,-0.0155452942871,0.059886718675,0.99999998011,-5.06345252207e-05,-0.000187050558217,-4.71969715705e-05,1793249637132854528
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745,717.256864449,681,663,638,882.513728898,785,814.256864449,651,629,654,0.423444031543,-0.0155493543755,0.0599176521496,0.999999988365,-5.3317693823e-05,-0.000135616489786,-4.51117240822e-05,1793249637149521152
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745,717.831827729,681,663,638,883.663655458,785,814.831827729,651,629,654,0.424447692251,-0.0155558250201,0.0599869686223,0.999999997167,-5.99441455944e-05,-2.16357183078e-05,-4.00451170643e-05,1793249637166187776
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745,717.593293609,681,663.406706391,638,884,785,815,651,629,654,0.425390761606,-0.0155591888265,0.060018358594,0.999999996946,-6.0295566255e-05,3.19779057642e-05,-3.80891426156e-05,1793249637182854400
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745,717.018449964,681,663.981550036,638,884,785,815,651,629,654,0.426308781716,-0.0155612682286,0.0600340692953,0.999999995777,-5.80528142685e-05,6.06350270059e-05,-3.7419141043e-05,1793249637199520768
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745,717,681,664,638,884,785.571983464,815,651,629,654.571983464,0.427198009999,-0.0155649543818,0.0600157469071,0.999999995329,-7.55294941054e-05,4.43985659925e-05,-4.08168222721e-05,1793249637216188160
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745.159697802,717,681.159697802,664,638,884.159697802,785.840302198,815,651,629,654.840302198,0.428080208148,-0.0155664249424,0.0599939413086,0.999999995072,-8.67894642858e-05,1.94318104169e-05,-4.41056155319e-05,1793249637232855040
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745.738911231,717,681.738911231,664,638,884.738911231,785.261088769,815,651,629,654.261088769,0.428946446576,-0.015561935324,0.0599659501315,0.999999995405,-8.00008078892e-05,-2.45582233794e-05,-4.67540356859e-05,1793249637249521920
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745.684322372,717,681.684322372,664,638.315677628,885,785,815,651,629.315677628,654,0.42981613101,-0.0155582858948,0.0599376071407,0.999999993042,-7.72607881377e-05,-7.41377211377e-05,-4.94951798343e-05,1793249637266188288
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745.109564311,717,681.109564311,664,638.890435689,885,785,815,651,629.890435689,654,0.430688643579,-0.015555326019,0.0599089754135,0.999999987371,-7.78435335115e-05,-0.000128304557046,-5.23124234963e-05,1793249637282854912
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745.463847428,717,681.463847428,664,638.536152572,884.536152572,785.463847428,815,651,629.536152572,654.463847428,0.431632620481,-0.0155595905032,0.0599449396744,0.999999993377,-8.35669241278e-05,-6.08717792513e-05,-5.05683133615e-05,1793249637299521280
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,717.038253978,682,664,638,884.038253978,785.961746022,815,651,629,654.961746022,0.432586949991,-0.015565061451,0.059993490241,0.999999994381,-8.98752110098e-05,2.94968386755e-05,-4.78646264262e-05,1793249637316187648
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,717.631699963,682,664,638,884.631699963,785.368300037,815,651,629,654.368300037,0.433447247299,-0.0155633476239,0.0600039055357,0.999999994423,-8.71003528335e-05,3.70844224025e-05,-4.68260848676e-05,1793249637332854272
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,717.780783167,681.780783167,664.219216833,638,885,785,815.438433666,651,629.219216833,654,0.434302387987,-0.0155631891804,0.0600004946275,0.999999994812,-8.63237565465e-05,2.6235655744e-05,-4.7280443735e-05,1793249637349520896
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,717.202965218,681.202965218,664.797034782,638,885,785,816.594069563,651,629.797034782,654,0.435149093465,-0.0155655750773,0.0599744664259,0.999999994688,-8.88159732207e-05,-1.47718147869e-05,-5.01769312611e-05,1793249637366188288
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.627929042,745.627929042,717.372070958,681.372070958,665,638,885,785,816.627929042,651,630,654,0.435978041068,-0.01556518676,0.0599502409207,0.999999992877,-8.98058775482e-05,-5.76932591609e-05,-5.34110930858e-05,1793249637382855168
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.054399099,745.054399099,717.945600901,681.945600901,665,638,885,785,816.054399099,651,630,654,0.436797373561,-0.0155632963358,0.0599269914926,0.99999998917,-8.99823499169e-05,-0.000101651028134,-5.68280894891e-05,1793249637399521792
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.533231743,718,682,664.466768257,638,885,785,816,651,630,654,0.43754926168,-0.0155618123046,0.0599072736276,0.999999984284,-8.92028636165e-05,-0.00014185708933,-5.78849583651e-05,1793249637416188160
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.120280405,745.879719595,717.879719595,682,664,638,884.879719595,785,816,651,630,654,0.438307791511,-0.0155613020986,0.0598959870217,0.999999980389,-8.9483898577e-05,-0.000166816962215,-5.81870528935e-05,1793249637432854528
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.699470243,745.300529757,717.300529757,682,664,638,884.300529757,785,816,651,630,654,0.439118626166,-0.0155643448795,0.0599154565201,0.999999984838,-9.41933684487e-05,-0.000135107542283,-5.65530225302e-05,1793249637449521152
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,745,717.277267775,682,664.277267775,638,884.277267775,785.277267775,816,651,630,654,0.439930062346,-0.0155686800178,0.0599510834661,0.999999990409,-9.91659363411e-05,-8.04136982031e-05,-5.36865936268e-05,1793249637466187776
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,745,717.853563694,682,664.853563694,638,884.853563694,785.853563694,816,651,630,654,0.440742147208,-0.0155744089391,0.0600041359179,0.999999993323,-0.000104422249876,-9.31581420075e-07,-4.94910456912e-05,1793249637482854400
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,745,717.572370149,682,664.572370149,638,885,785.572370149,816,651,629.572370149,654,0.441464206473,-0.0155782052545,0.0599994975501,0.999999992762,-0.000109031186821,-7.93949625389e-06,-5.02439115321e-05,1793249637499521280
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.999035242,745.000964758,717,682,664.000964758,638,885,785,816.000964758,651,629.000964758,654,0.44215547384,-0.0155813433078,0.0599751679269,0.999999991189,-0.000113444838376,-4.44616811625e-05,-5.26869978417e-05,1793249637516187904
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.40840546,745.59159454,717,682,664.59159454,638,885,785,816.59159454,651,629.59159454,654,0.442771095512,-0.0155845428876,0.0599274569741,0.999999983186,-0.000133291443808,-0.000111853739938,-5.78742893808e-05,1793249637532854784
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.178869483,745.821130517,717,682,665,638,885,785,817,651.178869483,630,654,0.44338689092,-0.0155877276548,0.0598898677057,0.999999973296,-0.000148595364343,-0.000165719592755,-6.21697291676e-05,1793249637549521664
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.758625597,745.241374403,717,682,665,638,885,785,817,651.758625597,630,654,0.44400307583,-0.0155908792245,0.0598749633932,0.999999968196,-0.000153718114209,-0.000189270198352,-6.44663306754e-05,1793249637566188288
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.66305104,745.33694896,717,682,664.66305104,637.66305104,885,784.66305104,816.66305104,652,629.66305104,654,0.444599477379,-0.0155942261213,0.0598672155483,0.999999963766,-0.000159686283057,-0.000206300824597,-6.63919329363e-05,1793249637582854912
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.08574972,745.91425028,717,682,664.08574972,637.08574972,885,784.08574972,816.08574972,652,629.08574972,654,0.445181767027,-0.0155977123486,0.059864572554,0.999999959953,-0.000166257505701,-0.000218680619197,-6.80528939658e-05,1793249637599521536
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.495217967,745.504782033,717.495217967,682,664,637.495217967,885.495217967,784,816.495217967,651.504782033,629.495217967,654.495217967,0.445695945493,-0.0156023988862,0.0598388653065,0.999999945171,-0.000185424303113,-0.000264989008023,-7.11037004916e-05,1793249637616188416
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,745,717.923179896,682,664.076820104,638,886,784,817,651,630,655,0.446198456405,-0.015607232993,0.0598112523536,0.999999927558,-0.00020458560471,-0.000312243890539,-7.43808749574e-05,1793249637632855296
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+254,4.233333333,HOLD_POSE2,767,746,717,682,663.633000728,636,886.633000728,782,817,651.633000728,628.633000728,654.366999272,0.452427315365,-0.0156441457107,0.0596718521721,0.999999843902,-0.000233915762317,-0.000502652731982,-6.94189592844e-05,1793249638646849792
+255,4.250000000,HOLD_POSE2,767,746,717,682,663.057226007,636,886.057226007,782,817,651.057226007,628.057226007,654.942773993,0.45242821344,-0.0156456663282,0.0596733114747,0.999999844536,-0.000233234614271,-0.000501817035878,-6.86311534791e-05,1793249638663516416
+256,4.266666667,HOLD_POSE2,767,746,717,682,663,636,886.53302321,782,817,651,628.53302321,655,0.452427912213,-0.0156444855326,0.059673071207,0.999999844792,-0.000231993455918,-0.000501826859223,-6.90295040136e-05,1793249638680183040
+257,4.283333333,HOLD_POSE2,767,746,717,682.122111324,663,636,886.877888676,782,817,651.122111324,629,654.877888676,0.452427694473,-0.0156433260272,0.0596726893199,0.999999844867,-0.000231123192657,-0.000502013182012,-6.9498218192e-05,1793249638696849920
+258,4.300000000,HOLD_POSE2,767,746,717,682.700883688,663,636,886.299116312,782,817,651.700883688,629,654.299116312,0.452428283914,-0.0156433610326,0.0596724792418,0.999999844428,-0.00023187108963,-0.000502510609858,-6.9740537106e-05,1793249638713516800
+259,4.316666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,636,887,781,817,652,628,654,0.452427336484,-0.015643016942,0.0596710441122,0.999999843559,-0.000232546421397,-0.00050397897152,-6.93452171734e-05,1793249638751314432
+260,4.333333333,POSE2_TO_POSE3_RETREAT,767,746,717.408989497,682.591010503,663.408989497,636,886.408989497,781,816.408989497,651.408989497,628,654,0.452426689194,-0.0156427620966,0.0596702890395,0.999999843617,-0.000231196977739,-0.000504491374319,-6.93030378086e-05,1793249638767981312
+261,4.350000000,POSE2_TO_POSE3_RETREAT,767,746,717,682.821666875,663,636,886.178333125,781,816.178333125,651.178333125,628.178333125,654,0.452426881871,-0.0156429738268,0.0596704622622,0.99999984377,-0.000230997785887,-0.000504298260104,-6.91590842517e-05,1793249638784647936
+262,4.366666667,POSE2_TO_POSE3_RETREAT,767,746,717,682.242630576,663,636,886.757369424,781,816.757369424,651.757369424,628.757369424,654,0.4524289619,-0.0156442339232,0.0596727213053,0.999999844137,-0.000233383136329,-0.000502519894189,-6.87864505578e-05,1793249638801314304
+263,4.383333333,POSE2_TO_POSE3_RETREAT,767,746,717,682.335270263,663,636,887,781,817,651.664729737,628.664729737,654,0.452428471842,-0.0156443834473,0.0596723466777,0.999999843871,-0.00023371631136,-0.000502884392045,-6.88559691932e-05,1793249638817980672
+264,4.400000000,POSE2_TO_POSE3_RETREAT,767,746,717,682.912352123,663,636,887,781,817,651.087647877,628.087647877,654,0.452426128124,-0.0156437319782,0.0596700725315,0.99999984315,-0.00023256936746,-0.000504794417211,-6.92443874765e-05,1793249638834647040
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766.510976204,746,717,683,663,636,887,781.489023796,817,651,628,654,0.452425781456,-0.0156434815157,0.0596698745894,0.99999984316,-0.000231960185986,-0.00050508258259,-6.90331819427e-05,1793249638851314176
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766.066788484,746,717,682.933211516,663,636,886.933211516,782,817,651.066788484,628.066788484,654,0.452426054841,-0.015643303424,0.0596702429349,0.999999843459,-0.000231513178942,-0.000504731519493,-6.87682150305e-05,1793249638867980800
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766.653636102,746,717,682.346363898,663,636,886.346363898,782,817,651.653636102,628.653636102,654,0.452428371613,-0.0156431296813,0.059672125635,0.999999844977,-0.000231579093803,-0.000501664581251,-6.89207633239e-05,1793249638884647424
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,746,717,682.229850346,663,636,886,782,817,651.770149654,628.770149654,654.229850346,0.452426430749,-0.015643175533,0.0596715524776,0.99999984459,-0.000231750990801,-0.000502334879333,-6.90763931308e-05,1793249638901314048
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767,746,717,682.790749505,663,636,886,782,817,651.209250495,628.209250495,654.790749505,0.452418357697,-0.0156435376619,0.059667442198,0.999999841445,-0.000232075531722,-0.000508387843711,-6.92364611649e-05,1793249638917980416
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767,745.625943701,717,682.625943701,663,636,886,781.625943701,817,651,628.374056299,655,0.452397415164,-0.0156431568899,0.0596585724375,0.999999833825,-0.000231843690595,-0.000523205826622,-6.96682449605e-05,1793249638934647040
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,745.029303062,717,682.029303062,663,636,886,781.029303062,817,651,628.970696938,655,0.452368814573,-0.0156423340506,0.0596468705203,0.999999823232,-0.000231280771107,-0.000543239484332,-7.02617147667e-05,1793249638951313664
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767,745.545134599,717,682.545134599,663,636,886,781.545134599,817,651.545134599,629,654.454865401,0.452320269352,-0.0156386171463,0.0596315446284,0.999999809586,-0.000230769227497,-0.000567815490647,-7.18208259773e-05,1793249638967980288
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766.878364173,746,717.121635827,682.878364173,663.121635827,636,886,781.878364173,817,652,628.878364173,654,0.452267918961,-0.0156345449071,0.0596167810487,0.999999796853,-0.000229606832855,-0.000590085692253,-7.32991465702e-05,1793249638984646912
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766.289531993,746,717.710468007,682.289531993,663.710468007,636,886,781.289531993,817,652,628.289531993,654,0.452204909833,-0.0156296819852,0.0596048962174,0.999999790156,-0.000225934364157,-0.000602598301255,-7.4275586545e-05,1793249639001313792
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766.29476162,746,717.70523838,682,663.70523838,636,886,781.29476162,817,651.70523838,628.29476162,654,0.452131119078,-0.0156246074279,0.0595946267153,0.999999783111,-0.000221725604326,-0.000615634403123,-7.48962867772e-05,1793249639017980672
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766.874664754,746,717.125335246,682,663.125335246,636,886,781.874664754,817,651.125335246,628.874664754,654,0.452046898579,-0.0156193281427,0.059585919824,0.999999775699,-0.000216998056456,-0.000629176911898,-7.51728574491e-05,1793249639034647296
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767,746,717,682,663.451529211,636,886,782,817,651.451529211,628.548470789,654,0.451954815816,-0.0156160980755,0.0595868639391,0.999999777134,-0.000217002766344,-0.00062701411552,-7.41344296502e-05,1793249639051313920
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,746,717,682,663.972444493,636,886,782,817,651.972444493,628,654,0.451858877605,-0.0156132296457,0.059590413435,0.999999780908,-0.000218113140793,-0.000620737498687,-7.27695711426e-05,1793249639067980288
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,746,717,682,663.396424506,636,886,782,817,651.396424506,628,654,0.45172934872,-0.0156063131202,0.0595928556177,0.999999782792,-0.000215259991333,-0.000618770254234,-7.21241586976e-05,1793249639084646912
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,745.815392315,717,682,663,636.184607685,886,782,817,651,628,654,0.451591349756,-0.0155986615122,0.0595943186183,0.999999783547,-0.000211226996729,-0.000619031121251,-7.13420421714e-05,1793249639101313536
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,745.223296671,717,682,663,636.776703329,886,782,817,651,628,654,0.451434654648,-0.0155893873442,0.0595936202516,0.999999781784,-0.000204589708489,-0.000624210140176,-7.02581762819e-05,1793249639117980160
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,745.357522723,717,682,663,637,886.357522723,782,817,651.357522723,628,654.357522723,0.451259127808,-0.0155807586099,0.0595935655164,0.99999978179,-0.00020028242947,-0.000625751126947,-6.88622006254e-05,1793249639134647040
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,745.931514741,717,682,663,637,886.931514741,782,817,651.931514741,628,654.931514741,0.451072198903,-0.0155725206654,0.0595939004807,0.999999782888,-0.00019738590058,-0.000625089394772,-6.7277251754e-05,1793249639151314176
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746,717.507654926,682.507654926,663,636.492345074,886.492345074,782,817,652,628.507654926,654.492345074,0.450848849559,-0.0155611907427,0.0595905261676,0.9999997789,-0.00019249402826,-0.000633049756766,-6.62882931018e-05,1793249639167981056
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766.913885122,746,718,682.913885122,663,636,886,782,817,651.913885122,629,654,0.450615384313,-0.0155496408097,0.0595865674698,0.999999774534,-0.000187370157919,-0.000641518770116,-6.54062116255e-05,1793249639184647680
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766.323546175,746,718,682.323546175,663,636,886,782,817,651.323546175,629,654,0.450351578716,-0.0155392553989,0.0595821294734,0.999999772521,-0.000182470705329,-0.000646126506103,-6.46771471469e-05,1793249639201313792
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,717.738274687,682,663.261725313,636.261725313,886.261725313,782.261725313,817,651,629,654,0.450070544122,-0.0155304821397,0.059579231086,0.999999771693,-0.00017819701842,-0.000648709217008,-6.35331481102e-05,1793249639217980160
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,717.159148667,682,663.840851333,636.840851333,886.840851333,782.840851333,817,651,629,654,0.449768615516,-0.0155236639768,0.0595781998206,0.999999772334,-0.000174682213201,-0.000648836130069,-6.1885947803e-05,1793249639234646784
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,766.991782161,746,717,682,664,636.008217839,886.008217839,783,817,651.991782161,629,654.991782161,0.449102671549,-0.0155166458897,0.0595758111253,0.99999977505,-0.000175386918557,-0.000644819905157,-5.78500297644e-05,1793249639267980288
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,746,717,682,664,636,886,783,817.565699025,652,628.434300975,655,0.448728277038,-0.015517349944,0.0595828288022,0.999999782619,-0.000176991959365,-0.000632818053304,-5.45698613834e-05,1793249639284647424
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746,717.143856641,682,664,636,886,783,817.856143359,651.856143359,628.143856641,655,0.448344757027,-0.0155174326431,0.0595916576374,0.999999792164,-0.000172457892011,-0.000619124108522,-5.11438584735e-05,1793249639301314560
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,746,717.735250666,682,664,636,886,783,817.264749334,651.264749334,628.735250666,655,0.447934493418,-0.0155154160122,0.0596057493106,0.999999807449,-0.000148796360939,-0.000600601606664,-4.73184470003e-05,1793249639317981184
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,746,717.680569817,682,664,636.319430183,886,783.319430183,817,651.319430183,629,654.680569817,0.447513611243,-0.0155107479942,0.0596283346622,0.999999833257,-0.000119096882262,-0.000563453526843,-4.26855677203e-05,1793249639334647552
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746,717.10223768,682,664,636.89776232,886,783.89776232,817,651.89776232,629,654.10223768,0.44708412255,-0.0155039309952,0.0596578042424,0.999999865063,-8.45035725151e-05,-0.000511209191587,-3.73982256753e-05,1793249639351313920
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,717,682,664,637,886,783.524478245,816.524478245,651.524478245,629,654,0.446601605292,-0.0154949395109,0.0596822011904,0.999999880379,-7.4069767531e-05,-0.000482427950203,-3.19180200762e-05,1793249639367980544
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,745.041881842,717,682,664,637,886,784,817,651,629.958118158,654,0.443154808185,-0.0154531128702,0.0597145765206,0.999999906972,1.69046965027e-05,-0.000430928046274,-8.4921489292e-06,1793249639467981312
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,745.602729063,717,682,664.602729063,637.602729063,884.397270937,785,815.397270937,651,629.397270937,654,0.437330483397,-0.0154208876224,0.0598036831879,0.999999935304,0.00016325895473,-0.000318792665919,3.33215766345e-05,1793249639601313792
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,745.233060721,717,682,664.233060721,638,884,785,815.766939279,651,629.766939279,654,0.435591964493,-0.0154109490177,0.0597370059102,0.999999890678,0.000194243538337,-0.000423859790813,3.54474776314e-05,1793249639634646784
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,745,717,682,664,638,884,785,815.653902372,651,629.653902372,654,0.434738838913,-0.0154078853639,0.0597296556088,0.999999898452,0.000165156646981,-0.000418672647318,2.30657397503e-05,1793249639651313152
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,745,717,682,664,638,884,785,815.074990751,651,629.074990751,654,0.433912051853,-0.0154058241608,0.0597453135053,0.999999927172,0.000102096971681,-0.000367731650108,2.17471575572e-06,1793249639667979776
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,745,717.499530931,682,664,637.500469069,883.500469069,785,815,651,629,654,0.433058628109,-0.0154124114223,0.0597670660284,0.999999939277,7.80338324175e-05,-0.00033963917403,1.02734231441e-06,1793249639684646656
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,745,717.924818379,682,663.924818379,637.075181621,883,785,815,651,629,654,0.43220153052,-0.0154189359742,0.0597883436561,0.999999948064,6.55466712222e-05,-0.000315538241055,3.49937990817e-06,1793249639701313280
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,745,717.337015495,682,663.337015495,637.662984505,883,785,815,651,629,654,0.431346411233,-0.0154162574933,0.0598001991149,0.999999952022,9.24205001288e-05,-0.000295469410498,1.06166062366e-05,1793249639717979904
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766.753937846,745,717,681.753937846,663.246062154,638,883,785,814.753937846,651,629,654,0.430470801067,-0.0154136372815,0.0598161126794,0.99999995633,0.000114974426862,-0.00027170033646,1.73052441172e-05,1793249639734646784
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766.177210024,745,717,681.177210024,663.822789976,638,883,785,814.177210024,651,629,654,0.429567654527,-0.0154110953731,0.0598374796489,0.999999961536,0.000131723143926,-0.000242958762107,2.34179330523e-05,1793249639751313664
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766.401412231,745,717,681,663.598587769,637.598587769,883,785,814,651,629,654,0.428610009453,-0.0154049063467,0.0598058054848,0.999999942919,0.000141283358632,-0.000306134948616,2.19431583627e-05,1793249639767980032
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766.980874746,745,717,681,663.019125254,637.019125254,883,785,814,651,629,654,0.427628191081,-0.015397099606,0.0597506044107,0.999999904869,0.000147655041229,-0.000410082147349,1.71028901236e-05,1793249639784646656
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,745,717,681,663,637.554614041,882.445385959,785,814.554614041,651,629.554614041,654,0.426747876565,-0.0154015158557,0.059746707755,0.999999914609,0.000140680923587,-0.000388263253209,1.55867821677e-05,1793249639801313280
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,745,717,681,662.868053406,638,882,785,814.868053406,651,629.868053406,654,0.42587119758,-0.0154056379727,0.0597528079132,0.999999925437,0.000136415229348,-0.000360932515504,1.56191045505e-05,1793249639817979648
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,745,717,681,662.277554406,638,882,785,814.277554406,651,629.277554406,654,0.424995113029,-0.0154072880338,0.0597875642804,0.999999935301,0.000143145131319,-0.00032936458627,2.0638364985e-05,1793249639834646272
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,745,717.307040911,681,662,638,881.385918178,785,814,651,629,654,0.424097694296,-0.0154072265964,0.0598115381202,0.999999941993,0.000149681312458,-0.000305003417348,2.41514901743e-05,1793249639851313152
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,745,717.886400147,681,662,638,880.227199706,785,814,651,629,654,0.423181354066,-0.0154056472099,0.0598259488032,0.999999946284,0.000156045679931,-0.000287034013776,2.63288054037e-05,1793249639867979776
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,745,717.536006534,681,662,638,880,785,814,651,629,653.536006534,0.422305543814,-0.0154046501379,0.0598351350573,0.999999951636,0.000157402756377,-0.000266850222947,2.72751324467e-05,1793249639884646656
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,745,717.04095364,681,662,638,880.04095364,785,814,651,629,653,0.421433497867,-0.0154033593397,0.059838869242,0.999999954769,0.000157849463563,-0.000254528475456,2.75683018539e-05,1793249639901313024
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745,717.615276805,681,662,638,880.615276805,785,814,651,629,653,0.420481733738,-0.0153963933945,0.0597881926015,0.999999924728,0.000162345528001,-0.000351633998939,2.32651767946e-05,1793249639917979648
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,745,717.805203723,680.805203723,662,638,880.610407447,785,814,651,629.194796277,653.194796277,0.419563939157,-0.0153914922174,0.0597440705783,0.999999895693,0.000164502838586,-0.00042565506594,1.92269272035e-05,1793249639934646528
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,745,717.215140158,680.215140158,662,638,879.430280315,785,814,651,629.784859842,653.784859842,0.418715073089,-0.0153907807253,0.0597132487273,0.999999884239,0.000161914513067,-0.000452834755018,1.57261443824e-05,1793249639951313152
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,745,717.367876045,680,662,638,879.367876045,785,813.632123955,651,629.632123955,654,0.41788810629,-0.0153935012847,0.0597293250137,0.999999898234,0.000160252045892,-0.000421378955369,1.70874154239e-05,1793249639967979776
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,745,717.946848264,680,662,638,879.946848264,785,813.053151736,651,629.053151736,654,0.41707370587,-0.0153981912385,0.0597723125878,0.999999923648,0.00015912085828,-0.000356276690753,2.12386507545e-05,1793249639984646400
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,880,785,813,651,629.522343651,653.477656349,0.416294331347,-0.0153979598315,0.0598076273572,0.999999937489,0.000168176807254,-0.000309957099631,2.57852043747e-05,1793249640001313024
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,880,785,813,651,629.900539481,653.099460519,0.415521932678,-0.0153972764158,0.0598361391104,0.999999946429,0.000175492986612,-0.000274724163269,2.95269195835e-05,1793249640017979648
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,880,785,813,651,629.313755933,653.686244067,0.414766365923,-0.0153968157345,0.0598351185216,0.999999944782,0.000169239450852,-0.000284509519418,2.91294067016e-05,1793249640034646784
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,879.730551288,785,813,651,629.269448712,654,0.414009964471,-0.0153959987007,0.0598350978162,0.999999943855,0.000169742906805,-0.000287459567645,2.9071346339e-05,1793249640051313408
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,879.151459461,785,813,651,629.848540539,654,0.413252603859,-0.0153947721564,0.0598362261499,0.999999943805,0.000178011313908,-0.000282554665642,2.94033755888e-05,1793249640067980032
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,745.426254355,717.573745645,680,662,638,879.426254355,785,813,651,629.573745645,654,0.412462223913,-0.0153877294437,0.0598024454841,0.999999924631,0.000183060381497,-0.000341378419108,2.62261804507e-05,1793249640084646656
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745.996534736,717.003465264,679.996534736,661.996534736,638,880,785,813,651,629,654,0.4116609563,-0.0153786717833,0.0597564977393,0.999999893104,0.000186978847578,-0.000422320923139,2.18151659766e-05,1793249640101313536
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745.4217783,717.5782217,679.4217783,661.4217783,638,880,785,813,651,629,654,0.410992771213,-0.0153770382344,0.0597430353528,0.999999889439,0.000192484876622,-0.000428619899027,1.8901666192e-05,1793249640117980160
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.156705357,661.156705357,638,879.843294643,785,813.156705357,651,629,653.843294643,0.410347612923,-0.0153782221178,0.0597448322758,0.999999894548,0.000193450651421,-0.000416116209127,1.81370798994e-05,1793249640134646528
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.745465525,661.745465525,638,879.254534475,785,813.745465525,651,629,653.254534475,0.409765942026,-0.0153871739879,0.0597887008781,0.999999921314,0.000181898420378,-0.000351771393145,2.32972961881e-05,1793249640151313408
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.670568713,638,879,785,813.670568713,651,629.329431287,653.329431287,0.409184087955,-0.0153907374082,0.0598248469788,0.999999939523,0.00018018713892,-0.000296220560365,2.72175049979e-05,1793249640167980544
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.090254237,638,879,785,813.090254237,651,629.909745763,653.909745763,0.408602094422,-0.0153901971756,0.0598551118934,0.999999951656,0.000185970376558,-0.000247366917498,3.01933677693e-05,1793249640184648192
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,661,638,878.515535148,785,813,651,629.515535148,653.515535148,0.408016943221,-0.0153863682848,0.0598490069056,0.999999948576,0.000191559576063,-0.000255530326999,2.92630141156e-05,1793249640201315072
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.94172213,745,718,679.94172213,661,637.94172213,878.05827787,785,813,651,629,653,0.407436980728,-0.0153822109192,0.0598358786252,0.999999942631,0.000196188906207,-0.000274748198892,2.75984057403e-05,1793249640217981440
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766.366806009,745,718,679.366806009,661,637.366806009,878.633193991,785,813,651,629,653,0.406908171994,-0.0153805109222,0.0598198686658,0.999999936452,0.00019262571558,-0.000298874227682,2.58021676404e-05,1793249640234647808
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.215020137,745,718,679,661,637.215020137,879,785,813,651,629,653.215020137,0.406407156342,-0.0153810161918,0.0598115874558,0.999999934732,0.000184865480496,-0.000309436935836,2.47083484205e-05,1793249640251314176
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766.809025534,745,718,679,661,637.809025534,879,785,813,651,629,653.809025534,0.405955127638,-0.0153854083696,0.0598169286095,0.999999941455,0.000169707715543,-0.000296093515006,2.48525827656e-05,1793249640267980800
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,878.609734431,785,813,651,629,654,0.405517411601,-0.0153837566301,0.0598205343388,0.999999939267,0.000193282329488,-0.000288906000763,2.53416923283e-05,1793249640284647168
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,878.034543157,785,813,651,629,654,0.405086477521,-0.0153792410061,0.0598233177452,0.999999931492,0.00023521011731,-0.000284635435493,2.59942195466e-05,1793249640301314048
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.534231283,638,878.534231283,785,813,651.534231283,629,654,0.404673178472,-0.0153791667992,0.0598076023549,0.999999927184,0.000227785751939,-0.0003050739168,2.59791307658e-05,1793249640317980928
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,744.892168587,718,679,661.892168587,637.892168587,879,784.892168587,813,651.892168587,629.107831413,654,0.404268099414,-0.0153790699734,0.0597896658683,0.99999992103,0.00021916457305,-0.00033052807568,2.56453622822e-05,1793249640334647808
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,744.294799108,718,679,661.294799108,637.294799108,879,784.294799108,813,651.294799108,629.705200892,654,0.403895222494,-0.0153775821813,0.0597670117084,0.999999906599,0.000219425148622,-0.000371585531549,2.40584858625e-05,1793249640351314688
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,744.292578991,717.707421009,679,661,637.292578991,879,784,813.292578991,651.292578991,629.707421009,654,0.403565412331,-0.0153765203542,0.0597589605278,0.999999901289,0.00022413262553,-0.000382901207498,2.39584191736e-05,1793249640367981056
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,744.870222295,717.129777705,679,661,637.870222295,879,784,813.870222295,651.870222295,629.129777705,654,0.403277562808,-0.0153758735515,0.0597651372608,0.999999905795,0.000233172788551,-0.000365238997295,2.53069747115e-05,1793249640384647424
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745,717.4475012,679,661,638,879,784.4475012,813.5524988,651.5524988,629,653.5524988,0.403029789704,-0.0153756857409,0.0597833348255,0.999999915984,0.000235939197739,-0.000334048328374,2.78771996961e-05,1793249640401314048
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.975341922,661.024658078,638,879,785,813,651,629.024658078,653.024658078,0.402794489317,-0.0153756790509,0.0598047650115,0.999999926658,0.000236853434,-0.000299392723553,3.08011347554e-05,1793249640417980672
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.398552901,661.601447099,638,879,785,813,651,629.601447099,653.601447099,0.402578441105,-0.0153767498125,0.059820582854,0.999999933554,0.000237001179237,-0.000274929633732,3.37185277683e-05,1793249640434647296
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745,718,678,662,638,878.818294066,785,813,651,630,653.818294066,0.402369091134,-0.0153762940223,0.0598312358044,0.999999938755,0.000232582020153,-0.000259246131351,3.44407847641e-05,1793249640451313920
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745,718,678,662,638,878.230276479,785,813,651,630,653.230276479,0.402174719097,-0.015372424718,0.0598303395652,0.999999941155,0.000217950831275,-0.00026319462044,3.02545096453e-05,1793249640467980800
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.351706777,661.648293223,638,878.351706777,785,813,651.351706777,629.648293223,653,0.401993286397,-0.0153735662598,0.0598260669058,0.999999945278,0.000184201756612,-0.000273917929172,2.19650134732e-05,1793249640484647936
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.929805817,661.070194183,638,878.929805817,785,813,651.929805817,629.070194183,653,0.401820182678,-0.0153779332632,0.0598196208579,0.999999948636,0.000138146572634,-0.000289002162413,1.103428967e-05,1793249640501314816
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.492359422,661.507640578,637.492359422,878.492359422,785,813,651.492359422,629.507640578,653.507640578,0.401683945185,-0.0153863424682,0.0598197832389,0.999999945325,0.00015634098232,-0.000291171099072,1.12432322844e-05,1793249640517980928
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..152dd14e07836c789cccc4881194fc87aaffeb4c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_03/simulation_data.csv
@@ -0,0 +1,402 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..410e5d1d4aaa5ebee252712fc6afe7e406e6f3cc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
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+size 25648485
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0a2623b3239b7826fadf1bac765018a8fa544cea
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_04/franka_data.csv
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+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,767,745,718,678,662,637,879,786,813,652,629,654,0.400975206357,-0.0153936038242,0.0598412482516,0.999999947595,0.000188880669037,-0.000262254920881,1.89036869191e-05,1793249641250507264
+1,0.016666667,BASELINE,767,745,718,678,662,637,879,785.423297882,813,651.423297882,629.576702118,654,0.400973587279,-0.0153941426737,0.0598403887016,0.999999947471,0.000187148404608,-0.000263956755146,1.89936325793e-05,1793249641267173376
+2,0.033333333,BASELINE,767,745,718,678.158099411,661.841900589,637.158099411,878.841900589,785,813,651.158099411,629.841900589,654,0.400972399746,-0.0153945972615,0.0598398941528,0.999999947407,0.000185962579497,-0.000265031913236,1.90025908038e-05,1793249641283839744
+3,0.050000000,BASELINE,767,745,718,678.752452527,661.247547473,637.752452527,878.247547473,785,813,651.752452527,629.247547473,654,0.400972403005,-0.0153948193409,0.0598404067743,0.999999947525,0.000186284578564,-0.00026437784451,1.87880752953e-05,1793249641300506112
+4,0.066666667,BASELINE,767,745,718,679,661,637.66345535,878,784.66345535,813,651.66345535,629.33654465,654,0.400972000401,-0.0153946037277,0.0598400731926,0.999999947448,0.000185951003296,-0.000264906066957,1.87570020278e-05,1793249641317172480
+5,0.083333333,BASELINE,767,745,718,679,661,637.086687487,878,784.086687487,813,651.086687487,629.913312513,654,0.400971308095,-0.0153940756925,0.0598391355969,0.99999994723,0.00018514948364,-0.000266278200598,1.88568685595e-05,1793249641333838848
+6,0.100000000,BASELINE,767,745,718,679,661.486937147,637.486937147,878,784.486937147,813,651,630,654,0.400972679033,-0.01539450922,0.0598400710824,0.999999947591,0.000185395803773,-0.000264735072148,1.90394429438e-05,1793249641350505984
+7,0.116666667,BASELINE,767,745,718,679,662,638,878,785,813,651.061883961,629.938116039,654,0.400974183958,-0.0153951614171,0.05984116267,0.999999948023,0.000185682864482,-0.000262879540777,1.92180577521e-05,1793249641367173120
+8,0.133333333,BASELINE,767,745,718,679,662,638,878,785,813,651.652889546,629.347110454,654,0.400973714049,-0.015396229021,0.0598407561178,0.99999994823,0.000184733513907,-0.00026276193564,1.92377300029e-05,1793249641383839744
+9,0.150000000,BASELINE,767,745,718,679,661.761101963,637.761101963,878,784.761101963,813,651.761101963,629,653.761101963,0.400973343406,-0.0153961383853,0.0598405498221,0.999999948253,0.00018471464135,-0.000262701098562,1.90476366773e-05,1793249641400506368
+10,0.166666667,BASELINE,767,745,718,679,661.182205363,637.182205363,878,784.182205363,813,651.182205363,629,653.182205363,0.400973114038,-0.0153943993486,0.0598406285307,0.999999948015,0.000186020020813,-0.000262721053526,1.85590059677e-05,1793249641417172992
+11,0.183333333,BASELINE,767,745,718,678.604934197,661.395065803,637.395065803,878.395065803,784,813,651,629,653.395065803,0.400972860523,-0.0153950242261,0.0598398866144,0.999999947773,0.000185662697017,-0.000263889037221,1.85744163842e-05,1793249641433839104
+12,0.200000000,BASELINE,767,745,718,678.028409565,661.971590435,637.971590435,878.971590435,784,813,651,629,653.971590435,0.400972595918,-0.0153967348798,0.0598387677744,0.999999947528,0.000184541672234,-0.000265584325352,1.88213393623e-05,1793249641450505216
+13,0.216666667,BASELINE,767,745,718,678.545024818,661.454975182,637.454975182,878.454975182,784,813,651,629,653.454975182,0.400972783176,-0.0153959361567,0.0598397430846,0.999999947491,0.000185801132102,-0.000264839933143,1.88597400999e-05,1793249641467171840
+14,0.233333333,BASELINE,767,745,718,679,661.121909479,637,878,784,813,651,629,653.121909479,0.400973120077,-0.015395398415,0.0598406921483,0.999999947577,0.000186595050318,-0.000263947028995,1.89602310906e-05,1793249641483838976
+15,0.250000000,BASELINE,767,745,718,679,661.71268001,637,878,784,813,651,629,653.71268001,0.400973942424,-0.0153963646271,0.0598411228161,0.999999948101,0.000185123975075,-0.000262969282652,1.93410870858e-05,1793249641500505856
+16,0.266666667,BASELINE,767,745,718,678.702623067,661.702623067,637,878.297376933,784,813,651,629.297376933,654,0.400973532378,-0.0153968251604,0.0598412758437,0.999999948429,0.000183410333093,-0.000262927780737,1.92835587939e-05,1793249641517172736
+17,0.283333333,BASELINE,767,745,718,678.123676933,661.123676933,637,878.876323067,784,813,651,629.876323067,654,0.400971955451,-0.0153968068955,0.0598411659895,0.99999994857,0.000181467018632,-0.000263772755158,1.88109494824e-05,1793249641533839616
+18,0.300000000,BASELINE,766.545950445,745,718,678.454049555,661.454049555,637.454049555,878.545950445,784.454049555,813,651,629.545950445,653.545950445,0.400973210518,-0.015396440583,0.059841502213,0.999999948742,0.000182286337395,-0.000262556997691,1.87264107281e-05,1793249641550505984
+19,0.316666667,BASELINE,766.031179655,745,718,679,662,637.968820345,878,785,813,651,629.031179655,653,0.400975093362,-0.0153959595351,0.0598419444132,0.999999948893,0.000183812217084,-0.000260914466788,1.87424674886e-05,1793249641567172608
+20,0.333333333,BASELINE,766.603707805,745,718,679,662,637.396292195,878,785,813,651,629.603707805,653,0.400974518551,-0.0153951280142,0.0598421226526,0.999999948579,0.000184575427613,-0.00026158177608,1.86747261999e-05,1793249641583839232
+21,0.350000000,BASELINE,767,745,718,678.81692084,662,637,878,785,813,651,630,653,0.400974111879,-0.0153948569733,0.0598422432035,0.999999948399,0.000184917501828,-0.000262018683633,1.87970589689e-05,1793249641600505856
+22,0.366666667,BASELINE,767,745,718,678.22216162,662,637,878,785,813,651,630,653,0.400974083292,-0.0153958462529,0.0598422340335,0.999999948522,0.000184312589827,-0.000261937499351,1.93468008493e-05,1793249641617172224
+23,0.383333333,BASELINE,766.639665068,745,718,678,661.639665068,637.360334932,878.360334932,785,813,651,629.639665068,653.360334932,0.400973067168,-0.0153951652596,0.0598415683596,0.99999994799,0.000185784216145,-0.000262930837534,1.92794103541e-05,1793249641633839104
+24,0.400000000,BASELINE,766.064480087,745,718,678,661.064480087,637.935519913,878.935519913,785,813,651,629.064480087,653.935519913,0.400971462224,-0.0153934883647,0.0598405112446,0.99999994706,0.000188493980375,-0.000264564860763,1.88440541386e-05,1793249641650505984
+25,0.416666667,BASELINE,766,745,718,678,661,637.488782304,878.488782304,784.488782304,813,651,629.511217696,654,0.400972486889,-0.0153938291842,0.0598412186403,0.999999947869,0.000186303564179,-0.0002630752242,1.85802776729e-05,1793249641667172608
+26,0.433333333,BASELINE,766.089127095,745,718,678,661,637.089127095,878.089127095,784,813,651,630,654,0.400973522121,-0.01539457613,0.0598419181213,0.999999948707,0.000183726135588,-0.00026170600401,1.84338177033e-05,1793249641683838720
+27,0.450000000,BASELINE,766.679100992,745,718,678,661,637.679100992,878.679100992,784,813,651,630,654,0.400972751029,-0.0153961737267,0.0598413212109,0.999999948534,0.000182450567171,-0.000263229687163,1.88248784882e-05,1793249641700505344
+28,0.466666667,BASELINE,766.735973386,745,718,678.264026614,661,638,879,784.264026614,813,651,629.735973386,654,0.400972752364,-0.0153970562457,0.0598414366262,0.999999948559,0.000181965183681,-0.000263453842051,1.90226590854e-05,1793249641717172224
+29,0.483333333,BASELINE,766.157068375,745,718,678.842931625,661,638,879,784.842931625,813,651,629.157068375,654,0.400973674897,-0.0153970859621,0.0598424015619,0.999999948825,0.000182422175582,-0.000262128178178,1.89899335197e-05,1793249641733838848
+30,0.500000000,BASELINE,766.418461621,745,717.581538379,679,661,637.581538379,878.581538379,785,813,651.418461621,629,654,0.400973995208,-0.0153966922065,0.0598425924948,0.999999948746,0.000183340296197,-0.000261789818704,1.89990810742e-05,1793249641750505216
+31,0.516666667,BASELINE,766.992734937,745,717.007265063,679,661,637.007265063,878.007265063,785,813,651.992734937,629,654,0.400974091285,-0.0153961407736,0.0598424952324,0.999999948537,0.000184430115338,-0.000261819076178,1.90238198366e-05,1793249641767171840
+32,0.533333333,BASELINE,767,745,717.568583107,679,661,637.568583107,878,785,813,651.431416893,629.568583107,653.431416893,0.400974701917,-0.0153967661531,0.0598433558735,0.999999948742,0.000184905985883,-0.000260679554045,1.92715462217e-05,1793249641783838464
+33,0.550000000,BASELINE,767,745,718,678.851905063,661.148094937,638,878,785,813,651,630,653.148094937,0.400975156438,-0.0153968142941,0.0598438094099,0.999999948872,0.000185429387119,-0.000259801318181,1.93584051275e-05,1793249641800505344
+34,0.566666667,BASELINE,767,745,718,678.261511766,661.738488234,638,878,785,813,651,630,653.738488234,0.400975125033,-0.0153950934295,0.0598430104361,0.999999948766,0.000186118236808,-0.000259748162383,1.8956286241e-05,1793249641817171968
+35,0.583333333,BASELINE,767,745,717.677278286,678.322721714,661.677278286,638,878,785,813,650.677278286,629.677278286,654,0.400974158125,-0.0153956013441,0.0598423471752,0.999999948718,0.000184850250905,-0.000260840568894,1.8882303004e-05,1793249641833838592
+36,0.600000000,BASELINE,767,745,717.097942753,678.902057247,661.097942753,638,878,785,813,650.097942753,629.097942753,654,0.400972447346,-0.0153978814838,0.059841791827,0.999999948708,0.000182026277258,-0.000262843875118,1.90692384608e-05,1793249641850505216
+37,0.616666667,BASELINE,767,745,717.477435267,679,661,637.522564733,878.477435267,784.522564733,813,650.477435267,629.477435267,654,0.400973975759,-0.0153979347303,0.0598422843763,0.999999948964,0.000182959721425,-0.000261209953834,1.91727777035e-05,1793249641867171840
+38,0.633333333,BASELINE,767,745,718,679,661,637,878.947977753,784,813,651,629.947977753,653.947977753,0.400975807142,-0.0153973958429,0.059842880067,0.999999949147,0.000184744252475,-0.000259241990866,1.92262262864e-05,1793249641883838464
+39,0.650000000,BASELINE,767,745,718,679,661,637,878.373248272,784,813,651,629.373248272,653.373248272,0.400974060857,-0.015395459745,0.059842369893,0.999999948109,0.000187399059169,-0.000261353196034,1.89468617284e-05,1793249641900505088
+40,0.666666667,BASELINE,767,745,718,678.792815492,661,637.207184508,878.207184508,784.207184508,813,651,629.207184508,653,0.400973181763,-0.0153953008655,0.0598421647969,0.999999947958,0.000186759822113,-0.000262390623744,1.8866719515e-05,1793249641917171712
+41,0.683333333,BASELINE,767,745,718,678.201817263,661,637.798182737,878.798182737,784.798182737,813,651,629.798182737,653,0.400973909159,-0.0153984343209,0.0598425248637,0.999999949438,0.000180018298581,-0.000261438855674,1.91556409613e-05,1793249641933838592
+42,0.700000000,BASELINE,767,745,718,678,661.380867119,637.619132881,879,784.619132881,813,651,630,653.380867119,0.400973981986,-0.015398855674,0.0598421908004,0.999999949654,0.000179005957552,-0.000261311800862,1.9119586128e-05,1793249641950505216
+43,0.716666667,BASELINE,767,745,718,678,661.959240177,637.040759823,879,784.040759823,813,651,630,653.959240177,0.400973715374,-0.0153978706143,0.0598414967825,0.999999949226,0.000180964594061,-0.000261612416938,1.89150086117e-05,1793249641967172096
+44,0.733333333,BASELINE,767,745,718,678,661.465080713,637,878.465080713,784,813,651,629.465080713,654,0.400972330908,-0.0153992255341,0.0598416695315,0.999999949244,0.00017962154828,-0.000262462139853,1.90183593077e-05,1793249641983838720
+45,0.750000000,BASELINE,767,745,718,678,661,637,878,784.112244667,813,651,629.112244667,654,0.400971404615,-0.0153998995575,0.0598419098085,0.999999949187,0.000179089520809,-0.000263038894868,1.9065213472e-05,1793249642000505600
+46,0.766666667,BASELINE,767,745,718,678,661,637,878,784.697365943,813,651,629.697365943,654,0.400972765612,-0.0153969576201,0.059842157723,0.999999948676,0.000183028820923,-0.000262290272032,1.87756984013e-05,1793249642017172736
+47,0.783333333,BASELINE,766.718552518,745,718,678,661.281447482,637.281447482,878,784.718552518,813,651,630,653.718552518,0.400973740665,-0.0153960768283,0.0598425762668,0.999999948651,0.000184225774189,-0.000261551154235,1.86798962672e-05,1793249642033839360
+48,0.800000000,BASELINE,766.135584799,745,718,678,661.864415201,637.864415201,878,784.135584799,813,651,630,653.135584799,0.400974302248,-0.015397404182,0.0598431776091,0.999999949159,0.000182484797691,-0.000260822219286,1.87916225865e-05,1793249642050505728
+49,0.816666667,BASELINE,766.441775245,745,718,678.441775245,661.558224755,637.558224755,878.441775245,784.441775245,813,651,630,653.441775245,0.400975176397,-0.015396299787,0.0598436347478,0.999999949335,0.000182995003071,-0.000259799893976,1.86178772793e-05,1793249642067172352
+50,0.833333333,BASELINE,767,745,718,678.982701521,661.017298479,637,879,785,813,651,629.982701521,654,0.400976093577,-0.0153945186559,0.0598440153864,0.999999949398,0.000184175964856,-0.000258738788659,1.83709792826e-05,1793249642083839232
+51,0.850000000,BASELINE,767,745,718,678.411574089,661.588425911,637,879,785,813,651,629.411574089,654,0.400975355629,-0.0153946659978,0.0598433459849,0.999999949104,0.000184989017825,-0.000259282821355,1.85519091909e-05,1793249642100506112
+52,0.866666667,BASELINE,767.166042344,745,718,678,661.833957656,637.166042344,879,785,813,651,629.166042344,654,0.400974786844,-0.0153949690657,0.0598428573888,0.999999948856,0.0001855234266,-0.000259843878841,1.87061919949e-05,1793249642117172992
+53,0.883333333,BASELINE,767.760397374,745,718,678,661.239602626,637.760397374,879,785,813,651,629.760397374,654,0.400974654422,-0.0153956738346,0.0598428351868,0.999999948731,0.000185339061792,-0.000260448852397,1.87917375464e-05,1793249642133839616
+54,0.900000000,BASELINE,767.654764127,745,718,678.345235873,661,637.654764127,878.654764127,785,813,651,630,653.654764127,0.40097228715,-0.0153959124887,0.059841571079,0.999999948251,0.000184315115868,-0.000263019661441,1.86176085184e-05,1793249642150506240
+55,0.916666667,BASELINE,767.076353192,745,718,678.923646808,661,637.076353192,878.076353192,785,813,651,630,653.076353192,0.400968410444,-0.0153958363252,0.059839468178,0.999999947516,0.000182724110169,-0.000266918211419,1.82680932051e-05,1793249642167172864
+56,0.933333333,BASELINE,767,745,717.501567762,678.501567762,661,637,878.498432238,785,813,651,629.501567762,653.498432238,0.400970726283,-0.0153963466214,0.0598407657458,0.99999994834,0.000182320550647,-0.000264072954645,1.85589103805e-05,1793249642183839488
+57,0.950000000,BASELINE,767,745,717.074405266,678.074405266,661,637.074405266,879,785,813,651,629.074405266,654,0.400973591759,-0.0153968726261,0.0598423597788,0.999999949245,0.000182067856582,-0.000260777026553,1.88597297604e-05,1793249642200506112
+58,0.966666667,BASELINE,767,745,717.662380971,678.662380971,661,637.662380971,879,785,813,651,629.662380971,654,0.40097375064,-0.0153968914423,0.0598424306042,0.999999949159,0.000181610011639,-0.000261449463779,1.85574233301e-05,1793249642217172736
+59,0.983333333,BASELINE,767,745,718,678.753440781,661.246559219,638,879,784.753440781,813,651,630,653.753440781,0.400973676396,-0.0153969535077,0.0598423945845,0.999999949075,0.000181629918853,-0.000261765696228,1.84455548842e-05,1793249642233839104
+60,1.000000000,BASELINE,767,745,718,678.174383519,661.825616481,638,879,784.174383519,813,651,630,653.174383519,0.400973287771,-0.015397073897,0.0598422144785,0.999999948994,0.000182294099853,-0.000261601567941,1.859050201e-05,1793249642250505984
+61,1.016666667,BASELINE,767,745,718,678,661.612068375,638,879,784.387931625,813,651.387931625,630,653.387931625,0.400973570375,-0.0153967486811,0.059842536796,0.999999949067,0.000182927828537,-0.000260872399942,1.86842420309e-05,1793249642267172864
+62,1.033333333,BASELINE,767,745,718,678,661.056967839,638,879,784.943032161,813,651.943032161,630,653.943032161,0.400974142228,-0.0153962314433,0.0598430756195,0.999999949205,0.000183548434557,-0.00025989974298,1.87559156908e-05,1793249642283839488
+63,1.050000000,BASELINE,766.462745345,745,717.462745345,678,661,637.462745345,879,785,813,652,630,654,0.400973342336,-0.0153965708596,0.0598422106035,0.999999948821,0.000184098765101,-0.000260989005601,1.87309889969e-05,1793249642300505600
+64,1.066666667,BASELINE,766.133709018,745,717.133709018,678.133709018,661.133709018,637.133709018,879,785,813.133709018,652,630,654,0.400972965867,-0.015397049005,0.0598417303011,0.999999948647,0.000184251015029,-0.000261551188532,1.86882234156e-05,1793249642317172224
+65,1.083333333,BASELINE,766.722531366,745,717.722531366,678.722531366,661.722531366,637.722531366,879,785,813.722531366,652,630,654,0.400974564602,-0.0153976658863,0.0598431059344,0.999999949394,0.000183075649971,-0.000259516689188,1.86223415352e-05,1793249642333838848
+66,1.100000000,BASELINE,767,745.307336592,718,679,662,638,879,785,813.692663408,652,630,654,0.400975117075,-0.0153975233711,0.0598433786408,0.999999949607,0.000182614975757,-0.000259010777974,1.87289568788e-05,1793249642350505472
+67,1.116666667,BASELINE,767,745.888561857,718,679,662,638,879,785,813.111438143,652,630,654,0.400974737153,-0.0153967041057,0.0598426684534,0.999999949348,0.00018279121153,-0.00025986709637,1.89892963081e-05,1793249642367171840
+68,1.133333333,BASELINE,767,745.538043825,718,679,662,637.538043825,878.538043825,785,813,651.538043825,630,653.538043825,0.400974429052,-0.0153961645056,0.0598428067063,0.999999949102,0.000184100743076,-0.000259887166827,1.90183964599e-05,1793249642383839232
+69,1.150000000,BASELINE,767,745,718,679,661.966290883,637.033709117,878.033709117,785,813,651,629.966290883,653.033709117,0.400974111644,-0.0153957398424,0.0598430804113,0.999999948884,0.000185470252886,-0.000259756107037,1.89863256175e-05,1793249642400506112
+70,1.166666667,BASELINE,767,745,718,679,661.391065484,637.608934516,878.608934516,785,813,651,629.391065484,653.608934516,0.400973371032,-0.0153960958702,0.0598422969773,0.999999949089,0.000183484702694,-0.000260383865152,1.88527478918e-05,1793249642417172480
+71,1.183333333,BASELINE,767,745,718,679,661,637.809874532,878.809874532,784.809874532,813,651,629,653.809874532,0.400973061064,-0.0153966071101,0.0598419003991,0.999999949265,0.000182177358632,-0.00026063531104,1.87439821912e-05,1793249642433839104
+72,1.200000000,BASELINE,767,745,718,679,661,637.216015557,878.216015557,784.216015557,813,651,629,653.216015557,0.400973665572,-0.0153974479447,0.059842325313,0.999999949384,0.000182310192329,-0.000260087653922,1.86879050725e-05,1793249642450505728
+73,1.216666667,BASELINE,767,745.365676708,718,678.634323292,661.365676708,637,878,784.365676708,813,651,629.365676708,653.365676708,0.400974016995,-0.0153973661444,0.0598429796305,0.999999949447,0.000182566167414,-0.000259666688652,1.86578397306e-05,1793249642467172096
+74,1.233333333,BASELINE,767,745.940413151,718,678.059586849,661.940413151,637,878,784.940413151,813,651,629.940413151,653.940413151,0.400974223728,-0.0153967568677,0.0598437650995,0.999999949478,0.000182892543217,-0.000259318153962,1.86426454928e-05,1793249642483838720
+75,1.250000000,BASELINE,766.48464703,745.48464703,718,678,661.48464703,637.51535297,878,785,813,651,629.48464703,654,0.400974840403,-0.015397731116,0.0598437827259,0.999999950086,0.000180341711247,-0.000258759207069,1.86494752009e-05,1793249642500505600
+76,1.266666667,BASELINE,766.093039601,745,718,678,661,637.906960399,878.093039601,784.906960399,813,651,629,654,0.400975153135,-0.0153987498307,0.0598435898539,0.999999950586,0.000177877022698,-0.000258533664629,1.8663141568e-05,1793249642517172224
+77,1.283333333,BASELINE,766.685339674,745,718,678,661,637.314660326,878.685339674,784.314660326,813,651,629,654,0.400973580428,-0.015399024275,0.0598427440185,0.999999950184,0.000177660449951,-0.000260227807501,1.86998240841e-05,1793249642533838848
+78,1.300000000,BASELINE,767,745,718,678,661.271220536,637.271220536,878.728779464,784.271220536,813,651,629.271220536,653.728779464,0.400972743991,-0.0153989295152,0.0598425393266,0.999999949995,0.000177863612868,-0.000260817984776,1.86509853839e-05,1793249642550505984
+79,1.316666667,BASELINE,767,745,718,678,661.84982621,637.84982621,878.15017379,784.84982621,813,651,629.84982621,653.15017379,0.400972741997,-0.0153984163218,0.0598430612684,0.999999950049,0.000178542479103,-0.000260156993342,1.85052220485e-05,1793249642567172864
+80,1.333333333,BASELINE,767,745,718,678,662,638,878.408135966,785,813,651,630,653.408135966,0.400973519061,-0.0153964407102,0.0598429471216,0.999999949238,0.000183253626333,-0.000259996361385,1.85614865059e-05,1793249642583839232
+81,1.350000000,BASELINE,767,745,718,678,662,638,878.959331648,785,813,651,630,653.959331648,0.4009745692,-0.0153939524922,0.0598426100132,0.99999994809,0.000189378167738,-0.000260011115244,1.86885656823e-05,1793249642600505600
+82,1.366666667,BASELINE,767,745,718,678,661.447867105,638,879,785,813,651.552132895,630,654,0.400973905257,-0.0153951735371,0.0598427675409,0.999999948813,0.000185285312158,-0.000260174090745,1.88066541745e-05,1793249642617171968
+83,1.383333333,BASELINE,767,745,718,678.148130526,661.148130526,638,879,785,813,651.851869474,629.851869474,654,0.400972986792,-0.0153969101786,0.0598428762125,0.999999949534,0.000180952711323,-0.000260438889073,1.89453651325e-05,1793249642633838848
+84,1.400000000,BASELINE,767,745,718,678.743772138,661.743772138,638,879,785,813,651.256227862,629.256227862,654,0.400971711901,-0.0153993118114,0.05984271825,0.999999949857,0.000178354703254,-0.000260975629801,1.91485414718e-05,1793249642650505472
+85,1.416666667,BASELINE,767,745,718,679,662,638,879,785,813,651.328069869,629,654,0.400972085833,-0.015399388035,0.0598429520118,0.999999950033,0.000177936991288,-0.000260595581526,1.90520137699e-05,1793249642667172352
+86,1.433333333,BASELINE,767,745,718,679,662,638,879,785,813,651.903803921,629,654,0.400973704484,-0.015397708777,0.0598434814914,0.999999950098,0.00017916521318,-0.000259523437352,1.87292356021e-05,1793249642683839232
+87,1.450000000,BASELINE,767,745,718,678.518955525,661.518955525,637.518955525,879,785,813,651.518955525,629,653.518955525,0.400973775446,-0.0153977452316,0.0598432386402,0.999999950056,0.000179608815553,-0.000259378715645,1.87268677018e-05,1793249642700505600
+88,1.466666667,BASELINE,767,745,718,678.059553285,661.059553285,637.059553285,879,785,813,651,629,653.059553285,0.400973587536,-0.0153980808205,0.0598428832966,0.999999949961,0.000180052963029,-0.000259431059537,1.88012970471e-05,1793249642717171968
+89,1.483333333,BASELINE,767,745,718,678.64661921,661.64661921,637.64661921,879,785,813,651,629,653.64661921,0.400973856658,-0.0153980174492,0.0598429038649,0.999999949585,0.000181896124632,-0.000259581044839,1.8986647966e-05,1793249642733838592
+90,1.500000000,BASELINE,767,745,718,678.768195734,662,638,878.768195734,785,813,651,629.231804266,653.768195734,0.400973706744,-0.0153979240215,0.0598429901506,0.999999949317,0.000183034508633,-0.000259811197282,1.90216549103e-05,1793249642750505216
+91,1.516666667,BASELINE,767,745,718,678.185854997,662,638,878.185854997,785,813,651,629.814145003,653.185854997,0.400972923162,-0.0153977851424,0.0598431758148,0.999999949216,0.000183107121516,-0.000260162579174,1.88293103441e-05,1793249642767171840
+92,1.533333333,BASELINE,767,744.607950409,718,678,661.607950409,637.607950409,878.392049591,785,813,651,630,653.392049591,0.400973934123,-0.015397692135,0.0598438448551,0.999999949676,0.000182790232513,-0.000258615086013,1.8804228013e-05,1793249642783838464
+93,1.550000000,BASELINE,767,744.032125239,718,678,661.032125239,637.032125239,878.967874761,785,813,651,630,653.967874761,0.400975786287,-0.0153976206302,0.0598447404807,0.999999950394,0.000182290762187,-0.000256177483905,1.88575508327e-05,1793249642800505088
+94,1.566666667,BASELINE,766.456562308,744.543437692,718,678.543437692,661.543437692,637.543437692,879,785,813,651,629.456562308,654,0.400974165749,-0.0153966378086,0.0598430955662,0.999999949687,0.000182489833928,-0.000258793775142,1.86784810951e-05,1793249642817171968
+95,1.583333333,BASELINE,766.121807,745,718,678.878193,661.878193,637.878193,878.878193,784.878193,813,651,629,654,0.400972814883,-0.0153962723443,0.0598417990275,0.999999949173,0.000182206094114,-0.000260978352513,1.8602206122e-05,1793249642833838592
+96,1.600000000,BASELINE,766.711004382,745,718,678.288995618,661.288995618,637.288995618,878.288995618,784.288995618,813,651,629,654,0.40097328612,-0.0153984823816,0.0598424152517,0.999999949742,0.000179911364137,-0.000260360553307,1.89730575105e-05,1793249642850505216
+97,1.616666667,BASELINE,766.70503845,745,718,678,661.29496155,637.29496155,878,784.29496155,813,651,629,654,0.40097331948,-0.0153995682228,0.0598426368074,0.999999949886,0.000179163374464,-0.000260308662082,1.91765968328e-05,1793249642867171840
+98,1.633333333,BASELINE,766.126125918,745,718,678,661.873874082,637.873874082,878,784.873874082,813,651,629,654,0.400972931306,-0.0153995718327,0.059842478427,0.999999949624,0.000179904387227,-0.000260801554192,1.921906963e-05,1793249642883838464
+99,1.650000000,BASELINE,766.449880713,745,718,678,661.550119287,638,878,785,813,651,629.449880713,654,0.400973731993,-0.0153993933676,0.0598432703742,0.99999995013,0.000178662228949,-0.000259727778744,1.90000810972e-05,1793249642900505088
+100,1.666666667,BASELINE,767,745,718,678,661.025074821,638,878,785,812.974925179,651,629.974925179,654,0.400974805727,-0.0153991128192,0.0598442633793,0.999999950781,0.000177104971098,-0.00025830486786,1.87270368006e-05,1793249642917171712
+101,1.683333333,BASELINE,767,745,718,678,661.600201732,638,878,785,812.399798268,651,629.399798268,654,0.400974604615,-0.0153977054932,0.0598438599005,0.999999949998,0.000180753718972,-0.000258796292976,1.886586129e-05,1793249642933838592
+102,1.700000000,BASELINE,766.820196779,745,718,678,662.179803221,638,878,785,812.179803221,651,629,653.820196779,0.400974129227,-0.0153966843468,0.0598432112144,0.999999949312,0.000183661244337,-0.000259398377843,1.88688373365e-05,1793249642950505216
+103,1.716666667,BASELINE,766.230392079,745,718,678,662.769607921,638,878,785,812.769607921,651,629,653.230392079,0.400973028416,-0.015396543798,0.0598420033869,0.999999948872,0.00018487857521,-0.000260252797737,1.85620410367e-05,1793249642967171840
+104,1.733333333,BASELINE,766.352081896,744.647918104,718,678,662.295836208,638,878,785,813,651,629,653.352081896,0.400973158492,-0.0153964656063,0.0598423857586,0.999999949082,0.000184334665062,-0.000259855655323,1.82184973762e-05,1793249642983838464
+105,1.750000000,BASELINE,766.929856758,744.070143242,718,678,661.140286484,638,878,785,813,651,629,653.929856758,0.400974077596,-0.0153964273871,0.0598437874861,0.999999949706,0.000182661757168,-0.000258656231445,1.78513977432e-05,1793249643000505344
+106,1.766666667,BASELINE,767,744.505521075,718,678.505521075,661.505521075,637.494478925,878,784.494478925,813,651,629,654,0.400974189891,-0.0153974041656,0.0598436343414,0.999999949752,0.000181851033861,-0.000259003599873,1.85254971765e-05,1793249643017172224
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,718,678,662,638,878,785,813,652,630,654,0.400973755895,-0.0153994841054,0.0598437748475,0.999999949699,0.000181732938979,-0.000259244879033,1.91706654914e-05,1793249643060597504
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.40258382,745,718,678,661.40258382,637.40258382,878,784.40258382,813,652,629.40258382,653.40258382,0.400974219106,-0.0153993299003,0.0598443258939,0.9999999505,0.000178572774571,-0.000258361029593,1.90061237182e-05,1793249643077264128
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.188031225,745,717.811968775,678,661,637.188031225,878,784.188031225,813,651.811968775,629.188031225,653.188031225,0.400974165572,-0.0153989038655,0.0598442970398,0.999999950637,0.000177527277595,-0.000258568899037,1.87791971722e-05,1793249643093930752
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.764593133,745,717.235406867,678,661,637.764593133,878,784.764593133,813,651.235406867,629.764593133,653.764593133,0.400973044283,-0.0153979161466,0.0598430699321,0.999999949408,0.000180851337164,-0.000261032597274,1.8423364356e-05,1793249643110597376
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745,717.339629276,678,661,637.660370724,878.339629276,785,813,651,630,653.660370724,0.400972383743,-0.0153979458722,0.059842283754,0.999999948898,0.000182383206351,-0.000261918339484,1.84014560719e-05,1793249643127264256
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745,717.913612562,678,661,637.086387438,878.913612562,785,813,651,630,653.086387438,0.400972041133,-0.0153986776639,0.05984180183,0.999999948894,0.000182678412214,-0.000261715246313,1.86099653814e-05,1793249643143931136
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745,718,678.500921725,661.500921725,637.500921725,879,784.499078275,813,651,630,653,0.400972906704,-0.0153977291869,0.0598427195509,0.999999949113,0.000183195621855,-0.000260502373681,1.87551899339e-05,1793249643160597504
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745.088945054,718,679,662,637.911054946,879,784,813,651,630,653.088945054,0.400974032034,-0.0153969213059,0.0598438265432,0.999999949396,0.00018335090827,-0.000259292074723,1.88971611099e-05,1793249643177263872
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745.667896116,718,679,662,637.332103884,879,784,813,651,630,653.667896116,0.400975409153,-0.0153985279996,0.0598446101308,0.999999949822,0.000181295642428,-0.000259081545358,1.90829779749e-05,1793249643193930752
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745.754802252,717.754802252,678.754802252,661.754802252,637.245197748,878.754802252,784,813,651,630,653.754802252,0.400982650665,-0.0153997027806,0.0598475549175,0.999999951127,0.000180355236951,-0.000254630116895,1.95213016178e-05,1793249643210597376
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745.179719779,717.179719779,678.179719779,661.179719779,637.820280221,878.179719779,784,813,651,630,653.179719779,0.400997782026,-0.0154002964739,0.0598534073435,0.999999953545,0.000180914745096,-0.000244473057593,2.02993434089e-05,1793249643227263744
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,717.395986658,678,661,638,878,784.395986658,813,651,630,653.395986658,0.401034919472,-0.0154019978003,0.059867286191,0.999999959318,0.000181469115315,-0.000219022891052,2.14916434728e-05,1793249643243931136
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,717.971976779,678,661,638,878,784.971976779,813,651,630,653.971976779,0.401082060215,-0.015404202623,0.0598848136056,0.999999965759,0.000182021149882,-0.000186620943044,2.28722527697e-05,1793249643260598528
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.436575978,745,718,678,661,638,878.563424022,785,813,651.563424022,629.436575978,654,0.401149178543,-0.0154078762721,0.0599031777051,0.999999970128,0.000180055713849,-0.000163489070047,2.43803705578e-05,1793249643277265408
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.152071319,745,718,678.152071319,661,638,879,785,813,651.847928681,629.152071319,654,0.401221799568,-0.0154122957789,0.0599200950639,0.999999973979,0.000177985310057,-0.000140341679467,2.58462541184e-05,1793249643293931776
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.730648872,745,718,678.730648872,661,638,879,785,813,651.269351128,629.730648872,654,0.401306988329,-0.0154185964789,0.0599328348253,0.999999977439,0.000175981590807,-0.000115821150171,2.71753973625e-05,1793249643310598144
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.69395736,744.69395736,717.69395736,678.69395736,661,638,879,785,813,651,629.69395736,654,0.401398817406,-0.0154234198224,0.059940897012,0.99999997942,0.000174265448893,-0.00010025150728,2.72409946717e-05,1793249643327264512
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.121336858,744.121336858,717.121336858,678.121336858,661,638,879,785,813,651,629.121336858,654,0.401496430511,-0.0154269563169,0.0599448848052,0.999999980451,0.000172799800852,-9.24785185617e-05,2.6205982615e-05,1793249643343931136
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.464443392,744.464443392,717,678,661,638,878.535556608,784.535556608,813,651,629.464443392,654,0.401606501656,-0.0154312857983,0.0599427454422,0.999999980576,0.00017155858153,-9.38536285563e-05,2.46321710136e-05,1793249643360597760
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,717.052810505,678.052810505,661,638,878,784,813,651,630,654,0.401723027538,-0.0154361362924,0.0599392779996,0.999999980551,0.000170215229759,-9.69423691452e-05,2.29715901771e-05,1793249643377264384
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,717.631700134,678.631700134,661,638,878,784,813,651,630,654,0.401870485689,-0.0154440529997,0.0599389916263,0.999999981486,0.000167253363667,-9.2599496717e-05,2.18897610605e-05,1793249643393931264
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,718,678.790012811,661.209987189,638,878.209987189,784.209987189,813,651,629.790012811,653.790012811,0.402030866177,-0.0154521514448,0.0599398050345,0.999999982623,0.000163523231639,-8.71021355933e-05,2.06761208325e-05,1793249643410598144
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,718,678.212779658,661.787220342,638,878.787220342,784.787220342,813,651,629.212779658,653.212779658,0.402213846487,-0.0154605677298,0.059942541847,0.999999984095,0.000158449481926,-7.95856931019e-05,1.92319566597e-05,1793249643427265024
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,718,678.360448098,662,637.639551902,879,785,813,651,629.360448098,653,0.402419060502,-0.0154705620194,0.0599440964231,0.999999985755,0.000151227300237,-7.29324196412e-05,1.73778204211e-05,1793249643443931648
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745,718,678.931337429,662,637.068662571,879,785,813,651,629.931337429,653,0.402637255289,-0.0154814775999,0.0599449607718,0.999999987464,0.000142750794134,-6.67830913984e-05,1.52843291217e-05,1793249643460598272
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,718,678.479498393,661.479498393,637.520501607,878.479498393,784.479498393,813,651,630,653,0.402889743446,-0.0154920058955,0.0599479526652,0.999999988938,0.000136595611401,-5.73391747676e-05,1.3362975708e-05,1793249643477264896
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745,717.88986227,678,661.11013773,637.88986227,878.11013773,784.11013773,813,651,629.88986227,653.11013773,0.403148759192,-0.0155018738537,0.0599495120886,0.99999998996,0.000131698560504,-5.1097973549e-05,1.11853019059e-05,1793249643493931008
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745,717.308889291,678,661.691110709,637.308889291,878.691110709,784.691110709,813,651,629.308889291,653.691110709,0.40341563723,-0.0155091452458,0.0599437042895,0.999999989584,0.000130823265683,-6.04738220002e-05,7.8112587887e-06,1793249643510597888
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,717.269562948,678.269562948,662,637.269562948,879.269562948,785,813,651,629.269562948,654,0.403707047994,-0.0155125381634,0.059933474992,0.999999988151,0.000133026971931,-7.73443826075e-05,4.45564189647e-06,1793249643527264512
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,717.845153424,678.845153424,662,637.845153424,879.845153424,785,813,651,629.845153424,654,0.404026310084,-0.0155115279534,0.059918226087,0.999999985101,0.000138726184847,-0.000102723486708,1.1209439997e-06,1793249643543931136
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879.570949496,785,813,651,629.570949496,654,0.404371116939,-0.0154994721685,0.0599064411322,0.999999988667,8.65802205094e-05,-0.000123077482684,-4.66254164441e-06,1793249643560598016
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879,784.984213144,813,651,629.015786856,654,0.404727134172,-0.0154840963015,0.0598963252186,0.999999989883,1.52957770634e-05,-0.000140974625824,-1.12232754621e-05,1793249643577264896
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879,784.405246556,813,651,629.594753444,654,0.405147690353,-0.0154952984535,0.0599002720426,0.999999990284,2.07213325974e-05,-0.000137201300465,-1.33611449098e-05,1793249643593932032
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.82724985,745,718,679,662,638,879,784.17275015,813,651,630,654,0.405589661621,-0.0155059844397,0.0599115963168,0.999999992363,2.40436104908e-05,-0.000120273624809,-1.5159210825e-05,1793249643610598912
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.251515724,745,718,679,662,638,879,784.748484276,813,651,630,654,0.406081589007,-0.0155154663356,0.0599401303832,0.999999996977,2.24594537038e-05,-7.26600577127e-05,-1.61645976349e-05,1793249643627265536
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.324379715,745,718,679.324379715,662,638,879,785,813,651,629.675620285,654,0.406597860881,-0.0155217329379,0.0599681877471,0.999999999483,1.17422790883e-05,-2.45234621602e-05,-1.71720114148e-05,1793249643643932160
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.900400354,745,718,679.900400354,662,638,879,785,813,651,629.099599646,654,0.407133018297,-0.0155255052438,0.0599958753071,0.999999999528,-6.059928899e-06,2.40188832035e-05,-1.81809977303e-05,1793249643660598784
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745,718,679.512815559,662,638,879,785,813,651,629.487184441,654,0.407660706928,-0.015523846622,0.059996875996,0.999999999626,-7.13959777162e-06,1.4503448559e-05,-2.2061288713e-05,1793249643677265408
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745,717.925076994,679,662,638,879,785,813,651,629.925076994,654,0.408191360825,-0.0155213760834,0.0599911620311,0.999999999557,-1.03358901382e-05,-8.11606761139e-06,-2.67232961815e-05,1793249643693931776
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745,717.346055943,679,662,638,879,785,813,651,629.346055943,654,0.408752471408,-0.0155210818685,0.0599778078506,0.999999997459,-5.12949906676e-05,-3.72393211614e-05,-3.26061208068e-05,1793249643710598912
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745,717.230331781,679,662,638,879.230331781,785,813,651,629,653.769668219,0.409344152895,-0.0155232414204,0.0599723070746,0.999999995325,-7.40079456588e-05,-4.96224929792e-05,-3.75587766752e-05,1793249643727265536
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745,717.802807816,679,662,638,879.802807816,785,813,651,629,653.197192184,0.409981245623,-0.0155290458978,0.0599784720678,0.999999996041,-6.96173269091e-05,-3.7139260546e-05,-4.11297215417e-05,1793249643743932160
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745,717.622331937,679,662,638.377668063,880,785,813,651,629,653.377668063,0.410646069406,-0.0155338817977,0.0599857857193,0.999999994903,-8.81692289475e-05,-1.97290116261e-05,-4.50737994119e-05,1793249643760598528
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745,717.04621893,679,662,638.95378107,880,785,813,651,629,653.95378107,0.411325464396,-0.0155382087601,0.059993702931,0.999999991735,-0.000118776233669,2.70128089762e-07,-4.92139391289e-05,1793249643777264896
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.455196875,745,717.544803125,679.544803125,662.544803125,638.455196875,880,785,813,651,629,654,0.412016290048,-0.0155404517636,0.0599808497066,0.999999997268,-6.01669329047e-05,-2.58414443647e-05,-3.42818451021e-05,1793249643793931264
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.134150874,745,717.865849126,680,663,638,880.134150874,785,813.134150874,651,629,654,0.412703047721,-0.0155383710149,0.0599598298046,0.999999997483,-9.75465732519e-07,-6.75431215629e-05,-2.17198543295e-05,1793249643810597632
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.713623739,745,717.286376261,680,663,638,880.713623739,785,813.713623739,651,629,654,0.413372991685,-0.0155225407012,0.0599177140346,0.999999988257,3.43166623002e-05,-0.000147646109477,-2.25477807947e-05,1793249643827264768
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745.290579354,717,680,663,638,881.290579354,785,814,651,629,654,0.41411950968,-0.0155170834783,0.0599112280816,0.999999986639,3.56620387387e-05,-0.000157512511495,-2.52915501742e-05,1793249643843931392
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745.865075503,717,680,663,638,881.865075503,785,814,651,629,654,0.414940846056,-0.0155217615046,0.0599395550012,0.999999994669,3.83901705183e-06,-9.87527592975e-05,-2.99072351452e-05,1793249643860597504
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745.5491507,717,680,663,638,881.5491507,785,814,651,629,654,0.415773108019,-0.0155346438702,0.0599805999618,0.999999999081,-1.55419589665e-05,-2.75072822436e-05,-2.89689350198e-05,1793249643877264896
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745,717.039459772,680,663,638,881.039459772,785,813.960540228,651,629,654,0.416608972901,-0.0155490111581,0.0600218924901,0.99999999833,-3.07191329353e-05,4.10789142917e-05,-2.66369750748e-05,1793249643893932544
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745,717.619509141,680,663,638,881.619509141,785,813.380490859,651,629,654,0.417448254692,-0.0155492216434,0.0600130963011,0.999999998552,-4.06250169657e-05,2.0730188035e-05,-2.85671532048e-05,1793249643910598400
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,718,680,663.197907526,638.197907526,882,785,813.197907526,651,629,654,0.41828627317,-0.0155486560833,0.060000179404,0.999999998505,-4.49154618289e-05,-2.18654197348e-06,-3.11258563236e-05,1793249643927264512
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745,718,680,663.773158006,638.773158006,882,785,813.773158006,651,629,654,0.419121882883,-0.0155466108662,0.0599794057057,0.999999998201,-3.84991561352e-05,-2.99995884331e-05,-3.4882944661e-05,1793249643943930880
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745,718,680.347913181,663.652086819,639,882,785,814,651,629,654,0.419951034704,-0.015546266532,0.0599529903601,0.99999999603,-4.14502935387e-05,-6.88397499751e-05,-3.85207273133e-05,1793249643960597760
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745,718,680.92234585,663.07765415,639,882,785,814,651,629,654,0.420775981884,-0.0155470296096,0.0599229018489,0.999999991243,-5.05003906712e-05,-0.000114859449937,-4.20808321598e-05,1793249643977264384
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.48911031,745,717.48911031,681,663,639,883.532669071,785,814,651,629,654,0.421588936602,-0.015543978023,0.0598902784204,0.999999981076,-4.84236824518e-05,-0.000182950238344,-4.50765361459e-05,1793249643993931264
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.09949849,745,717,681,663.09949849,639,884.90050151,785,814,651.09949849,629,654,0.422434745929,-0.0155420895204,0.0598728757693,0.999999972878,-4.62968295877e-05,-0.000223384615567,-4.69085095333e-05,1793249644010598144
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.677804941,745,717,681,663.677804941,639,884.322195059,785,814,651.677804941,629,654,0.423447679383,-0.0155486675063,0.0599306255802,0.999999991171,-5.22985132709e-05,-0.000114128035134,-4.35649180536e-05,1793249644027265024
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745,717,681,664,638.74487804,884,785.25512196,814.25512196,651.74487804,629,654,0.424430434491,-0.0155546836747,0.0599825629732,0.999999997238,-5.77689911739e-05,-2.39675304226e-05,-4.01499842438e-05,1793249644043931904
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745,717,681,664,638.168805675,884,785.831194325,814.831194325,651.168805675,629,654,0.425375224552,-0.0155599930623,0.0600271881932,0.999999996482,-6.2571198934e-05,4.21696024813e-05,-3.66452997518e-05,1793249644060598528
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745,717,681,664,638,884,785.585439369,814.585439369,651,629,654,0.426280703148,-0.0155624276556,0.0600308524697,0.999999995644,-6.29147068887e-05,5.78159234767e-05,-3.7558172704e-05,1793249644077264896
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745,717.000937511,681.000937511,664,638,884,785,814.000937511,651,629,654,0.427169896617,-0.0155636659053,0.0600175200293,0.999999995924,-6.14267433334e-05,5.24816899573e-05,-4.03029321373e-05,1793249644093931008
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745,717.579540875,681.579540875,664,638,884,785,814.579540875,651,629,654,0.42806458209,-0.0155619550619,0.0599924514027,0.999999996483,-7.01608387449e-05,1.45503500298e-05,-4.3588758953e-05,1793249644110597632
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745,717.841838921,681.841838921,664,638.158161079,884,785,815,651,629.158161079,654,0.428949881677,-0.0155591591243,0.0599639294035,0.99999999561,-7.4675710945e-05,-3.18792754144e-05,-4.67597559281e-05,1793249644127264512
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745,717.263173979,681.263173979,664,638.736826021,884,785,815,651,629.736826021,654,0.429810226895,-0.0155534782402,0.059926225902,0.999999991368,-6.79729071017e-05,-0.000100903344163,-4.96254538935e-05,1793249644143931648
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745,717.313276153,681.313276153,664,638.686723847,884.313276153,785,815,651,629.686723847,654,0.43071609127,-0.015553839239,0.0599222479372,0.999999991065,-6.80532763005e-05,-0.000103393921927,-5.0482777821e-05,1793249644160598528
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745,717.887878722,681.887878722,664,638.112121278,884.887878722,785,815,651,629.112121278,654,0.431659926439,-0.0155592402119,0.0599464028965,0.999999994775,-7.37919836914e-05,-5.03840741386e-05,-4.96647708358e-05,1793249644177264896
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745.472546458,718,681.527453542,664.472546458,638,885,785,815,651,629.472546458,654,0.432573785276,-0.0155610066726,0.059984350101,0.999999995803,-7.76515631551e-05,9.91627005607e-06,-4.76099730072e-05,1793249644193932032
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,717.940842686,681.059157314,664.940842686,638,885,785,815.059157314,651,629.940842686,654,0.433476965793,-0.015561806786,0.0600197494756,0.999999993746,-8.06436087102e-05,6.26024954706e-05,-4.567448608e-05,1793249644210599168
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,717.358626794,681.641373206,664.358626794,638,885,785,815.641373206,651,629.358626794,654,0.434349985975,-0.0155618534223,0.0600030568458,0.999999995152,-7.99930959806e-05,3.23383589437e-05,-4.74450639695e-05,1793249644227265536
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,745.780145412,717,681.780145412,664,638,885,785,816,651,629.219854588,654,0.435206615723,-0.0155622802667,0.0599794928774,0.999999995384,-8.13045228453e-05,-1.04632426098e-05,-5.01249102826e-05,1793249644243931904
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,745.207653925,717,681.207653925,664,638,885,785,816,651,629.792346075,654,0.436036956086,-0.0155633169481,0.0599449075875,0.999999992158,-8.57628125946e-05,-7.33743804563e-05,-5.42631825628e-05,1793249644260598272
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,745,717,681.367420643,664.367420643,638,885,785,816,651.367420643,630,654,0.436839294358,-0.0155615441543,0.0599221427631,0.999999988091,-8.55860240274e-05,-0.000115271846334,-5.662187737e-05,1793249644277265152
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,745,717,681.943965384,664.943965384,638,885,785,816,651.943965384,630,654,0.437625694684,-0.0155581722971,0.0599061057722,0.999999984352,-8.27710966934e-05,-0.000145208997425,-5.7967693301e-05,1793249644293932288
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.465426723,745,717,682,664.465426723,638,885.534573277,785,816,651.465426723,629.465426723,654,0.438404441781,-0.0155609532067,0.0599009993365,0.999999982368,-8.60876118141e-05,-0.000156726422748,-5.73505375824e-05,1793249644310598656
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+240,4.000000000,POSE1_TO_POSE2_PRESS,766.81206411,745.81206411,717.81206411,681.81206411,663.18793589,636.18793589,886.18793589,782,817,652,629,655,0.452898073926,-0.0156482182893,0.0596647660117,0.999999836075,-0.000233414789166,-0.000518149063179,-6.99179853679e-05,1793249645277263872
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.236859272,745.236859272,717.236859272,681.236859272,663.763140728,636.763140728,886.763140728,782,817,652,629,655,0.45289912758,-0.0156487691449,0.0596641250946,0.999999836293,-0.000232794789304,-0.000517994345139,-7.00106932024e-05,1793249645293930752
+242,4.033333333,POSE1_TO_POSE2_PRESS,766.340310119,745.340310119,717.340310119,681.340310119,663.659689881,636.659689881,886.659689881,782,817,651.659689881,629,655,0.452900313853,-0.0156484631842,0.0596647513151,0.999999837035,-0.000232220530226,-0.000516816256133,-7.00302701109e-05,1793249645310597376
+243,4.050000000,POSE1_TO_POSE2_PRESS,766.918854775,745.918854775,717.918854775,681.918854775,663.081145225,636.081145225,886.081145225,782,817,651.081145225,629,655,0.452901592966,-0.015647557408,0.0596662645971,0.99999983814,-0.000231678292066,-0.000514921754967,-6.99986516165e-05,1793249645327264512
+244,4.066666667,HOLD_POSE2,766,746,718,683,663,636,887,782,818,652,629,654,0.452901101116,-0.0156469835538,0.0596639055056,0.999999836272,-0.000232060280587,-0.000518432952075,-6.95063519305e-05,1793249645357867520
+245,4.083333333,HOLD_POSE2,766.579130603,746,717.420869397,682.420869397,663,636,887,781.420869397,817.420869397,652,629,654,0.452899544121,-0.0156486565146,0.0596634923633,0.999999835843,-0.000232595027518,-0.000519007486377,-6.95972580221e-05,1793249645374533888
+246,4.100000000,HOLD_POSE2,767,746,717,682,663.157151854,636,887,781.157151854,817,651.842848146,629,654,0.452898922955,-0.015649300489,0.0596633400259,0.999999835877,-0.000232308927664,-0.000519052174142,-6.97322896677e-05,1793249645391200512
+247,4.116666667,HOLD_POSE2,767,746,717,682,663.732223096,636,887,781.732223096,817,651.267776904,629,654,0.452900790469,-0.0156472080445,0.0596638812554,0.999999837138,-0.000229839921544,-0.000517687822724,-6.99846659517e-05,1793249645407867136
+248,4.133333333,HOLD_POSE2,767,746,717,682.313446591,663.686553409,636,887,781.686553409,817,651,628.686553409,654,0.452901608931,-0.0156465850317,0.0596643068075,0.999999837479,-0.000230047007475,-0.000516920046528,-7.01003849528e-05,1793249645424533504
+249,4.150000000,HOLD_POSE2,767,746,717,682.900031137,663.099968863,636,887,781.099968863,817,651,628.099968863,654,0.452901513247,-0.0156472424847,0.0596646315579,0.99999983702,-0.000232586045244,-0.000516672127193,-7.00970205229e-05,1793249645441199872
+250,4.166666667,HOLD_POSE2,767,746,717.48006455,683,663,636,886.51993545,781.48006455,817,651,628.48006455,654,0.452902014107,-0.0156472130505,0.059664955641,0.999999837258,-0.000232702220106,-0.000516206517838,-6.97449375845e-05,1793249645457866752
+251,4.183333333,HOLD_POSE2,767,746,717.941269813,682.941269813,663,636,886,781.941269813,817,651,629,654,0.452902526258,-0.0156470853645,0.0596651314368,0.999999837506,-0.000232396517142,-0.000515909678941,-6.93977552881e-05,1793249645474533888
+252,4.200000000,HOLD_POSE2,767,746,717.362798225,682.362798225,663,636,886,781.362798225,817,651,629,654,0.452902053787,-0.015647336975,0.0596639961545,0.999999836576,-0.000232762217807,-0.000517502169179,-6.97279277983e-05,1793249645491201024
+253,4.216666667,HOLD_POSE2,767,746,717,682.21460654,663,636,886.21460654,781.21460654,817,651.21460654,629,654,0.452902184116,-0.0156471155622,0.0596635879668,0.999999836318,-0.000232599291406,-0.000518059141984,-6.98340068077e-05,1793249645507867648
+254,4.233333333,HOLD_POSE2,767,746,717,682.79021667,663,636,886.79021667,781.79021667,817,651.79021667,629,654,0.452903328454,-0.015646098446,0.0596644028723,0.999999837194,-0.00023154712707,-0.000516874203537,-6.956312356e-05,1793249645524534016
+255,4.250000000,HOLD_POSE2,767,746,717,683,663,636,886.634734313,781.634734313,817,651.634734313,628.634734313,654,0.452903973608,-0.0156462555079,0.0596652093274,0.999999837607,-0.000231674476297,-0.000516038580526,-6.94045649867e-05,1793249645541200384
+256,4.266666667,HOLD_POSE2,767,746,717,683,663,636,886.060007012,781.060007012,817,651.060007012,628.060007012,654,0.452904332505,-0.0156470859022,0.0596660109366,0.999999837755,-0.000232478217497,-0.000515403272345,-6.9310418974e-05,1793249645557867008
+257,4.283333333,HOLD_POSE2,767,746,717,682.47066885,663,636,886.52933115,781,817,651.52933115,628,654,0.45290379915,-0.0156453719887,0.0596644576318,0.99999983722,-0.000230899421059,-0.000517082792214,-6.97954191708e-05,1793249645574533376
+258,4.300000000,HOLD_POSE2,767,746,717.117749322,682,663,636,886.882250678,781,817,651.882250678,628,654,0.452903561549,-0.0156436936172,0.0596633994381,0.999999837042,-0.00022906239963,-0.00051819800955,-7.01234386256e-05,1793249645591200000
+259,4.316666667,HOLD_POSE2,767,746,717.695910108,682,663,636,886.304089892,781,817,651.304089892,628,654,0.452904887105,-0.0156433140312,0.0596653506559,0.999999838592,-0.000227301763425,-0.00051605154311,-6.95736464047e-05,1793249645607867136
+260,4.333333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,663,636,887,782,818,652,628,654,0.452903512805,-0.015645100927,0.0596653072745,0.999999837961,-0.000228761805804,-0.000516736992843,-6.877219845e-05,1793249645645934336
+261,4.350000000,POSE2_TO_POSE3_RETREAT,767,746,717.406155074,682.593844926,663,636,887,782,817.406155074,651.406155074,628,654.593844926,0.452903047243,-0.0156452599132,0.0596643849078,0.999999837142,-0.000230375552106,-0.000517515841616,-6.94326608086e-05,1793249645662600960
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766.816307097,745.816307097,717,682.816307097,663,636,886.816307097,782,817,651,628,654.816307097,0.452902874282,-0.0156454954498,0.0596639476943,0.999999836691,-0.000231454477378,-0.000517865813155,-6.97244576609e-05,1793249645679267584
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766.235108283,745.235108283,717,682.235108283,663,636,886.235108283,782,817,651,628,654.235108283,0.452903334501,-0.0156458966387,0.0596645603376,0.999999837044,-0.000231376066355,-0.000517287707426,-6.92184735846e-05,1793249645695933952
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745.342887533,717,682,663,636,886,781.657112467,817,651.342887533,628,654,0.452903772682,-0.0156446080325,0.0596647099087,0.999999837594,-0.000229583156868,-0.000517035736846,-6.91147899926e-05,1793249645712600320
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745.918707436,717,682,663,636,886,781.081292564,817,651.918707436,628,654,0.452904195891,-0.0156421715047,0.0596645449029,0.999999838273,-0.000226625544239,-0.000517005318338,-6.9284399554e-05,1793249645729266688
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766.493067687,746,717,682,663,636,886.493067687,781.493067687,817,651.506932313,628.493067687,654.493067687,0.452902142068,-0.0156435770914,0.0596636790126,0.999999837294,-0.000226943350198,-0.000518810405292,-6.8873751013e-05,1793249645745933568
+267,4.450000000,POSE2_TO_POSE3_RETREAT,767,746,717,682,663,636,887,782,817,651.069252027,628.930747973,654.930747973,0.452900137099,-0.0156454273173,0.059662894794,0.999999836266,-0.000227806692589,-0.000520467219768,-6.84483459244e-05,1793249645762600192
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,746,717,682,663,636,887,782,817,651.661009465,628.338990535,654.338990535,0.452901572925,-0.0156458670521,0.0596635960773,0.999999836948,-0.000228723670888,-0.000518728784945,-6.86312839169e-05,1793249645779267328
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767,746,717.24655622,682,663,636,886.75344378,781.75344378,817,651.75344378,628.24655622,654,0.452899585205,-0.0156458600494,0.0596625544979,0.999999836056,-0.000229969316506,-0.000519835712652,-6.90852792163e-05,1793249645795933952
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767,746,717.82377366,682,663,636,886.17622634,781.17622634,817,651.17622634,628.82377366,654,0.452893006103,-0.0156452539187,0.0596591755322,0.999999833039,-0.000231655744019,-0.000524758610124,-6.99027945927e-05,1793249645812600832
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,746,717.599528529,682,663.400471471,636,886.400471471,781.400471471,817,651.400471471,629,654.400471471,0.452870974193,-0.0156439352442,0.0596503491388,0.999999825213,-0.000231488682789,-0.00053947352272,-7.03942233293e-05,1793249645829267200
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767,746,717.023059033,682,663.976940967,636,886.976940967,781.976940967,817,651.976940967,629,654.976940967,0.452842151127,-0.015642303423,0.0596391287257,0.999999814974,-0.000230507055853,-0.000558491801584,-7.07423445181e-05,1793249645845933568
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766.436427934,746,717,682.563572066,663.436427934,636,886.436427934,782,817,652,628.436427934,655,0.452788862965,-0.0156379854857,0.0596195285251,0.999999797467,-0.000226645855154,-0.000590306006521,-7.23585806125e-05,1793249645862600448
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766.148585871,746,717,682.851414129,663.148585871,636.148585871,886.148585871,781.851414129,817,651.851414129,628,655,0.452732062837,-0.0156338855416,0.0596018184353,0.999999781934,-0.000223604425838,-0.000616997074543,-7.381278503e-05,1793249645879267072
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766.727687055,746,717,682.272312945,663.727687055,636.727687055,886.727687055,781.272312945,817,651.272312945,628,655,0.452668040664,-0.015630741501,0.0595905964487,0.999999775533,-0.00022328585879,-0.000627299469584,-7.46444207458e-05,1793249645895933440
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767,746,717,682.306490632,663.693509368,636.693509368,887,781,817,651.306490632,628.306490632,654.693509368,0.452593018169,-0.0156269911681,0.0595808508383,0.999999768508,-0.000222717644222,-0.0006385436456,-7.51127685441e-05,1793249645912600064
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767,746,717,682.885030012,663.114969988,636.114969988,887,781,817,651.885030012,628.885030012,654.114969988,0.452508231516,-0.015622702675,0.0595724156968,0.999999760886,-0.000221927836286,-0.000650623769306,-7.52586528523e-05,1793249645929267200
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,746,717,682.541370018,663,636.458629982,887,781.458629982,817,652,629,654,0.452414044651,-0.0156177149092,0.0595738514712,0.999999763603,-0.000219834338654,-0.000647234421953,-7.45244974792e-05,1793249645945933824
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,746,717.031954144,682,663,636.968045856,886.968045856,782,817,652,629,654,0.452316634956,-0.015612494278,0.0595779891007,0.999999769017,-0.00021731872399,-0.000639788257666,-7.35460615523e-05,1793249645962600704
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,746,717.621852456,682,663,636.378147544,886.378147544,782,817,652,629,654,0.452203659303,-0.0156062358017,0.0595865576872,0.999999777195,-0.000213078184216,-0.000628496729387,-7.21132674265e-05,1793249645979267072
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746,717.792186455,682,663,636,886,782,817,651.792186455,629,654.207813545,0.452074993271,-0.0155990464634,0.0595912133155,0.999999781837,-0.000208990965357,-0.000622579316303,-7.10172365608e-05,1793249645995933696
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746,717.213256575,682,663,636,886,782,817,651.213256575,629,654.786743425,0.451918307152,-0.0155901947795,0.0595888811274,0.999999780364,-0.000205177549627,-0.000626259074586,-7.05226024002e-05,1793249646012600320
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746,717,682,663,636,886,782,817,651.363543475,629,655,0.451738232784,-0.0155805044252,0.0595869678135,0.999999778221,-0.00020068787158,-0.000631209184934,-6.96970555897e-05,1793249646029266688
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746,717,682,663,636,886,782,817,651.939101486,629,655,0.451544518631,-0.0155703249666,0.0595852987822,0.999999775651,-0.000195803804454,-0.00063690015089,-6.86785241301e-05,1793249646045933056
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,746,717.513131306,682,663,636,886,782,817,651.486868694,629,655,0.451321563348,-0.0155610849708,0.0595885200048,0.999999778042,-0.000190572354442,-0.000634955415818,-6.65510179672e-05,1793249646062600192
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,745.910375262,717.910375262,682,663,636,886,782,816.910375262,651,628.910375262,655,0.451089819339,-0.0155517139647,0.0595913441286,0.999999780245,-0.000185197787762,-0.000633292595836,-6.44398830434e-05,1793249646079267328
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,745.31907945,717.31907945,682,663,636,886,782,816.31907945,651,628.31907945,655,0.45082824812,-0.01554098739,0.0595887065205,0.999999778249,-0.000179252212825,-0.000638265177741,-6.31548976539e-05,1793249646095934208
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,745.267194383,717,682.267194383,663.267194383,636,886,782,816,651,628,654.732805617,0.450548072951,-0.0155326305002,0.0595845566758,0.999999776031,-0.00017568196171,-0.000642866899752,-6.16122858297e-05,1793249646112600832
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,745.84758165,717,682.84758165,663.84758165,636,886,782,816,651,628,654.15241835,0.450246091109,-0.0155270512459,0.0595786342574,0.999999773593,-0.000174895955565,-0.000647033916691,-5.97676963061e-05,1793249646129266944
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746,717,682.579585764,663.579585764,636,886,782.420414236,816.420414236,651.420414236,628.420414236,654,0.449911671715,-0.0155223280123,0.0595735579171,0.999999769343,-0.000174528439327,-0.000653757431183,-5.87765004747e-05,1793249646145933568
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,745.050573116,717,682.050573116,664,637,886,783,817,651.949426884,629,654,0.446560105539,-0.0154889381062,0.0596856362188,0.999999882095,-7.18926449174e-05,-0.000479455164277,-2.76508329298e-05,1793249646279266560
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,745.644724181,717,682.644724181,664,637,886,783,817,651.355275819,629,654,0.446002614472,-0.0154808020318,0.0596974438118,0.999999887452,-6.07551108473e-05,-0.000469952687967,-2.3419975197e-05,1793249646295933184
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,767.81170698,746,717.81170698,682.18829302,664,637,886,783.81170698,817,651,629,654,0.444786522711,-0.0154637401542,0.0596690284551,0.999999864766,-2.73745333733e-05,-0.000519022474753,-1.82701607718e-05,1793249646329266432
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767.223368078,746,717.611684039,682,664,637,886,784,816.611684039,651,629,654.388315961,0.444177132064,-0.015458347364,0.0596693250587,0.999999868465,-1.56164471212e-06,-0.00051269759451,-1.44693080947e-05,1793249646345933056
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,746,717,682,664,637.538011435,885.461988565,784,816,651,629,654.461988565,0.442958018591,-0.0154512671217,0.0597242957793,0.999999913032,3.24489678194e-05,-0.000415788894248,-1.78179561266e-06,1793249646379266560
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,766.291284854,745.708715146,717.291284854,682.291284854,664,638,885,785,816,652,629,654,0.440860861494,-0.0154349104214,0.0597761316823,0.999999930298,9.72713551935e-05,-0.000360181621113,1.45517230352e-05,1793249646429266688
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,766.018590378,745,717,682.981409622,664,638,885,785,816,651.018590378,629.981409622,654,0.438597271026,-0.0154217803754,0.0598036829188,0.999999941791,0.000129173400942,-0.000314544100012,2.81717772857e-05,1793249646479266816
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,746,717,681.50419384,664,638,884,785,815,651,629,654,0.433494287802,-0.015413220227,0.0597566709643,0.999999935249,6.99235665271e-05,-0.000352996190643,-2.33220981527e-06,1793249646579267072
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766.834501724,745,718,682,664,638,884,785,815,652,629,654,0.42997910101,-0.015408920696,0.0598324349698,0.999999961029,0.000130815840772,-0.000245685279776,2.16263521944e-05,1793249646645933568
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,745.893752168,717.106247832,681,663,638,881.106247832,785,813.106247832,651,630,654,0.423565948871,-0.0154050108746,0.0598251841121,0.999999944996,0.000154190406458,-0.000292480069091,2.62410803225e-05,1793249646762600192
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,745.531628054,717.468371946,681.468371946,663,638,881,785,813.468371946,651,630,654,0.422696247865,-0.0154034496466,0.0598364894673,0.999999951087,0.000159760066551,-0.000267521792883,2.71064881727e-05,1793249646779267072
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745,718,681.915937059,663,638,881,785,814,651,629.957968529,654,0.421827835235,-0.0154012297535,0.0598421642531,0.999999955265,0.000164859626965,-0.000248118801038,2.7004593583e-05,1793249646795933696
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.277153579,661,638,879,785,813,651,629,653.277153579,0.404052982502,-0.0153749043717,0.0597766372912,0.999999909704,0.000227035599582,-0.000358367979882,2.48876147543e-05,1793249647245934080
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cc0209a52ad73d241cca7fb96595febae29ff944
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_04/simulation_data.csv
@@ -0,0 +1,405 @@
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+379,6.316666667,pose2_to_pose3_retreat,0.575681125939,-0.00985003126137,1.05003342258,0.546251805736,-0.00117739293404,1.04970481835
+380,6.333333333,pose2_to_pose3_retreat,0.575675846516,-0.00984997404785,1.05003349289,0.546246526185,-0.00117733613214,1.04970488924
+381,6.350000000,pose2_to_pose3_retreat,0.575672330459,-0.00984996124442,1.05003356655,0.546243010546,-0.00117732192453,1.04970496256
+382,6.366666667,pose2_to_pose3_retreat,0.575670077189,-0.00984995805045,1.05003361907,0.546240757643,-0.00117731749828,1.04970501473
+383,6.383333333,pose2_to_pose3_retreat,0.575668710858,-0.00984994087412,1.05003359972,0.546239390759,-0.00117730218042,1.04970499587
+384,6.400000000,pose2_to_pose3_retreat,0.575667905831,-0.00984992296312,1.05003356214,0.54623858501,-0.00117728669652,1.04970495894
+385,6.416666667,pose2_to_pose3_retreat,0.57566711057,-0.00984990526938,1.05003352502,0.546237789036,-0.00117727140045,1.04970492246
+386,6.433333333,pose2_to_pose3_retreat,0.575666574588,-0.00984989334433,1.0500335,0.546237252572,-0.00117726109135,1.04970489787
+387,6.450000000,pose2_to_pose3_retreat,0.575666531704,-0.00984989239022,1.050033498,0.54623720965,-0.00117726026653,1.0497048959
+388,6.466666667,pose2_to_pose3_retreat,0.57566652067,-0.00984989214472,1.05003349749,0.546237198606,-0.0011772600543,1.0497048954
+389,6.483333333,pose2_to_pose3_retreat,0.575666479473,-0.00984989122812,1.05003349556,0.546237157372,-0.00117725926191,1.04970489351
+390,6.500000000,pose2_to_pose3_retreat,0.575666184891,-0.00984989099707,1.05003347877,0.546236862668,-0.00117725947414,1.04970487603
+391,6.516666667,pose2_to_pose3_retreat,0.575665899466,-0.00984989409662,1.0500334609,0.546236577198,-0.00117726276938,1.049704857
+392,6.533333333,pose2_to_pose3_retreat,0.575665897836,-0.00984989411432,1.05003346079,0.546236575568,-0.00117726278819,1.04970485689
+393,6.550000000,pose2_to_pose3_retreat,0.575665801525,-0.0098498951602,1.05003345476,0.546236479241,-0.00117726390011,1.04970485048
+394,6.566666667,pose2_to_pose3_retreat,0.575665670689,-0.00984989658101,1.05003344657,0.546236348384,-0.00117726541062,1.04970484176
+395,6.583333333,pose2_to_pose3_retreat,0.575665472152,-0.00984989873699,1.05003343414,0.546236149817,-0.00117726770272,1.04970482852
+396,6.600000000,pose2_to_pose3_retreat,0.575665258455,-0.00984990105761,1.05003342075,0.546235936086,-0.00117727016985,1.04970481428
+397,6.616666667,pose2_to_pose3_retreat,0.575665089186,-0.00984990289578,1.05003341015,0.546235766791,-0.00117727212407,1.049704803
+398,6.633333333,pose2_to_pose3_retreat,0.575664963784,-0.00984990507175,1.05003340304,0.5462356414,-0.00117727428074,1.04970479542
+399,6.650000000,pose2_to_pose3_retreat,0.575664903396,-0.00984990966655,1.05003340282,0.546235581149,-0.0011772784076,1.04970479515
+400,6.666666667,pose2_to_pose3_retreat,0.575664769709,-0.00984991983837,1.05003340234,0.546235447769,-0.00117728754353,1.04970479456
+401,6.683333333,pose2_to_pose3_retreat,0.57566453084,-0.00984993801322,1.05003340147,0.546235209447,-0.00117730386746,1.0497047935
+402,6.700000000,pose2_to_pose3_retreat,0.575664408176,-0.00984997146367,1.05003353295,0.546235087879,-0.00117733373125,1.04970492155
+403,6.716666667,pose2_to_pose3_retreat,0.575664376717,-0.00984999925846,1.05003367177,0.54623505735,-0.00117735850588,1.04970505684
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..458680d5ebfbe98b7575e3469f770a897082b8b7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e310cfed2966da3be776ef99ffcedb4c52112a65e83ab31c641f0ecf75bc9b12
+size 25715042
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b9b0259f86846489ea1b4742269a72f0d9c93615
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_05/franka_data.csv
@@ -0,0 +1,406 @@
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+0,0.000000000,BASELINE,767,745,718,678,661,638,879,785,813,652,629,654,0.400971160277,-0.0153947815188,0.059839111471,0.999999949339,0.000173585616713,-0.000266355312074,1.56349022379e-05,1793249648144773376
+1,0.016666667,BASELINE,767,745,718,678.58694241,661,637.41305759,878.41305759,784.41305759,813,651.41305759,629.58694241,654,0.400971248352,-0.0153938741771,0.059839380871,0.999999949135,0.000175401094128,-0.000265919673808,1.58198717129e-05,1793249648161439744
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+3,0.050000000,BASELINE,767,744.24576975,718,679,661.75423025,637.75423025,878.75423025,784,813,651,629.24576975,654,0.400971612677,-0.0153939828424,0.0598401338956,0.99999994937,0.00017525068681,-0.000265139831146,1.57237665258e-05,1793249648194772480
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+9,0.150000000,BASELINE,766,745,717.233721546,678.766278454,661,637.233721546,878.766278454,784,813,651,629.766278454,654,0.400971365821,-0.0153951628073,0.0598398441892,0.999999949014,0.000176611957294,-0.000265573840616,1.58632808046e-05,1793249648294772224
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+17,0.283333333,BASELINE,767,745,718,679,661.134173,638,878.134173,784,813,651.865827,629.134173,653.865827,0.400967307158,-0.0153963720211,0.0598382987137,0.999999948795,0.000172895508021,-0.000268836747215,1.56475365585e-05,1793249648428106240
+18,0.300000000,BASELINE,767.442898039,745,718,678.557101961,661.442898039,637.557101961,878.442898039,784,813,651.557101961,629,654,0.400968853808,-0.0153961816586,0.0598393140076,0.999999949152,0.000173610136256,-0.000267039596003,1.56925998941e-05,1793249648444773120
+19,0.316666667,BASELINE,767.978861315,745,718,678.021138685,661.978861315,637.021138685,879,784,813,651.021138685,629,654,0.400971293318,-0.0153960436414,0.0598409829077,0.99999994979,0.00017430236268,-0.000264174270546,1.58220971779e-05,1793249648461440000
+20,0.333333333,BASELINE,767.387456959,745,718,678.612543041,661.387456959,637.612543041,879,784,813,651.612543041,629,654,0.400969940878,-0.0153956161417,0.0598402241849,0.99999994911,0.00017465398227,-0.000266496902355,1.59606643937e-05,1793249648478106112
+21,0.350000000,BASELINE,767,745,718,679,661,638,879,784,812.800561034,651.800561034,629,653.800561034,0.400969777354,-0.0153953495332,0.0598401546466,0.999999949036,0.000174744036854,-0.000266715821211,1.59666114574e-05,1793249648494772224
+22,0.366666667,BASELINE,767,745,718,679,661,638,879,784,812.222230242,651.222230242,629,653.222230242,0.400971872517,-0.0153953885839,0.0598413944131,0.999999950111,0.000174337173243,-0.000262938130418,1.57206082836e-05,1793249648511439104
+23,0.383333333,BASELINE,766.645208253,745,718,679,661.354791747,638,878.645208253,784.354791747,812.354791747,651,629.354791747,653,0.400972221336,-0.0153954142136,0.0598412072051,0.999999950174,0.000174128559717,-0.000262840743306,1.56914274166e-05,1793249648528105728
+24,0.400000000,BASELINE,766.069002988,745,718,679,661.930997012,638,878.069002988,784.930997012,812.930997012,651,629.930997012,653,0.40097148032,-0.0153954314677,0.0598401294708,0.999999949606,0.00017404366732,-0.000265040108759,1.57975579868e-05,1793249648544772096
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+27,0.450000000,BASELINE,767,744.32927012,718,678.67072988,661.67072988,638,879,784.32927012,813,651.32927012,629.67072988,654,0.400972147353,-0.0153948663752,0.059841078846,0.999999949605,0.000175684670702,-0.000263971537441,1.56352223959e-05,1793249648594773248
+28,0.466666667,BASELINE,767,744.257456297,717.742543703,678.742543703,661.742543703,638,879,784.257456297,813,651.257456297,630,654,0.400972128524,-0.0153951090135,0.0598407113084,0.999999949478,0.000176042129013,-0.000264211867721,1.56578565346e-05,1793249648611439872
+29,0.483333333,BASELINE,767,744.837652371,717.162347629,678.162347629,661.162347629,638,879,784.837652371,813,651.837652371,630,654,0.400972808941,-0.0153940741811,0.0598407146643,0.999999949659,0.00017614530202,-0.000263464707214,1.55500919053e-05,1793249648628106240
+30,0.500000000,BASELINE,767,745,717.412713781,678,661.412713781,638,879,785,813,651.587286219,629.587286219,654,0.400973384884,-0.0153937845852,0.0598413023793,0.999999950016,0.000175356941939,-0.000262630229127,1.56150179148e-05,1793249648644772608
+31,0.516666667,BASELINE,767,745,717.985780194,678,661.985780194,638,879,785,813,651.014219806,629.014219806,654,0.400973920235,-0.0153937845377,0.0598421171366,0.99999995044,0.00017422219246,-0.000261761825356,1.57470398171e-05,1793249648661439232
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+38,0.633333333,BASELINE,767,745,718,679,661,638,878.998662515,785,813,651.998662515,629.001337485,653.001337485,0.40096997587,-0.0153943155626,0.0598404736116,0.999999949526,0.000173316013006,-0.000265866035877,1.5004357514e-05,1793249648778106368
+39,0.650000000,BASELINE,767,745,718,679,661,638,878.381257404,785,813,651.381257404,629.618742596,653.618742596,0.400971298318,-0.0153950647669,0.0598414386032,0.999999949547,0.000176066347669,-0.000263935870767,1.56474340245e-05,1793249648794773248
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+42,0.700000000,BASELINE,767,745,718,679,661,638,878,784.625279954,813,651,629.625279954,653.625279954,0.400972253423,-0.015395758129,0.059840763306,0.99999994993,0.000174699075384,-0.000263357348403,1.62289450351e-05,1793249648844773120
+43,0.716666667,BASELINE,767,745,718,679,661,638,878,784.052811297,813,651,629.052811297,653.052811297,0.400971733827,-0.015395830741,0.0598407019502,0.999999949748,0.000174003670965,-0.000264515789014,1.6036450091e-05,1793249648861440000
+44,0.733333333,BASELINE,767,745,718,679,661,638,878.521351082,784.521351082,813,651.521351082,629,653.521351082,0.400971050443,-0.0153954657691,0.0598405706851,0.999999949582,0.00017478223988,-0.00026465164663,1.57020032303e-05,1793249648878106624
+45,0.750000000,BASELINE,767,745,718,679,661,638,879,785,813,651.900446842,629.099553158,654,0.400970730109,-0.0153950885476,0.059840677776,0.999999949543,0.000175565950834,-0.000264294098994,1.54571715927e-05,1793249648894772992
+46,0.766666667,BASELINE,767,745,718,679,661,638,879,785,813,651.302898185,629.697101815,654,0.400972309129,-0.0153948725054,0.0598420127373,0.999999950135,0.000175626059345,-0.000261988237369,1.57327870977e-05,1793249648911439616
+47,0.783333333,BASELINE,767,745,718,678.715646232,661.284353768,638,878.715646232,784.715646232,813,651,629.715646232,653.715646232,0.400972188503,-0.0153957696437,0.0598421171654,0.99999995039,0.000174369913533,-0.000261838095693,1.59801122489e-05,1793249648928106240
+48,0.800000000,BASELINE,767,745,718,678.138979132,661.861020868,638,878.138979132,784.138979132,813,651,629.138979132,653.138979132,0.400970320654,-0.0153978111224,0.0598409566157,0.999999950295,0.000171760669125,-0.000263904016082,1.6198355183e-05,1793249648944772608
+49,0.816666667,BASELINE,767,745,718,678,662,638,878,784,813,651,629,653.435110654,0.40097150032,-0.015398290685,0.0598409756315,0.999999950378,0.000172293538127,-0.000263234361209,1.63278383256e-05,1793249648961439232
+50,0.833333333,BASELINE,767,745,718,678.008630309,661.991369691,638,878.008630309,784.008630309,813,651,629,653.991369691,0.400973589355,-0.0153982746348,0.0598413598154,0.999999950511,0.000173775117013,-0.000261743807843,1.64270791386e-05,1793249648978106112
+51,0.850000000,BASELINE,767,745,718,678.598882179,661.401117821,638,878.598882179,784.598882179,813,651,629,653.401117821,0.400971748795,-0.0153982816761,0.0598411118897,0.999999950373,0.000171954051848,-0.0002634698557,1.63875975836e-05,1793249648994772736
+52,0.866666667,BASELINE,767,745,718,679,661.185514025,638,879,785,813,651,629.185514025,653.185514025,0.400970675228,-0.0153975252156,0.0598409818677,0.999999950128,0.000171907425137,-0.000264439599019,1.62192771471e-05,1793249649011439360
+53,0.883333333,BASELINE,767,745,718,679,661.764468445,638,879,785,813,651,629.764468445,653.764468445,0.400971228305,-0.0153951495114,0.0598411018973,0.999999949657,0.000175624049143,-0.000263805362393,1.5777713649e-05,1793249649028105984
+54,0.900000000,BASELINE,767,745,718,679,662,638,879,785,813,651,630,653.658978988,0.400971840336,-0.0153951841591,0.0598414126247,0.999999949822,0.000175321065706,-0.00026337666709,1.58330354593e-05,1793249649044772608
+55,0.916666667,BASELINE,767,745,718,679,662,638,879,785,813,651,630,653.084073719,0.400972492801,-0.0153968719113,0.0598418541395,0.999999950423,0.000172261293349,-0.000263088939312,1.62291387833e-05,1793249649061439488
+56,0.933333333,BASELINE,767,745,718,678.509400431,661.509400431,638,879,784.509400431,813,651,630,653.490599569,0.400971760706,-0.0153973890658,0.0598411709046,0.999999950257,0.000171769970516,-0.000264044091818,1.61565837083e-05,1793249649078105856
+57,0.950000000,BASELINE,767,745,718,678,661,638,878.932900014,784.067099986,813,651.067099986,629.932900014,654,0.400970949332,-0.0153976404986,0.0598404662765,0.999999950006,0.000171864097851,-0.00026494197424,1.60203203718e-05,1793249649094772480
+58,0.966666667,BASELINE,767,745,718,678,661,638,878.341821726,784.658178274,813,651.658178274,629.341821726,654,0.400971370827,-0.0153973826955,0.0598410990307,0.999999950114,0.000173094459696,-0.000263730191027,1.6013431026e-05,1793249649111439104
+59,0.983333333,BASELINE,767,745,718,678.2443362,661,638,878.2443362,785,813,651.7556638,629.2443362,653.7556638,0.400971036393,-0.0153969845542,0.0598410845149,0.999999949989,0.000173996048626,-0.000263617084651,1.58909660571e-05,1793249649128105728
+60,1.000000000,BASELINE,767,745,718,678.823746595,661,638,878.823746595,785,813,651.176253405,629.823746595,653.176253405,0.400969665302,-0.0153963939578,0.0598401823558,0.999999949547,0.000174446769953,-0.000265010665435,1.5610004684e-05,1793249649144772352
+61,1.016666667,BASELINE,767,745,718,678.601015767,661.398984233,638,879,785,813,651.398984233,630,653.398984233,0.400969860788,-0.0153973715078,0.0598406095114,0.999999949906,0.000172963208378,-0.000264611631731,1.590005155e-05,1793249649161439488
+62,1.033333333,BASELINE,767,745,718,678.027602422,661.972397578,638,879,785,813,651.972397578,630,653.972397578,0.400970741153,-0.0153990346246,0.0598416178207,0.999999950609,0.000170634011228,-0.000263428897411,1.64397335116e-05,1793249649178106624
+63,1.050000000,BASELINE,767,745,718,678,661.437495003,638,878.437495003,785,813,652,629.437495003,653.437495003,0.400971692974,-0.0153975981743,0.0598417532917,0.999999950435,0.000172945688374,-0.000262605794396,1.6081849087e-05,1793249649194773248
+64,1.066666667,BASELINE,767,745,718,678,661.1503186,638,878,785,812.8496814,652,629.1503186,653,0.400972601938,-0.0153966431992,0.0598420000019,0.999999950374,0.000174541062477,-0.00026179185067,1.58620336726e-05,1793249649211439872
+65,1.083333333,BASELINE,767,745,718,678,661.729185771,638,878,785,812.270814229,652,629.729185771,653,0.400973378417,-0.0153975077615,0.0598426896901,0.999999950783,0.000173425201325,-0.000260952169408,1.61652513934e-05,1793249649228106240
+66,1.100000000,BASELINE,767,745.306272297,718,678.306272297,661.693727703,638,878.612544594,785,812.306272297,652,630,653.306272297,0.400973164049,-0.0153976532653,0.0598425718062,0.999999950801,0.000172648458355,-0.000261391038833,1.6258026139e-05,1793249649244772864
+67,1.116666667,BASELINE,767,745.881793401,718,678.881793401,661.118206599,638,879.763586801,785,812.881793401,652,630,653.881793401,0.400972078613,-0.0153971666335,0.059841743973,0.999999950476,0.000172169839586,-0.000262953902374,1.61657971303e-05,1793249649261439232
+68,1.133333333,BASELINE,767,745.546019845,718,678.546019845,661.453980155,637.546019845,879.546019845,785,813,651.546019845,630,653.546019845,0.400972276931,-0.0153964902547,0.0598422204996,0.999999950501,0.000173148936547,-0.000262211303297,1.61956045532e-05,1793249649278105856
+69,1.150000000,BASELINE,767,745,718,678,661.973724322,637,879,784.973724322,813,651,629.973724322,653,0.400972873378,-0.0153958100723,0.0598430692918,0.999999950635,0.000174433651102,-0.00026084165435,1.62612332709e-05,1793249649294772736
+70,1.166666667,BASELINE,767,745,718,678,661.380485958,637,879,784.380485958,813,651,629.380485958,653,0.400974900518,-0.015396106103,0.0598446757686,0.999999951207,0.00017418263874,-0.000258800211087,1.64191559033e-05,1793249649311439616
+71,1.183333333,BASELINE,767,744.792254636,718,678,661,637.207745364,878.792254636,784.207745364,813,651,629.207745364,653.207745364,0.400975270007,-0.0153967372002,0.0598448445628,0.999999951374,0.00017384603014,-0.00025838201006,1.63801534497e-05,1793249649328106496
+72,1.200000000,BASELINE,767,744.212977798,718,678,661,637.787022202,878.212977798,784.787022202,813,651,629.787022202,653.787022202,0.400972674953,-0.0153979675294,0.059842442208,0.99999995082,0.000173356341321,-0.000260866812475,1.59889705181e-05,1793249649344773376
+73,1.216666667,BASELINE,767,744.363874035,718,678.363874035,661.363874035,638,878,784.636125965,813,651,629.636125965,654,0.400972204617,-0.0153980394684,0.0598420003335,0.999999950491,0.000173734615618,-0.000261870424164,1.60374882608e-05,1793249649361439744
+74,1.233333333,BASELINE,767,744.939315859,718,678.939315859,661.939315859,638,878,784.060684141,813,651,629.060684141,654,0.40097296966,-0.0153974378828,0.0598426983439,0.999999950295,0.000174617550955,-0.000262012824906,1.63416618061e-05,1793249649378106112
+75,1.250000000,BASELINE,767,745.515326239,718,678.484673761,662,638,878.515326239,784.515326239,813,651,629.515326239,654,0.400972159009,-0.0153967246797,0.0598428332544,0.999999950432,0.000174468381193,-0.00026161018047,1.60252538812e-05,1793249649394772480
+76,1.266666667,BASELINE,767,745.906198137,718.093801863,678.093801863,662,638,878.906198137,785,813,651.093801863,629.906198137,654,0.400971571636,-0.0153961726613,0.0598429571179,0.999999950659,0.000174150934055,-0.000260971192065,1.57577094088e-05,1793249649411439104
+77,1.283333333,BASELINE,767,745.315005827,718.684994173,678.684994173,662,638,878.315005827,785,813,651.684994173,629.315005827,654,0.400973153199,-0.0153965451092,0.0598433744044,0.999999951154,0.000173586367287,-0.00025941968916,1.61371999447e-05,1793249649428105728
+78,1.300000000,BASELINE,767.270225667,745,718.729774333,679,662,638,878.270225667,785,812.729774333,652,629.270225667,654,0.400973880541,-0.0153974031433,0.0598432625074,0.999999951329,0.000173099358259,-0.000259066882136,1.6230622432e-05,1793249649444772352
+79,1.316666667,BASELINE,767.848658482,745,718.151341518,679,662,638,878.848658482,785,812.151341518,652,629.848658482,654,0.400973633598,-0.015398815015,0.0598425470478,0.999999951138,0.000172700808114,-0.000260081253422,1.59977686413e-05,1793249649461439488
+80,1.333333333,BASELINE,767.577502884,745,718,679,662,638,879,785,812.422497116,651.577502884,630,654,0.40097338741,-0.0153987252627,0.059842548414,0.999999951256,0.000171864347812,-0.000260169273178,1.62089921243e-05,1793249649478106112
+81,1.350000000,BASELINE,767.005292171,745,718,679,662,638,879,785,812.994707829,651.005292171,630,654,0.40097314149,-0.0153981034039,0.0598428037904,0.999999951482,0.000170872712205,-0.000259929036528,1.65775762033e-05,1793249649494772480
+82,1.366666667,BASELINE,767.585212988,745.585212988,718,678.414787012,662,638,879.585212988,784.414787012,813,651,630,654,0.400972468151,-0.0153967739489,0.0598424284617,0.999999950897,0.000172979813431,-0.000260805409851,1.62409379112e-05,1793249649511438848
+83,1.383333333,BASELINE,767.8276418,745.8276418,718,678.1723582,661.8276418,638,879.6552836,784.1723582,813,651,630,654,0.400972227854,-0.0153959712032,0.0598421874497,0.999999950549,0.000174256534896,-0.00026130424156,1.59979428002e-05,1793249649528105728
+84,1.400000000,BASELINE,767.248822743,745.248822743,718,678.751177257,661.248822743,638,878.497645486,784.751177257,813,651,630,654,0.400973018179,-0.0153964261373,0.0598422770718,0.999999950789,0.000173506811788,-0.000260888161112,1.59913048952e-05,1793249649544772352
+85,1.416666667,BASELINE,767,745,718,679,661.329291741,637.670708259,878,784.670708259,813,651,630,654,0.400973821598,-0.0153963398687,0.0598424924886,0.999999950833,0.000174030901746,-0.000260367222982,1.59880696952e-05,1793249649561438976
+86,1.433333333,BASELINE,767,745,718,679,661.90687493,637.09312507,878,784.09312507,813,651,630,654,0.40097463489,-0.0153958455243,0.0598428027566,0.99999995073,0.000175515467979,-0.00025976722044,1.59874001917e-05,1793249649578105600
+87,1.450000000,BASELINE,767,745,718,679,662,637,878.480270894,784.480270894,813,651,629.519729106,654,0.400973713131,-0.0153974734384,0.0598435846907,0.999999950913,0.00017490407107,-0.000259457913237,1.62811394764e-05,1793249649594772224
+88,1.466666667,BASELINE,767,745,718,679,661.945544487,637.054455513,879.108911026,784.945544487,813,651,629,653.945544487,0.400972653337,-0.0153992411811,0.0598442787398,0.99999995113,0.000173892187249,-0.000259282917292,1.65587843636e-05,1793249649611438848
+89,1.483333333,BASELINE,767,745,718,679,661.355692397,637.644307603,880.288615205,784.355692397,813,651,629,653.355692397,0.40097351552,-0.0153983727865,0.0598432173078,0.999999951154,0.000172903998707,-0.000259879053076,1.61217821774e-05,1793249649628105728
+90,1.500000000,BASELINE,767,745,718,678.770700916,661,638,880.312102748,784.229299084,813,651.229299084,629.229299084,653,0.400973437999,-0.0153980885847,0.0598421279611,0.999999951024,0.000172305528443,-0.00026078671945,1.58945159209e-05,1793249649644772096
+91,1.516666667,BASELINE,767,745,718,678.193092831,661,638,878.579278493,784.806907169,813,651.806907169,629.806907169,653,0.400971933053,-0.0153986917813,0.0598409962116,0.999999950663,0.00017229904661,-0.000262167605751,1.59858419585e-05,1793249649661438720
+92,1.533333333,BASELINE,767,745,718,678.385007349,661,638,878.385007349,785,813,652,629.614992651,653.385007349,0.400971965829,-0.0153980076788,0.0598415446804,0.999999950651,0.000172969167496,-0.000261767725232,1.60162090112e-05,1793249649678105344
+93,1.550000000,BASELINE,767,745,718,678.963354698,661,638,878.963354698,785,813,652,629.036645302,653.963354698,0.400972770806,-0.0153966771307,0.059842936908,0.999999950814,0.000173979059479,-0.000260473593192,1.60159641627e-05,1793249649694771968
+94,1.566666667,BASELINE,767,745,718,678.465019831,661.534980169,638,879,784.465019831,813,652,629.534980169,654,0.400971728139,-0.0153954425993,0.0598423604896,0.999999950297,0.00017581142836,-0.00026125056435,1.56640149915e-05,1793249649711438848
+95,1.583333333,BASELINE,767,745,718,678.110783944,662,638,879,784,813,651.889216056,629.889216056,654,0.400971066768,-0.0153947102486,0.0598419853018,0.999999949953,0.000177110329208,-0.000261699058112,1.54451674738e-05,1793249649728105472
+96,1.600000000,BASELINE,767,745,718,678.706884011,662,638,879,784,813,651.293115989,629.293115989,654,0.400972623311,-0.0153961493684,0.0598430750632,0.999999950591,0.000175828502183,-0.000260094804148,1.59136319061e-05,1793249649744772096
+97,1.616666667,BASELINE,767,745,718,679,662,638,879,784.292144312,813,651.292144312,629.292144312,653.707855688,0.400972727916,-0.0153970553116,0.0598431562472,0.999999950796,0.00017504308915,-0.000259822301162,1.61523437617e-05,1793249649761438976
+98,1.633333333,BASELINE,767,745,718,679,662,638,879,784.866917859,813,651.866917859,629.866917859,653.133082141,0.400971427873,-0.0153974454436,0.0598422617028,0.999999950584,0.000174737922089,-0.000260838174407,1.61687860046e-05,1793249649778105344
+99,1.650000000,BASELINE,767,745.441280655,718,678.558719345,662,638,879,785,813,651.558719345,630,653.441280655,0.40097186545,-0.0153970162555,0.0598423509154,0.99999995049,0.000175369536113,-0.000260778742083,1.60968753794e-05,1793249649794772736
+100,1.666666667,BASELINE,767,745.984035621,718,678.015964379,661.984035621,638,879,784.984035621,813,651,630,654,0.400972812847,-0.0153963929907,0.0598427462576,0.999999950449,0.000176201096794,-0.000260380985878,1.60080527799e-05,1793249649811440384
+101,1.683333333,BASELINE,767,745.393342532,718,678.606657468,661.393342532,638,879,784.393342532,813,651,630,654,0.400973266044,-0.0153976700431,0.0598434916189,0.999999951056,0.000174069563768,-0.000259467229856,1.6268755413e-05,1793249649828106752
+102,1.700000000,BASELINE,767,745,718,678.805695116,661.194304884,638,878.805695116,784,813,651.194304884,629.805695116,654,0.400973351306,-0.0153982933654,0.0598436967158,0.999999951374,0.000172436091617,-0.000259332036667,1.62593379604e-05,1793249649844772864
+103,1.716666667,BASELINE,767,745,718,678.224118148,661.775881852,638,878.224118148,784,813,651.775881852,629.224118148,654,0.400972703228,-0.0153976137283,0.0598428250029,0.999999951125,0.000171795312588,-0.000260748609267,1.57115399375e-05,1793249649861439232
+104,1.733333333,BASELINE,767,745,718,678,662,638,878.352798811,784,813,651.647201189,629,653.647201189,0.40097232299,-0.015396465295,0.0598424855504,0.99999995088,0.000172701176937,-0.000261099824249,1.55473014735e-05,1793249649878106112
+105,1.750000000,BASELINE,767,745,718,678,662,638,878.92679411,784,813,651.07320589,629,653.07320589,0.400972110681,-0.0153950229376,0.0598424798124,0.999999950636,0.000174576749947,-0.000260783085404,1.56235457043e-05,1793249649894772992
+106,1.766666667,BASELINE,767,745,718,678,662,637.497819782,879,784.502180218,813,651,629.502180218,653.502180218,0.400972153787,-0.0153960060764,0.0598426946057,0.999999950703,0.000174027000258,-0.000260881159825,1.5806726483e-05,1793249649911439360
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,718,678,662,638,878,785,813,651,629,654,0.40097102441,-0.0153987271488,0.0598407652125,0.999999949873,0.000174055483543,-0.000264002928844,1.61660958247e-05,1793249649954067968
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.421980054,745,717.421980054,678.578019946,661.421980054,638,878.578019946,785,813,651.578019946,629.578019946,653.421980054,0.400971183746,-0.0153984631048,0.0598408223521,0.999999950159,0.00017319339551,-0.000263477390027,1.63157701137e-05,1793249649970734592
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.15443582,745,717.15443582,679,661,637.84556418,878.84556418,785,813,651.84556418,630,653,0.400971741812,-0.01539850891,0.0598413146887,0.999999950584,0.000172285154606,-0.000262449804346,1.64167767931e-05,1793249649987400960
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.726513918,745,717.726513918,679,661,637.273486082,878.273486082,785,813,651.273486082,630,653,0.400973378173,-0.0153993926429,0.0598429839327,0.999999951385,0.000171252101855,-0.000260064528372,1.63861712197e-05,1793249650004067840
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661,637.308671929,878,784.691328071,813,651,630,653.308671929,0.400973526782,-0.0153990542832,0.0598435075476,0.999999951534,0.000171584615673,-0.000259279566954,1.62794930277e-05,1793249650020734464
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661,637.900062288,878,784.099937712,813,651,630,653.900062288,0.400972312733,-0.0153975965859,0.0598429818592,0.999999951087,0.000173167877685,-0.000259960363908,1.61031384939e-05,1793249650037401088
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661,638,878,784,813,651,630,653.518872828,0.400970653475,-0.0153973771715,0.059841626219,0.999999950259,0.000174626349618,-0.000262160529161,1.61339163407e-05,1793249650054067712
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745,717.940136101,678.940136101,661,638,878,784.059863899,813,651,629.940136101,653.059863899,0.400969495338,-0.0153976100984,0.0598405010648,0.999999949606,0.000175573332465,-0.000264004058511,1.62660019038e-05,1793249650070734336
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,717.36337195,678.36337195,661,638,878,784.63662805,813,651,629.36337195,653.63662805,0.400973445899,-0.0153995745562,0.0598428233417,0.999999951183,0.00017232293031,-0.000260100387567,1.69091429965e-05,1793249650087401216
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,717.212042945,678.212042945,661.212042945,638,878.212042945,785,813,651.212042945,629,653.787957055,0.400979232755,-0.015400394232,0.0598457614161,0.999999952635,0.000170599279382,-0.000255597185785,1.7198039122e-05,1793249650104068352
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,717.78516022,678.78516022,661.78516022,638,878.78516022,785,813,651.78516022,629,653.21483978,0.400988146517,-0.0153992645319,0.0598497480925,0.999999953887,0.000171475435517,-0.000250073081797,1.68837141513e-05,1793249650120735744
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879,785,813,652,629,653.368805516,0.401014356767,-0.0153997637106,0.0598606690799,0.99999995798,0.000173510498598,-0.000231560360521,1.77406354377e-05,1793249650137402624
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879,785,813,652,629,653.958763959,0.401050938797,-0.0154012396407,0.0598757482027,0.999999963218,0.000176240496129,-0.000205259060055,1.92998903697e-05,1793249650154068992
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661.459737685,638,879,784.459737685,813,652,629.540262315,654,0.401112904217,-0.015403960954,0.0598953280415,0.999999969679,0.000174868832905,-0.000172104118795,2.10725537598e-05,1793249650170735360
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661,637.880903155,879,784,813,651.880903155,630,654,0.401179926171,-0.0154074575976,0.0599141031862,0.999999974819,0.000172963171275,-0.000141159378896,2.2787978859e-05,1793249650187401472
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661,637.309766094,879,784,813,651.309766094,630,654,0.40125890036,-0.0154135418362,0.0599285403082,0.999999977955,0.000170200614862,-0.000120558490774,2.4225281376e-05,1793249650204068608
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745,718,678.729462403,661.270537597,637.270537597,879,784,813,651,630,653.729462403,0.401345014918,-0.0154183230094,0.0599395914604,0.99999998034,0.000167945325759,-0.000102498465381,2.46637403059e-05,1793249650220735488
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745,718,678.138294837,661.861705163,637.861705163,879,784,813,651,630,653.138294837,0.40143959194,-0.0154215598431,0.0599466297002,0.999999982064,0.000166291229098,-8.74497666648e-05,2.39184110501e-05,1793249650237401856
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745,718,678,662,638,879,784,813,651,629.556396035,653,0.401541030669,-0.0154267002773,0.0599459357448,0.999999982191,0.000165158635519,-8.83948287516e-05,2.29560992833e-05,1793249650254068736
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,718,678,661.977543626,638,879,784.022456374,813,651,629,653,0.401645578477,-0.0154324605622,0.0599428517614,0.99999998187,0.000164124852024,-9.40443779359e-05,2.18931050075e-05,1793249650270735616
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,718,678,661.403991045,638,879,784.596008955,813,651,629,653,0.401775003354,-0.0154391667346,0.0599390602945,0.999999982202,0.000161607762277,-9.52872402505e-05,1.99853678093e-05,1793249650287402240
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,717.829142119,678,661,638,878.829142119,784.829142119,813,651,629,653,0.401917415551,-0.015446084357,0.0599371998483,0.999999982817,0.000158911037931,-9.36871621302e-05,1.83271951819e-05,1793249650304068608
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,717.251204653,678,661,638,878.251204653,784.251204653,813,651,629,653,0.402090770832,-0.0154535057711,0.0599399401804,0.999999984077,0.000155786323268,-8.53136004494e-05,1.72636260239e-05,1793249650320734976
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,717.332688533,678,661,638,878.332688533,784,813,651,629,653,0.402283841767,-0.0154628782904,0.0599426596676,0.999999985688,0.000149738588898,-7.714288844e-05,1.58744625992e-05,1793249650337401600
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745,717.921160764,678,661,638,878.921160764,784,813,651,629,653,0.40249207087,-0.0154737508951,0.0599453631288,0.999999987506,0.000141443524565,-6.91281341419e-05,1.42349697053e-05,1793249650354068224
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,718,678.503250536,661.503250536,638,879,784,813,651,629,653,0.402733855464,-0.0154857847965,0.0599494370066,0.99999998952,0.000132713484821,-5.64937307766e-05,1.25104866821e-05,1793249650370734592
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745,718,678.916414514,661.916414514,638,879,784.083585486,813,651,629,653,0.402983543263,-0.015497260038,0.0599526169611,0.999999991064,0.00012515731349,-4.57643539889e-05,1.06660701789e-05,1793249650387400960
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745,718,678.340598894,661.340598894,638,879,784.659401106,813,651,629,653,0.40324920336,-0.0155043874182,0.0599492841943,0.999999990892,0.000124910248557,-5.04621013315e-05,8.19279827241e-06,1793249650404067584
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,718,678,661.235044717,638,879,784.764955283,813,651,629,653,0.403529145199,-0.0155086761237,0.0599423129657,0.999999990046,0.000126910964976,-6.14538787506e-05,5.00583090982e-06,1793249650420734720
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,718,678,661.810439219,638,879,784.189560781,813,651,629,653,0.403829767292,-0.0155088543669,0.0599300731667,0.99999998794,0.00013216651694,-8.15595462928e-05,7.85417380214e-07,1793249650437402112
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,718,678.395580307,662,638,879,784.395580307,813,651,629,653.395580307,0.404154097644,-0.0154994917869,0.0599173340983,0.999999990926,8.64412534154e-05,-0.000103225749583,-4.60149867279e-06,1793249650454068736
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,718,678.98550989,662,638,879,784.98550989,813,651,629,653.98550989,0.404490075895,-0.0154854417844,0.0599043497385,0.999999991926,1.56690280466e-05,-0.000125658645684,-1.05615192533e-05,1793249650470734848
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,878.436725841,785,813,651,629,654,0.404878044827,-0.0154886538655,0.0598989629225,0.999999990357,1.54039155961e-05,-0.000137306735119,-1.39591869256e-05,1793249650487401984
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,878.1393462,784.8606538,813,651,629,654,0.405284028471,-0.0154945913405,0.0598996059269,0.999999990132,1.63232456547e-05,-0.000138502013562,-1.69087489073e-05,1793249650504068608
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,878.711117369,784.288882631,813,651,629,654,0.405741853366,-0.0155076374677,0.0599183672319,0.999999993864,1.54085804983e-05,-0.000108102441026,-1.86679587109e-05,1793249650520735232
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745,717.713123748,679,662,638,879,784,813,651,629,654,0.406236936852,-0.0155165288937,0.059943486719,0.999999997608,1.11975980483e-05,-6.53514177672e-05,-1.97117662701e-05,1793249650537401856
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745,717.133292583,679,662,638,879,784,813,651,629,654,0.40677006846,-0.0155211775857,0.0599750991149,0.999999999743,3.62045205936e-06,-9.98722342227e-06,-2.00250130105e-05,1793249650554068480
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745,717.456862443,679,662,638,879.456862443,784.456862443,813,651,629,654,0.407304995257,-0.0155216669354,0.0599907915646,0.999999999705,-2.70246001121e-06,8.94838922049e-06,-2.24022832944e-05,1793249650570734592
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879.951397417,785,813.048602583,651,629,654,0.40784106134,-0.0155208824883,0.0599998259692,0.999999999512,-1.16282850871e-05,1.36204760025e-05,-2.56028974246e-05,1793249650587401216
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879.37588164,785,813.62411836,651,629,654,0.40838366963,-0.0155197486747,0.0599881978934,0.999999997952,-5.28318400054e-05,-1.84541792915e-05,-3.10501373441e-05,1793249650604068608
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745,717.800724035,679,662,638,879,785,813.800724035,651.199275965,629,654,0.408945401005,-0.0155200361994,0.059977986726,0.99999999531,-7.8132577102e-05,-4.41270875631e-05,-3.64526414998e-05,1793249650620735488
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745,717.226240851,679,662,638,879,785,813.226240851,651.773759149,629,654,0.409543138293,-0.0155229998941,0.0599704433888,0.99999999476,-7.34906540544e-05,-5.77464495724e-05,-4.17709146206e-05,1793249650637402368
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745,717.357207415,679.357207415,662,638,879.357207415,785,813.357207415,651.642792585,629,654,0.41019611555,-0.0155276460046,0.0599752912997,0.999999994778,-8.09464653491e-05,-4.19765883802e-05,-4.6152008436e-05,1793249650654068992
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745,717.946479959,679.946479959,662,638,879.946479959,785,813.946479959,651.053520041,629,654,0.410884980255,-0.0155333851214,0.0599881893702,0.999999994095,-9.62617503931e-05,-7.11357917202e-06,-4.99242494731e-05,1793249650670735616
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745,717.471373861,680,662,638,880.528626139,785,813.471373861,651,629,654,0.411569528251,-0.01553719174,0.0599831388501,0.999999991107,-0.000120772340691,-1.6621414767e-05,-5.40765876647e-05,1793249650687401984
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745,717,680,662,638,881.108641415,785,813,651,629,654,0.412249625789,-0.0155379077645,0.0599710389921,0.999999990723,-0.000118811778419,-4.04987893196e-05,-5.28998016031e-05,1793249650704068608
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,717,680,662,638,881.682579136,785,813,651,629,654,0.412912509322,-0.0155262140058,0.0599364270007,0.999999993869,4.552798349e-07,-0.000106935085419,-2.87364815918e-05,1793249650720735232
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745,717,680,662.256236207,638,881.743763793,785,813,651,629,654,0.413615285083,-0.0155178234583,0.0599152442218,0.999999987482,5.77849827361e-05,-0.000146099899558,-1.8732665448e-05,1793249650737401600
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745,717,680,662.829546071,638,881.170453929,785,813,651,629,654,0.414367424663,-0.0155135203926,0.0599106791116,0.999999987437,3.84717322668e-05,-0.000151518250519,-2.62502020854e-05,1793249650754068224
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745,717.417152502,680.417152502,663,638,881.834305005,785,813.417152502,651.417152502,629,654,0.415217991109,-0.015523707673,0.0599520987788,0.9999999967,1.10700782363e-05,-7.55289326307e-05,-2.77883240215e-05,1793249650770735104
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.989487537,745,718,680.989487537,663,638.010512463,882.989487537,784.989487537,814,652,629,654,0.416108684329,-0.0155398370441,0.0600119358063,0.999999998913,-1.94518308072e-05,3.27779681189e-05,-2.68410654463e-05,1793249650787401728
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.412063657,745,718,680.412063657,663,638.587936343,882.412063657,784.412063657,814,652,629,654,0.416917464692,-0.0155457754863,0.0600157187778,0.999999998684,-3.36844459796e-05,2.63742850765e-05,-2.82985951602e-05,1793249650804068608
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,718,680,663.164482869,638.835517131,882.164482869,784.164482869,814,651.835517131,629,654,0.417733046864,-0.0155496684877,0.0600127021529,0.999999998494,-4.32384237509e-05,1.54982422886e-05,-3.00222160112e-05,1793249650820735232
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,718,680,663.73884307,638.26115693,882.73884307,784.73884307,814,651.26115693,629,654,0.418565578516,-0.0155484644243,0.0599927415113,0.999999998608,-4.11336338162e-05,-6.52254057465e-06,-3.24089132846e-05,1793249650837401856
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.320836251,745,718,680.320836251,663.679163749,638.320836251,882.679163749,784.679163749,814,651,629,654,0.419390757955,-0.0155471272409,0.0599700383972,0.999999997624,-4.27782051975e-05,-4.04065863418e-05,-3.59180713205e-05,1793249650854068480
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.909193977,745,718,680.909193977,663.090806023,638.909193977,882.090806023,784.090806023,814,651,629,654,0.420209806889,-0.0155456790587,0.0599450485403,0.999999994512,-4.75490900334e-05,-8.41825231161e-05,-4.03631656983e-05,1793249650870734848
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745,717.508679116,681,663,638.508679116,882.491320884,784.491320884,814,651,629,654,0.421051949068,-0.0155427248483,0.0599093816586,0.99999998649,-4.58065009374e-05,-0.000151584767092,-4.40838040658e-05,1793249650887401472
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745,717,681,663,638,883,785,814,651,629,654,0.421908942643,-0.0155402503194,0.0598792521307,0.999999976258,-4.34254026492e-05,-0.00020827368098,-4.71226386022e-05,1793249650904068096
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745,717,681,663,638,883,785,814,651,629,654,0.422840761416,-0.0155430837064,0.0599017836925,0.999999985237,-4.49150226452e-05,-0.000159265317957,-4.62953329182e-05,1793249650920734976
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745,717.221295146,680.778704854,663.221295146,638,883.221295146,785,814,651,629,654.221295146,0.423788891167,-0.0155473186054,0.0599401263169,0.999999993634,-4.79393477709e-05,-9.23257758865e-05,-4.36912436279e-05,1793249650937401600
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745,717.79640679,680.20359321,663.79640679,638,883.79640679,785,814,651,629,654.79640679,0.424763099779,-0.0155537943044,0.0600037483733,0.999999997837,-5.34174276268e-05,3.28293876054e-06,-3.82463536014e-05,1793249650954067968
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745,718,680.381835126,664.381835126,638.381835126,884,785,814.381835126,651,629,654.618164874,0.425702469522,-0.0155575911223,0.0600323765248,0.999999996493,-5.35715876189e-05,5.30219860193e-05,-3.64954052587e-05,1793249650970734592
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745,718,680.972917006,664.972917006,638.972917006,884,785,814.972917006,651,629,654.027082994,0.426622747407,-0.0155599199053,0.0600418279114,0.999999995021,-5.0808223971e-05,7.76243173402e-05,-3.67687480676e-05,1793249650987401216
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745,717.448820528,681,664.448820528,638.448820528,884,785.551179472,815,651,629,654,0.427547979525,-0.0155609128272,0.0600164754613,0.999999996152,-6.34540105481e-05,4.48693617042e-05,-4.06875967489e-05,1793249651004067840
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745,717.128425429,681,664,638,884,785.871574571,815,651,629.128425429,654,0.428455306272,-0.015560492015,0.0599878228867,0.999999996425,-7.17518295243e-05,4.77843875185e-06,-4.4481456103e-05,1793249651020734464
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745,717.704274557,681,664,638,884,785.295725443,815,651,629.704274557,654,0.429299423292,-0.0155553693535,0.0599534955032,0.999999995628,-6.2323789916e-05,-5.1274729784e-05,-4.72299830111e-05,1793249651037401088
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745,717.721485017,681.278514983,664,638,884.278514983,785,815.278514983,651,630,654,0.430170353169,-0.0155532579088,0.059932478793,0.999999993321,-6.19504513699e-05,-8.42139947068e-05,-4.92725644224e-05,1793249651054068224
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745,717.148942928,681.851057072,664,638,884.851057072,785,815.851057072,651,630,654,0.431069589214,-0.0155543253933,0.0599255141071,0.99999999189,-7.11361237177e-05,-9.27520045898e-05,-5.05698820608e-05,1793249651070735616
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745,717.440661117,682,664,638.440661117,885,785,815.559338883,651,630,654,0.432016506449,-0.0155555192486,0.0599616675425,0.999999995878,-7.10702471983e-05,-2.85190087683e-05,-4.87767789076e-05,1793249651087402496
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,745.035034769,718,681.964965231,664,638.964965231,885,785,815.035034769,651,629.964965231,654,0.432976193095,-0.0155567606941,0.0600096985806,0.999999995096,-6.81692343594e-05,5.51115303891e-05,-4.60854244817e-05,1793249651104068864
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,745.610442497,718,681.389557503,664,638.389557503,885,785,815.610442497,651,629.389557503,654,0.433874245976,-0.0155580508269,0.0600070884796,0.999999995421,-7.17127660985e-05,4.32729038351e-05,-4.62996422638e-05,1793249651120735488
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,745.814110649,717.814110649,681,664,638.185889351,885.185889351,785,816,651,629.185889351,654,0.434752532205,-0.0155603272391,0.0599951613219,0.999999995777,-7.65497378006e-05,1.7740334613e-05,-4.76600087377e-05,1793249651137402112
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,745.238581675,717.238581675,681,664,638.761418325,885.761418325,785,816,651,629.761418325,654,0.435589386045,-0.0155646709759,0.0599637048339,0.999999994476,-8.40978683402e-05,-3.64958856476e-05,-5.14227986582e-05,1793249651154068480
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,745.345210539,717,681.345210539,664.345210539,639,885.654789461,785.345210539,815.654789461,651,629.654789461,654,0.436403382458,-0.0155641007013,0.059943163617,0.999999992319,-8.5593516966e-05,-7.13942752429e-05,-5.42056267239e-05,1793249651170735104
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,745.934853655,717,681.934853655,664.934853655,639,885.065146345,785.934853655,815.065146345,651,629.065146345,654,0.437201194204,-0.0155600509718,0.0599303511573,0.9999999907,-8.28035957383e-05,-9.26001602053e-05,-5.62945748736e-05,1793249651187401728
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,717,681.485280497,665,638.485280497,885,785.485280497,815.514719503,651,629.514719503,654,0.43798709875,-0.015560007289,0.0599096138362,0.99999998559,-8.09552672222e-05,-0.000137857909578,-5.71136079632e-05,1793249651204068352
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.907204979,745.907204979,717,681,665,638,885.092795021,785,816,651.092795021,629.907204979,654,0.438786554156,-0.015560926594,0.0598986943214,0.999999981362,-8.05490316111e-05,-0.000165967284801,-5.69531254482e-05,1793249651220734720
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.332122739,745.332122739,717,681,665,638,885.667877261,785,816,651.667877261,629.332122739,654,0.43966412463,-0.0155642647788,0.0599439171554,0.999999990835,-8.70299999147e-05,-8.94241140636e-05,-5.2521558952e-05,1793249651237401856
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.24263331,745,717,681,665,638,885.75736669,785,816,652,629.24263331,654,0.440498740991,-0.0155682548276,0.0599817384746,0.999999994233,-9.10471181514e-05,-2.85407885299e-05,-4.9283333103e-05,1793249651254068736
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.816943413,745,717,681,665,638,885.183056587,785,816,652,629.816943413,654,0.441274639528,-0.0155731359662,0.0600094420092,0.9999999946,-9.16961831472e-05,1.09357117393e-05,-4.767639009e-05,1793249651270735360
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,745,717,681.405251048,665,638,885.405251048,785,816,651.594748952,629.594748952,654,0.441976105763,-0.0155761945608,0.0599886617594,0.999999993645,-9.84831845015e-05,-2.09621434095e-05,-5.07107369328e-05,1793249651287401728
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,745.000104427,717,682,665,638,886,785,816,651.000104427,629.000104427,654,0.442642744398,-0.0155784008084,0.0599451981411,0.999999988869,-0.00010814444053,-8.62527040566e-05,-5.59165244388e-05,1793249651304068096
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,745.576411665,717,682,665,638,886,785,816,651.576411665,629.576411665,654,0.44329356645,-0.0155826501602,0.0599063867603,0.999999979145,-0.000131518729474,-0.000144003677684,-6.06287574179e-05,1793249651320734976
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,717,682,664.847460452,637.847460452,886,784.847460452,816.152539548,651.847460452,630,654,0.443944382737,-0.0155870461241,0.059876673343,0.999999969302,-0.000147750402543,-0.000188186495352,-6.44394070219e-05,1793249651337401856
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,717,682,664.271829904,637.271829904,886,784.271829904,816.728170096,651.271829904,630,654,0.444595183184,-0.0155918487389,0.0598721944649,0.999999968485,-0.000144170980447,-0.000194736039851,-6.57493834041e-05,1793249651354068736
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,717,682,664,637,886,784,817,651,630,654,0.445192728664,-0.0155959462117,0.0598589959086,0.999999959971,-0.000160056264727,-0.000223209494894,-6.79581216755e-05,1793249651370735360
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,717,682,664,637,886,784,817,651,630,654,0.445742623477,-0.0155994127483,0.0598379952988,0.999999941986,-0.000193357866796,-0.00027129967425,-7.09710394509e-05,1793249651387402240
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,745.522641199,717,682,664,637,886,784,817,651,630,654.477358801,0.446285807675,-0.0156027411935,0.0598135624698,0.999999930709,-0.000200020796791,-0.000304854457212,-7.50882884527e-05,1793249651404068864
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,745.05603878,717,682,664.05603878,637,886,784,816.94396122,651,629.94396122,654.94396122,0.446827886919,-0.0156063258517,0.0597919175973,0.999999921994,-0.000201590739878,-0.000330326911119,-7.91026623767e-05,1793249651420735744
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,745.632757388,717,682,664.632757388,637,886,784,816.367242612,651,629.367242612,654.367242612,0.447372961433,-0.0156125639942,0.0598029597117,0.999999927196,-0.000208484206453,-0.000309428593368,-7.99787497819e-05,1793249651437402112
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,745.791824802,717,682.208175198,664.791824802,637,886,784,816.208175198,651,629.208175198,654,0.447901460142,-0.0156185915897,0.0598118396678,0.999999929573,-0.000220570413815,-0.000292763429334,-8.0568408517e-05,1793249651454068480
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,745.218687543,717,682.781312457,664.218687543,637,886,784,816.781312457,651,629.781312457,654,0.448400898944,-0.0156242500645,0.0598169290381,0.999999927332,-0.000241760266886,-0.00028351961522,-8.06559151571e-05,1793249651470735360
+199,3.316666667,POSE1_TO_POSE2_PRESS,766.634775655,745.365224345,717,683,664,637,886,784,817,651.365224345,630,654.365224345,0.448821779845,-0.0156269921957,0.0597940183156,0.999999914362,-0.00024672111913,-0.000321890150462,-8.24051531268e-05,1793249651487401728
+200,3.333333333,POSE1_TO_POSE2_PRESS,766.044216003,745.955783997,717,683,664,637,886,784,817,651.955783997,630,654.955783997,0.449194192317,-0.0156279350083,0.0597538321584,0.999999891261,-0.000241669039639,-0.000389637679305,-8.51796421248e-05,1793249651504068352
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+204,3.400000000,POSE1_TO_POSE2_PRESS,767,745.738195569,717.261804431,682.261804431,663.261804431,637,886.261804431,783,817,651.261804431,629,654,0.450602417694,-0.015633318675,0.0596833035889,0.999999868251,-0.000156897427236,-0.000485199225326,-5.8841580549e-05,1793249651570735616
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+206,3.433333333,POSE1_TO_POSE2_PRESS,767,745,717.574994912,682.574994912,663.574994912,637,887,783,817,651.574994912,629,654,0.451223938681,-0.0156412915318,0.0597009530503,0.9999998772,-0.000177280357217,-0.00045864019674,-6.18118496788e-05,1793249651604068352
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.980000513,745,717.019999487,682,663.019999487,636.980000513,886.980000513,782.980000513,817,651.019999487,629,654,0.451495986391,-0.0156443632905,0.0597047263711,0.999999876608,-0.000187479670119,-0.00045569389685,-6.30723084533e-05,1793249651620734976
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+212,3.533333333,POSE1_TO_POSE2_PRESS,767,745.917580907,717,682,663.082419093,636,887,782,817,651,629,654,0.45249141267,-0.0156493494613,0.0596851669318,0.999999858281,-0.000227316562964,-0.000476364805845,-6.95810724677e-05,1793249651704068352
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+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746,718,682.995086122,663,636,887,781.995086122,817,651.004913878,628,654,0.453372018661,-0.015648404649,0.0596510421187,0.999999823605,-0.000238578934066,-0.000539116257866,-7.22810870305e-05,1793249652137400832
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746,717.755862605,682,663,636,887,781,817,652,628,654,0.452299077483,-0.0155857003077,0.0595736994175,0.999999765886,-0.000205169982422,-0.000648916052607,-7.10019271491e-05,1793249652934978560
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,663,636,887.34008402,781.34008402,817,652,628,654.34008402,0.452119204393,-0.0155760069938,0.0595757839168,0.999999768056,-0.000199769586184,-0.000647387517763,-6.97827205581e-05,1793249652951645184
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746,717.489574501,682.510425499,663,636,887.489574501,782,817,651.489574501,628.510425499,654.489574501,0.451701034369,-0.0155550604982,0.0595792705367,0.999999770439,-0.000188092519505,-0.000647508647442,-6.69002769202e-05,1793249652984978432
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746,717,682.911705256,663.088294744,636,887,782,817,651.088294744,628.911705256,654,0.451464012093,-0.0155464760291,0.0595820332144,0.99999977299,-0.000184860006649,-0.000644674584925,-6.51276035031e-05,1793249653001645312
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746,717,682.337288366,663.662711634,636,887,782,817,651.662711634,628.337288366,654,0.451195824937,-0.0155402837408,0.0595876348524,0.99999977975,-0.000180824863131,-0.000635578982389,-6.19767728746e-05,1793249653018312192
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,745.757760038,717,682,663.757760038,636,886.757760038,782,817,652,628,654.242239962,0.450907438529,-0.0155333587311,0.0595888343925,0.999999781473,-0.00017775833366,-0.000633939059201,-5.98044532326e-05,1793249653034978816
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,745.170961306,717,682,663.170961306,636,886.170961306,782,817,652,628,654.829038694,0.450590320999,-0.0155253915092,0.0595837724493,0.999999776095,-0.00017606954766,-0.000642903991736,-5.90239542711e-05,1793249653051645440
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,745.989385194,717,682,663,636,886,782,817,651.010614806,628,654.010614806,0.449885318877,-0.015515328352,0.0595746122573,0.999999768348,-0.000178652407593,-0.000654310724325,-5.71434197621e-05,1793249653084978432
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766.295091924,746,717,682,663.295091924,636.295091924,886.704908076,783,817,651,628.704908076,654.295091924,0.448202361242,-0.0155052662028,0.0595918726087,0.99999980038,-0.000109950515771,-0.000620661215472,-4.39291988562e-05,1793249653151645440
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,766.542409288,746,717,682,664,637,886,783,817,651,628.457590712,654.542409288,0.447260083449,-0.0154920260513,0.0596386561497,0.999999845563,-7.40180752962e-05,-0.000549791429308,-3.35358570719e-05,1793249653184978944
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,745.044812368,717.044812368,682.044812368,664,637,886,783.955187632,816,651,629,654,0.443735380542,-0.0154520376777,0.059671863098,0.999999874088,2.07018220174e-05,-0.00050131389637,-8.9781036399e-06,1793249653284977664
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,745,717.650708949,681.349291051,664,638,884,785,815,651,629,654,0.431788327553,-0.015412123415,0.0597879188982,0.999999944363,9.22818830317e-05,-0.00032045563409,8.18011076002e-06,1793249653534977792
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+321,5.350000000,POSE2_TO_POSE3_RETREAT,766.182766763,745,718,681.817233237,663.182766763,638,884,785,815,651,629,654,0.430057176751,-0.0154064936966,0.0598271725787,0.999999958857,0.000134602089244,-0.000252392698676,2.15845414282e-05,1793249653568311552
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,745.124196172,717,681.124196172,663,638,881,785,814,651,629.875803828,653.875803828,0.423620442587,-0.0154043147692,0.0598256225837,0.999999944786,0.000152953081146,-0.000293905167321,2.55632914517e-05,1793249653684978176
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745,717,681,663,638,881,785,814,651,629.542947391,654,0.422726887242,-0.0154027261111,0.0598370736933,0.999999950683,0.000158922423485,-0.000269545018549,2.68952220683e-05,1793249653701644800
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,745,717.753675278,680,661.246324722,638,879,785,813,651,629.246324722,653.753675278,0.414289410681,-0.0153946962272,0.059835054066,0.999999942688,0.000171272907824,-0.000290564253058,2.93481535941e-05,1793249653868312064
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745,717.178689921,680,661.821310079,638,879,785,813,651,629.821310079,653.178689921,0.413539469384,-0.0153936375916,0.0598352876673,0.999999944436,0.000175264454606,-0.000282136353848,2.8439931601e-05,1793249653884978432
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745,717.40811814,680,662,638,879.40811814,785,813,651,630,653.40811814,0.412770985588,-0.0153878136114,0.0598119253804,0.999999930456,0.000180131931726,-0.000325514931185,2.60725737184e-05,1793249653901645056
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.999749534,638,879.999749534,785,813,651,629.999749534,654,0.411994165327,-0.0153798430698,0.0597779244234,0.999999905623,0.000185393883731,-0.000392239960525,2.30468262438e-05,1793249653918311936
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.422931813,638,879.422931813,785,813,651,629.422931813,654,0.411273581237,-0.0153767914084,0.0597456206749,0.999999889951,0.000189544974815,-0.000428732634342,1.89536011116e-05,1793249653934978816
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745,717.846605723,680,661.153394277,637.846605723,879,785,813,651,629,654,0.410585806317,-0.0153758300981,0.0597329421672,0.999999885385,0.000192257426178,-0.000438150419136,1.70711351371e-05,1793249653951645184
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745,717.271630681,680,661.728369319,637.271630681,879,785,813,651,629,654,0.409988202231,-0.0153806137983,0.0597742006326,0.999999911907,0.000191015996793,-0.000373157010649,2.12646025094e-05,1793249653968311808
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745,717.310803699,680,661.689196301,637.310803699,879,785,812.689196301,651,629,654,0.409408608767,-0.0153849143852,0.0598123797131,0.999999932764,0.000187292246723,-0.0003142661258,2.50905709395e-05,1793249653984978432
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745,717.899917532,680,661.100082468,637.899917532,879,785,812.100082468,651,629,654,0.408845143004,-0.0153887823665,0.0598478013465,0.99999994913,0.000181345695101,-0.000260839768814,2.85874610608e-05,1793249654001645568
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.519663329,661.480336671,637.519663329,879.480336671,785,812.480336671,651,629.480336671,654,0.408263975246,-0.0153855058241,0.059850330832,0.999999949034,0.000186621490172,-0.00025746080691,2.86215620304e-05,1793249654018312192
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.941273124,637.058726876,879.941273124,784.941273124,813,651.058726876,630,654,0.407682490632,-0.0153811146128,0.0598449437678,0.999999945495,0.000193801801887,-0.000265844773475,2.78875477882e-05,1793249654034979072
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.365081559,637.634918441,879.365081559,784.365081559,813,651.634918441,630,654,0.407130135858,-0.0153797852676,0.05982911501,0.999999938773,0.00019752640514,-0.000287626475481,2.6629786522e-05,1793249654051645952
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879,784.211189996,813,651.788810004,629.788810004,653.788810004,0.406607138119,-0.0153796864465,0.0598189049747,0.999999935702,0.000195338402814,-0.000299623154298,2.58017953265e-05,1793249654068312576
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879,784.78759982,813,651.21240018,629.21240018,653.21240018,0.406134908805,-0.0153817156235,0.0598184116364,0.999999939515,0.000182925480297,-0.000294698174879,2.57170239109e-05,1793249654084979200
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.373587825,638,879,785,813,651,629.373587825,653.373587825,0.40569116377,-0.0153802100567,0.0598217899727,0.999999938387,0.000200604423288,-0.000286878957912,2.61650825128e-05,1793249654101645824
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.965164768,638,879,785,813,651,629.965164768,653.965164768,0.405264039315,-0.0153766419612,0.0598274274375,0.999999933359,0.000235842018598,-0.000277370947749,2.69240482838e-05,1793249654118311680
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.456534168,662,638,879,785,813,651.543465832,629.456534168,654,0.404846611084,-0.0153762920906,0.0598156868508,0.999999929865,0.000230996955333,-0.000293578893025,2.686733664e-05,1793249654134978048
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.120170369,661.879829631,638,879,784.879829631,813,651.879829631,629.120170369,653.879829631,0.404434474233,-0.0153762524866,0.059800225507,0.999999924072,0.000225387202952,-0.000316787907655,2.64806250668e-05,1793249654151644416
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.693983957,661.306016043,638,879,784.306016043,813,651.306016043,629.693983957,653.306016043,0.404040021966,-0.0153766239907,0.059774823015,0.999999909141,0.000226358316031,-0.000360351830757,2.5040827448e-05,1793249654168311296
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.274954733,638,879,784.274954733,813,651,629.725045267,653,0.403688685521,-0.0153762512316,0.0597607567093,0.999999900483,0.000228625250219,-0.000382312323447,2.45384527851e-05,1793249654184978432
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.864104093,638,879,784.864104093,813,651,629.135895907,653,0.403386618154,-0.0153750279923,0.0597596444241,0.999999900643,0.000232372937663,-0.000379586271414,2.51072845999e-05,1793249654201645824
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.554571984,638,879,785,813,651,629.445428016,653.445428016,0.403133086917,-0.0153752572181,0.0597769982162,0.999999911407,0.000235083977451,-0.00034805346259,2.79287679942e-05,1793249654218312192
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.024346928,638,879,784.975653072,813,651.024346928,630,653.975653072,0.402895066122,-0.0153758659749,0.0597996785696,0.99999992377,0.000237444021721,-0.000308378367987,3.13632997042e-05,1793249654234978304
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.601930777,638,879,784.398069223,813,651.601930777,630,653.398069223,0.402678818103,-0.0153752033391,0.0598175871486,0.999999931724,0.000238890959347,-0.0002799432051,3.33810746855e-05,1793249654251644928
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.822388462,638,879,784.177611538,813,651.822388462,630,653.177611538,0.402465137444,-0.0153738512495,0.059830212616,0.999999936495,0.000239955125151,-0.00026116274262,3.49988911009e-05,1793249654268311808
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.250927832,638,879,784.749072168,813,651.250927832,630,653.749072168,0.402257149866,-0.0153709703134,0.0598311229147,0.999999935728,0.000240170504293,-0.00026379133833,3.57298092944e-05,1793249654284978432
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879,785,813,651,629.668215363,653.668215363,0.402067684819,-0.0153677196084,0.0598283599093,0.999999933787,0.000240298496904,-0.000270986623886,3.53412844847e-05,1793249654301645312
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879,785,813,651,629.076694374,653.076694374,0.401892720041,-0.0153641794309,0.0598227212719,0.99999993084,0.000240358079302,-0.000281756925632,3.40764080142e-05,1793249654318311936
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.495154862,661,638,878.495154862,784.495154862,813,651,629.504845138,653.504845138,0.401742495693,-0.0153696560072,0.0598214628739,0.999999940468,0.000182477085561,-0.000292232786462,1.91477537589e-05,1793249654334978816
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.915856829,745,718,678,661,638,878.084143171,784,813,651.084143171,629.915856829,654,0.401602442127,-0.0153769810214,0.0598215397683,0.999999946606,0.000129966664575,-0.000299785852792,4.97822936745e-06,1793249654351645696
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.340959235,745,718,678,661,638,878.659040765,784,813,651.659040765,629.340959235,654,0.401500212426,-0.0153872525573,0.0598255987892,0.999999945106,0.000159121431877,-0.000290547927244,7.10808440823e-06,1793249654368312064
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.239394503,745,718,678.239394503,661,638,878.760605497,784,813,651.760605497,629,653.760605497,0.401405108365,-0.0153940950129,0.0598288041091,0.999999944545,0.000174203121212,-0.000283699666826,8.82482424299e-06,1793249654384978432
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.827700398,745,718,678.827700398,661,638,878.172299602,784,813,651.172299602,629,653.172299602,0.40132038975,-0.0153959396706,0.0598307651815,0.999999946415,0.00016877365625,-0.000280334283335,9.93945906622e-06,1793249654401645056
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.59058764,661,638,878,784,813,651.40941236,629.40941236,653.40941236,0.40124903345,-0.0153955654093,0.0598305989652,0.999999946613,0.00016671131269,-0.000280839822515,1.04637961153e-05,1793249654418311424
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.011606737,661,638,878,784,813,651.988393263,629.988393263,653.988393263,0.401183211494,-0.0153942721263,0.0598295516782,0.999999946127,0.000166043548235,-0.000282948602859,1.07436462998e-05,1793249654434977792
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.565996861,661.565996861,638,878,784,813,651.434003139,630,653.434003139,0.401137764231,-0.0153927413447,0.0598313570754,0.999999947039,0.000166667462247,-0.000279308297959,1.14129475189e-05,1793249654451644672
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767.142352481,745,718,679,661.857647519,638,878.142352481,784,813,651.142352481,630,653,0.401095139939,-0.0153911033755,0.0598322256941,0.999999947429,0.000167621648662,-0.000277313481451,1.19435432675e-05,1793249654468311296
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767.715020672,745,718,679,661.284979328,638,878.715020672,784,813,651.715020672,630,653,0.40105978923,-0.0153891560771,0.0598300861279,0.999999946182,0.000169494335519,-0.000280648311857,1.20307644117e-05,1793249654484978688
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767.703547007,745,718,678.703547007,661.296452993,638,878.703547007,784,813,651.703547007,630,653.296452993,0.401030536997,-0.0153887078307,0.0598279928313,0.999999945165,0.000170118054531,-0.000283870085574,1.21705462777e-05,1793249654501645568
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767.113433029,745,718,678.113433029,661.886566971,638,878.113433029,784,813,651.113433029,630,653.886566971,0.4010073258,-0.0153897445181,0.0598259453684,0.999999944379,0.000169504568753,-0.000286979867774,1.2362393857e-05,1793249654518312448
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.467548249,661.532451751,638,878.467548249,784.467548249,813,651.467548249,630,654,0.400994044808,-0.0153892944786,0.0598258776572,0.999999944273,0.000170593301977,-0.000286708782229,1.22743371305e-05,1793249654534978560
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,878.953708081,784.953708081,813,651.953708081,630,653.953708081,0.400983638053,-0.0153886041585,0.059826379198,0.999999944355,0.000172033864372,-0.000285563442351,1.21739944889e-05,1793249654551644672
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,878.37570313,784.37570313,813,651.37570313,630,653.37570313,0.400979103025,-0.0153892175903,0.0598280080042,0.999999944759,0.000172862930268,-0.000283617192297,1.26975910032e-05,1793249654568311552
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.799168759,661,638,878,784,813,651,629.799168759,653.200831241,0.400975493529,-0.0153895182701,0.0598295274836,0.999999945203,0.000173310759912,-0.000281756394881,1.30725964442e-05,1793249654584978176
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.225365497,661,638,878,784,813,651,629.225365497,653.774634503,0.400973602877,-0.0153892381249,0.0598308439276,0.999999945725,0.000173050579866,-0.000280054295215,1.31716472143e-05,1793249654601644800
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745,718,678,661,637.642403743,878,784.357596257,813,651.357596257,629,653.642403743,0.40097241898,-0.0153894034289,0.0598316834477,0.999999946242,0.000172917099972,-0.000278277271252,1.33215833928e-05,1793249654618311680
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745,718,678,661,637.053518405,878,784.946481595,813,651.946481595,629,653.053518405,0.400971692205,-0.0153898568441,0.0598322144989,0.999999946755,0.000172865568266,-0.000276451787195,1.35044316554e-05,1793249654634978560
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.471015887,745,718,678.528984113,661,637.528984113,878.528984113,784.471015887,813,651.471015887,629,653,0.400969697878,-0.0153904349155,0.0598322525286,0.999999946608,0.000172834813683,-0.00027699582395,1.36391184915e-05,1793249654651645440
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.109413597,745,718,679,661,637.890586403,878.890586403,784.109413597,813,651,629,653.109413597,0.400967901084,-0.0153910544565,0.0598322627466,0.999999946517,0.00017245892579,-0.000277554115011,1.37096313606e-05,1793249654668312064
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.68374547,745,718,679,661,637.31625453,878.31625453,784.68374547,813,651,629,653.68374547,0.400967482065,-0.0153917972582,0.0598323642095,0.999999946944,0.000170607678127,-0.000277166466438,1.35279150084e-05,1793249654684978688
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745,717.743821386,679,661.256178614,637.256178614,878.256178614,784.743821386,813,651,629.256178614,654,0.400967101459,-0.0153918444053,0.0598324500573,0.999999946788,0.000171505740788,-0.000277173190272,1.35701811881e-05,1793249654701645056
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745,717.173714916,679,661.826285084,637.826285084,878.826285084,784.173714916,813,651,629.826285084,654,0.400966767923,-0.0153910390794,0.0598325167701,0.999999945907,0.000175772878708,-0.000277663188126,1.38869212929e-05,1793249654718311424
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745,717.41484461,678.58515539,662,638,879,784,813,651,630,653.58515539,0.400967417531,-0.015391255291,0.0598329671721,0.999999946427,0.000174764689012,-0.000276429319976,1.37609151406e-05,1793249654734978048
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745.011119124,718,678,661.988880876,638,879.011119124,784,813,651.011119124,629.988880876,653,0.400968452208,-0.0153919161223,0.0598335697071,0.999999947532,0.000171496435439,-0.000274488401074,1.34512064351e-05,1793249654751644672
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745.588457634,718,678,661.411542366,638,879.588457634,784,813,651.588457634,629.411542366,653,0.400967155417,-0.0153924211523,0.0598333566994,0.999999947493,0.000170865955298,-0.000275013041787,1.36673726716e-05,1793249654768311552
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.835357428,745.835357428,718,678,661.164642572,638,879.835357428,784.164642572,813,651.835357428,629.164642572,653,0.400966164871,-0.0153928828351,0.0598331818728,0.999999947415,0.000170428476617,-0.000275563641649,1.37588942832e-05,1793249654784978688
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.262035942,745.262035942,718,678,661.737964058,638,879.262035942,784.737964058,813,651.262035942,629.737964058,653,0.400965934494,-0.0153932369207,0.0598331018203,0.999999947241,0.000170470069853,-0.00027617867777,1.35410206317e-05,1793249654801645312
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1b9f3fcbb3332cae4435127bcef2fe0fa265d3b1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_05/simulation_data.csv
@@ -0,0 +1,406 @@
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+343,5.716666667,pose2_to_pose3_retreat,0.584738286399,-0.00984990674561,1.05003360329,0.555308964929,-0.0011772727714,1.04970499681
+344,5.733333333,pose2_to_pose3_retreat,0.584146969664,-0.00984991345332,1.0500335323,0.554717649491,-0.00117727515359,1.04970492387
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+346,5.766666667,pose2_to_pose3_retreat,0.583064097623,-0.00984985171449,1.05003361944,0.553634776039,-0.001177217935,1.04970501797
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+348,5.800000000,pose2_to_pose3_retreat,0.582051226121,-0.00985000124506,1.05003358155,0.552621905176,-0.00117736562729,1.04970497139
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+367,6.116666667,pose2_to_pose3_retreat,0.576346357498,-0.00984984663303,1.05003346674,0.546917036015,-0.00117721263037,1.04970486252
+368,6.133333333,pose2_to_pose3_retreat,0.576231118393,-0.00984993627076,1.05003338614,0.54680179732,-0.00117730060657,1.04970478904
+369,6.150000000,pose2_to_pose3_retreat,0.576131734702,-0.00984994415359,1.05003352009,0.546702413648,-0.00117730877821,1.04970491392
+370,6.166666667,pose2_to_pose3_retreat,0.576046105954,-0.00984979468497,1.05003350791,0.546616781926,-0.0011771694259,1.04970490274
+371,6.183333333,pose2_to_pose3_retreat,0.575973663796,-0.00984984997257,1.0500334692,0.546544341359,-0.00117721894289,1.04970487276
+372,6.200000000,pose2_to_pose3_retreat,0.575911226111,-0.00984980683033,1.05003346081,0.546481904098,-0.00117717428145,1.04970486616
+373,6.216666667,pose2_to_pose3_retreat,0.575857949586,-0.00984988769723,1.05003346868,0.54642862872,-0.00117725131407,1.04970487244
+374,6.233333333,pose2_to_pose3_retreat,0.57581336186,-0.00984995487956,1.05003355189,0.546384041322,-0.0011773177138,1.04970494696
+375,6.250000000,pose2_to_pose3_retreat,0.575776197122,-0.00984991613674,1.05003363175,0.546346875901,-0.00117728159532,1.04970501879
+376,6.266666667,pose2_to_pose3_retreat,0.575746356572,-0.00984992879336,1.05003349943,0.546317036476,-0.00117729001606,1.04970489746
+377,6.283333333,pose2_to_pose3_retreat,0.575722309431,-0.00984976682598,1.05003355876,0.546292987498,-0.00117713474314,1.04970494466
+378,6.300000000,pose2_to_pose3_retreat,0.575703889698,-0.00984989930588,1.05003353163,0.54627456844,-0.00117726475642,1.0497049222
+379,6.316666667,pose2_to_pose3_retreat,0.575690681966,-0.0098499600411,1.05003341252,0.546261361117,-0.00117732381048,1.04970481087
+380,6.333333333,pose2_to_pose3_retreat,0.575681906711,-0.00984995065544,1.05003338909,0.546252585797,-0.00117731476493,1.04970478444
+381,6.350000000,pose2_to_pose3_retreat,0.575676666624,-0.00984991903701,1.05003342558,0.546247345474,-0.00117728424185,1.0497048132
+382,6.366666667,pose2_to_pose3_retreat,0.575673330781,-0.00984994534421,1.05003339307,0.546244010173,-0.00117730847913,1.04970478687
+383,6.383333333,pose2_to_pose3_retreat,0.575671488903,-0.00984996139934,1.05003337329,0.546242168617,-0.0011773233002,1.04970477087
+384,6.400000000,pose2_to_pose3_retreat,0.575670056091,-0.00984997363926,1.05003336651,0.546240736047,-0.00117733462418,1.04970476664
+385,6.416666667,pose2_to_pose3_retreat,0.575668982864,-0.00984998159148,1.05003340341,0.546239662957,-0.00117734210495,1.04970480353
+386,6.433333333,pose2_to_pose3_retreat,0.575668117659,-0.00984998800234,1.05003343316,0.546238797864,-0.00117734813573,1.04970483327
+387,6.450000000,pose2_to_pose3_retreat,0.575667366003,-0.00984999357183,1.05003345901,0.546238046304,-0.00117735337504,1.0497048591
+388,6.466666667,pose2_to_pose3_retreat,0.575666684157,-0.00984999768612,1.05003347441,0.546237364453,-0.00117735750201,1.04970487454
+389,6.483333333,pose2_to_pose3_retreat,0.57566641301,-0.00984999631968,1.05003345476,0.546237093008,-0.00117735714008,1.04970485506
+390,6.500000000,pose2_to_pose3_retreat,0.575666347477,-0.00984999598943,1.05003345001,0.546237027404,-0.0011773570526,1.04970485035
+391,6.516666667,pose2_to_pose3_retreat,0.575666308637,-0.0098499957937,1.0500334472,0.54623698852,-0.00117735700076,1.04970484756
+392,6.533333333,pose2_to_pose3_retreat,0.575666197271,-0.00984999523247,1.05003343913,0.546236877032,-0.0011773568521,1.04970483955
+393,6.550000000,pose2_to_pose3_retreat,0.575666098171,-0.00984999473306,1.05003343195,0.546236777823,-0.00117735671982,1.04970483243
+394,6.566666667,pose2_to_pose3_retreat,0.575665917841,-0.00984999382429,1.05003341888,0.546236597296,-0.00117735647911,1.04970481947
+395,6.583333333,pose2_to_pose3_retreat,0.5756656302,-0.00984999237473,1.05003339803,0.546236309338,-0.00117735609516,1.04970479881
+396,6.600000000,pose2_to_pose3_retreat,0.575665626799,-0.00984999235759,1.05003339779,0.546236305934,-0.00117735609062,1.04970479856
+397,6.616666667,pose2_to_pose3_retreat,0.575665383633,-0.00984999113216,1.05003338017,0.546236062501,-0.00117735576604,1.04970478109
+398,6.633333333,pose2_to_pose3_retreat,0.575665133625,-0.00984998987225,1.05003336205,0.546235812218,-0.00117735543232,1.04970476312
+399,6.650000000,pose2_to_pose3_retreat,0.575664957338,-0.00984999685599,1.05003346067,0.546235636164,-0.0011773618534,1.04970485576
+400,6.666666667,pose2_to_pose3_retreat,0.57566476016,-0.00985000523732,1.05003357905,0.546235439277,-0.00117736951735,1.049704967
+401,6.683333333,pose2_to_pose3_retreat,0.575664712668,-0.00985000725604,1.05003360756,0.546235391855,-0.00117737136329,1.04970499379
+402,6.700000000,pose2_to_pose3_retreat,0.575664552727,-0.00985001087107,1.05003364699,0.546235232225,-0.00117737404165,1.04970503009
+403,6.716666667,pose2_to_pose3_retreat,0.575664384335,-0.00985000251409,1.05003347229,0.546235064447,-0.001177363343,1.04970486222
+404,6.733333333,pose2_to_pose3_retreat,0.575664376717,-0.00984999925846,1.05003367177,0.54623505735,-0.00117735850588,1.04970505684
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f0e72a509553412d5e6a6cfd903660e13d3d98ad
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2565b77000240a8b2c3948a71135002aa9338b21a9435be9c411356d19e31e41
+size 25470801
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..65c458fe93b24b5cd3788764188270e2d6cfe595
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_01/franka_data.csv
@@ -0,0 +1,401 @@
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+23,0.383333333,BASELINE,767,746,718,678.664734881,662,637.335265119,879,785,812.335265119,652,629.335265119,653.335265119,0.400936700217,-0.0154264106048,0.0499282508071,0.999999973455,6.55525197086e-05,-0.000217760379193,-3.70646483566e-05,1793249656571051520
+24,0.400000000,BASELINE,767,746,718,678.090414012,662,637.909585988,879,785,812.909585988,652,629.909585988,653.909585988,0.400937374634,-0.0154262784743,0.0499296783621,0.999999973806,6.66823961019e-05,-0.000215858630414,-3.6699694247e-05,1793249656587718144
+25,0.416666667,BASELINE,767,745.502416066,718,678.497583934,661.502416066,638,879,785,813,652,630,653.502416066,0.400936297346,-0.015426484575,0.0499284095298,0.99999997348,6.54563241706e-05,-0.000217725407956,-3.67690763772e-05,1793249656604385024
+26,0.433333333,BASELINE,767,745,718,679,661.086386686,638,879,785,813,652,630,653,0.400935308902,-0.0154266641044,0.0499270264896,0.999999973109,6.43279455723e-05,-0.000219733910991,-3.68884392852e-05,1793249656621051392
+27,0.450000000,BASELINE,767,745,718,679,661.665210346,638,879,785,813,652,630,653,0.400936692583,-0.015426331929,0.0499278642593,0.999999973247,6.6265703339e-05,-0.000218536563177,-3.68301135755e-05,1793249656637717760
+28,0.466666667,BASELINE,767,745.242535467,718,679,662,638,879,785.242535467,813,652,630,653.242535467,0.400937236575,-0.0154264141628,0.0499282575463,0.999999973358,6.61955254522e-05,-0.000218049079793,-3.6838953176e-05,1793249656654384128
+29,0.483333333,BASELINE,767,745.81780471,718,679,662,638,879,785.81780471,813,652,630,653.81780471,0.4009366286,-0.0154270649238,0.0499280410486,0.999999973431,6.33706657502e-05,-0.000218535457647,-3.69399366943e-05,1793249656671050752
+30,0.500000000,BASELINE,767,746,718,679,662,638,879,785.609261345,812.609261345,651.609261345,629.609261345,653.609261345,0.400936487087,-0.0154272469794,0.0499279840438,0.999999973606,6.24573435623e-05,-0.000218020560648,-3.68090965925e-05,1793249656687717632
+31,0.516666667,BASELINE,767,746,718,679,662,638,879,785.03740986,812.03740986,651.03740986,629.03740986,653.03740986,0.400936561785,-0.0154272117835,0.0499280009663,0.999999973829,6.24300458188e-05,-0.000217041558741,-3.65708029986e-05,1793249656704385024
+32,0.533333333,BASELINE,767,746,718,679,662,638,879,785,812,651.556299994,629.556299994,653,0.40093733007,-0.0154258021232,0.0499283276037,0.999999973636,6.50804017915e-05,-0.0002170893705,-3.69508480253e-05,1793249656721051648
+33,0.550000000,BASELINE,767,746,718,678.852980503,662.147019497,638,878.852980503,785,812.147019497,652.147019497,630,653,0.400937931742,-0.0154249106511,0.0499285855625,0.999999973492,6.70634588872e-05,-0.000217115104345,-3.71436346423e-05,1793249656737718272
+34,0.566666667,BASELINE,767,746,718,678.275496562,662.724503438,638,878.275496562,785,812.724503438,652.724503438,630,653,0.400937903433,-0.0154258181005,0.0499285789583,0.999999973599,6.6543918138e-05,-0.000216865749766,-3.66614109952e-05,1793249656754384640
+35,0.583333333,BASELINE,767,746,718,678,662.699332793,638,878.300667207,785,813,652.699332793,629.699332793,653,0.400937514067,-0.0154248708016,0.0499282560121,0.999999973395,6.82800630256e-05,-0.00021726500446,-3.66475784877e-05,1793249656771051008
+36,0.600000000,BASELINE,767,746,718,678,662.124373321,638,878.875626679,785,813,652.124373321,629.124373321,653,0.400936795318,-0.0154222314557,0.0499276444739,0.999999972898,7.20740216291e-05,-0.000218255971494,-3.70610491461e-05,1793249656787717376
+37,0.616666667,BASELINE,767,746,718,678.461953542,662,638,879,785,812.538046458,652,629,653.461953542,0.400937206457,-0.0154240365788,0.0499279990419,0.999999973295,7.0266016626e-05,-0.000217082679895,-3.67212352452e-05,1793249656804384256
+38,0.633333333,BASELINE,767,746,718,679,662,638,879,785,812,652,629,654,0.400937923746,-0.0154268164544,0.0499285912687,0.999999973881,6.69954502434e-05,-0.000215493375533,-3.62295590348e-05,1793249656821050880
+39,0.650000000,BASELINE,767,746,718,679,662,638,879,785,812,652,629,654,0.400938581108,-0.0154269590004,0.0499288799165,0.999999973968,6.46009834133e-05,-0.000215802037985,-3.63245398304e-05,1793249656837718272
+40,0.666666667,BASELINE,767,746,718,678.793667106,662,638,878.793667106,785,812.206332894,652,629.206332894,653.793667106,0.400938763795,-0.0154266658399,0.0499288579918,0.999999973998,6.33650922278e-05,-0.000215989547029,-3.65628571823e-05,1793249656854385408
+41,0.683333333,BASELINE,767,746,718,678.219284993,662,638,878.219284993,785,812.780715007,652,629.780715007,653.219284993,0.400938099775,-0.0154255954815,0.049928282079,0.999999973933,6.41958268874e-05,-0.000215960946952,-3.70568531393e-05,1793249656871051776
+42,0.700000000,BASELINE,767,746,718,678.355223738,662,638,878.355223738,785,813,652,630,653.355223738,0.400937586608,-0.0154246369591,0.0499275347544,0.999999973683,6.55251538245e-05,-0.000216675747943,-3.73095621321e-05,1793249656887717888
+43,0.716666667,BASELINE,767,746,718,678.929810638,662,638,878.929810638,785,813,652,630,653.929810638,0.400937166597,-0.0154237474995,0.0499266815771,0.999999973316,6.71623790127e-05,-0.000217849625262,-3.74132679127e-05,1793249656904384000
+44,0.733333333,BASELINE,767,745.48046847,718,679,662,638,878.48046847,785,813,652,629.48046847,654,0.400935775403,-0.015424662878,0.0499257550961,0.999999973037,6.69830940222e-05,-0.000219196968298,-3.72975763579e-05,1793249656921050880
+45,0.750000000,BASELINE,767,745.109179079,718,679,662,638,878.109179079,785,813,652,629.109179079,654,0.400934881163,-0.015425839059,0.049925378554,0.999999972971,6.59537425857e-05,-0.000219837244287,-3.71445722413e-05,1793249656937717248
+46,0.766666667,BASELINE,767,745.689423565,718,679,662,638,878.689423565,785,813,652,629.689423565,654,0.400936714185,-0.0154270568775,0.0499274187966,0.999999973759,6.23473153609e-05,-0.000217322650944,-3.6962304917e-05,1793249656954384128
+47,0.783333333,BASELINE,767,746,718,679,662,638,879,785,813,652,630,654,0.400937199428,-0.015427497549,0.0499280809376,0.999999973998,6.13823283249e-05,-0.000216505418798,-3.68975277854e-05,1793249656971051008
+48,0.800000000,BASELINE,767,746,718,679,662,638,879,785,813,652,630,654,0.400936132435,-0.015427043181,0.0499271559203,0.999999973619,6.34594856866e-05,-0.00021764303606,-3.69680640057e-05,1793249656987718400
+49,0.816666667,BASELINE,767,746,718,678.576687626,662,638,879,785,813,652,630,654,0.400936045503,-0.0154264749757,0.0499266811444,0.999999973401,6.54651120393e-05,-0.000218053976328,-3.6932758863e-05,1793249657004384512
+50,0.833333333,BASELINE,767,746,718,678,662,638,879,785,812.990201383,652,629.990201383,654,0.40093635307,-0.0154258585805,0.0499264043153,0.999999973253,6.74030115376e-05,-0.000218154893963,-3.68633004344e-05,1793249657021050880
+51,0.850000000,BASELINE,767,746,718,678,662,638,879,785,812.407826014,652,629.407826014,654,0.400937627843,-0.0154249914943,0.0499275484741,0.999999973625,6.69952447599e-05,-0.000216515036586,-3.71831843411e-05,1793249657037717504
+52,0.866666667,BASELINE,767,746,718,678,662,638,879,785,812.173065944,652,629,654,0.400937962728,-0.0154246868711,0.049928055269,0.999999973773,6.65598499909e-05,-0.000215947136022,-3.73021237055e-05,1793249657054383616
+53,0.883333333,BASELINE,767,746,718,678,662,638,879,785,812.75049195,652,629,654,0.400936101611,-0.0154256964152,0.0499270728946,0.999999973399,6.60599038049e-05,-0.000217883809881,-3.69515660182e-05,1793249657071050240
+54,0.900000000,BASELINE,767,746,718,678.331575312,662,638,879,785,813,652,629.331575312,654,0.400936455152,-0.0154264428643,0.0499273829482,0.999999973591,6.49443327965e-05,-0.000217404635612,-3.65566193828e-05,1793249657087716864
+55,0.916666667,BASELINE,767,746,718,678.915441479,662,638,879,785,813,652,629.915441479,654,0.400938493794,-0.0154269891283,0.0499286763917,0.999999974209,6.33603417967e-05,-0.000215087277392,-3.61278978553e-05,1793249657104383488
+56,0.933333333,BASELINE,767,745.505076564,718,679,662,638,879,785,813,652,629.505076564,654,0.40093897449,-0.0154262774941,0.049928988961,0.999999974259,6.41959262416e-05,-0.000214549048931,-3.64590274094e-05,1793249657121050368
+57,0.950000000,BASELINE,767.073690522,745.073690522,718,678.926309478,662,638,879,785,813,652,629.073690522,653.926309478,0.400939050832,-0.0154256003673,0.0499290699468,0.999999974202,6.51686501189e-05,-0.000214458240027,-3.68357160697e-05,1793249657137717248
+58,0.966666667,BASELINE,767.652646586,745.652646586,718,678.347353414,662,638,879,785,813,652,629.652646586,653.347353414,0.400938163734,-0.0154266204817,0.0499287020256,0.999999974071,6.42721344762e-05,-0.000215369323965,-3.66424653948e-05,1793249657154383616
+59,0.983333333,BASELINE,768,745.769606717,718,678.230393283,662.230393283,638,878.769606717,785.230393283,813,652,630,653,0.400937715962,-0.0154271630133,0.0499284028086,0.999999974002,6.38607005833e-05,-0.000215828578328,-3.65603723249e-05,1793249657171050240
+60,1.000000000,BASELINE,768,745.193673719,718,678.806326281,662.806326281,638,878.193673719,785.806326281,813,652,630,653,0.400937927083,-0.0154269892751,0.0499282066329,0.999999974025,6.41767834663e-05,-0.000215610186937,-3.66449914089e-05,1793249657187716864
+61,1.016666667,BASELINE,767.611660584,745.388339416,718,679,662.611660584,638.388339416,878.388339416,785.611660584,813,652,630,653,0.400937663589,-0.0154272754412,0.0499280744342,0.999999973915,6.44430971126e-05,-0.000216049156687,-3.66086450758e-05,1793249657204384256
+62,1.033333333,BASELINE,767.02656695,745.97343305,718,679,662.02656695,638.97343305,878.97343305,785.02656695,813,652,630,653,0.400937159629,-0.0154277946203,0.0499279746498,0.999999973736,6.46841948931e-05,-0.000216821181949,-3.65110109695e-05,1793249657221051648
+63,1.050000000,BASELINE,767,746,718,678.446759539,662,638.446759539,879,785,813,652,629.446759539,653.553240461,0.400937816247,-0.0154266092102,0.0499284055198,0.999999973881,6.52915878983e-05,-0.000216019335376,-3.62082631656e-05,1793249657237717760
+64,1.066666667,BASELINE,767,746,718,678.13243421,662,638,879,785,813,652,629.13243421,654,0.400938407652,-0.0154257680878,0.0499286602901,0.999999974021,6.54746715112e-05,-0.000215339448584,-3.60474115771e-05,1793249657254384384
+65,1.083333333,BASELINE,767,746,718,678.710409341,662,638,879,785,813,652,629.710409341,654,0.400938593943,-0.015426358008,0.0499282377005,0.999999974097,6.41716589685e-05,-0.000215321721529,-3.63967565347e-05,1793249657271051008
+66,1.100000000,BASELINE,767,746,718,679,662,638,879,785,813,652.286781407,630,654,0.400938317677,-0.0154263324197,0.0499277325729,0.999999973956,6.42529243867e-05,-0.000215901491089,-3.66874622065e-05,1793249657287717888
+67,1.116666667,BASELINE,767,746,718,679,662,638,879,785,813,652.86154367,630,654,0.400937576919,-0.0154256887485,0.049927144562,0.999999973597,6.5724257515e-05,-0.000217081256263,-3.69192833156e-05,1793249657304384768
+68,1.133333333,BASELINE,767,746,718,678.553681403,662,638,879,785,813,652.553681403,630,654,0.400937490246,-0.0154256787635,0.0499270848665,0.999999973613,6.53336582041e-05,-0.000217128215812,-3.6892407404e-05,1793249657321051136
+69,1.150000000,BASELINE,767,746,718,678.033898905,662,638,879,785,813,652,630,654,0.400937496807,-0.015425863413,0.0499271006223,0.999999973716,6.43841990615e-05,-0.00021695214685,-3.68029735092e-05,1793249657337717504
+70,1.166666667,BASELINE,767,746,718,678.615468182,662,638,879,785,813,652,630,654,0.400935656216,-0.0154259437288,0.0499256267451,0.999999973293,6.39517580714e-05,-0.000218980618755,-3.70291686574e-05,1793249657354384128
+71,1.183333333,BASELINE,767,746,718,679,662,638,878.805181238,785,813,652,630,654,0.400935631827,-0.0154255804273,0.0499255159234,0.999999973234,6.43707645596e-05,-0.000219104528324,-3.71769298562e-05,1793249657371050496
+72,1.200000000,BASELINE,767,746,718,679,662,638,878.230160491,785,813,652,630,654,0.400939151878,-0.0154243513768,0.0499280651964,0.999999973879,6.64514282912e-05,-0.000215511556086,-3.71716219394e-05,1793249657387717120
+73,1.216666667,BASELINE,767.351973235,746,717.648026765,678.648026765,662.351973235,638,878.351973235,785,813,652,629.648026765,654,0.400940266847,-0.0154241527979,0.0499288953894,0.99999997413,6.70876119786e-05,-0.000214166076861,-3.70312368911e-05,1793249657404384000
+74,1.233333333,BASELINE,767.938854143,746,717.061145857,678.061145857,662.938854143,638,878.938854143,785,813,652,629.061145857,654,0.400939776658,-0.015424641958,0.0499285782646,0.999999974128,6.675974654e-05,-0.000214320579391,-3.68007010836e-05,1793249657421050880
+75,1.250000000,BASELINE,767.481563514,746,717.518436486,678.518436486,662.481563514,638,879,785,813,652,629,654,0.40093847045,-0.0154258028967,0.0499279813388,0.999999973918,6.54099360345e-05,-0.000215686629118,-3.69563278413e-05,1793249657437717504
+76,1.266666667,BASELINE,767,745.903269228,718,679,662,638,879,785,813,652,629.096730772,654,0.400937288735,-0.0154267841437,0.049927448738,0.999999973715,6.4244701299e-05,-0.000216948406028,-3.70841716563e-05,1793249657454384384
+77,1.283333333,BASELINE,767,745.327151556,718,679,662,638,879,785,813,652,629.672848444,654,0.40093719434,-0.015426487647,0.0499273962007,0.999999973692,6.45832494364e-05,-0.000216995086465,-3.68517434134e-05,1793249657471051264
+78,1.300000000,BASELINE,767,745,718,678.752213183,662.247786817,638,878.752213183,785,813,652,629.752213183,654,0.400937498091,-0.0154261588461,0.049927584114,0.999999973737,6.51824067037e-05,-0.000216621664985,-3.67687121931e-05,1793249657487717632
+79,1.316666667,BASELINE,767,745,718,678.178824502,662.821175498,638,878.178824502,785,813,652,629.178824502,654,0.400938325022,-0.015425787596,0.0499280879891,0.999999973871,6.6124014844e-05,-0.000215696212656,-3.68819946995e-05,1793249657504384256
+80,1.333333333,BASELINE,767,745.406672672,718,678,662.593327328,638,878.406672672,785,813,652,629.406672672,654,0.400938574931,-0.0154255622754,0.0499281309129,0.999999973919,6.60534014171e-05,-0.000215517490635,-3.67549621139e-05,1793249657521050624
+81,1.350000000,BASELINE,767,745.997657714,718,678,662.002342286,638,878.997657714,785,813,652,629.997657714,654,0.400938563322,-0.015425403093,0.0499279649241,0.999999973928,6.55240285657e-05,-0.000215677201975,-3.65190138256e-05,1793249657537717248
+82,1.366666667,BASELINE,767,745.423181757,718,678.576818243,662.576818243,638,879,785,812.423181757,652,630,654,0.400939345062,-0.0154264641115,0.0499286373028,0.99999997419,6.43534881038e-05,-0.000214832301982,-3.64019855769e-05,1793249657554383872
+83,1.383333333,BASELINE,767,745.155251248,718,679,662.844748752,638,879,785,812.155251248,652,629.844748752,654,0.400939546458,-0.0154271143444,0.049928970611,0.999999974298,6.36648413576e-05,-0.000214539169876,-3.63968588403e-05,1793249657571050496
+84,1.400000000,BASELINE,767,745.73183765,718,679,662.26816235,638,879,785,812.73183765,652,629.26816235,654,0.400938164296,-0.0154266365724,0.0499283746653,0.999999973985,6.42909258829e-05,-0.000215754324885,-3.66941365119e-05,1793249657587717632
+85,1.416666667,BASELINE,767,745.69226706,718,678.69226706,662,638,879,785,812.69226706,652,629,654,0.400936972392,-0.0154265985912,0.0499276897,0.999999973758,6.39991470771e-05,-0.000216867184695,-3.68445781474e-05,1793249657604384256
+86,1.433333333,BASELINE,767,745.116972697,718,678.116972697,662,638,879,785,812.116972697,652,629,654,0.40093594591,-0.0154269429902,0.0499269273359,0.999999973603,6.29093229614e-05,-0.000217891102868,-3.68673517338e-05,1793249657621051136
+87,1.450000000,BASELINE,767,745.471615242,718,678.471615242,662,638,879,785,812.471615242,652,629,654,0.400937406656,-0.0154274474479,0.0499272996158,0.999999973883,6.25512436557e-05,-0.000216753480052,-3.65878698092e-05,1793249657637717760
+88,1.466666667,BASELINE,767,746,718.062062906,679,662.062062906,638,879,785,813,652,629.062062906,654,0.400939087373,-0.015427778708,0.049927768374,0.999999974177,6.25493672501e-05,-0.000215438654517,-3.63230728104e-05,1793249657654383872
+89,1.483333333,BASELINE,767,746,718.639773266,679,662.639773266,638,879,785,813,652,629.639773266,654,0.400937321593,-0.0154263315608,0.0499266327248,0.999999973681,6.39553372212e-05,-0.000217235058251,-3.68212127779e-05,1793249657671050752
+90,1.500000000,BASELINE,767,746,718.783378582,679,662.783378582,638,879,785,813,652,630,653.783378582,0.400936904801,-0.0154255844545,0.0499263425397,0.999999973512,6.51290834937e-05,-0.000217620864911,-3.70748330942e-05,1793249657687717376
+91,1.516666667,BASELINE,767,746,718.207958597,679,662.207958597,638,879,785,813,652,630,653.207958597,0.40093872239,-0.0154259968533,0.0499274527302,0.999999973889,6.59181883889e-05,-0.00021567024403,-3.69234458538e-05,1793249657704384000
+92,1.533333333,BASELINE,767,746,718,678.625273261,662,638,879,785,813,652,630,653,0.400938764545,-0.0154269849176,0.0499277690247,0.99999997416,6.42125192797e-05,-0.000214977439094,-3.66251659373e-05,1793249657721050880
+93,1.550000000,BASELINE,767,746,718,678.038476167,662,638,879,785,813,652,630,653,0.400937801923,-0.0154282987704,0.0499276360272,0.999999974365,6.1094974459e-05,-0.000214996473952,-3.62437545435e-05,1793249657737717504
+94,1.566666667,BASELINE,767,745.458900878,718,678,662,638,879,785,813,652,630,653,0.40093844618,-0.0154275436398,0.0499282071736,0.999999974382,6.15686653255e-05,-0.000214726791863,-3.6578087079e-05,1793249657754383616
+95,1.583333333,BASELINE,767,745,718,678,662,638,879,785,813,652,629.879924888,653,0.40093895638,-0.0154266609103,0.0499285977847,0.999999974325,6.26984974302e-05,-0.000214621626156,-3.68367251019e-05,1793249657771050240
+96,1.600000000,BASELINE,767,745,718,678,662,638,879,785,813,652,629.30130212,653,0.400938524038,-0.015425845329,0.0499281102702,0.999999974033,6.53716797498e-05,-0.000215222090009,-3.6614499082e-05,1793249657787717120
+97,1.616666667,BASELINE,767,745.275507232,717.724492768,678.275507232,662,638,879,785.275507232,812.724492768,652,629,653,0.40093837419,-0.0154256319543,0.0499279647271,0.999999973906,6.62444121937e-05,-0.000215546107729,-3.65992511434e-05,1793249657804383744
+98,1.633333333,BASELINE,767,745.850346318,717.149653682,678.850346318,662,638,879,785.850346318,812.149653682,652,629,653,0.400938531266,-0.0154260728621,0.0499281907275,0.999999973964,6.51609998305e-05,-0.000215569773466,-3.68088798288e-05,1793249657821050368
+99,1.650000000,BASELINE,767,746,717.425725391,679,662,638,878.574274609,785.574274609,812.425725391,652,629,653,0.40093850303,-0.0154265197081,0.0499281103363,0.999999973922,6.59622842607e-05,-0.000215551431635,-3.66406090471e-05,1793249657837716736
+100,1.666666667,BASELINE,767,745.998664903,718,679,662,638,878.001335097,785,813,652,629.001335097,653.001335097,0.40093840554,-0.0154269686124,0.0499279200835,0.999999973842,6.74159195061e-05,-0.000215522928198,-3.63406569101e-05,1793249657854383616
+101,1.683333333,BASELINE,767,745.405051023,718,679,662,638,878.594948977,785,813,652,629.594948977,653.594948977,0.400936520741,-0.0154274034275,0.0499268337021,0.999999973619,6.39847864494e-05,-0.000217545695773,-3.66302606737e-05,1793249657871050240
+102,1.700000000,BASELINE,767,745.182693236,718,679,662,638,879,785,813,652,629.817306764,654,0.400935573989,-0.0154278290063,0.0499263269141,0.999999973539,6.16830094899e-05,-0.000218550434474,-3.67892486264e-05,1793249657887716864
+103,1.716666667,BASELINE,767,745.757828913,718,679,662,638,879,785,813,652,629.242171087,654,0.400936642249,-0.0154282347449,0.049927065148,0.999999973793,6.18071972485e-05,-0.000217368350106,-3.66676613619e-05,1793249657904383744
+104,1.733333333,BASELINE,767,746,718,678.660457352,662,638,879,785,813,652,629.339542648,653.660457352,0.400938000805,-0.0154278509016,0.0499277480612,0.999999974009,6.27395600827e-05,-0.000216099191669,-3.66899708115e-05,1793249657921050112
+105,1.750000000,BASELINE,767,746,718,678.073959219,662,638,879,785,813,652,629.926040781,653.073959219,0.400939570497,-0.0154268927813,0.0499283907385,0.999999974195,6.42597232237e-05,-0.000214766702571,-3.68169389213e-05,1793249657937716736
+106,1.766666667,BASELINE,767,745.494108962,718,678.505891038,662,638,879.505891038,785,812.494108962,652,629.494108962,653,0.400938515737,-0.0154269211128,0.0499279532142,0.99999997405,6.42558476908e-05,-0.000215431607875,-3.68895438899e-05,1793249657954383360
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,718,678,662,639,879,785,813,652,630,654,0.40093662848,-0.0154285710467,0.0499261317226,0.999999973658,6.21779825505e-05,-0.000217967138521,-3.61670096912e-05,1793249657997536512
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,718,678,662,639,879,784.423811388,812.423811388,652,630,654,0.400936347195,-0.0154266985575,0.0499263128821,0.999999973609,6.39176830515e-05,-0.000217622661294,-3.65559889908e-05,1793249658014203136
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745.15461164,718,678.15461164,662,638.84538836,879,784.15461164,812,652,630,654,0.400936463946,-0.0154254829861,0.0499267455305,0.999999973656,6.49413990267e-05,-0.00021706437899,-3.67981832486e-05,1793249658030869504
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745.739249449,718,678.739249449,662,638.260750551,879,784.739249449,812,652,630,654,0.400937687767,-0.0154260945204,0.049927877653,0.999999973974,6.39737253351e-05,-0.000215911433889,-3.6632119786e-05,1793249658047536128
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.3229128,746,718,678.6770872,662,638,879,785,812,652,630,653.6770872,0.400938111495,-0.0154269782401,0.0499278753742,0.999999974131,6.18498699723e-05,-0.000215798867385,-3.66394016842e-05,1793249658064202752
+112,1.866666667,POSE1_TO_POSE2_PRESS,767.905791614,746,718,678.094208386,662,638,879,785,812,652,630,653.094208386,0.400937891096,-0.015428081087,0.0499269598278,0.999999974154,5.87952124852e-05,-0.000216523874052,-3.67862379923e-05,1793249658080869376
+113,1.883333333,POSE1_TO_POSE2_PRESS,767.516983811,745.516983811,718,678.483016189,662,638,879,785,812,652,629.516983811,653.483016189,0.40094404207,-0.0154277602495,0.0499290159259,0.99999997503,6.04823388895e-05,-0.000211964106289,-3.67937311342e-05,1793249658097536000
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745.05917936,718,678.94082064,662,638,879,785,812.05917936,652,629.05917936,654,0.400952697905,-0.0154273986314,0.0499319427606,0.99999997624,6.27727447704e-05,-0.000205503727817,-3.67027836293e-05,1793249658114202624
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745.635592958,718,678.364407042,662,638,879,785,812.635592958,652,629.635592958,654,0.40097251096,-0.0154290794442,0.0499374728184,0.999999979104,6.23461480208e-05,-0.000191336450897,-3.59862420046e-05,1793249658130869248
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745.783808406,718,678.216191594,662,638,879,785,813.216191594,652,629.783808406,654,0.400996612269,-0.015430557697,0.0499432354218,0.999999982146,6.24432809592e-05,-0.000174834616807,-3.52493097548e-05,1793249658147535872
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745.196016385,718,678.803983615,662,638,879,785,813.803983615,652,629.196016385,654,0.401028084432,-0.0154316877797,0.0499493977352,0.999999985486,6.34406255194e-05,-0.000154320035923,-3.44773291988e-05,1793249658164202496
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745.385600688,718,679,662,638,879,785,813.614399312,652,629,653.614399312,0.401070095531,-0.0154333585501,0.0499551616533,0.999999988745,6.28096246158e-05,-0.000131894713204,-3.42007558796e-05,1793249658180869120
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745.964128314,718,679,662,638,879,785,813.035871686,652,629,653.035871686,0.401117379561,-0.0154352998418,0.0499607262435,0.999999991646,6.13639164618e-05,-0.000108513390379,-3.41720487413e-05,1793249658197535744
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,718,678.457154706,661.457154706,638,879,785,813,652,629,653,0.401174191838,-0.0154379808814,0.049962884722,0.999999993249,5.96651704104e-05,-9.37619414526e-05,-3.39162776828e-05,1793249658214202368
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,718,678,661.120379324,638,879,784.879620676,813,652,629.120379324,653.120379324,0.401234583987,-0.0154412991925,0.0499646944679,0.999999994355,5.79669512696e-05,-8.25167756365e-05,-3.34709028823e-05,1793249658230868992
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,718,678,661.693418231,638,879,784.306581769,813,652,629.693418231,653.693418231,0.401306069031,-0.0154468299435,0.0499660395373,0.999999994502,5.63336103924e-05,-8.2311081491e-05,-3.23690065266e-05,1793249658247535616
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.735047535,746,718,678.264952465,662,638,879,784.264952465,813,652,630,654,0.401388271645,-0.0154518608206,0.0499674156755,0.999999994789,5.46255079257e-05,-8.02146092483e-05,-3.1683826292e-05,1793249658264202240
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.165244592,746,718,678.834755408,662,638,879,784.834755408,813,652,630,654,0.401482805735,-0.0154563165499,0.0499688275612,0.999999995225,5.28313859515e-05,-7.59426350507e-05,-3.14781136724e-05,1793249658280868864
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.426276683,746,718,678.573723317,662,638,879.426276683,785,813,652,629.573723317,654,0.401596601434,-0.0154630627871,0.0499711214684,0.999999995588,5.07043156031e-05,-7.30630174604e-05,-3.02574075305e-05,1793249658297535744
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745.974519465,718,678.025480535,662,638,879.974519465,785,813,652,629,653.974519465,0.40171940308,-0.0154708059799,0.0499735789299,0.999999995901,4.83187467458e-05,-7.10044094308e-05,-2.86527989482e-05,1793249658314202624
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745.400881624,718,678.599118376,662,638,879.400881624,785,813,652,629,653.400881624,0.401866695221,-0.0154798696748,0.0499718045429,0.999999995913,4.3297785309e-05,-7.43733062679e-05,-2.77081701193e-05,1793249658330869248
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,718,678.826913426,662,638,879,785.173086574,813,652,629.173086574,653.173086574,0.402022163839,-0.0154895252996,0.0499696301936,0.999999995826,3.77766614983e-05,-7.87503662494e-05,-2.68026026382e-05,1793249658347536128
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,718,678.252178713,662,638,879,785.747821287,813,652,629.747821287,653.747821287,0.402196605986,-0.0155005544989,0.0499665277308,0.999999995527,3.10949094482e-05,-8.54668726739e-05,-2.59876773148e-05,1793249658364202496
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745.333343383,718,678,662,638,879,785.666656617,812.666656617,652,630,653.666656617,0.402394272907,-0.0155110856489,0.0499675369709,0.999999995846,2.50115316227e-05,-8.41213042202e-05,-2.4605439091e-05,1793249658380869120
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745.927299267,718,678,662,638,879,785.072700733,812.072700733,652,630,653.072700733,0.402610097298,-0.0155212274184,0.0499717607974,0.999999996628,1.9395970387e-05,-7.64726940326e-05,-2.27796676513e-05,1793249658397535744
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879,785,812.504670704,652,630,653.504670704,0.40286868147,-0.0155319148515,0.0499783586373,0.999999997679,1.65218669626e-05,-6.28828109726e-05,-2.03854259455e-05,1793249658414203392
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879,785,813,652,630,654,0.403139172867,-0.0155414340316,0.0499846754569,0.999999998521,1.56305730481e-05,-4.8941009644e-05,-1.78691254763e-05,1793249658430870784
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879,785,813,652,630,654,0.403446588776,-0.0155432224444,0.0499871893263,0.999999998861,2.46823390955e-05,-3.7960936013e-05,-1.50870909834e-05,1793249658447536640
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,718,678.237372493,662,638,879,785,812.762627507,652,630,653.762627507,0.403767166321,-0.0155411609688,0.0499916233986,0.999999998842,3.8842916584e-05,-2.54112351011e-05,-1.26784672515e-05,1793249658464203008
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,718,678.827779223,662,638,879,785,812.172220777,652,630,653.172220777,0.404107318603,-0.0155333737145,0.0499989133089,0.99999999805,6.06016163584e-05,-1.05270934508e-05,-1.08252019824e-05,1793249658480870144
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,718,679,662,638,879.410192966,785.410192966,812.410192966,652.410192966,629.589807034,653.410192966,0.404480705176,-0.0155328931897,0.050005131519,0.999999998306,5.74187987617e-05,4.39736110538e-06,-8.49235841927e-06,1793249658497537024
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,718,679,662,638,879.989314956,785.989314956,812.989314956,652.989314956,629.010685044,653.989314956,0.404867778558,-0.0155354217823,0.0500109083727,0.999999998829,4.39643608313e-05,1.93384172824e-05,-5.96201104323e-06,1793249658514203648
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745.43627922,718,679,662,638,879.43627922,785.43627922,813,652.43627922,629.56372078,654,0.405269177678,-0.0155390011966,0.0500004281616,0.999999999139,4.12846756549e-05,-1.04489370712e-06,-4.13547654408e-06,1793249658530870016
+140,2.333333333,POSE1_TO_POSE2_PRESS,767.138188038,745.138188038,718,679,662,638.138188038,879.138188038,785,813.138188038,652,630,654,0.40567942686,-0.0155408797493,0.0499864150708,0.999999998588,4.52643648424e-05,-2.77079771785e-05,-2.71264228947e-06,1793249658547536384
+141,2.350000000,POSE1_TO_POSE2_PRESS,767.71312954,745.71312954,718,679,662,638.71312954,879.71312954,785,813.71312954,652,630,654,0.406116796144,-0.0155373201734,0.0499622018891,0.999999994971,6.96513686545e-05,-7.21201172373e-05,-2.52391915921e-06,1793249658564203264
+142,2.366666667,POSE1_TO_POSE2_PRESS,767.703682631,746,718,679,662.296317369,638.703682631,879.703682631,785,813.703682631,652,630,654,0.406577461312,-0.0155356134811,0.0499451387375,0.99999999063,9.10128212036e-05,-0.000102250427332,-1.2686546814e-06,1793249658580870144
+143,2.383333333,POSE1_TO_POSE2_PRESS,767.112282773,746,718,679,662.887717227,638.112282773,879.112282773,785,813.112282773,652,630,654,0.407061325333,-0.0155357519503,0.0499351958158,0.999999987039,0.000109361334253,-0.000118158431252,1.04870643888e-06,1793249658597537024
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,718,678.531308956,663,638,879.468691044,785.468691044,813.468691044,652,629.531308956,654,0.40761466745,-0.0155396798891,0.0499464864869,0.999999987787,0.000124057527519,-9.48671682928e-05,6.02882253345e-06,1793249658614203904
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,718,678.046976033,663,638.046976033,880,785.953023967,813.953023967,652,629.046976033,654,0.408189189139,-0.015544439906,0.0499638566957,0.999999988543,0.000138173511181,-6.0697278053e-05,1.17571523309e-05,1793249658630870528
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,718,678.6224998,663,638.6224998,880,785.3775002,813.3775002,652,629.6224998,654,0.408818811037,-0.0155485698746,0.0499936414186,0.99999998772,0.000155391800792,-7.48834832487e-06,1.88827762101e-05,1793249658647537152
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,718,679,663,638.797089766,880.202910234,785,813,652,629.797089766,654,0.409447405654,-0.0155511444209,0.0500134664264,0.99999998499,0.000169544292295,2.61381967475e-05,2.43300867701e-05,1793249658664204032
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,718,679,663,638.207363716,880.792636284,785,813,652,629.207363716,654,0.410074041889,-0.0155507538034,0.050014304833,0.999999983579,0.000177852331204,2.24340633014e-05,2.65779618594e-05,1793249658680870400
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,718,679,663,638.371498176,881,785,813.371498176,652,629,654,0.410685193538,-0.0155486274574,0.0499927674457,0.999999984802,0.000171050125596,-2.46096376613e-05,2.30705095479e-05,1793249658697537024
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,718,679,663,638.944468173,881,785,813.944468173,652,629,654,0.411287947526,-0.0155455597868,0.0499590951618,0.999999983161,0.000156053293386,-9.51573610624e-05,1.64418135132e-05,1793249658714203648
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,718,679,663,639,881,785,814,652,629,654,0.411991475381,-0.0155496071651,0.0499526419145,0.999999983574,0.000153469126874,-9.49221957859e-05,1.7009243792e-05,1793249658730870016
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,718,679.104960382,663.104960382,639,881.104960382,785,814,652,629.104960382,654,0.412718801821,-0.0155544027084,0.0499548595633,0.999999984804,0.000153748219125,-7.99760173067e-05,1.88848548829e-05,1793249658747536384
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,718,679.679454116,663.679454116,639,881.679454116,785,814,652,629.679454116,654,0.413504208718,-0.0155591292383,0.0499827982513,0.99999998624,0.000160876688217,-3.32033972571e-05,2.31577229205e-05,1793249658764203008
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,718,680,663.738772866,639,882,785,814,652,630,654,0.414271483859,-0.0155614107032,0.04998916195,0.999999985777,0.000165263844312,-2.29804147222e-05,2.46087618998e-05,1793249658780869632
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,718,680,663.147811483,639,882,785,814,652,630,654,0.415015872278,-0.015560605883,0.0499682925974,0.999999984203,0.00016619077612,-5.88922475598e-05,2.24979445385e-05,1793249658797536256
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,718,680,663,639,882,785,814,651.565866217,629.565866217,654.434133783,0.415789619511,-0.0155595252588,0.0499474848423,0.999999981772,0.00016680503781,-9.04774084827e-05,2.1122853272e-05,1793249658814202880
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,718,680,663.013000431,639,882,785,814.013000431,651.013000431,629,655,0.416574583674,-0.0155584895815,0.04992777791,0.999999978752,0.000167217296963,-0.000118872700226,2.00941104846e-05,1793249658830869248
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,718,680,663.588781378,639,882,785,814.588781378,651.588781378,629,655,0.417421210217,-0.015563381964,0.0499548354473,0.999999983809,0.000163399659216,-7.16536963747e-05,2.34353830999e-05,1793249658847535872
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,718,680.167338992,664,639,882.167338992,785,814.832661008,652,629,654.832661008,0.418265511078,-0.0155660103559,0.0499756695582,0.99999998572,0.000162439517472,-3.85628350702e-05,2.62137006669e-05,1793249658864202496
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,718,680.752835078,664,639,882.752835078,785,814.247164922,652,629,654.247164922,0.41910400033,-0.0155629813466,0.0499809521824,0.999999984572,0.000168619865705,-4.0776259363e-05,2.75852710141e-05,1793249658880869120
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,718,681,664,639,883,785,814,652,629,654.334623546,0.419955534485,-0.0155606958863,0.0499750261025,0.999999983551,0.000173543499236,-4.50504948233e-05,2.74060580027e-05,1793249658897535744
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,718,681,664,639,883,785,814,652,629,654.913703422,0.420816598445,-0.0155589536194,0.0499609116007,0.999999982606,0.000177549050467,-5.083023791e-05,2.6093933599e-05,1793249658914202368
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,718,680.507510283,664,639,883.492489717,785,814.492489717,652,629.492489717,654.507510283,0.421736729959,-0.0155618516577,0.0499836816972,0.999999983732,0.000178060418003,-5.98554807666e-06,2.82028923661e-05,1793249658930868992
+164,2.733333333,POSE1_TO_POSE2_PRESS,767.070753799,746,718,680.070753799,664,639,883.929246201,785,815,652,630,654,0.422657585578,-0.0155649519726,0.0500071045239,0.999999983061,0.000177862596644,3.62460467975e-05,3.04726426768e-05,1793249658947535616
+165,2.750000000,POSE1_TO_POSE2_PRESS,767.645662914,746,718,680.645662914,664,639,883.354337086,785,815,652,630,654,0.423509894617,-0.0155637033371,0.0499891529918,0.999999983896,0.000176971576374,-3.31217577257e-06,2.96192119019e-05,1793249658964202240
+166,2.766666667,POSE1_TO_POSE2_PRESS,768,746,718,681,664.225180039,639,883.225180039,785.225180039,815.225180039,652,630,654,0.424390194501,-0.015564089673,0.0499811697041,0.99999998348,0.000178233548633,-1.98872203737e-05,2.96044327788e-05,1793249658980869120
+167,2.783333333,POSE1_TO_POSE2_PRESS,768,746,718,681,664.812099775,639,883.812099775,785.812099775,815.812099775,652,630,654,0.425315460314,-0.0155671025029,0.0499891998653,0.999999982785,0.00018295418847,4.58975670793e-07,3.09369026221e-05,1793249658997536000
+168,2.800000000,POSE1_TO_POSE2_PRESS,767.604239259,746,718,681,665,639,884,786,815.604239259,652,629.604239259,654.395760741,0.426228921563,-0.0155686869673,0.0500007538421,0.999999982344,0.000184706026406,1.08005277705e-05,3.28594896895e-05,1793249659014202624
+169,2.816666667,POSE1_TO_POSE2_PRESS,767.022112897,746,718,681,665,639,884,786,815.022112897,652,629.022112897,654.977887103,0.427136823931,-0.0155695988074,0.0500139672,0.999999982127,0.000185059841109,1.64308441234e-05,3.50599656944e-05,1793249659030869248
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,884.554056629,786,815,652.554056629,629.554056629,655,0.427977074415,-0.0155599698611,0.0499795604109,0.99999998001,0.000191263026472,-4.8917883991e-05,3.17215002073e-05,1793249659047535872
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885,786,815.129281459,653,630,654.870718541,0.428832570054,-0.015552382745,0.0499523964348,0.999999975625,0.000196580045703,-9.61911967784e-05,2.92217253031e-05,1793249659064202752
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885,786,815.702072327,653,630,654.297927673,0.429749529439,-0.0155532281399,0.0499565301203,0.999999977344,0.00019806464941,-7.18406037875e-05,3.03494495022e-05,1793249659080869376
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885,786,816,652.71597255,629.71597255,654,0.430645601916,-0.0155540237045,0.0499538922686,0.999999977098,0.000200066152452,-6.93771540693e-05,3.10401586933e-05,1793249659097535744
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885,786,816,652.124084214,629.124084214,654,0.431519034753,-0.0155547652574,0.0499439146632,0.999999974875,0.000202627929046,-9.06374528625e-05,3.12571818109e-05,1793249659114202368
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,718,681,665,638.542863268,885,786,816,652,629.457136732,654,0.43238290369,-0.0155539835117,0.049933072864,0.999999973422,0.000203657787126,-0.000103922349542,2.96500606024e-05,1793249659130869248
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,718,681,665,638,885,786,816,652,630,654,0.433245732594,-0.0155529798531,0.0499247533592,0.999999972602,0.00020411255112,-0.000111158318324,2.78955888475e-05,1793249659147535872
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665,638,885,786,816,652,630,654,0.434131430895,-0.0155547592425,0.0499584764869,0.999999977412,0.000201988768911,-5.8291776891e-05,3.12827724916e-05,1793249659164202496
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746.191503749,718,681,665.191503749,638,885.191503749,786,816,652,630,654,0.434980799557,-0.0155549884499,0.0499795384782,0.9999999784,0.000202688116094,-3.12192575039e-05,3.37969679172e-05,1793249659180869120
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.777008386,718,681,665.777008386,638,885.777008386,786,816,652,630,654,0.435755423579,-0.0155520283043,0.0499745513826,0.999999975886,0.000209195785993,-5.72154941246e-05,3.45150732487e-05,1793249659197535744
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746.64150489,718,681,665.64150489,638,885.64150489,786,816,652,630,654.35849511,0.43655652327,-0.0155499148385,0.0499640588882,0.999999973916,0.000210792185618,-8.11069081374e-05,3.40110187558e-05,1793249659214202368
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.062489728,718,681,665.062489728,638,885.062489728,786,816,652,630,654.937510272,0.437373908815,-0.0155483221885,0.0499501798742,0.999999972169,0.000209367529452,-0.000103703587178,3.27551806034e-05,1793249659230868992
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,718,681.515691857,665,638.515691857,885.515691857,786,816,652.515691857,630,655,0.438190979654,-0.0155524056668,0.0499703541971,0.999999976847,0.00020445410895,-5.77974927917e-05,3.41176336024e-05,1793249659247535616
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,718,681.906729407,665,638.906729407,885.906729407,786,816.093270593,652.906729407,630,654.906729407,0.438991308586,-0.0155565706474,0.049987897999,0.999999979164,0.000200273623747,-1.7681321303e-05,3.53442725982e-05,1793249659264202752
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,718,681.33174337,665,638.33174337,885.33174337,786,816.66825663,652.33174337,630,654.33174337,0.439705367058,-0.0155576099412,0.0499705783362,0.999999977737,0.000202058427552,-5.0271091236e-05,3.42334820545e-05,1793249659280869376
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,718,681,665.248351957,638,885.248351957,786,817,652,630,654.248351957,0.440406643178,-0.0155584144113,0.0499567443581,0.999999976085,0.000203146565167,-7.3841513011e-05,3.33001378826e-05,1793249659297535744
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665.835415477,638,885.835415477,786,817,652,630,654.835415477,0.441090486196,-0.0155588986201,0.0499476642868,0.999999975184,0.000203284563795,-8.51110123565e-05,3.26088017471e-05,1793249659314202368
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,718,681.418540625,665.581459375,638,886,785.581459375,817,652,630,654.581459375,0.441805401195,-0.0155613371197,0.0499638554632,0.999999977056,0.000204242103128,-5.43898987104e-05,3.4859797707e-05,1793249659330868992
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,886,785,817,652,630,654.000129929,0.442532394646,-0.0155645362529,0.0499898850943,0.999999978123,0.000205517536174,-7.32259850407e-06,3.82560635417e-05,1793249659347536128
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,886,785,817,652,630,654.574529873,0.443143264188,-0.0155646561154,0.0499874932208,0.999999979066,0.000200723270102,-1.34656530021e-05,3.73635727699e-05,1793249659364202496
+190,3.166666667,POSE1_TO_POSE2_PRESS,767.149259858,746,718,682,665,638,886,785,816.850740142,652,630,654.850740142,0.443730577355,-0.0155657949044,0.0499725953371,0.999999979613,0.000194676456199,-3.98998880377e-05,3.58278634003e-05,1793249659380869120
+191,3.183333333,POSE1_TO_POSE2_PRESS,767.724932855,746,718,682,665,638,886,785,816.275067145,652,630,654.275067145,0.444250593619,-0.0155698446144,0.0499219696483,0.999999974626,0.000185051298098,-0.000124302998842,3.2454574126e-05,1793249659397536000
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.691488534,746,718,682,665,638,886.308511466,785.308511466,816.308511466,652,630.308511466,654.308511466,0.444773148442,-0.0155738944911,0.0498885671088,0.999999969002,0.000177744545884,-0.000171826546789,2.96424394416e-05,1793249659414202624
+193,3.216666667,POSE1_TO_POSE2_PRESS,767.100675986,746,718,682,665,638,886.899324014,785.899324014,816.899324014,652,630.899324014,654.899324014,0.445298026123,-0.01557794452,0.0498709244847,0.999999967513,0.000172559234875,-0.000185603725434,2.73437853703e-05,1793249659430869248
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785.524638652,817,652,630.524638652,654.524638652,0.445833654108,-0.0155843443804,0.0498772132801,0.999999972262,0.00016473104835,-0.000165959052319,2.82449339869e-05,1793249659447536128
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785,817,652,630,654,0.446363252172,-0.0155910642383,0.0498864645762,0.999999977013,0.000156448328621,-0.000143607863517,2.95911967056e-05,1793249659464202752
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785,817,652,630,654,0.44680348564,-0.0155960195214,0.0498745290401,0.999999974632,0.000149123725246,-0.000166366687919,2.86362381466e-05,1793249659480869376
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785,817,652.212024908,630,654,0.447213734293,-0.0155995497298,0.0498531254856,0.999999969278,0.000142958677922,-0.000200702027968,2.69431720802e-05,1793249659497535744
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785,817,652.794399158,630,654,0.447571607654,-0.0156005907233,0.0498151839017,0.999999957499,0.000138819057478,-0.000255258362126,2.39608347701e-05,1793249659514202368
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785,817,652.621197131,630,654,0.447934251018,-0.0156012193476,0.0497921809394,0.999999948664,0.000136088408093,-0.000289246535579,2.21086286056e-05,1793249659530869248
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785,817,652.035685913,630,654,0.44829949735,-0.0156016229469,0.0497773298067,0.999999942112,0.000134126617647,-0.000312010906591,2.08731216904e-05,1793249659547535872
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+202,3.366666667,POSE1_TO_POSE2_PRESS,768,746,718,683,665,637.11626334,887,785,817,652,629.88373666,655,0.44900165554,-0.0156091579735,0.0497986675315,0.999999952274,0.000126859107468,-0.000280750183659,2.3205273167e-05,1793249659580869120
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+204,3.400000000,POSE1_TO_POSE2_PRESS,768,746,718,682.728850387,665,637.728850387,887,785,817,652,629.271149613,655,0.449572405493,-0.015617338552,0.0498112443784,0.999999957575,0.00011732925678,-0.00026544228759,2.49908971957e-05,1793249659614202624
+205,3.416666667,POSE1_TO_POSE2_PRESS,768,746,718,682.137726244,665,637.137726244,887,785,817,652,629.862273756,655,0.449820903637,-0.0156213986611,0.0498082451357,0.999999955854,0.000114631490152,-0.000272961632981,2.53730755627e-05,1793249659630869248
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+207,3.450000000,POSE1_TO_POSE2_PRESS,767.022092798,745.977907202,718,682.977907202,664.022092798,637,887,784,817,652,629.977907202,654,0.45025414592,-0.0156201575955,0.0498034226333,0.999999952043,0.000112238747619,-0.000287580531611,2.47961003133e-05,1793249659664202496
+208,3.466666667,POSE1_TO_POSE2_PRESS,767.598170465,745.401829535,718,682.401829535,664.598170465,637,887,784,817,652,629.401829535,654,0.450435092261,-0.0156217206316,0.0497986559848,0.99999994948,0.000109130829006,-0.000297528636085,2.46419712547e-05,1793249659680869120
+209,3.483333333,POSE1_TO_POSE2_PRESS,768,745.173221016,718,682,664.826778984,637,887,784,817,652,629,654.173221016,0.450604979832,-0.0156224666264,0.0497949794289,0.999999947038,0.000107669036076,-0.000306148401948,2.46036951961e-05,1793249659697535744
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+211,3.516666667,POSE1_TO_POSE2_PRESS,767.670723054,746,718,682,664.329276946,637,887,784,817,652,629,655,0.45087659504,-0.0156205090283,0.0497914710869,0.999999943138,0.000110136251226,-0.000317800027885,2.44232082433e-05,1793249659730869248
+212,3.533333333,POSE1_TO_POSE2_PRESS,767.078821033,746,718,682,664.921178967,637,887,784,817,652,629,655,0.450990142467,-0.0156199438093,0.0497881820024,0.999999941243,0.000108513387133,-0.00032432471443,2.35047621522e-05,1793249659747535872
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+214,3.566666667,POSE1_TO_POSE2_PRESS,767.079057582,746,718,682.079057582,665,637,887,784,817,652,628.920942418,654.079057582,0.45116269502,-0.015622176847,0.0497728028761,0.999999932315,0.000101638000749,-0.000352871750948,2.28121220099e-05,1793249659780869120
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+229,3.816666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664.213192312,637,887,784,817.786807688,652.213192312,629,655,0.451511480159,-0.0156171199851,0.0497532976452,0.999999918749,9.79311488299e-05,-0.000390492612615,2.06638192524e-05,1793249660030869760
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+238,3.966666667,POSE1_TO_POSE2_PRESS,767.009309257,746,718,682,664.990690743,637,887,784,817,652,629,654.009309257,0.451517128379,-0.0156137105945,0.0497534071723,0.999999918791,9.70646586811e-05,-0.000390673399861,1.92548321726e-05,1793249660180869120
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,767.342516673,746,718,682,664.342516673,637,887,784,817.657483327,652.342516673,628.342516673,654.657483327,0.451512418051,-0.015611213318,0.0497491432363,0.999999915721,9.61689387863e-05,-0.000398685792696,1.89681406307e-05,1793249660687884544
+267,4.450000000,POSE2_TO_POSE3_RETREAT,767.235949584,746,718,682,664.235949584,637,887,784,817.764050416,652,628.235949584,655,0.451502125213,-0.0156110049948,0.0497444728997,0.999999912601,9.60143566155e-05,-0.000406490194682,1.85763095017e-05,1793249660704551168
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767.814329869,746,718,682,664.814329869,637,887,784,817.185670131,652,628.814329869,655,0.451484674721,-0.0156104988885,0.0497369361935,0.999999907455,9.51416961328e-05,-0.000419193581893,1.77576996723e-05,1793249660721218048
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767.609959153,746,718,682.390040847,665,637,887.390040847,784,817,652,629,655,0.451445942386,-0.0156069340644,0.0497206085864,0.999999894528,9.73412872321e-05,-0.000448556242248,1.63006929011e-05,1793249660737884928
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767.03551015,746,718,682.96448985,665,637,887.96448985,784,817,652,629,655,0.451397148167,-0.0156019231032,0.0497001247118,0.999999876796,0.000100993413831,-0.000485795272757,1.4541857131e-05,1793249660754551552
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.448537574,665,637,887.448537574,784,817.551462426,652,629,654.448537574,0.45133153317,-0.0155990380362,0.0496780584641,0.999999858378,9.97520207828e-05,-0.000522631737872,1.22493588934e-05,1793249660771218176
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.862700784,637,887,784,817.862700784,652,629,654,0.451262714385,-0.0155959056251,0.0496583413562,0.999999841912,9.89696280775e-05,-0.000553426526994,1.00457711999e-05,1793249660787884800
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,887.294620968,784,817,652,629,654,0.451106381132,-0.0155861638898,0.0496405311013,0.999999832661,0.000103542111647,-0.000569128385337,7.00715475643e-06,1793249660821218304
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,767.978456306,746,718,682,664,637,887,784,817,652,629,655,0.450814850305,-0.0155666362022,0.0496507788432,0.999999844046,0.000111812118797,-0.000547153686974,5.34987322128e-06,1793249660871218432
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767.386555961,746,718,682,664,637,887,784,817,652,629,655,0.450680748364,-0.0155596280513,0.049652956474,0.999999847407,0.000113852023674,-0.00054055443339,4.98408304484e-06,1793249660887885056
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,887,784,817,652,629,654.222364729,0.450368256827,-0.015543227016,0.0496615955073,0.999999857299,0.000119940549484,-0.00052057020373,4.88025107759e-06,1793249660921218304
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,887,784,817,652,628.64675555,654,0.450179444155,-0.0155314439803,0.0496650316914,0.999999859584,0.000125886910359,-0.000514752409221,3.81470562922e-06,1793249660937884928
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,887,784,817,652,628,654.514786153,0.449744896969,-0.0155074921799,0.0496673835335,0.999999860243,0.000134897336659,-0.000511190470146,8.92098754941e-07,1793249660971218176
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,887,784,817,652,628.101711326,655,0.449500469399,-0.0154978093935,0.049667397618,0.999999861149,0.000135278540764,-0.000509315373131,-2.75241339337e-07,1793249660987884800
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.258186706,637,887,784,817,652,629,654.741813294,0.448911757522,-0.0154810101687,0.049667682629,0.999999864676,0.000130444066679,-0.000503601196855,-4.27801309107e-06,1793249661021218048
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.836982793,637,887,784,817,652,629,654.163017207,0.448575877702,-0.015475152736,0.0496650362555,0.999999863783,0.000123505389464,-0.00050708213439,-6.95317511467e-06,1793249661037884672
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,665,637,887,784.411818094,817,652,629,654.411818094,0.448222875222,-0.0154759642349,0.0496636069313,0.999999866222,0.000109382199656,-0.00050548002376,-9.07630711344e-06,1793249661054551552
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,665,637,887,784.985100449,817,652,629,654.985100449,0.447863159355,-0.0154793904665,0.0496626547838,0.999999869723,9.24421303129e-05,-0.000501884968396,-1.09830009608e-05,1793249661071218176
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,665,637.573712399,886.426287601,784.426287601,817,652,629.573712399,655,0.447461230248,-0.0154750944267,0.049658049978,0.999999869231,8.23157659189e-05,-0.000504555280815,-1.36291863761e-05,1793249661087884800
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,766.256812348,746,718,682,665,637.256812348,886.743187652,784.743187652,817,652,629.256812348,654.256812348,0.446595476209,-0.0154535657601,0.0496571869431,0.999999870194,7.53257455046e-05,-0.000503533139512,-1.97999653766e-05,1793249661121218048
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,766.895295075,746,717.104704925,682,665,637,887,785,817,652.895295075,629,654,0.445642151306,-0.0154351874033,0.0496736083596,0.999999883825,6.13061313558e-05,-0.000477452852577,-2.51204286435e-05,1793249661154551552
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767.479610138,746,717.479610138,681.520389862,665,637.479610138,887,785,816.520389862,652.520389862,629,654.479610138,0.445152033498,-0.015433238714,0.0497030319032,0.999999901705,4.73832584283e-05,-0.000440150964909,-2.47199049982e-05,1793249661171218176
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767.934714332,746,718,681.065285668,664.934714332,637.934714332,886.934714332,785,816.065285668,652,629,654.934714332,0.444652642852,-0.0154319108764,0.0497351182137,0.999999919196,3.2865816059e-05,-0.000399937285257,-2.40603722836e-05,1793249661187884800
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,766.776937371,745.776937371,718,682,664.223062629,637,886,785,817,652,629.223062629,654,0.443493595649,-0.0154172829301,0.0497581374804,0.999999930202,1.24695308082e-05,-0.000372227224072,-2.97924403215e-05,1793249661221218304
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,665,638,886,785.702201234,816.702201234,652,630,654.702201234,0.43952770645,-0.0153969089952,0.0498217043691,0.999999964508,1.04592148682e-05,-0.000262580993857,-4.38815701651e-05,1793249661321218048
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746,718,681.720068814,665,638,886,785.720068814,816.720068814,652,629.720068814,654.720068814,0.438746171383,-0.0153929935141,0.0497980287709,0.999999953172,-8.94297345616e-06,-0.000302008872837,-4.86525069917e-05,1793249661337884672
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746,718,681.142820306,665,638,886,785.142820306,816.142820306,652,629.142820306,654.142820306,0.437922892023,-0.0153835721974,0.0497564397346,0.999999930108,-2.02660285908e-05,-0.000369183361066,-5.54776486013e-05,1793249661354551296
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,718,680.294168812,663.147084406,638,882,785.852915594,814.852915594,652,629.147084406,654,0.424157598989,-0.015363879932,0.0498069177477,0.999999960404,-1.30285732551e-05,-0.000275649604517,-5.51264649233e-05,1793249661621219072
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746,718,681.45908507,663.729542535,638,882,785.270457465,814.270457465,652,629.729542535,654,0.423277065068,-0.0153667148627,0.0498330866452,0.999999968888,-1.5590797085e-05,-0.000243144582732,-5.34906159425e-05,1793249661637885952
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,745.693512084,718,681.387024167,663.693512084,638,881.693512084,785.306487916,814,652,630,654,0.422380212099,-0.0153688084174,0.0498285438315,0.999999965688,-2.20383806769e-05,-0.000255348196903,-5.41734619462e-05,1793249661654552832
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,745.121345452,718,680.242690903,663.121345452,638,881.121345452,785.878654548,814,652,630,654,0.421469213027,-0.0153702593111,0.0497973786033,0.999999950964,-3.18539839737e-05,-0.000306307444696,-5.68662661761e-05,1793249661671219456
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767.452118317,745,718,680,663,638,881,786,814,651.547881683,629.547881683,654,0.420588309258,-0.0153714615674,0.0497896299768,0.999999944821,-3.95178894782e-05,-0.000324733048912,-5.78333333411e-05,1793249661687885568
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,745.026832928,718,680,663,638.026832928,881,786,813.973167072,651.026832928,629.026832928,654,0.419715170281,-0.0153723579073,0.0497885076986,0.99999994139,-4.57897333754e-05,-0.000334260495729,-5.82445035216e-05,1793249661704551936
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,745.620597926,718,680,663,638.620597926,881,786,813.379402074,651.620597926,629.620597926,654,0.418834937373,-0.0153682047765,0.0497942185013,0.999999939709,-3.48864537084e-05,-0.000340804048127,-5.67247997457e-05,1793249661721218816
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767.790974389,746,718,680,663,638.790974389,880.790974389,786,813,652,629.790974389,654,0.417970748045,-0.0153650260737,0.0497913907947,0.999999935923,-2.94769260521e-05,-0.000352195291548,-5.69597782965e-05,1793249661737885696
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767.211993145,746,718,680,663,638.211993145,880.211993145,786,813,652,629.211993145,654,0.417134954194,-0.0153635720159,0.0497734507322,0.999999928357,-3.37908199181e-05,-0.00037216649231,-6.03003789509e-05,1793249661754552320
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,745.636274278,718,680,662.636274278,638,880,786,813,652,629,654,0.416347436522,-0.0153651399322,0.0497811735139,0.999999935484,-4.03997730896e-05,-0.000351705960564,-6.08480662387e-05,1793249661771218944
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,745.06243998,718,680,662.06243998,638,880,786,813,652,629,654,0.415587805956,-0.0153684535121,0.0498037206089,0.999999949647,-4.83344821744e-05,-0.000307889768651,-5.97824083068e-05,1793249661787885312
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767.513425364,745,718,680,662,638,880,785.486574636,813,652,629.513425364,654,0.414808557287,-0.0153715154537,0.0498054380744,0.999999950231,-5.26640337176e-05,-0.000305363984839,-5.93098988902e-05,1793249661804552192
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767.908281098,745.091718902,718,680,662,638,880,785,813,652,629.908281098,654,0.414025863216,-0.0153738284411,0.0498005510715,0.99999994696,-5.58264315938e-05,-0.000315336151696,-5.93797375231e-05,1793249661821218816
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767.318139803,745.681860197,718,680,662,638,880,785,813,652,629.318139803,654,0.413237462764,-0.0153722383966,0.0497735944174,0.999999929648,-5.5038285346e-05,-0.000365828685487,-6.2003266484e-05,1793249661837885696
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,718,679.732630315,662,638,880,785,813.267369685,652,629.267369685,654,0.412492899295,-0.0153720599496,0.0497662198379,0.999999923592,-5.52612728698e-05,-0.000381825153234,-6.30217865308e-05,1793249661854552064
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,718,679.152538347,662,638,880,785,813.847461653,652,629.847461653,654,0.411799608714,-0.0153735325426,0.0497817489456,0.999999932568,-5.66669079487e-05,-0.000357474154853,-6.21630478639e-05,1793249661871218176
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767.422395134,746,718,679,662,637.577604866,880,785,813.577604866,652,629.577604866,654,0.411135106583,-0.0153725954715,0.0498027272946,0.99999994387,-5.50667359143e-05,-0.00032500078171,-6.00119924379e-05,1793249661887884800
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767.995488267,746,718,679,662,637.004511733,880,785,813.004511733,652,629.004511733,654,0.410480875255,-0.0153707987042,0.0498256497719,0.999999955037,-5.23941815109e-05,-0.000289629584937,-5.73998767645e-05,1793249661904551424
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767.416650971,745.416650971,718,679,662,637.583349029,879.416650971,785,813,652,629.583349029,654,0.409806916965,-0.0153677500186,0.0497992414578,0.999999939204,-5.27866763049e-05,-0.000339337726938,-6.04526676875e-05,1793249661921218048
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,662.169637893,638,879,785.169637893,813,652,629.830362107,654,0.409161552337,-0.0153665960924,0.0497825241793,0.999999928842,-5.46405025118e-05,-0.000367991451136,-6.2553933973e-05,1793249661937884672
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,662.751819191,638,879,785.751819191,813,652,629.248180809,654,0.408586105345,-0.0153700742009,0.0497903265361,0.999999937165,-5.99890023527e-05,-0.000343801017694,-6.22318650922e-05,1793249661954551296
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745.330162833,718,679.330162833,662.669837167,638,879,785.669837167,813,652,629.330162833,654,0.408036393202,-0.015374230962,0.0498068639993,0.999999945683,-6.55892958964e-05,-0.000317271552741,-6.05863490642e-05,1793249661971218432
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745.905654848,718,679.905654848,662.094345152,638,879,785.094345152,813,652,629.905654848,654,0.407505803505,-0.0153788919991,0.0498298921275,0.999999954011,-7.13766856965e-05,-0.0002890040598,-5.79574388581e-05,1793249661987886080
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745.521695015,718,679.521695015,662,638,879,785,813,652,629.521695015,654,0.406984183018,-0.0153784925169,0.0498244859815,0.999999949944,-7.6724676579e-05,-0.000301303022317,-5.86606793306e-05,1793249662004552960
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745.052215092,718,679,662,638,879,785,813,652,629.052215092,654,0.406464533905,-0.0153769708589,0.0498120952303,0.999999942408,-8.12216252563e-05,-0.000323989635411,-6.01543059801e-05,1793249662021219328
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745.644936194,718,679,662,638,879,785,813,652,629.644936194,654,0.405947086087,-0.0153741046468,0.04978511812,0.999999925843,-7.78008646457e-05,-0.000371863816204,-6.30661448793e-05,1793249662037885952
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745.768079751,718,679,662,638,879,785,813,652,629.768079751,654,0.405463073469,-0.0153728219273,0.0497681747856,0.999999914279,-7.50106292026e-05,-0.000402013611379,-6.48129721401e-05,1793249662054552576
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745.189666989,718,679,662,638,879,785,813,652,629.189666989,654,0.405029013616,-0.015373904971,0.0497662220732,0.999999912934,-7.31624088313e-05,-0.000405682891421,-6.48192535382e-05,1793249662071219200
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745.385692734,718.385692734,679,662,638,879,785,813,652,629.385692734,654,0.404651901278,-0.0153749405225,0.0497795689786,0.999999923008,-7.14814977896e-05,-0.000380594773468,-6.34135734409e-05,1793249662087885824
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745.959562948,718.959562948,679,662,638,879,785,813,652,629.959562948,654,0.404302573297,-0.015375952903,0.0498003804879,0.999999937375,-6.98822158432e-05,-0.00034147607039,-6.13190045907e-05,1793249662104552448
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,718.458918025,678.458918025,662,638,879,785,812.458918025,652,630,654,0.403992488692,-0.0153798663478,0.049824379929,0.9999999479,-7.1548403346e-05,-0.000309285735907,-5.85159068655e-05,1793249662121218816
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745.876353158,718,678,662,638,878.876353158,785,812.123646842,652,629.876353158,654,0.403684382914,-0.0153833102,0.0498446287556,0.999999955623,-7.38215610216e-05,-0.00028311005767,-5.61521077579e-05,1793249662137885440
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745.292051939,718,678,662,638,878.292051939,785,812.707948061,652,629.292051939,654,0.403372566283,-0.0153841852437,0.0498500041016,0.999999956984,-7.74338006216e-05,-0.000277385672988,-5.56250446594e-05,1793249662154552576
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767.288175836,745.288175836,718,678,662.288175836,638,878.288175836,785,813,652,629,654,0.403076257417,-0.0153852749667,0.0498474754388,0.999999954207,-8.13477707149e-05,-0.000286120915167,-5.57149376381e-05,1793249662171218944
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767.864332883,745.864332883,718,678,662.864332883,638,878.864332883,785,813,652,629,654,0.402795445862,-0.0153865792238,0.049837048105,0.999999946913,-8.5563267274e-05,-0.00030930601882,-5.64213700293e-05,1793249662187885056
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767.561492011,746,718,678,662.561492011,638,878.561492011,785,813,652.438507989,629,653.561492011,0.402547341388,-0.0153851073842,0.0498270584157,0.99999994098,-8.69275108955e-05,-0.00032733941917,-5.77249549871e-05,1793249662204552192
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745.987489926,718,678,661.987489926,638,878.025020147,785,812.987489926,652.987489926,629,653,0.40231026086,-0.0153828801735,0.049817322904,0.999999935411,-8.73170275546e-05,-0.000343592662587,-5.91438153157e-05,1793249662221219328
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745.393144244,718,678,661.393144244,638,879.213711513,785,812.393144244,652.393144244,629,653,0.402117384713,-0.01538528729,0.0498131399865,0.999999933345,-8.32153434885e-05,-0.00035084745017,-5.73701582406e-05,1793249662237885440
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745.195528249,718,678,661.195528249,637.804471751,879.804471751,785,812.195528249,652,629.195528249,653,0.401938304148,-0.0153871373399,0.0498116650394,0.999999933437,-7.9670411744e-05,-0.000351690008133,-5.56083928657e-05,1793249662254551808
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745.773115356,718,678,661.773115356,637.226884644,879.226884644,785,812.773115356,652,629.773115356,653,0.40178617994,-0.0153878988909,0.0498154814206,0.999999937767,-7.72133650063e-05,-0.000340003178132,-5.3869863879e-05,1793249662271218432
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745.65057568,718,678,662,637.34942432,879,785,813,652,630,653,0.401652192572,-0.0153882876788,0.0498178246109,0.999999940257,-7.68342724198e-05,-0.000332754796345,-5.34443164926e-05,1793249662287884800
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745.075093546,718,678,662,637.924906454,879,785,813,652,630,653,0.401529938702,-0.0153884353099,0.0498192147302,0.999999941607,-7.77994986559e-05,-0.000328377838921,-5.38681939315e-05,1793249662304551680
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767.497383957,745.497383957,718,678,662,638,879,785,813,652,630,653,0.401436182106,-0.015390528509,0.04982355842,0.999999944334,-8.28751256101e-05,-0.000318726669516,-5.36335110149e-05,1793249662321218304
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767.927919673,746,718,678,662,638,879.072080327,784.927919673,812.927919673,652,629.927919673,653.072080327,0.401348696037,-0.0153926896841,0.0498280986208,0.999999946984,-8.78509346571e-05,-0.000308974640035,-5.33703573985e-05,1793249662337885440
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767.333890628,746,718,678,662,638,879.666109372,784.333890628,812.333890628,652,629.333890628,653.666109372,0.401275648379,-0.0153932288561,0.0498308521803,0.999999948446,-8.76372063617e-05,-0.000304223698564,-5.36166933713e-05,1793249662354552576
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745.747256264,718,678.252743736,662,638,879.747256264,784.252743736,812.252743736,652,629,653.747256264,0.401208172076,-0.0153958093176,0.0498317745747,0.999999948558,-9.15998045844e-05,-0.000302682994516,-5.36290390184e-05,1793249662371219200
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745.170113095,718,678.829886905,662,638,879.170113095,784.829886905,812.829886905,652,629,653.170113095,0.401147846676,-0.0154010097969,0.0498303466477,0.999999946892,-0.000100922764975,-0.000305262666657,-5.33410554279e-05,1793249662387885312
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745.979134873,718,678.020865127,661.020865127,638,878.020865127,785,812.020865127,652,629.979134873,653.979134873,0.401067610488,-0.0154029075202,0.0498310016695,0.999999948053,-0.000101830502692,-0.00030103529246,-5.38788545131e-05,1793249662421218304
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745.535505836,718,678,662,638,878.535505836,785,813,652.535505836,630,653.464494164,0.40098001006,-0.0154045966194,0.0498367966349,0.999999951457,-0.000103090265711,-0.000289260618389,-5.27850199906e-05,1793249662521218048
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e152196787a68b0023bb34ce6eb2ccae246bf197
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_01/simulation_data.csv
@@ -0,0 +1,401 @@
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+369,6.150000000,pose2_to_pose3_retreat,0.575769812373,-0.00984997901297,1.04003357127,0.54634049168,-0.00117734241663,1.03970496532
+370,6.166666667,pose2_to_pose3_retreat,0.575740008223,-0.00985004276655,1.04003353276,0.54631068799,-0.00117740466707,1.03970492536
+371,6.183333333,pose2_to_pose3_retreat,0.575717680551,-0.00985008781,1.04003327555,0.546288361624,-0.00117744498236,1.03970467605
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+374,6.233333333,pose2_to_pose3_retreat,0.575678218452,-0.00984986144636,1.0400334493,0.546248896643,-0.00117722878498,1.03970483949
+375,6.250000000,pose2_to_pose3_retreat,0.575672178749,-0.0098498142006,1.04003356183,0.546242856972,-0.00117718141609,1.0397049523
+376,6.266666667,pose2_to_pose3_retreat,0.575668548643,-0.0098498542306,1.04003364609,0.546239227562,-0.00117721899407,1.03970503903
+377,6.283333333,pose2_to_pose3_retreat,0.575666762845,-0.00984993920364,1.04003363307,0.546237442508,-0.00117730132619,1.03970502914
+378,6.300000000,pose2_to_pose3_retreat,0.575666300006,-0.00984993657807,1.04003366314,0.546236979469,-0.00117729941063,1.03970505827
+379,6.316666667,pose2_to_pose3_retreat,0.575666043859,-0.00984991000146,1.04003371387,0.546236722813,-0.00117727464829,1.03970510669
+380,6.333333333,pose2_to_pose3_retreat,0.575665702145,-0.00984987454684,1.04003378155,0.546236380421,-0.00117724161402,1.03970517128
+381,6.350000000,pose2_to_pose3_retreat,0.575665433782,-0.00984984670271,1.0400338347,0.546236111524,-0.00117721567068,1.03970522201
+382,6.366666667,pose2_to_pose3_retreat,0.575665266795,-0.00984982937687,1.04003386777,0.546235944205,-0.00117719952761,1.03970525358
+383,6.383333333,pose2_to_pose3_retreat,0.575664984111,-0.00984980004687,1.04003392376,0.54623566096,-0.00117717219985,1.03970530701
+384,6.400000000,pose2_to_pose3_retreat,0.575664813132,-0.00984979835666,1.04003388121,0.546235490037,-0.00117717022726,1.03970526693
+385,6.416666667,pose2_to_pose3_retreat,0.575664791344,-0.00984979821625,1.04003387543,0.546235468258,-0.00117717004389,1.03970526148
+386,6.433333333,pose2_to_pose3_retreat,0.575664722334,-0.00984979777153,1.04003385712,0.546235399277,-0.00117716946309,1.03970524423
+387,6.450000000,pose2_to_pose3_retreat,0.575664571793,-0.00984979680139,1.04003381719,0.546235248797,-0.00117716819612,1.03970520661
+388,6.466666667,pose2_to_pose3_retreat,0.57566451697,-0.00984979644808,1.04003380265,0.546235193996,-0.00117716773472,1.0397051929
+389,6.483333333,pose2_to_pose3_retreat,0.575664403517,-0.00984979724039,1.04003377464,0.546235080625,-0.00117716818985,1.03970516647
+390,6.500000000,pose2_to_pose3_retreat,0.575664402253,-0.00984979749468,1.04003377467,0.546235079368,-0.00117716842211,1.03970516649
+391,6.516666667,pose2_to_pose3_retreat,0.575664399124,-0.00984979812466,1.04003377473,0.546235076255,-0.00117716899749,1.03970516653
+392,6.533333333,pose2_to_pose3_retreat,0.57566437479,-0.00984980302255,1.04003377522,0.546235052048,-0.00117717347094,1.03970516685
+393,6.550000000,pose2_to_pose3_retreat,0.575664356613,-0.00984980668121,1.04003377558,0.546235033966,-0.00117717681255,1.03970516709
+394,6.566666667,pose2_to_pose3_retreat,0.57566433944,-0.00984981013765,1.04003377593,0.546235016883,-0.00117717996945,1.03970516732
+395,6.583333333,pose2_to_pose3_retreat,0.575664329111,-0.00984981221669,1.04003377614,0.546235006608,-0.00117718186833,1.03970516746
+396,6.600000000,pose2_to_pose3_retreat,0.575664312406,-0.00984981557908,1.04003377647,0.54623498999,-0.00117718493934,1.03970516768
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+398,6.633333333,pose2_to_pose3_retreat,0.575664290825,-0.00984982473951,1.0400337769,0.546234968521,-0.00117719372335,1.03970516797
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..684b0b85d16220a3daa0512b79ad3408c3e97a81
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c05032dfe630acd98515d2693d1512f47861a9f4095f29fd9b7ca8f4de344536
+size 25592372
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cb36000d9f477de6dce60e72a96eeb1207eee918
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_02/franka_data.csv
@@ -0,0 +1,403 @@
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+12,0.200000000,BASELINE,767,745,718,678,662,637.972461013,878.972461013,785.972461013,813,652,630,653.027538987,0.400978247795,-0.0154107452277,0.0498499209726,0.999999958325,-0.000101307662038,-0.00026569079849,-4.99468997837e-05,1793249663224997888
+13,0.216666667,BASELINE,767,745,718,678,662,638,878.450409154,785.450409154,812.450409154,652,630,653.549590846,0.400978901319,-0.0154108422898,0.0498498248447,0.999999958466,-0.000100587214888,-0.000265428564057,-4.99739132817e-05,1793249663241664512
+14,0.233333333,BASELINE,767,745.125412032,718,678,662,638,878.125412032,785,812.125412032,652,630,653.874587968,0.400979237132,-0.0154108545165,0.0498495915169,0.999999958569,-9.93945363154e-05,-0.000265493477509,-4.99664666408e-05,1793249663258331136
+15,0.250000000,BASELINE,767,745.696863885,718,678,662,638,878.696863885,785,812.696863885,652,630,653.303136115,0.40097831657,-0.015410760637,0.0498490478181,0.99999995852,-9.70536475067e-05,-0.000266578154256,-4.97715180425e-05,1793249663274997504
+16,0.266666667,BASELINE,767,745.721557009,718,678.278442991,662,638,879,785,812.721557009,652,630,653,0.400977667287,-0.015410941571,0.0498485203103,0.999999958291,-9.70864736241e-05,-0.000267410347735,-4.98299385458e-05,1793249663291663872
+17,0.283333333,BASELINE,767,745.128536432,718,678.871463568,662,638,879,785,812.128536432,652,630,653,0.400977324488,-0.0154114329821,0.0498480110946,0.999999957861,-9.98010607327e-05,-0.000267957292177,-5.01746088251e-05,1793249663308330496
+18,0.300000000,BASELINE,767,745.446763924,718,678.553236076,662,638,878.553236076,785,812,652,630,653,0.400977581014,-0.0154118559095,0.0498478637151,0.99999995794,-0.000100154949898,-0.000267561537579,-5.00035467102e-05,1793249663324997376
+19,0.316666667,BASELINE,767,746,718,678,662,638,878,785,812.017499563,652,629.982500437,653.017499563,0.400977964255,-0.0154122393882,0.0498478352417,0.99999995816,-9.98291215463e-05,-0.000266916921937,-4.9697344503e-05,1793249663341664256
+20,0.333333333,BASELINE,767,746,718,678,662,638,878,785,812.599164057,652,629.400835943,653.599164057,0.40097708578,-0.0154119620653,0.0498484120608,0.999999958349,-9.86508049761e-05,-0.00026665954309,-4.96354554892e-05,1793249663358330880
+21,0.350000000,BASELINE,767,746,718,678,662,638,878.183677181,785,812.816322819,652,629.183677181,653.816322819,0.400977080025,-0.015411383905,0.0498491031618,0.999999958551,-9.78821991528e-05,-0.000266159517392,-4.97516494311e-05,1793249663374997504
+22,0.366666667,BASELINE,767,746,718,678,662,638,878.774504676,785,812.225495324,652,629.774504676,653.225495324,0.400979008795,-0.0154101388896,0.0498500475868,0.999999958788,-9.80217839263e-05,-0.000265121625563,-5.02625931876e-05,1793249663391664128
+23,0.383333333,BASELINE,767,746,718,678,662,638,879,785,812,652,630,653,0.400979106145,-0.0154100118141,0.0498497369363,0.999999958767,-9.74115888299e-05,-0.000265394806991,-5.04162456888e-05,1793249663408330496
+24,0.400000000,BASELINE,767,746,718,678,662,638,879,785,812,652,630,653,0.40097807308,-0.0154105747688,0.0498486516108,0.999999958587,-9.63386042346e-05,-0.000266477227106,-5.03493659841e-05,1793249663424997120
+25,0.416666667,BASELINE,767,745.491216666,718,678.508783334,661.491216666,638,879,785,812.508783334,652,630,653.508783334,0.400978557421,-0.0154120995679,0.0498491922021,0.999999958702,-9.84620853617e-05,-0.000265330319978,-5.00124315278e-05,1793249663441663744
+26,0.433333333,BASELINE,767,745,718,678.915110143,661.084889857,638,879,785,812.915110143,652,630,653.915110143,0.400979322216,-0.015413253986,0.0498499464245,0.99999995889,-0.000100300487653,-0.000263992169607,-4.96884689027e-05,1793249663458330624
+27,0.450000000,BASELINE,767,745,718,678.339977939,661.660022061,638,879,785,812.339977939,652,630,653.339977939,0.400980544199,-0.0154115325897,0.0498506887928,0.999999959309,-9.80438010803e-05,-0.000263257423989,-4.96463024917e-05,1793249663474997248
+28,0.466666667,BASELINE,767,745.24179704,718,678.24179704,662,637.75820296,879,785,812.24179704,652,630,653,0.400981334477,-0.0154106162384,0.0498511565399,0.999999959574,-9.6985675584e-05,-0.000262647720312,-4.96177581529e-05,1793249663491664128
+29,0.483333333,BASELINE,767,745.833175879,718,678.833175879,662,637.166824121,879,785,812.833175879,652,630,653,0.400981500612,-0.0154108637934,0.049851227249,0.999999959621,-9.76603883806e-05,-0.000262218797993,-4.96089081377e-05,1793249663508330496
+30,0.500000000,BASELINE,767,746,718,678.584521643,662.415478357,637.415478357,879,785,812.584521643,652,630,653,0.400980369951,-0.0154118659201,0.0498507459051,0.999999959475,-9.81079457936e-05,-0.000262641212627,-4.94345570686e-05,1793249663524997120
+31,0.516666667,BASELINE,767,746,718,678.005785635,662.994214365,637.994214365,879,785,812.005785635,652,630,653,0.400978729729,-0.0154131645475,0.0498500476382,0.999999959253,-9.84662449805e-05,-0.000263398150764,-4.91951741806e-05,1793249663541664256
+32,0.533333333,BASELINE,767,746,718,678,662.431101924,638,879,785,812,652,629.431101924,653,0.400978803452,-0.0154128511712,0.049849488967,0.999999958901,-0.000100222807629,-0.000263988419867,-4.963430579e-05,1793249663558330880
+33,0.550000000,BASELINE,767,746,718,678,662,637.852696327,879,785,812,652,629.147303673,653.147303673,0.400978872211,-0.0154123734836,0.0498493376461,0.999999958779,-0.000100568669242,-0.00026426794633,-4.98987233182e-05,1793249663574997248
+34,0.566666667,BASELINE,767,746,718,678,662,637.262989856,879,785,812,652,629.737010144,653.737010144,0.400978874083,-0.0154114512015,0.0498504055024,0.999999959352,-9.66353117348e-05,-0.000263619262021,-4.96178375009e-05,1793249663591663872
+35,0.583333333,BASELINE,767,745.67951451,718,678,662,637.32048549,879,785,812,652,629.67951451,654,0.400979149776,-0.0154109950788,0.0498507471937,0.999999959489,-9.61554915655e-05,-0.000263279612903,-4.95916198219e-05,1793249663608331008
+36,0.600000000,BASELINE,767,745.101054833,718,678,662,637.898945167,879,785,812,652,629.101054833,654,0.400979645881,-0.0154109141901,0.0498505043597,0.999999959281,-9.84555893105e-05,-0.000263188721008,-4.97703967483e-05,1793249663624998144
+37,0.616666667,BASELINE,767,745,718,678,662,638,879,785,812,652,629.476314429,654,0.400980136277,-0.0154128497521,0.0498506572447,0.999999959133,-0.000101056851406,-0.00026277370511,-4.97180996272e-05,1793249663641664768
+38,0.633333333,BASELINE,767,745.053301602,718,678.053301602,662,638,879,785,812.053301602,652,630,654,0.400980468819,-0.0154148026111,0.0498507666911,0.999999958998,-0.000103129391416,-0.000262499307717,-4.96191277548e-05,1793249663658331648
+39,0.650000000,BASELINE,767,745.628807085,718,678.628807085,662,638,879,785,812.628807085,652,630,654,0.400979266679,-0.0154127431864,0.0498496299154,0.999999958912,-9.93974033882e-05,-0.000264274744223,-4.95420811227e-05,1793249663674998272
+40,0.666666667,BASELINE,767,745.790557961,718,679,662,638,878.790557961,785,812.790557961,652,629.790557961,654,0.400979181468,-0.0154113281654,0.0498495100703,0.999999959078,-9.71884919775e-05,-0.000264480575727,-4.9487764295e-05,1793249663691664640
+41,0.683333333,BASELINE,767,745.200603877,718,679,662,638,878.200603877,785,812.200603877,652,629.200603877,654,0.400981125483,-0.0154110838902,0.049851237774,0.99999995972,-9.77466900326e-05,-0.000261834765619,-4.94747427376e-05,1793249663708331008
+42,0.700000000,BASELINE,767,745.382037292,718,678.617962708,662,638,878.382037292,785,812.382037292,652,629,654,0.400980461466,-0.015410864972,0.0498508562987,0.999999959595,-9.78135242091e-05,-0.000262265708378,-4.95890440124e-05,1793249663724997888
+43,0.716666667,BASELINE,767,745.960910629,718,678.039089371,662,638,878.960910629,785,812.960910629,652,629,654,0.400978453719,-0.0154106591185,0.0498493881168,0.999999959074,-9.76271942805e-05,-0.000264281878313,-4.97689454875e-05,1793249663741664512
+44,0.733333333,BASELINE,767.535613184,745.464386816,718,678.535613184,662,638,878.464386816,785,813,652,629.535613184,653.464386816,0.400979960639,-0.0154112940298,0.0498505607961,0.999999959539,-9.76564903837e-05,-0.000262529416601,-4.96397997954e-05,1793249663758331392
+45,0.750000000,BASELINE,767.890050725,745,718,678.890050725,662,638,878.109949275,785,813,652,629.890050725,653.109949275,0.400981135105,-0.0154120383302,0.04985144455,0.999999959844,-9.80487151795e-05,-0.000261239326329,-4.95316423219e-05,1793249663774997760
+46,0.766666667,BASELINE,767.315986763,745,718,678.315986763,662,638,878.684013237,785,813,652,629.315986763,653.684013237,0.400979831856,-0.0154129873724,0.0498503014325,0.99999995918,-9.99070107667e-05,-0.000263052993097,-4.96065502916e-05,1793249663791664128
+47,0.783333333,BASELINE,767,745,718,678,662,638,879,785,813,652,629,654,0.40097928803,-0.015413090063,0.0498496168408,0.999999958951,-9.97847169646e-05,-0.000263948807212,-4.97120846743e-05,1793249663808330496
+48,0.800000000,BASELINE,767,745,718,678,662,638,879,785,813,652,629,654,0.400979674031,-0.0154121564903,0.0498494936627,0.999999959255,-9.72374119026e-05,-0.000263720813041,-4.98551177045e-05,1793249663824997120
+49,0.816666667,BASELINE,767,745,718,678.440574807,662,638,879,785,813,652,629.440574807,653.559425193,0.400979431153,-0.0154123345406,0.049849775958,0.999999959227,-9.85593649911e-05,-0.000263353586746,-4.97619615163e-05,1793249663841663744
+50,0.833333333,BASELINE,767,745.019933455,718,678.980066545,662,638,879,785,813,652,629.980066545,653,0.400978997577,-0.0154127465064,0.0498501431411,0.999999959094,-0.000100889738169,-0.000263003373467,-4.96203881827e-05,1793249663858330368
+51,0.850000000,BASELINE,767,745.593396357,718,678.406603643,662,638,879,785,813,652,629.406603643,653,0.400978777982,-0.0154099153859,0.0498493153095,0.999999959064,-9.73251870956e-05,-0.000264345369787,-5.02035205053e-05,1793249663874997760
+52,0.866666667,BASELINE,767,746,718,678,662,638,879.171941359,785,813,652,629.171941359,653.171941359,0.40097892259,-0.0154084414127,0.0498491566932,0.999999959199,-9.47947443773e-05,-0.000264717662906,-5.04091985482e-05,1793249663891665152
+53,0.883333333,BASELINE,767,746,718,678,662,638,879.762870418,785,813,652,629.762870418,653.762870418,0.400979954686,-0.0154102745443,0.0498506288246,0.99999995976,-9.47842231122e-05,-0.000262726977567,-4.96950937801e-05,1793249663908331776
+54,0.900000000,BASELINE,767,746,718,678,661.65514614,638,879.65514614,785,813,652,630,654,0.40097991594,-0.0154107608482,0.0498508648746,0.999999959732,-9.56095524434e-05,-0.000262555749542,-4.95983435035e-05,1793249663924998400
+55,0.916666667,BASELINE,767,746,718,678,661.079158407,638,879.079158407,785,813,652,630,654,0.400979159476,-0.0154103444581,0.0498502724569,0.999999959307,-9.69950999095e-05,-0.000263603989508,-4.99153671804e-05,1793249663941665024
+56,0.933333333,BASELINE,767,746,718,678,661.498631881,638,879,785,813,652,630,653.501368119,0.400979091083,-0.0154108445672,0.0498504432361,0.999999959515,-9.56959963296e-05,-0.000263327455437,-4.97012357442e-05,1793249663958331648
+57,0.950000000,BASELINE,767,746,718,678,662,638,879,785,813,652.077853218,630,653.077853218,0.400978882283,-0.0154114997384,0.0498505558161,0.999999959686,-9.44743272728e-05,-0.000263163160386,-4.94820361908e-05,1793249663974998272
+58,0.966666667,BASELINE,767,746,718,678,662,638,879,785,813,652.664550438,630,653.664550438,0.400977039262,-0.0154122139863,0.0498494932532,0.999999958957,-9.65544355153e-05,-0.000265112010367,-4.97828317614e-05,1793249663991664640
+59,0.983333333,BASELINE,767.247620794,746,718.247620794,678.247620794,662,638,879,785,813,652.752379206,630,654,0.400976860363,-0.015412662553,0.0498494471865,0.999999958779,-9.80201707708e-05,-0.000265228930164,-4.9878637726e-05,1793249664008331008
+60,1.000000000,BASELINE,767.825848876,746,718.825848876,678.825848876,662,638,879,785,813,652.174151124,630,654,0.400978903293,-0.0154127563996,0.0498507582798,0.999999959339,-9.86656351921e-05,-0.00026289997539,-4.97007548523e-05,1793249664024997632
+61,1.016666667,BASELINE,768,746,718.595022496,678.595022496,662,638,879,785,813,652,630,654,0.400979985602,-0.0154132379283,0.0498510763369,0.999999959406,-0.000100199486386,-0.000262108372909,-4.94615977826e-05,1793249664041664256
+62,1.033333333,BASELINE,768,746,718.015505782,678.015505782,662,638,879,785,813,652,630,654,0.400980653899,-0.0154138865421,0.0498509664103,0.999999959259,-0.000102116218873,-0.000261979346271,-4.91960324669e-05,1793249664058330880
+63,1.050000000,BASELINE,767.440383543,745.440383543,718,678,662.559616457,638,879,785.559616457,813,652,630,654,0.400980592054,-0.0154117854515,0.0498505632322,0.999999959525,-9.84724809643e-05,-0.000262261136838,-4.97263027993e-05,1793249664074997760
+64,1.066666667,BASELINE,767,745.137232659,718,678,663,638,878.862767341,785.862767341,813,652,630,654,0.40098066167,-0.0154101879768,0.0498506069413,0.999999959807,-9.58235255727e-05,-0.00026210953491,-5.00326121179e-05,1793249664091664384
+65,1.083333333,BASELINE,767,745.7234027,718,678,663,638,878.2765973,785.2765973,813,652,630,654,0.40098122701,-0.0154104853091,0.0498521389528,0.999999960145,-9.69289492523e-05,-0.000260503202919,-4.95346899643e-05,1793249664108331008
+66,1.100000000,BASELINE,767.307633603,746,718,678.307633603,662.692366397,638,878.307633603,785,813,652.307633603,630,653.692366397,0.400980102003,-0.015410943643,0.0498517737929,0.999999959881,-9.7153756224e-05,-0.000261445543219,-4.94430215476e-05,1793249664124997888
+67,1.116666667,BASELINE,767.89013189,746,718,678.89013189,662.10986811,638,878.89013189,785,813,652.89013189,630,653.10986811,0.400977466705,-0.0154115458285,0.0498497135468,0.999999959075,-9.65917491094e-05,-0.000264665073085,-4.97143330277e-05,1793249664141664512
+68,1.133333333,BASELINE,767.533518809,745.533518809,718,679,662,638,879,785.466481191,813,652.533518809,629.533518809,653,0.400977672971,-0.0154118522004,0.0498496383078,0.999999959141,-9.6349049702e-05,-0.00026454008758,-4.95395956309e-05,1793249664158330880
+69,1.150000000,BASELINE,767,745.041296612,718,678.958703388,662,638,879,785.958703388,813,652,629.041296612,653,0.400978455596,-0.0154121106142,0.0498500146444,0.999999959374,-9.62818642704e-05,-0.000263726027533,-4.92958027724e-05,1793249664174997504
+70,1.166666667,BASELINE,767,745.614765097,718,678.385234903,662,638,879,785.385234903,813,652,629.614765097,653,0.400978153225,-0.0154126371597,0.0498502639016,0.999999959158,-9.75199262408e-05,-0.000264051077557,-4.94983177695e-05,1793249664191664128
+71,1.183333333,BASELINE,767,746,718,678,662.194125115,638,879,785,813,652,629.805874885,653,0.400978399038,-0.0154126191797,0.0498505008179,0.999999959199,-9.7956594003e-05,-0.00026370299604,-4.96671224617e-05,1793249664208330752
+72,1.200000000,BASELINE,767,746,718,678,662.785542728,638,879,785,813,652,629.214457272,653,0.400979766753,-0.0154114867855,0.0498507124773,0.999999959765,-9.67531449687e-05,-0.000261977297317,-4.97669363695e-05,1793249664224997632
+73,1.216666667,BASELINE,767,746,718,678.369430512,662.630569488,638,879,785,813,652,629.369430512,653.369430512,0.400979731713,-0.0154114115953,0.0498507529408,0.999999959896,-9.63442045012e-05,-0.000261672155357,-4.95305232269e-05,1793249664241664512
+74,1.233333333,BASELINE,767,746,718,678.94903445,662.05096555,638,879,785,813,652,629.94903445,653.94903445,0.400978898629,-0.0154119378613,0.0498506960087,0.999999959781,-9.63872695107e-05,-0.000262175185193,-4.91028264973e-05,1793249664258331392
+75,1.250000000,BASELINE,767.523415439,746,718,678.476584561,662.523415439,638,879,785,813,652,629.476584561,654,0.400978852611,-0.015411460194,0.0498494598635,0.999999959431,-9.57909585229e-05,-0.000263676637796,-4.93716934323e-05,1793249664274997760
+76,1.266666667,BASELINE,768,746,718,678,662.900369096,638,879,785,813,652.099630904,629.099630904,654,0.400979168597,-0.0154110001508,0.0498487187055,0.99999995924,-9.53210493712e-05,-0.000264519378668,-4.96409056307e-05,1793249664291664128
+77,1.283333333,BASELINE,768,746,718,678,662.312700987,638,879,785,813,652.687299013,629.687299013,654,0.400980886148,-0.0154111005517,0.0498509591082,0.999999959951,-9.57722622973e-05,-0.000261663941202,-4.95828531656e-05,1793249664308330752
+78,1.300000000,BASELINE,767.729578495,746,718,678,662,638,879,785,812.729578495,652.729578495,629.729578495,654,0.400980920748,-0.0154117528468,0.0498516316884,0.999999960031,-9.66253002939e-05,-0.000261055816188,-4.95189264445e-05,1793249664324997376
+79,1.316666667,BASELINE,767.151625456,746,718,678,662,638,879,785,812.151625456,652.151625456,629.151625456,654,0.400979041447,-0.0154130327727,0.0498505212933,0.999999959396,-9.79353059123e-05,-0.000263003403219,-4.94483193455e-05,1793249664341663744
+80,1.333333333,BASELINE,767,746,718,678,662,638,878.572979874,785,812.427020126,652,629.427020126,654,0.400979491929,-0.015413518166,0.0498509114125,0.999999959552,-9.82597432423e-05,-0.000262315798899,-4.93072678325e-05,1793249664358331136
+81,1.350000000,BASELINE,767.005858115,745.994141885,718,678,662.005858115,638,878.005858115,785,813,652,630,653.994141885,0.400980762916,-0.0154137299828,0.04985183096,0.999999959983,-9.82451218038e-05,-0.00026070548641,-4.91394297207e-05,1793249664374999040
+82,1.366666667,BASELINE,767.579467798,745.420532202,718,678,662.579467798,638,878.579467798,785,813,652,630,653.420532202,0.400981249508,-0.0154148143304,0.049852339891,0.999999959944,-9.93414940322e-05,-0.000260501484665,-4.88036642622e-05,1793249664391665408
+83,1.383333333,BASELINE,767.842975592,745.157024408,718,678,662.842975592,638,879,785.157024408,812.842975592,652,629.842975592,653,0.400981190389,-0.0154152642062,0.0498524465416,0.999999959888,-9.94169331414e-05,-0.000260723236268,-4.86274270214e-05,1793249664408331776
+84,1.400000000,BASELINE,767.254575908,745.745424092,718,678,662.254575908,638,879,785.745424092,812.254575908,652,629.254575908,653,0.400979632101,-0.0154139710701,0.049851448053,0.999999959779,-9.66876791965e-05,-0.000262114611515,-4.8889443411e-05,1793249664424997632
+85,1.416666667,BASELINE,767,745.670553523,718,678,662,638,879,785.670553523,812.329446477,652,629.329446477,653,0.400978712395,-0.0154123510919,0.0498507242919,0.999999959776,-9.44272679839e-05,-0.000262876394391,-4.92609187099e-05,1793249664441664256
+86,1.433333333,BASELINE,767,745.089869326,718,678,662,638,879,785.089869326,812.910130674,652,629.910130674,653,0.400978279674,-0.0154104818622,0.0498502100396,0.999999959858,-9.25243990162e-05,-0.000263158046532,-4.97158679677e-05,1793249664458330880
+87,1.450000000,BASELINE,767,745.48729684,718,678,662,638.48729684,879,785.48729684,813,652,630,653.48729684,0.400979569776,-0.0154118836965,0.0498507342647,0.999999959995,-9.44038125826e-05,-0.000262011727884,-4.94746982144e-05,1793249664474997248
+88,1.466666667,BASELINE,767,746,718,678,662,638.935065213,879,785.935065213,813,652,630,654,0.400980912538,-0.0154137335275,0.0498513698343,0.999999960112,-9.67588899161e-05,-0.000260765579985,-4.91449813855e-05,1793249664491663872
+89,1.483333333,BASELINE,767,746,718,678,662,638.348462087,879,785.348462087,813,652,630,654,0.400980144108,-0.0154143707261,0.049851372321,0.99999996004,-9.73716060397e-05,-0.000260817967263,-4.91278882631e-05,1793249664508331008
+90,1.500000000,BASELINE,767,746,718,678,662,638,879,785,813,652,629.765374578,654,0.400979745675,-0.0154139890499,0.0498512594486,0.99999995995,-9.73720210804e-05,-0.000261152488748,-4.91657309569e-05,1793249664524998144
+91,1.516666667,BASELINE,767,746,718,678,662,638,879,785,813,652,629.187431379,654,0.400979888644,-0.0154121164957,0.049850977776,0.999999959836,-9.64764809582e-05,-0.000261899845659,-4.9283958983e-05,1793249664541664768
+92,1.533333333,BASELINE,767,746,718,678,662,638,879,785,813,652,629.39236511,653.60763489,0.40098021447,-0.0154113122841,0.049850775778,0.999999959879,-9.50905125839e-05,-0.000262212577796,-4.94451135011e-05,1793249664558331392
+93,1.550000000,BASELINE,767,746,718,678,662,638,879,785,813,652,629.973051162,653.026948838,0.400980628062,-0.0154110208378,0.0498506120209,0.999999959995,-9.34691564551e-05,-0.000262316705959,-4.96268711802e-05,1793249664574997760
+94,1.566666667,BASELINE,767,746,718,678,662,638,879,785,813,652,630,653.545408461,0.400979844999,-0.0154125221507,0.049850588221,0.999999959874,-9.56407483306e-05,-0.000262039282068,-4.93919602839e-05,1793249664591664384
+95,1.583333333,BASELINE,767,746,718.120731535,678.120731535,662.120731535,638,879,785,813,652,630,654,0.40097937837,-0.0154138444781,0.0498506654259,0.999999959786,-9.75088722264e-05,-0.000261718034487,-4.92319033994e-05,1793249664608330752
+96,1.600000000,BASELINE,767,746,718.709112669,678.709112669,662.709112669,638,879,785,813,652,630,654,0.400980363018,-0.0154141355567,0.0498511074859,0.999999959887,-9.74865120877e-05,-0.000261298963891,-4.94403374902e-05,1793249664624997632
+97,1.616666667,BASELINE,767.294300667,746,718.705699333,679,662.705699333,638,879,785,813,652,630,654,0.400981087651,-0.0154138517297,0.0498517272431,0.999999960078,-9.77258636809e-05,-0.000260454971972,-4.95755009357e-05,1793249664641664256
+98,1.633333333,BASELINE,767.876366404,746,718.123633596,679,662.123633596,638,879,785,813,652,630,654,0.400981558043,-0.015413005764,0.0498525207515,0.999999960353,-9.82211151192e-05,-0.00025919549507,-4.96390208596e-05,1793249664658330880
+99,1.650000000,BASELINE,768,746,718,679,662,638,878.547541444,785,813,652,630,653.547541444,0.400981533412,-0.0154136496801,0.0498524508957,0.999999960134,-9.89616394896e-05,-0.000259755799704,-4.96589567412e-05,1793249664674997760
+100,1.666666667,BASELINE,767.973040259,746,718,679,662,638,878.026959741,785,813,652,630,653.026959741,0.400981371829,-0.0154146360833,0.0498521284434,0.999999959793,-9.97250892748e-05,-0.000260772934944,-4.96653578035e-05,1793249664691664384
+101,1.683333333,BASELINE,767.398131674,746,718,679,662,638,878.601868326,785,813,652,630,653.601868326,0.400981140115,-0.0154144169085,0.0498514044208,0.99999995972,-9.96100703872e-05,-0.000261100200403,-4.96355660358e-05,1793249664708331264
+102,1.700000000,BASELINE,767.181849886,745.818150114,718,678.818150114,662,638,879,785,813,652,630,653.818150114,0.40098108472,-0.0154137548851,0.0498511293652,0.999999959855,-9.83335569869e-05,-0.000261089243328,-4.9534726148e-05,1793249664724997888
+103,1.716666667,BASELINE,767.773256564,745.226743436,718,678.226743436,662,638,879,785,813,652,630,653.226743436,0.400981426428,-0.0154120954914,0.0498518654594,0.999999960444,-9.44411609085e-05,-0.000260316551678,-4.92738738442e-05,1793249664741664256
+104,1.733333333,BASELINE,767.643015282,745.356984718,718,678.356984718,662,638,879,785,813,652,630,653.356984718,0.400980839463,-0.0154118361057,0.0498518561879,0.999999960414,-9.40524263236e-05,-0.000260568486149,-4.92957880154e-05,1793249664758330880
+105,1.750000000,BASELINE,767.06406149,745.93593851,718,678.93593851,662,638,879,785,813,652,630,653.93593851,0.400979675059,-0.0154124472292,0.0498513834563,0.999999960002,-9.58422285716e-05,-0.000261457521518,-4.94935231672e-05,1793249664774997504
+106,1.766666667,BASELINE,767.510687913,746,718,678.489312087,662.510687913,638,879,785,813,652,630,654,0.400979069962,-0.0154129893315,0.0498508320513,0.999999959561,-9.75513325062e-05,-0.000262502046776,-4.95412019356e-05,1793249664791664384
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879,785,813,653,630,654,0.400983390578,-0.0154120551656,0.0498534371834,0.999999960788,-9.6015254265e-05,-0.000258430365127,-4.91817061855e-05,1793249664835083776
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745.404981497,718,678,662,638,878.404981497,785.595018503,813,652.404981497,630,654,0.400981524386,-0.0154123168496,0.0498520341917,0.999999960458,-9.52273060337e-05,-0.000259985797339,-4.92286041243e-05,1793249664851750144
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745.184920381,718,678.184920381,662.184920381,638,878.369840762,785.815079619,813,652,630,654,0.400980031521,-0.0154126768283,0.049851083386,0.999999960137,-9.48917817342e-05,-0.00026133787785,-4.92402556488e-05,1793249664868416512
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745.763918501,718,678.763918501,662.763918501,638,879.527837002,785.236081499,813,652,630,654,0.400979334244,-0.0154132462798,0.0498510962192,0.999999959839,-9.55204030404e-05,-0.000262256602535,-4.91767947087e-05,1793249664885082624
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.339797101,746,718,678.660202899,662.660202899,637.660202899,879.660202899,785,813,652,629.660202899,654,0.400979048085,-0.0154125320304,0.0498509006036,0.999999959797,-9.45135156701e-05,-0.000262743663682,-4.9390191054e-05,1793249664901749504
+112,1.866666667,POSE1_TO_POSE2_PRESS,767.913528028,746,718,678.086471972,662.086471972,637.086471972,879.086471972,785,813,652,629.086471972,654,0.400979044962,-0.015410934015,0.0498505614811,0.999999959926,-9.23806598474e-05,-0.000262933545359,-4.97941902186e-05,1793249664918416384
+113,1.883333333,POSE1_TO_POSE2_PRESS,767.500395016,746,718,678.499604984,662,637.499604984,879,785,813,652,629.499604984,653.500395016,0.400978772277,-0.0154113524987,0.0498508776063,0.999999959808,-9.35215845334e-05,-0.000263005166486,-4.96604544976e-05,1793249664935083264
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,718,679,662,638,879,785,813,652.086875466,630,653.086875466,0.400978608054,-0.0154119190349,0.0498512524425,0.99999995968,-9.51119773346e-05,-0.000262947348249,-4.95194613291e-05,1793249664951749888
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,718,679,662,638,879,785,813,652.668465793,630,653.668465793,0.400979333884,-0.0154112908145,0.049851299426,0.999999959759,-9.59534421296e-05,-0.00026227194627,-4.98805678426e-05,1793249664968416256
+116,1.933333333,POSE1_TO_POSE2_PRESS,767.247283833,746,718,678.752716167,662,638,879,785,813,653,630,654,0.400983210078,-0.0154111366981,0.0498526231885,0.99999996049,-9.60966683455e-05,-0.000259431257092,-4.98162463529e-05,1793249664985082880
+117,1.950000000,POSE1_TO_POSE2_PRESS,767.822426218,746,718,678.177573782,662,638,879,785,813,653,630,654,0.400991263148,-0.0154116111675,0.0498556397546,0.999999962061,-9.53141425424e-05,-0.000253719745714,-4.91878757884e-05,1793249665001749504
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.60280673,746,718,678.39719327,662,638,879,785,813,652.60280673,629.60280673,654,0.401016470262,-0.0154126705305,0.0498645352363,0.99999996665,-9.41930541392e-05,-0.000235617260726,-4.80850444371e-05,1793249665018416128
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.028207271,746,718,678.971792729,662,638,879,785,813,652.028207271,629.028207271,654,0.401049339223,-0.0154139911362,0.0498760565331,0.999999972121,-9.2920746797e-05,-0.000211980352546,-4.67702953198e-05,1793249665035082752
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,718,678.437907175,662,638,879,785,813,652,629,653.437907175,0.401110090735,-0.015419579251,0.0498951371324,0.999999979492,-9.74693218997e-05,-0.000171788080885,-4.47650395562e-05,1793249665051749120
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745.850068636,718,678,662,637.850068636,879,785,813,652,629.149931364,653,0.40117566076,-0.0154251874875,0.0499125720305,0.99999998443,-0.000101148314658,-0.000138182205663,-4.26004559293e-05,1793249665068416000
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745.271582716,718,678,662,637.271582716,879,785,813,652,629.728417284,653,0.401250889376,-0.0154302235236,0.0499241875077,0.999999986129,-0.000101482815944,-0.000125845388773,-4.00823506082e-05,1793249665085082624
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745.304923691,718,678,662,637.304923691,879.304923691,785,813,652,630,653.304923691,0.401333158782,-0.0154353858954,0.049932375612,0.999999987523,-0.000101783898882,-0.000114542416148,-3.83859749205e-05,1793249665101749248
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745.879678368,718,678,662,637.879678368,879.879678368,785,813,652,630,653.879678368,0.401421658671,-0.0154406600631,0.0499375307881,0.999999988668,-0.000102055409466,-0.000104154306656,-3.74167587469e-05,1793249665118416128
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879.546640882,785,812.546640882,652,629.546640882,654,0.401524721626,-0.0154458776842,0.049939297754,0.999999988826,-0.000103503691967,-0.000101409701564,-3.67613138472e-05,1793249665135082496
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745.972236243,718,678,662,638,879,785,812.027763757,652.027763757,629.027763757,653.972236243,0.401632910703,-0.0154512804887,0.0499401594845,0.999999988712,-0.000105360282821,-0.000100834650629,-3.61528758765e-05,1793249665151749120
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745.37723222,718,678,662,638,879,785,812.62276778,652.62276778,629.62276778,653.37723222,0.40176705152,-0.0154607726623,0.0499408551417,0.999999988104,-0.000109193178236,-0.000103237617326,-3.48074673314e-05,1793249665168415488
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,718,678,662,638,879,785,812.788979416,652.788979416,630,653,0.40191364796,-0.0154702707516,0.0499412526909,0.99999998761,-0.0001118116831,-0.000105619109678,-3.34941417437e-05,1793249665185082112
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,718,678,662,638,879,785,812.212421378,652.212421378,630,653,0.402081820464,-0.0154797790869,0.0499411338467,0.999999987344,-0.000112326576521,-0.000107963403145,-3.22363915507e-05,1793249665201748736
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745.36393378,718,678,662,638,879.36393378,785,812.36393378,652,630,653.36393378,0.402272079326,-0.015489970959,0.0499435061726,0.99999998761,-0.000114082208312,-0.000104020432291,-3.07500945027e-05,1793249665218415360
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745.940170642,718,678,662,638,879.940170642,785,812.940170642,652,630,653.940170642,0.40247522242,-0.0155005615773,0.0499473317384,0.999999988135,-0.000116561632749,-9.64097461068e-05,-2.91304730751e-05,1793249665235081984
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745.472934299,718,678,662,637.472934299,879.472934299,785,813,652.527065701,630,653.472934299,0.402704703106,-0.0155113013857,0.0499507573097,0.999999988427,-0.000116825590039,-9.36269653696e-05,-2.70634868093e-05,1793249665251748864
+133,2.216666667,POSE1_TO_POSE2_PRESS,767.113231322,745.113231322,718,678.113231322,662,637.113231322,879,785,813,652.886768678,629.886768678,653.113231322,0.40294840538,-0.0155217599898,0.049955005426,0.999999989088,-0.000115939337613,-8.81322818251e-05,-2.47829826214e-05,1793249665268415488
+134,2.233333333,POSE1_TO_POSE2_PRESS,767.691332848,745.691332848,718,678.691332848,662,637.691332848,879,785,813,652.308667152,629.308667152,653.691332848,0.403237966868,-0.0155309931538,0.0499628207519,0.999999991163,-0.000111384694764,-6.92075139743e-05,-2.1838670617e-05,1793249665285082112
+135,2.250000000,POSE1_TO_POSE2_PRESS,767.731604279,746,718,678.731604279,662,638,879,785,813,652,629.268395721,654,0.403548894628,-0.0155328060482,0.0499701278675,0.999999993879,-9.55635423194e-05,-5.24876120866e-05,-1.88278668858e-05,1793249665301748736
+136,2.266666667,POSE1_TO_POSE2_PRESS,767.155731334,746,718,678.155731334,662,638,879,785,813,652,629.844268666,654,0.403884299818,-0.0155261181958,0.0499768527709,0.999999996909,-6.68353471335e-05,-3.82936311198e-05,-1.57408896364e-05,1793249665318415360
+137,2.283333333,POSE1_TO_POSE2_PRESS,767.420861565,746,718,678,662,638,879.420861565,785,813,652,630,654,0.404240122545,-0.0155184758047,0.049981314805,0.999999998696,-3.99616059941e-05,-2.86107814076e-05,-1.38988779266e-05,1793249665335081984
+138,2.300000000,POSE1_TO_POSE2_PRESS,767.997721312,746,718,678,662,638,879.997721312,785,813,652,630,654,0.404603513309,-0.0155104796006,0.0499849380752,0.999999999615,-1.37752446209e-05,-2.06000454337e-05,-1.25183300427e-05,1793249665351748864
+139,2.316666667,POSE1_TO_POSE2_PRESS,767.410843145,745.410843145,718,678,662,638,879.410843145,785,813,652,630,654,0.404993795513,-0.0155203834363,0.0499814043405,0.999999999668,-6.44510228753e-06,-2.31985877654e-05,-9.17560643824e-06,1793249665368415232
+140,2.333333333,POSE1_TO_POSE2_PRESS,767.176468977,745.176468977,718,678,662.176468977,638,879,785,813,652,629.823531023,654,0.405390940055,-0.0155272503638,0.0499733393444,0.999999999293,4.74723989071e-06,-3.67222611845e-05,-6.5685740591e-06,1793249665385082112
+141,2.350000000,POSE1_TO_POSE2_PRESS,767.754271882,745.754271882,718,678,662.754271882,638,879,785,813,652,629.245728118,654,0.405803448647,-0.0155270491675,0.0499550336952,0.999999996862,2.48932442039e-05,-7.49966858371e-05,-5.65238259718e-06,1793249665401748736
+142,2.366666667,POSE1_TO_POSE2_PRESS,768,745.670177278,718,678.329822722,663,638,879.329822722,785,813,652,629.329822722,654,0.4062547214,-0.0155268138877,0.0499381549268,0.999999993352,4.72327892192e-05,-0.000105100725669,-4.30754247226e-06,1793249665418415360
+143,2.383333333,POSE1_TO_POSE2_PRESS,768,745.096292857,718,678.903707143,663,638,879.903707143,785,813,652,629.903707143,654,0.406734678839,-0.015526553387,0.0499223320175,0.999999989121,7.11955091319e-05,-0.000129158860966,-2.64551148852e-06,1793249665435081984
+144,2.400000000,POSE1_TO_POSE2_PRESS,768,745.489296615,718.489296615,679,663,638,880.489296615,785,813,652,630,654,0.4072530245,-0.0155287744931,0.0499249256841,0.999999987937,9.32822466807e-05,-0.000124187004892,1.11221729107e-06,1793249665451748864
+145,2.416666667,POSE1_TO_POSE2_PRESS,767.923916222,746,718.923916222,679,663,638.076083778,880.923916222,785,813,652,629.923916222,654,0.407789597331,-0.0155314617367,0.0499339846492,0.999999987475,0.000115644636302,-0.000107909276092,5.59267183252e-06,1793249665468415488
+146,2.433333333,POSE1_TO_POSE2_PRESS,767.344813228,746,718.344813228,679,663,638.655186772,880.344813228,785,813,652,629.344813228,654,0.408395505781,-0.0155339228167,0.0499612389176,0.999999988254,0.000142330161375,-5.55810138681e-05,1.20577834376e-05,1793249665485082112
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,718,679,663,639,880,785,813.231587219,652,629.231587219,654,0.409011292002,-0.0155367332956,0.0499841227632,0.999999985637,0.000167828289499,-1.5154416821e-05,1.81880460706e-05,1793249665501748736
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,718,679,663,639,880,785,813.804010187,652,629.804010187,654,0.409641615677,-0.0155400579982,0.050000574489,0.999999981335,0.000191578879082,7.75604198496e-06,2.38254983428e-05,1793249665518415360
+149,2.483333333,POSE1_TO_POSE2_PRESS,767.379031435,746,718,679,663,639,880,785,814,652.379031435,630,654,0.410268568609,-0.0155404538361,0.0499933672042,0.999999975792,0.000217925887188,-1.38134515464e-05,2.70946107478e-05,1793249665535081984
+150,2.500000000,POSE1_TO_POSE2_PRESS,767.955405459,746,718,679,663,639,880,785,814,652.955405459,630,654,0.410893766544,-0.0155393247615,0.0499738418629,0.999999967696,0.000245624718561,-5.85414178983e-05,2.91306475747e-05,1793249665551748864
+151,2.516666667,POSE1_TO_POSE2_PRESS,767.454034738,746,718,679,663,639,880,785,814,652.454034738,629.454034738,654,0.411537796405,-0.0155395964984,0.0499482800283,0.999999981525,0.000158035585731,-0.000105345953765,2.96196343567e-05,1793249665568415488
+152,2.533333333,POSE1_TO_POSE2_PRESS,767.134901378,746,718,679.134901378,663,639,880.134901378,785,814,652,629.134901378,654,0.412214314074,-0.0155415564586,0.0499346090363,0.999999989024,7.19752242999e-05,-0.000126692183707,2.68389780722e-05,1793249665585082368
+153,2.550000000,POSE1_TO_POSE2_PRESS,767.714562158,746,718,679.714562158,663,639,880.714562158,785,814,652,629.714562158,654,0.412992734802,-0.0155486950679,0.0499618101889,0.999999997627,2.28295900648e-05,-6.35302189571e-05,1.37062860724e-05,1793249665601749760
+154,2.566666667,POSE1_TO_POSE2_PRESS,768,746,718,679.708773748,663,639,881,785,814,652,630,654,0.41375746038,-0.015555626616,0.0499759220049,0.999999999185,1.46771209054e-05,-3.61977137213e-05,1.0229302709e-05,1793249665618416640
+155,2.583333333,POSE1_TO_POSE2_PRESS,768,746,718,679.135016794,663,639,881,785,814,652,630,654,0.414508899818,-0.0155623572864,0.0499773353142,0.999999997847,4.62938206751e-05,-4.36248503461e-05,1.61197224467e-05,1793249665635083264
+156,2.600000000,POSE1_TO_POSE2_PRESS,767.548688951,746,718,679,663,638.548688951,881.451311049,785,814,652,629.548688951,654,0.415268465503,-0.0155637862874,0.0499546699999,0.999999993721,7.63021846464e-05,-8.0183560216e-05,1.75147528615e-05,1793249665651749376
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,718,679.040663932,663.040663932,638.040663932,882,785,814,652,629,654,0.416035514148,-0.0155634748728,0.049927476836,0.999999987001,0.000105266459738,-0.000120845390951,1.77180522898e-05,1793249665668415744
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,718,679.61886714,663.61886714,638.61886714,882,785,814,652,629,654,0.416868423598,-0.0155617239904,0.0499383815986,0.999999987002,0.000126971594957,-9.72393780294e-05,2.04550353364e-05,1793249665685083136
+159,2.650000000,POSE1_TO_POSE2_PRESS,767.196478499,746,718,680,664,639,882.196478499,785,814.196478499,652,629,654,0.41770873539,-0.0155610616041,0.049953318785,0.999999987627,0.000139684799685,-6.86265607161e-05,2.29195110944e-05,1793249665701750272
+160,2.666666667,POSE1_TO_POSE2_PRESS,767.772945188,746,718,680,664,639,882.772945188,785,814.772945188,652,629,654,0.418563363215,-0.0155625043631,0.0499760546532,0.999999990118,0.000135007665688,-3.0330616426e-05,2.48569593036e-05,1793249665718416896
+161,2.683333333,POSE1_TO_POSE2_PRESS,767.650870985,746,718,680,664,639,883,785.349129015,815,652,629,654,0.419399893203,-0.0155621929442,0.0499734102118,0.999999990352,0.000130623551263,-3.99340064579e-05,2.52819484494e-05,1793249665735083264
+162,2.700000000,POSE1_TO_POSE2_PRESS,767.074870989,746,718,680,664,639,883,785.925129011,815,652,629,654,0.420224662824,-0.0155607416257,0.0499542731392,0.999999988449,0.000126429846881,-8.06633383053e-05,2.47241115142e-05,1793249665751749632
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745.48828851,718,680.51171149,664,638.48828851,883,785.48828851,815,652,629,654.51171149,0.42114703938,-0.0155625120592,0.0499735067621,0.999999990013,0.000135307858604,-3.10125271752e-05,2.6544883853e-05,1793249665768415744
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745.098572891,717.901427109,680.901427109,664,638.098572891,883.098572891,785.098572891,815,652,629.098572891,654.901427109,0.422075924726,-0.0155641523998,0.0499940533235,0.999999988832,0.000145257152044,2.08199010808e-05,2.83207759054e-05,1793249665785082112
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745.679067897,717.320932103,680.320932103,664,638.679067897,883.679067897,785.679067897,815,652,629.679067897,654.320932103,0.422965335357,-0.0155628034264,0.0499929914072,0.99999998807,0.000150895853338,1.73011213649e-05,2.81398215529e-05,1793249665801749248
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,717.257212295,680,664,639,884.257212295,786,815,652,629.742787705,654,0.423849637505,-0.0155629682217,0.0499859018775,0.999999988307,0.000150275610969,5.75907606431e-06,2.77597284444e-05,1793249665818415872
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,717.8324504,680,664,639,884.8324504,786,815,652,629.1675496,654,0.424727623474,-0.0155650046906,0.0499713596066,0.999999989438,0.000141916603817,-1.57032013273e-05,2.71334135411e-05,1793249665835083008
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,718,680.416288528,664.416288528,638.583711472,884.583711472,786,815,652,629,654,0.425647594242,-0.0155685760632,0.0499839417783,0.999999989366,0.000142810170015,-3.1343699263e-06,2.93754018842e-05,1793249665851749888
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,718,681.00359804,664.99640196,638.00359804,884,786,815,652.00359804,629.00359804,654,0.426584249437,-0.0155727031309,0.0500073860926,0.999999988312,0.000147573217918,2.28870193538e-05,3.27685622409e-05,1793249665868416512
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,718,681.580867561,664.419132439,638.580867561,884,786,815,652.580867561,629.580867561,654,0.427429992081,-0.0155648545186,0.049985340337,0.999999985558,0.000163004380449,-3.61305206447e-05,3.17568105357e-05,1793249665885082880
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,718,681.840969054,664.159030946,639,884.159030946,785.840969054,815.159030946,652.840969054,630,654,0.428292870716,-0.0155580512862,0.0499642842576,0.999999981075,0.000174008390223,-8.14958838533e-05,3.0472451839e-05,1793249665901749248
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,718,681.260436575,664.739563425,639,884.739563425,785.260436575,815.739563425,652.260436575,630,654,0.429201167167,-0.0155540187677,0.0499458512544,0.999999980471,0.000173278510146,-9.06770067755e-05,2.84655657636e-05,1793249665918415872
+173,2.883333333,POSE1_TO_POSE2_PRESS,767.316807152,746,718,681,665,639,885,785,816,652,629.683192848,654.316807152,0.430103217248,-0.0155529891388,0.0499418852038,0.999999980885,0.000172757968291,-8.70485965666e-05,2.8413033769e-05,1793249665935082496
+174,2.900000000,POSE1_TO_POSE2_PRESS,767.891375056,746,718,681,665,639,885,785,816,652,629.108624944,654.891375056,0.43100018511,-0.015554402722,0.0499496897615,0.999999982025,0.000172407748299,-7.29980888346e-05,2.9950604157e-05,1793249665951749120
+175,2.916666667,POSE1_TO_POSE2_PRESS,767.524344756,745.524344756,717.524344756,681,665,639,885,785.475655244,816,652,629,654.524344756,0.431872566419,-0.0155546092314,0.0499374966948,0.999999979486,0.000177239474647,-9.35831226076e-05,2.92612440112e-05,1793249665968416000
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,745.061736513,717.061736513,681,665,639,885.061736513,786,816,652,629.061736513,654.061736513,0.432742526456,-0.0155547752613,0.0499247633976,0.999999976299,0.000182799180092,-0.000114817526452,2.83534153869e-05,1793249665985083136
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,745.643913155,717.643913155,681,665,639,885.643913155,786,816,652,629.643913155,654.643913155,0.433640394144,-0.0155569722924,0.0499467769826,0.999999979867,0.000184311761753,-7.345741383e-05,2.99804463991e-05,1793249666001749760
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,886,786,816.222829421,652,630,655,0.434516357534,-0.0155576058579,0.0499665203721,0.999999981597,0.000184237175296,-4.29984048893e-05,3.18346184402e-05,1793249666018416128
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,886,786,816.796610749,652,630,655,0.435357822225,-0.0155557769966,0.0499826882519,0.999999982478,0.000181662831218,-2.97084113273e-05,3.40465333999e-05,1793249666035083008
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,718,681.3715607,665,638.6284393,885.6284393,785.6284393,817,652,630,655,0.436152809226,-0.0155527560414,0.0499695711299,0.999999980342,0.000184049601666,-6.54176299021e-05,3.40999124105e-05,1793249666051749632
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,718,681.947152329,665,638.052847671,885.052847671,785.052847671,817,652,630,655,0.436922274409,-0.0155490804853,0.0499403730648,0.999999973369,0.000189160612436,-0.000128033232683,3.29679987285e-05,1793249666068416256
+182,3.033333333,POSE1_TO_POSE2_PRESS,767.536021352,746,718,681.463978648,665,638.536021352,886.072042703,785.536021352,817,652,630,655,0.43777222733,-0.0155518518079,0.0499581805779,0.999999978232,0.000191110284945,-7.66286214404e-05,3.37857377806e-05,1793249666085082368
+183,3.050000000,POSE1_TO_POSE2_PRESS,767.876049709,746,718,681,665,638.876049709,886.876049709,785.876049709,817,652,630,655,0.43860835061,-0.0155548074922,0.049975281338,0.999999980352,0.000192907453685,-2.97811804687e-05,3.45843447437e-05,1793249666101749248
+184,3.066666667,POSE1_TO_POSE2_PRESS,767.296509881,746,718,681,665,638.296509881,886.296509881,785.296509881,817,652,630,655,0.439363733502,-0.0155560452232,0.049972317605,0.999999979443,0.000195318803344,-4.20526728643e-05,3.45881606826e-05,1793249666118416128
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,718,681,665,638.280730232,886,785.280730232,817,652.280730232,630,654.719269768,0.440098923181,-0.015557692687,0.0499620063829,0.999999979432,0.000190601761297,-6.08063086616e-05,3.32990680669e-05,1793249666135083008
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665,638.855561064,886,785.855561064,817,652.855561064,630,654.144438936,0.440812957854,-0.015559769398,0.0499439977322,0.999999979886,0.000178416822608,-8.6350812815e-05,3.06554893832e-05,1793249666151749632
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,718,681.439407633,665,638.560592367,886.439407633,786,817,652.560592367,630.439407633,654,0.441520138271,-0.0155613930294,0.0499554044964,0.999999982321,0.000173224421127,-6.58070671782e-05,3.19355984489e-05,1793249666168416000
+188,3.133333333,POSE1_TO_POSE2_PRESS,767.025876125,746,718,681.974123875,665,638,886.974123875,786,817,652,630.974123875,654,0.442224019646,-0.0155629008997,0.0499762204356,0.999999984352,0.000170795931528,-3.05501479592e-05,3.45289813532e-05,1793249666185082368
+189,3.150000000,POSE1_TO_POSE2_PRESS,767.603731096,746,718,681.396268904,665,638,886.396268904,786,817,652,630.396268904,654,0.442906594626,-0.0155651829282,0.0499871683837,0.999999983537,0.000177267540991,-1.13768920835e-05,3.7047477152e-05,1793249666201749248
+190,3.166666667,POSE1_TO_POSE2_PRESS,767.818076237,746,718,681.181923763,665,638,886.181923763,785.818076237,817,652,630,654,0.443546619516,-0.0155664149364,0.0499803006327,0.99999998215,0.000183594310436,-2.38000887336e-05,3.77712504793e-05,1793249666218415872
+191,3.183333333,POSE1_TO_POSE2_PRESS,767.239146518,746,718,681.760853482,665,638,886.760853482,785.239146518,817,652,630,654,0.444093788942,-0.0155653555217,0.049934554298,0.999999975896,0.000189605001084,-0.000105175130907,3.45784631639e-05,1793249666235082752
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.336986212,746,718,682,665,638,887,785,817,652,630,654,0.444641716747,-0.015568498191,0.049899176947,0.999999968807,0.000191050454024,-0.000157609165605,3.23387082986e-05,1793249666251749376
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+194,3.233333333,POSE1_TO_POSE2_PRESS,767.503349375,746,718,682,665,638,887,785,817,652,630,654,0.445734249878,-0.0155824531123,0.0498742074425,0.999999967443,0.000185953170561,-0.000171723972651,3.23515488454e-05,1793249666285083136
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+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785,817,652,630,654.66386623,0.446761658105,-0.0155934605315,0.0498734715919,0.999999967974,0.000189472031897,-0.000164026560154,3.53335743505e-05,1793249666318416640
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785,817,652,629.757634624,655,0.447212818541,-0.0155955128939,0.0498524928473,0.999999961739,0.000191663168916,-0.000196454169492,3.45428344331e-05,1793249666335083264
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785,817,652,629.182071644,655,0.447608447786,-0.0155955729884,0.0498126429146,0.999999949206,0.000188911250449,-0.000254796799485,3.13029250755e-05,1793249666351749888
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785,817,652,629.393534056,655,0.44799358682,-0.0155971982519,0.0497883679451,0.999999946418,0.000145850439538,-0.000291915220218,2.6026490361e-05,1793249666368416256
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767.14598774,746,718,682,665,637,887,784.85401226,817,652.14598774,629.14598774,655,0.449104582238,-0.0156078402041,0.0497931010573,0.99999995703,4.19456424435e-05,-0.000289993475818,9.21964869943e-06,1793249666418416896
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+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,637,887,785,817,652,630,655,0.450270419242,-0.0156186128227,0.0498015065132,0.999999955871,7.28560187818e-05,-0.000287519168675,1.68161304722e-05,1793249666485083392
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,718,682,664.975260981,637,887,785,817.024739019,652.024739019,630,655,0.450500181093,-0.0156165208152,0.0497963964169,0.999999951965,7.8339396867e-05,-0.000299394553542,1.71782806213e-05,1793249666501749504
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664.383111898,637,887,785,817.616888102,652.616888102,630,655,0.450693390811,-0.0156182291246,0.0497911000959,0.999999948125,8.03950880393e-05,-0.000311391803211,1.79282781518e-05,1793249666518416128
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+210,3.500000000,POSE1_TO_POSE2_PRESS,767.783253395,746,718,682,664.783253395,637,887,784.216746605,817.216746605,653,629.216746605,655,0.451048022868,-0.0156140188018,0.0497830234935,0.999999940986,9.27769819058e-05,-0.00033026005698,1.86758103637e-05,1793249666551749376
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+212,3.533333333,POSE1_TO_POSE2_PRESS,768,746,718.93371366,682,664.06628634,637.93371366,887,784,817,652.06628634,629,655,0.451314958291,-0.0156125141396,0.0497660067884,0.999999929187,9.63311850876e-05,-0.000363326362262,1.84473970123e-05,1793249666585082880
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+255,4.250000000,HOLD_POSE2,768,746,718.554646286,682.445353714,665,636.445353714,887.554646286,784,817.445353714,652.445353714,629,654,0.451993622454,-0.0156050027027,0.049735502978,0.999999907783,8.49235567307e-05,-0.000420675548217,1.59430860998e-05,1793249667320815360
+256,4.266666667,HOLD_POSE2,768,746.141547707,718.858452293,682,664.858452293,636,887.858452293,784,817,652.141547707,629,654.141547707,0.451992679309,-0.0156047100496,0.0497348499684,0.999999907265,8.40608203402e-05,-0.000422079617392,1.59036528852e-05,1793249667337482240
+257,4.283333333,HOLD_POSE2,768,746.720657845,718.279342155,682,664.279342155,636,887.279342155,784,817,652.720657845,629,654.720657845,0.451992663189,-0.0156058261602,0.0497349489944,0.999999907459,8.14247775787e-05,-0.000422140785916,1.58063223518e-05,1793249667354148864
+258,4.300000000,HOLD_POSE2,767.701433502,746.701433502,718,682,664.298566498,636.298566498,887,784,817,653,629,655,0.45199308791,-0.0156058786885,0.0497354293475,0.999999907783,8.15375332525e-05,-0.000421344747315,1.59196421394e-05,1793249667370815488
+259,4.316666667,HOLD_POSE2,767.1246445,746.1246445,718,682,664.8753555,636.8753555,887,784,817,653,629,655,0.451993923436,-0.015604940106,0.0497362650445,0.999999908227,8.42117873984e-05,-0.000419749910741,1.62292587712e-05,1793249667387481856
+260,4.333333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,887,783,817,652,629,654,0.451995678192,-0.0156043729026,0.0497373289979,0.99999990892,8.46190834173e-05,-0.000418034628334,1.56858929657e-05,1793249667419998976
+261,4.350000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,887,783.58676656,817,652.58676656,628.41323344,654,0.451994807945,-0.0156049666549,0.0497365807807,0.99999990854,8.40422155986e-05,-0.000419053338901,1.58680192919e-05,1793249667436666112
+262,4.366666667,POSE2_TO_POSE3_RETREAT,767.172226416,746,718,682,664.172226416,636.827773584,887,783.827773584,817.172226416,652.827773584,628.172226416,654.172226416,0.451994621729,-0.0156052729845,0.0497363184836,0.999999908403,8.42604889216e-05,-0.000419330020906,1.60402676009e-05,1793249667453332992
+263,4.383333333,POSE2_TO_POSE3_RETREAT,767.754574742,746,718,682,664.754574742,636.245425258,887,783.245425258,817.754574742,652.245425258,628.754574742,654.754574742,0.451996064394,-0.015604894876,0.0497372133058,0.999999908844,8.63722277855e-05,-0.00041783971418,1.61889934736e-05,1793249667469999616
+264,4.400000000,POSE2_TO_POSE3_RETREAT,768,746,718,681.667518124,665,636,887,783.332481876,817.667518124,652,629,654.667518124,0.451995446789,-0.0156050607881,0.0497371348456,0.999999908545,8.60586251834e-05,-0.000418614059459,1.63272990472e-05,1793249667486666240
+265,4.416666667,POSE2_TO_POSE3_RETREAT,768,746,718,681.092846126,665,636,887,783.907153874,817.092846126,652,629,654.092846126,0.451993328419,-0.0156056229816,0.0497363474162,0.999999907702,8.39783284324e-05,-0.000421038047656,1.64580141423e-05,1793249667503333120
+266,4.433333333,POSE2_TO_POSE3_RETREAT,767.51793213,746,718,681.48206787,665,636,887,784,817,652,628.51793213,654.48206787,0.451992140593,-0.0156047256711,0.0497357042475,0.999999907245,8.41546594875e-05,-0.000422109071586,1.58667508979e-05,1793249667519999488
+267,4.450000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.941383046,636.058616954,887,784,817,652,628.058616954,655,0.451990755171,-0.0156037215892,0.0497348783062,0.999999906776,8.4654481045e-05,-0.00042314269071,1.52501425847e-05,1793249667536665856
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.350407596,636.649592404,887,784,817,652,628.649592404,655,0.451985946672,-0.0156043020398,0.0497321399608,0.999999905512,8.41429903022e-05,-0.000426204377628,1.56668609076e-05,1793249667553332480
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767.235437062,746,718,682,664,637,887,784,817,652.235437062,628.764562938,654.764562938,0.451972427595,-0.0156039402954,0.0497258177384,0.9999999012,8.43366053313e-05,-0.000436176696353,1.53977712172e-05,1793249667569998848
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767.813808234,746,718,682,664,637,887,784,817,652.813808234,628.186191766,654.186191766,0.451946220823,-0.0156022061636,0.0497142752945,0.999999892174,8.55572669211e-05,-0.000456214937791,1.4129743774e-05,1793249667586665984
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767.612353859,746,718,682,664,637,887,783.612353859,817,652.612353859,628.387646141,654.387646141,0.451899529437,-0.0155995380694,0.0496962420158,0.999999876446,8.52701326374e-05,-0.00048957350779,1.24206335185e-05,1793249667603332864
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767.040668122,746,718,682,664,637,887,783.040668122,817,652.040668122,628.959331878,654.959331878,0.451843112737,-0.0155964265653,0.0496751271352,0.999999856338,8.4267154415e-05,-0.000529256062681,1.05021138478e-05,1793249667619999744
+273,4.550000000,POSE2_TO_POSE3_RETREAT,767,745.451845784,718,682,664.548154216,637,887,783,817,652,629,655,0.45177105114,-0.0155922359342,0.0496552773058,0.999999840429,8.74629405289e-05,-0.000558056593908,8.10263460507e-06,1793249667636666368
+274,4.566666667,POSE2_TO_POSE3_RETREAT,767,745.135681014,718,682,664.864318986,637,887,783.135681014,817,652.135681014,629,654.864318986,0.45169563385,-0.0155879019779,0.0496383078233,0.999999826371,9.02279209898e-05,-0.00058230570664,6.08383119955e-06,1793249667653332992
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767,745.714686737,718,682,664.285313263,637,887,783.714686737,817,652.714686737,629,654.285313263,0.451613167038,-0.0155833697542,0.0496304330337,0.999999819227,9.05346085649e-05,-0.000594406567024,5.42920191597e-06,1793249667669999104
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767.280026189,746,718,682,664.280026189,637,887,784,817,652.719973811,629,654.280026189,0.451524179499,-0.0155775986596,0.0496272324208,0.99999981694,9.2882780011e-05,-0.000597888533752,4.6379440152e-06,1793249667686665472
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767.832089243,746,718,682,664.832089243,637,887,784,817,652.167910757,629,654.832089243,0.45142885728,-0.01557062404,0.0496285726279,0.999999819445,9.72141904899e-05,-0.000592997508633,3.71395563781e-06,1793249667703332352
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,664.580297142,637,887,784,817.419702858,652.419702858,629,655,0.451315576025,-0.0155649940374,0.0496315926094,0.99999982235,9.8546277698e-05,-0.0005878588393,3.28655846323e-06,1793249667719998720
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,746.022261672,718,682,664.022261672,637,887,784,817.977738328,653,628.977738328,655,0.451193692362,-0.0155597067436,0.0496352930158,0.999999825447,9.88248747336e-05,-0.000582520762267,3.0475094566e-06,1793249667736665344
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,746.609745648,718,682,664.609745648,637,887,784,817.390254352,653,628.390254352,655,0.4510526997,-0.0155481985184,0.0496376275794,0.999999829181,0.000105641296675,-0.000574868038704,2.07954111485e-06,1793249667753331968
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767.805583571,746.805583571,718,682,665,637,887,784,817,653,628.194416429,654.805583571,0.45089757761,-0.0155372877612,0.049639878954,0.999999832563,0.00011192945479,-0.000567753995407,1.16836105556e-06,1793249667769998848
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767.226479268,746.226479268,718,682,665,637,887,784,817,653,628.773520732,654.226479268,0.450714497921,-0.0155275592034,0.0496419657243,0.999999835379,0.000117172347111,-0.000561705828891,3.69546942258e-07,1793249667786665216
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.350439447,664.649560553,637,887,784,817,652.649560553,629,654.350439447,0.450519795561,-0.0155176989401,0.0496489334897,0.999999842765,0.000120520973185,-0.000547672770565,-1.85156744222e-07,1793249667803332352
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.925954489,664.074045511,637,887,784,817,652.074045511,629,654.925954489,0.450317628327,-0.0155077540858,0.0496590361561,0.999999852816,0.000122652975567,-0.000528511281208,-5.83076505691e-07,1793249667819999744
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.498627611,664,637,887,784,817,652,629,655,0.450076226441,-0.0154984163794,0.0496654158031,0.999999859179,0.000122090894169,-0.000516460110567,-2.04844814832e-06,1793249667836666112
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767.078844311,746,718,682,664.078844311,637.078844311,886.921155689,784.078844311,817,652.078844311,628.921155689,655,0.44982372005,-0.015489312941,0.04967050756,0.999999864541,0.000121014248026,-0.00050622201973,-3.61334713753e-06,1793249667853332992
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767.669749668,746,718,682,664.669749668,637.669749668,886.330250332,784.669749668,817,652.669749668,628.330250332,655,0.449536719297,-0.0154811487344,0.049670805277,0.999999867416,0.000119179265972,-0.000500940533533,-4.80098003254e-06,1793249667869999616
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767.744584526,746,718,682,665,637.744584526,886.255415474,784.744584526,817,652.744584526,628.255415474,654.744584526,0.449219968078,-0.0154751722878,0.0496695271163,0.999999868065,0.000113459775021,-0.000500951586581,-6.60237084754e-06,1793249667886666240
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767.165557274,746,718,682,665,637.165557274,886.834442726,784.165557274,817,652.165557274,628.834442726,654.165557274,0.44886552299,-0.0154719677369,0.049666252316,0.999999865808,0.000102818605734,-0.000507668294837,-9.18139376988e-06,1793249667903333120
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767.410854263,746,718,682,664.589145737,637,886.589145737,784,817,652,629,654,0.448494432985,-0.0154720903195,0.0496640813015,0.999999866454,9.01491379811e-05,-0.000508761398629,-1.12617176259e-05,1793249667920000000
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767.986218429,746,718,682,664.013781571,637,886.013781571,784,817,652,629,654,0.448116678208,-0.0154735451176,0.0496623522533,0.999999868144,7.66675207329e-05,-0.000507602758196,-1.31423576324e-05,1793249667936666624
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767.442424542,746,718,682,664,637,886.557575458,784,817,652,629,654.557575458,0.447698850623,-0.0154673040399,0.0496590808457,0.999999868649,7.04946482315e-05,-0.000507409933275,-1.63346883007e-05,1793249667953333504
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,746,717.866168798,682,664,637.133831202,887,784.133831202,817,652,629,655,0.447271070954,-0.0154596231671,0.0496561858912,0.999999868731,6.51857608891e-05,-0.000507842310704,-1.96254228691e-05,1793249667970000128
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,746,717.272752986,682,664,637.727247014,887,784.727247014,817,652,629,655,0.446812492393,-0.0154476465123,0.0496547136813,0.999999867572,6.22279166372e-05,-0.000510340278639,-2.31435405144e-05,1793249667986666752
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746,717.312718993,682,664,637.687281007,887,784.687281007,817,652,629.312718993,654.687281007,0.446324982873,-0.0154384345338,0.0496566835374,0.999999869219,5.57556283143e-05,-0.000507717295539,-2.60071233991e-05,1793249668003333376
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,717.891434082,682,664,637.108565918,887,784.108565918,817,652,629.891434082,654.108565918,0.445812864876,-0.0154315741639,0.0496615811853,0.999999873158,4.62939836479e-05,-0.000500738475603,-2.83139650135e-05,1793249668019999744
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,746,717.798783089,682,665,638,887,785,817,652,629.798783089,654,0.442966860956,-0.0154012812245,0.0497446984201,0.999999919455,-7.54849078545e-06,-0.00039958907848,-3.69059482007e-05,1793249668103333376
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767.979588253,746,717.020411747,682,664.020411747,638,885.020411747,785.979588253,816,652,630,654,0.436358925973,-0.0153800101045,0.0497658133993,0.999999926215,-6.1354040709e-05,-0.000373827646453,-6.37088178762e-05,1793249668253332480
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767.397557524,746,717.602442476,682,664.602442476,638,885.602442476,785.397557524,816,652,630,654,0.435526636584,-0.0153775273009,0.0497851702496,0.999999936377,-7.29121402337e-05,-0.000342931343245,-6.57827823706e-05,1793249668269999104
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,746,717.816867696,681.816867696,664.816867696,638,885.816867696,785.183132304,816.183132304,652,630,654,0.434685741821,-0.0153745071036,0.0497915387394,0.999999939557,-7.76261169299e-05,-0.000331803125988,-6.90424141609e-05,1793249668286665984
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,746,717.239067671,681.239067671,664.239067671,638,885.239067671,785.760932329,816.760932329,652,630,654,0.4338263017,-0.0153703287711,0.0497699160625,0.999999928929,-6.75903503284e-05,-0.000363277036757,-7.48572729201e-05,1793249668303332608
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,746,717.677535856,681.338767928,664,638,884.661232072,785.661232072,816.661232072,652,630,654,0.432973536286,-0.0153723152195,0.0497738962345,0.999999929148,-8.09068344892e-05,-0.000359419006054,-7.7309559245e-05,1793249668319999744
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,746,718.833257218,681.916628609,664,638,884.083371391,785.083371391,816.083371391,652,630,654,0.432125481727,-0.0153786525947,0.0497959461686,0.999999936221,-0.000110704672333,-0.000330624695982,-7.73886374305e-05,1793249668336666624
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,745.510003414,718.510003414,681.510003414,664,638,884,785.489996586,815.510003414,652,629.510003414,654,0.431236028358,-0.015374542002,0.0498006282458,0.999999946942,-3.82953371778e-05,-0.000318692318927,-5.55467799864e-05,1793249668353332992
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,745.064504856,717.935495144,681.064504856,663.935495144,638,883.935495144,786,815,652,629,654,0.430337179371,-0.0153681073242,0.0497985776276,0.999999948309,4.40165044829e-05,-0.000316717615902,-3.36697393272e-05,1793249668369999872
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767.241079862,746,717.241079862,682,663.241079862,638.241079862,883,786,815,652,629,654,0.42851279734,-0.0153515517812,0.0497556102193,0.999999919509,6.58780541093e-05,-0.000392924476421,-4.74559245744e-05,1793249668403333632
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767.822938545,746,717.822938545,682,663.822938545,638.822938545,883,786,815,652,629,654,0.427624855777,-0.0153537582198,0.0497783615982,0.999999932477,3.21373695464e-05,-0.000362602462282,-5.03292105581e-05,1793249668419999744
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767.600476736,746,718,681.600476736,664,638.600476736,883,786,815,652,629,654,0.426702495948,-0.0153549751538,0.0497724169453,0.99999992785,8.59656878164e-06,-0.000376003561387,-5.33603959541e-05,1793249668436665856
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767.026198922,746,718,681.026198922,664,638.026198922,883,786,815,652,629,654,0.425765081358,-0.0153557592708,0.0497539204261,0.999999914903,-1.0482722334e-05,-0.000408529488093,-5.64606475608e-05,1793249668453331968
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,745.452978666,718,681,663.452978666,638,883,786.547021334,815,652,629.547021334,654,0.424909556568,-0.0153608657654,0.0497812590108,0.999999941024,-2.61868414883e-05,-0.000337842255535,-5.59383283982e-05,1793249668469998592
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,767.717503769,745.717503769,718.717503769,681,663,638,882.282496231,786.282496231,814.282496231,652,629.282496231,654,0.423189839174,-0.0153679075082,0.0498315644106,0.999999969104,-9.14706755253e-06,-0.000242638937935,-5.32413563168e-05,1793249668503332096
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,745.698946097,718.698946097,680.698946097,663,638,881.698946097,786,814,652,629.301053903,654,0.422297349141,-0.0153668413615,0.0498263962835,0.999999965312,-4.07262245641e-06,-0.000257772322626,-5.39709091659e-05,1793249668519998464
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,745.124106026,718.124106026,680.124106026,663,638,881.124106026,786,814,652,629.875893974,654,0.421380084012,-0.0153626684958,0.0497962540674,0.99999994916,-1.64280453435e-05,-0.000313311298216,-5.69782564104e-05,1793249668536665344
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,745.453373055,718,680,663,638,881,786,814,652,630,654,0.42049179827,-0.0153639994746,0.0497902152837,0.99999994348,-3.04640266632e-05,-0.000329774327078,-5.79763308555e-05,1793249668553331968
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,746,718,680,663,638,881.216891976,786,813,652.216891976,630,654,0.417041998279,-0.015363847377,0.0497689232623,0.99999992415,-2.56900301464e-05,-0.000383871439985,-6.068831832e-05,1793249668619998720
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,718,680,663.02275219,638,880.511376095,786,813.488623905,652,630,654,0.414721015342,-0.015367174732,0.0498060395848,0.999999949832,-4.71611110094e-05,-0.000307480397645,-5.97296555786e-05,1793249668669998848
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745.143098964,718,679.143098964,662,638,880,786,812.143098964,652,630,654,0.409101204401,-0.015361258789,0.0497786815608,0.999999927093,-5.42866880537e-05,-0.000372659767114,-6.31857628062e-05,1793249668803332096
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745.737546308,718,679.737546308,662,638,880,786,812.737546308,652,630,654,0.408525332038,-0.0153657516765,0.0497893562253,0.999999936568,-6.27669935183e-05,-0.000344962851412,-6.26499886664e-05,1793249668819999232
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745.678604312,718,679.678604312,662,638,879.678604312,785.678604312,812.678604312,652,630,654,0.407975783707,-0.0153694920703,0.0498059623488,0.999999944555,-7.07013205552e-05,-0.000319678345777,-6.08018079892e-05,1793249668836666112
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745.103133061,718,679.103133061,662,638,879.103133061,785.103133061,812.103133061,652,630,654,0.407447045562,-0.0153726375888,0.0498272575163,0.999999951368,-7.82040302888e-05,-0.000296300944075,-5.79161198691e-05,1793249668853332736
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745.472040201,718,679,662,638,879,785.472040201,812.944080403,652,630,654,0.406921275384,-0.0153714175414,0.0498191410963,0.999999945486,-8.30941323508e-05,-0.000314157796821,-5.85556772336e-05,1793249668869999360
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,767.619461815,746,718,679,662,638,879.619461815,785,812.619461815,652,630,654,0.404611999268,-0.0153725688682,0.0497813528236,0.999999917644,-0.000125726725395,-0.000380532197045,-6.40284259796e-05,1793249668953332480
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767.043185683,746,718,679,662,638,879.043185683,785,812.043185683,652,630,654,0.404265987277,-0.0153743782565,0.0498015849927,0.99999993126,-0.0001346866816,-0.0003396868495,-6.28742410343e-05,1793249668969998848
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e450653840336ce33d1fc78593bc1c3c2bf5fcc0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,403 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..10d67dba121b58705b9fa1c36533bb8ca2b31c0e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f34c234ba9ef7b7c8c89de9e709519855caf18dc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_03/franka_data.csv
@@ -0,0 +1,403 @@
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+58,0.966666667,BASELINE,767,746,718.353558172,678,662,638,879,785.353558172,812.353558172,652.353558172,630,653.353558172,0.400976525297,-0.0154080767607,0.0498485261596,0.999999961601,-6.16290132185e-05,-0.000265782726321,-4.85787822978e-05,1793249670856957184
+59,0.983333333,BASELINE,767,746,718,678,662,638,878.772992472,785,812.227007528,652,630,653.227007528,0.400976223869,-0.0154077230201,0.0498486239917,0.999999961576,-6.05264064644e-05,-0.000266156197473,-4.84374651594e-05,1793249670873623808
+60,1.000000000,BASELINE,767,746,718,678,662,638,878.184630385,785,812.815369615,652,630,653.815369615,0.400976683035,-0.0154073026063,0.0498494301773,0.999999961855,-5.87900129892e-05,-0.00026549546549,-4.84400677274e-05,1793249670890290688
+61,1.016666667,BASELINE,767,746,718,678,662,638,878.397872696,785,813,652.397872696,630,654,0.40097679764,-0.015407901639,0.0498494902807,0.999999961835,-6.05323897393e-05,-0.000265177319574,-4.84386012154e-05,1793249670906957312
+62,1.033333333,BASELINE,767,746,718,678,662,638,878.977696363,785,813,652.977696363,630,654,0.400976754675,-0.0154089668743,0.0498492091936,0.999999961671,-6.38656413181e-05,-0.000265015841562,-4.84352738738e-05,1793249670923623936
+63,1.050000000,BASELINE,767.553216696,745.446783304,718,678,662.553216696,638,879,785,813,652.446783304,630,654,0.400975505607,-0.0154102070572,0.0498483711476,0.999999961273,-6.37119958887e-05,-0.000266543216108,-4.84669223786e-05,1793249670940290560
+64,1.066666667,BASELINE,767.871875848,745,718,678,662.871875848,638,879,785,813,652,630,654,0.400975162296,-0.0154111595475,0.0498479252139,0.999999961065,-6.40074405903e-05,-0.000267243803284,-4.85104310616e-05,1793249670956957440
+65,1.083333333,BASELINE,767.298500004,745,718,678,662.298500004,638,879,785,813,652,630,654,0.400978134309,-0.0154110879388,0.0498489193633,0.999999961549,-6.63483069309e-05,-0.000264836382454,-4.85902932568e-05,1793249670973624832
+66,1.100000000,BASELINE,767,745,718.283860389,678,662,638,879,785,813,652.283860389,629.716139611,653.716139611,0.400979309585,-0.0154104765629,0.049849412725,0.999999961755,-6.6698683257e-05,-0.000263925085151,-4.88354031746e-05,1793249670990291968
+67,1.116666667,BASELINE,767,745,718.875977468,678,662,638,879,785,813,652.875977468,629.124022532,653.124022532,0.400978533706,-0.0154092790296,0.049849362259,0.999999961665,-6.48874973153e-05,-0.000264638495444,-4.92599629791e-05,1793249671006958336
+68,1.133333333,BASELINE,767,745.457053903,718.542946097,678.457053903,662,638,879,785,813,652.542946097,629,653.457053903,0.400977584094,-0.015409646408,0.0498494814256,0.99999996163,-6.41753675508e-05,-0.000265060129357,-4.86271316518e-05,1793249671023625216
+69,1.150000000,BASELINE,767,745.965132223,718,678.965132223,662.034867777,638,879,785.034867777,813,652,629.034867777,654,0.400976627828,-0.0154103398464,0.0498495902913,0.999999961608,-6.3709970421e-05,-0.00026540571295,-4.7801263919e-05,1793249671040291584
+70,1.166666667,BASELINE,767,745.392521326,718,678.392521326,662.607478674,638,879,785.607478674,813,652,629.607478674,654,0.400976278837,-0.0154096673817,0.0498488471418,0.999999961559,-6.25588286541e-05,-0.000265770672477,-4.83190135943e-05,1793249671056957952
+71,1.183333333,BASELINE,767,745.185942133,718,678.185942133,662.814057867,638,879,785.814057867,813,652,630,653.814057867,0.400975935447,-0.0154091054961,0.0498482913185,0.99999996146,-6.19713696036e-05,-0.000266205265429,-4.87299008827e-05,1793249671073624320
+72,1.200000000,BASELINE,767,745.777161888,718,678.777161888,662.222838112,638,879,785.222838112,813,652,630,653.222838112,0.400975604263,-0.0154087846276,0.0498481437894,0.999999961255,-6.26125075716e-05,-0.000266791630771,-4.89078720746e-05,1793249671090290944
+73,1.216666667,BASELINE,767,746,718,679,662,638,879,785,813,652,630,653,0.400975031153,-0.0154092439798,0.049848100105,0.999999961168,-6.29765615148e-05,-0.000267063858507,-4.87222113742e-05,1793249671106957568
+74,1.233333333,BASELINE,767,746,718,679,662,638,879,785,813,652,630,653,0.4009743117,-0.0154101752962,0.0498481192374,0.999999961154,-6.31730042695e-05,-0.000267146060941,-4.83165857636e-05,1793249671123624192
+75,1.250000000,BASELINE,767.518311705,745.481688295,718,678.481688295,662,638,879,785,813,652,630,653.518311705,0.400975146678,-0.0154099451877,0.0498482293687,0.99999996125,-6.22650566261e-05,-0.000266989826182,-4.83734862853e-05,1793249671140290816
+76,1.266666667,BASELINE,768,745,718,678,662,638,879,785,813,652,629.90651489,654,0.400976181076,-0.0154097506461,0.0498484665411,0.999999961416,-6.16463257142e-05,-0.00026650092445,-4.84312508459e-05,1793249671156957184
+77,1.283333333,BASELINE,768,745,718,678,662,638,879,785,813,652,629.333683585,654,0.400977356581,-0.0154103970436,0.0498493035196,0.999999961879,-6.31367863985e-05,-0.000264441470613,-4.82311769442e-05,1793249671173624832
+78,1.300000000,BASELINE,768,745.247548472,718.247548472,678.247548472,662,638,879,785,813,652,629.247548472,654,0.40097761869,-0.0154107963073,0.0498496028722,0.999999962036,-6.41338294614e-05,-0.000263625003228,-4.81329036897e-05,1793249671190291712
+79,1.316666667,BASELINE,768,745.840502077,718.840502077,678.840502077,662,638,879,785,813,652,629.840502077,654,0.400976606335,-0.0154108507444,0.0498491520737,0.999999961772,-6.44424052973e-05,-0.00026454287878,-4.81766732038e-05,1793249671206958080
+80,1.333333333,BASELINE,767.577330825,746,718.577330825,679,662,638,879.422669175,785,813,652,630,654,0.400975863668,-0.0154098640184,0.049848182588,0.999999961335,-6.3770105181e-05,-0.000266317345364,-4.83490464746e-05,1793249671223624704
+81,1.350000000,BASELINE,767.000861638,746,718,678.999138362,662,638,879.999138362,785.000861638,813,652.000861638,630,654,0.400975222746,-0.015408496721,0.0498470254707,0.999999960833,-6.2738206547e-05,-0.000268401386137,-4.85680719245e-05,1793249671240291328
+82,1.366666667,BASELINE,767.575333214,746,718,678.424666786,662,638,879.424666786,785.575333214,813,652.575333214,630,654,0.400976252161,-0.0154088228205,0.0498480178605,0.999999961297,-6.25935541572e-05,-0.000266741236137,-4.83411075704e-05,1793249671256957952
+83,1.383333333,BASELINE,768,746,718.153321299,678.153321299,662,638,879,786,813,652.846678701,630,653.846678701,0.40097681357,-0.0154091531283,0.0498488240126,0.999999961616,-6.25804969097e-05,-0.000265577182282,-4.81681169103e-05,1793249671273624320
+84,1.400000000,BASELINE,768,746,718.741278128,678.741278128,662,638,879,786,813,652.258721872,630,653.258721872,0.400976048279,-0.0154094953654,0.049849102218,0.99999996153,-6.29404858051e-05,-0.000265819462405,-4.81481309352e-05,1793249671290290944
+85,1.416666667,BASELINE,768,746,718.676261339,678.676261339,662,638,879,785.676261339,813,652,630,653,0.400974889703,-0.0154082078031,0.0498483668148,0.999999961311,-6.07942399509e-05,-0.000267081522999,-4.84625586802e-05,1793249671306957824
+86,1.433333333,BASELINE,768,746,718.098119981,678.098119981,662,638,879,785.098119981,813,652,630,653,0.400973422074,-0.0154056394998,0.0498468348902,0.999999960972,-5.66785262396e-05,-0.000269144954967,-4.90397778761e-05,1793249671323624192
+87,1.450000000,BASELINE,768,746,718,678,662,638,879,785,813,652,630,653.480083828,0.400974395227,-0.0154068201009,0.0498473537102,0.999999961001,-5.98309025647e-05,-0.000268361398744,-4.89868427077e-05,1793249671340290560
+88,1.466666667,BASELINE,767.942022402,745.942022402,718,678,661.942022402,638,879.057977598,785,813,652,630,654,0.400975748167,-0.0154086868543,0.0498482427677,0.999999961115,-6.37728251961e-05,-0.000267068599943,-4.87597525463e-05,1793249671356957184
+89,1.483333333,BASELINE,767.367007344,745.367007344,718,678,661.367007344,638,879.632992656,785,813,652,630,654,0.400976038759,-0.0154098388212,0.0498486952933,0.999999961459,-6.15069559734e-05,-0.000266424160068,-4.81282658023e-05,1793249671373623808
+90,1.500000000,BASELINE,767.212828578,745.212828578,718,678,661.212828578,638,879.787171422,785,812.787171422,652,630,653.787171422,0.400975954127,-0.0154097040677,0.0498489603662,0.999999961655,-5.98242636668e-05,-0.000266106089915,-4.79367153663e-05,1793249671390290432
+91,1.516666667,BASELINE,767.801170332,745.801170332,718,678,661.801170332,638,879.198829668,785,812.198829668,652,630,653.198829668,0.400975207453,-0.0154072990342,0.0498488946988,0.999999961597,-5.91705246616e-05,-0.000266363864171,-4.85213853832e-05,1793249671406957312
+92,1.533333333,BASELINE,767.615845715,746,718,678.384154285,662,638,879,785,812.384154285,652,630,653.384154285,0.400975216549,-0.0154070237577,0.0498485965555,0.999999961478,-5.9640498665e-05,-0.000266652210632,-4.88299863474e-05,1793249671423623936
+93,1.550000000,BASELINE,767.035596644,746,718,678.964403356,662,638,879,785,812.964403356,652,630,653.964403356,0.400975611434,-0.0154078356333,0.0498481797428,0.999999961326,-6.06840813691e-05,-0.000266956162956,-4.89976655938e-05,1793249671440290560
+94,1.566666667,BASELINE,767.540294808,746,718.540294808,678.459705192,662,638,879,785.540294808,813,652,630,654,0.400976110993,-0.0154084595621,0.0498489913021,0.999999961637,-6.12079846927e-05,-0.00026574732928,-4.85622839954e-05,1793249671456957184
+95,1.583333333,BASELINE,768,746,718.8817971,678.1182029,662,638,879.1182029,785.8817971,813,652,630,654,0.400976297775,-0.0154092216617,0.0498494749779,0.999999961814,-6.20711457537e-05,-0.00026494477784,-4.81923140514e-05,1793249671473623808
+96,1.600000000,BASELINE,768,746,718.294760523,678.705239477,662,638,879.705239477,785.294760523,813,652,630,654,0.400975216839,-0.0154105805153,0.0498483397274,0.999999961345,-6.4414635689e-05,-0.000266145837198,-4.82381189306e-05,1793249671490290432
+97,1.616666667,BASELINE,767.711800813,746,718,678.711800813,662,638,879.711800813,785,813,652,630,653.711800813,0.400975415265,-0.0154103769109,0.0498480791961,0.999999961327,-6.44153144973e-05,-0.000266172157304,-4.84736880838e-05,1793249671506957056
+98,1.633333333,BASELINE,767.132952662,746,718,678.132952662,662,638,879.132952662,785,813,652,630,653.132952662,0.400976903929,-0.0154085975671,0.0498487008194,0.999999961763,-6.20532674527e-05,-0.000265013752454,-4.89006345605e-05,1793249671523623680
+99,1.650000000,BASELINE,767,746,718,678,661.554391362,638,878.554391362,785,813,652,630,653.445608638,0.400977071326,-0.0154085635523,0.0498490378607,0.999999961932,-6.17493784452e-05,-0.000264460719174,-4.88201860277e-05,1793249671540290304
+100,1.666666667,BASELINE,767,746,718,678.023913416,661.047826833,638,878.023913416,785,813,652,630,654,0.400976895572,-0.015409023657,0.0498493076337,0.999999962031,-6.20527345703e-05,-0.000264059236385,-4.85859979967e-05,1793249671556956928
+101,1.683333333,BASELINE,767,746,718,678.598282386,662.196564773,638,878.598282386,785,813,652,630,654,0.400977889423,-0.0154088787104,0.0498499822001,0.999999962317,-6.22079455623e-05,-0.000262991289719,-4.82954250492e-05,1793249671573623552
+102,1.700000000,BASELINE,767,746,718,678.828321327,662.828321327,638,879,785.171678673,812.828321327,652.171678673,630,654,0.400978234411,-0.0154086249431,0.0498503672944,0.99999996252,-6.13705724936e-05,-0.000262451555682,-4.80834921932e-05,1793249671590290688
+103,1.716666667,BASELINE,767,746,718,678.257188317,662.257188317,638,879,785.742811683,812.257188317,652.742811683,630,654,0.400977069649,-0.0154081179763,0.0498500788574,0.999999962529,-5.82236987437e-05,-0.000263140843559,-4.80545356618e-05,1793249671606958336
+104,1.733333333,BASELINE,767.328488787,746,718,678.328488787,662,638,879,785.671511213,812.328488787,652.671511213,630,654,0.400976875766,-0.0154085594746,0.049849892959,0.999999962329,-5.88711049882e-05,-0.000263746224526,-4.81071357982e-05,1793249671623625216
+105,1.750000000,BASELINE,767.926080702,746,718,678.926080702,662,638,879,785.073919298,812.926080702,652.073919298,630,654,0.400977477241,-0.0154097779701,0.0498497910617,0.999999961953,-6.2626844122e-05,-0.000264282867721,-4.82265484231e-05,1793249671640291584
+106,1.766666667,BASELINE,767.496852148,746,718,678.496852148,662,638,879,785.503147852,813,652,630,654,0.400976372878,-0.015410173063,0.049849206049,0.999999961647,-6.27728601724e-05,-0.000265373466057,-4.83894462475e-05,1793249671656957952
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,719,678,662,638,879,786,813,652,630,653,0.400975913154,-0.0154094325276,0.049847937385,0.999999961723,-6.07168887975e-05,-0.000265527384231,-4.86056989407e-05,1793249671700303872
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,746,718.408595483,678.591404517,662,638,878.408595483,785.408595483,813,652,630,653.591404517,0.40097634524,-0.0154101432149,0.0498482925953,0.999999961728,-6.27578370289e-05,-0.000265039899765,-4.85652433667e-05,1793249671716970240
+109,1.816666667,POSE1_TO_POSE2_PRESS,767.821657835,746,718,678.821657835,662,638,878.35668433,785,813,652.178342165,630,654,0.400976637142,-0.0154107677183,0.0498487065757,0.999999961714,-6.41359980989e-05,-0.00026479620332,-4.83923449535e-05,1793249671733637120
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.244703953,746,718,678.244703953,662,638,879.510592094,785,813,652.755296047,630,654,0.40097661572,-0.0154111995926,0.0498492519127,0.999999961663,-6.40327671593e-05,-0.000265097396218,-4.79234241779e-05,1793249671750304256
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.332422186,746,718.332422186,678,662,638,879.667577814,785,812.667577814,653,630,654,0.400976656891,-0.015410252635,0.0498494819,0.999999961732,-6.23149057095e-05,-0.000265231576287,-4.80022345453e-05,1793249671766970880
+112,1.866666667,POSE1_TO_POSE2_PRESS,767.909675157,746,718.909675157,678,662,638,879.090324843,785,812.090324843,653,630,654,0.40097674416,-0.01540829016,0.0498494796305,0.999999961883,-5.94078599271e-05,-0.000265242750457,-4.84844519695e-05,1793249671783637504
+113,1.883333333,POSE1_TO_POSE2_PRESS,767.514038159,745.514038159,718.514038159,678.485961841,662.485961841,638,879.485961841,785,812.485961841,653,629.514038159,654,0.400976202105,-0.0154092306863,0.0498493391153,0.999999961766,-6.08936432083e-05,-0.00026539082534,-4.82561674564e-05,1793249671800303872
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745.06344189,718,678.93655811,662.93655811,638,879.93655811,785,812.93655811,652.93655811,629.06344189,654,0.400975774691,-0.0154104414835,0.0498493351072,0.999999961674,-6.27709162632e-05,-0.000265353585508,-4.79441456154e-05,1793249671816970496
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745.652289493,718,678.347710507,662.347710507,638,879.347710507,785,812.347710507,652.347710507,629.652289493,654,0.400977263497,-0.0154094308515,0.0498506739871,0.999999962242,-6.11419139799e-05,-0.000263571314393,-4.803014406e-05,1793249671833637376
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745.764345646,718,678,662,638,879,785.235654354,812,652,629.764345646,654,0.400983869355,-0.0154089208073,0.0498535077003,0.999999963639,-5.98099301021e-05,-0.000258559629094,-4.7862557026e-05,1793249671850303744
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745.18888674,718,678,662,638,879,785.81111326,812,652,629.18888674,654,0.400997853806,-0.0154091325917,0.0498584969056,0.999999966172,-5.89062355274e-05,-0.000248891252359,-4.73293094334e-05,1793249671866970368
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745.387108867,718,678,662,637.612891133,879,786,812.387108867,652,629.387108867,654,0.401031158901,-0.0154111073905,0.0498705672058,0.99999997187,-6.08082908743e-05,-0.000224563341904,-4.61852069719e-05,1793249671883637248
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745.963366767,718,678,662,637.036633233,879,786,812.963366767,652,629.963366767,654,0.401073904446,-0.015413943633,0.0498860974692,0.999999978307,-6.40812908898e-05,-0.000193072492842,-4.47426286777e-05,1793249671900304128
+120,2.000000000,POSE1_TO_POSE2_PRESS,767.554522098,746,718,678,662,637.554522098,879,785.445477902,813,652,630,654,0.401138457586,-0.0154172327342,0.0499042364744,0.999999985194,-6.27238833698e-05,-0.000154489169566,-4.25595107589e-05,1793249671916971008
+121,2.016666667,POSE1_TO_POSE2_PRESS,767.85669564,746,718,678,662,638,879,785,813,652,629.85669564,654,0.401208219311,-0.0154211873354,0.049920995484,0.999999989814,-6.22010186596e-05,-0.000121965936603,-4.03385817592e-05,1793249671933637632
+122,2.033333333,POSE1_TO_POSE2_PRESS,767.278191308,746,718,678,662,638,879,785,813,652,629.278191308,654,0.401289303022,-0.0154270696264,0.0499330257704,0.999999991174,-6.51671942946e-05,-0.000109308752241,-3.81554968157e-05,1793249671950304512
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,718,678.297261908,662,638,879.297261908,785,812.702738092,652.297261908,629.297261908,654,0.401374742647,-0.0154328916166,0.0499402190049,0.999999992009,-6.74289620894e-05,-0.000100508741788,-3.65023906571e-05,1793249671966971136
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,718,678.869888726,662,638,879.869888726,785,812.130111274,652.869888726,629.869888726,654,0.401464217315,-0.0154386577477,0.0499429314951,0.999999992453,-6.90382101798e-05,-9.52817776773e-05,-3.53402239571e-05,1793249671983637504
+125,2.083333333,POSE1_TO_POSE2_PRESS,767.444838653,746,718,678.555161347,662,638,879.555161347,785,812.444838653,653,629.555161347,654,0.401574641804,-0.0154441399559,0.0499455516917,0.999999992804,-6.95386724568e-05,-9.14554465065e-05,-3.45202903106e-05,1793249672000303872
+126,2.100000000,POSE1_TO_POSE2_PRESS,767.978925233,746,718,678,662,638,879.021074767,785,813,652.978925233,629.021074767,653.978925233,0.401691831518,-0.0154497092558,0.049947987593,0.999999993083,-6.98614275759e-05,-8.83776178293e-05,-3.37912934963e-05,1793249672016970240
+127,2.116666667,POSE1_TO_POSE2_PRESS,767.386332854,746,718,678,662,638,879.613667146,785,813,652.386332854,629.613667146,653.386332854,0.401825439498,-0.0154599042399,0.0499461615816,0.99999999225,-7.42060082561e-05,-9.44300518591e-05,-3.27995516432e-05,1793249672033637376
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879.799194209,785.200805791,813,652.200805791,630,653.200805791,0.40197330775,-0.0154701097387,0.0499444125639,0.999999991438,-7.81864020968e-05,-0.000100006103595,-3.1784907877e-05,1793249672050304000
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879.222270703,785.777729297,813,652.777729297,630,653.777729297,0.402147886079,-0.0154803349309,0.0499428077593,0.999999990728,-8.14846581472e-05,-0.000104689870532,-3.07273679751e-05,1793249672066970624
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879,786,813,653,630,653.645772065,0.402340829589,-0.0154904580955,0.0499430313606,0.999999990504,-8.36311045741e-05,-0.000105520793738,-2.93678789994e-05,1793249672083637248
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879,786,813,653,630,653.069539646,0.402545283084,-0.0155005173176,0.0499444008747,0.999999990594,-8.50556802491e-05,-0.000103937033251,-2.78191500515e-05,1793249672100303872
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879,785.483332961,813,652.483332961,630,653,0.402788877619,-0.0155124812342,0.0499507493003,0.999999991743,-8.59658640149e-05,-9.21943735346e-05,-2.49847682658e-05,1793249672116970240
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879.102586862,785,813,652,630,653,0.40304672431,-0.0155237922132,0.0499584146734,0.999999993099,-8.52422632059e-05,-7.78368742962e-05,-2.18450246982e-05,1793249672133636864
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879.68082979,785,813,652,630,653,0.403345745881,-0.0155308637415,0.0499690179518,0.999999995179,-7.727075619e-05,-5.78198708351e-05,-1.81075462865e-05,1793249672150303744
+135,2.250000000,POSE1_TO_POSE2_PRESS,767.258753233,746,718,678.258753233,662,638,879.741246767,785,813,652,630,653.258753233,0.403664847891,-0.0155286337207,0.0499772112326,0.999999997378,-5.75556031828e-05,-4.11929965922e-05,-1.52875340276e-05,1793249672166970624
+136,2.266666667,POSE1_TO_POSE2_PRESS,767.836283044,746,718,678.836283044,662,638,879.163716956,785,813,652,630,653.836283044,0.404008688408,-0.0155149444568,0.0499824354648,0.999999999221,-2.3372614815e-05,-2.87426657182e-05,-1.35978140322e-05,1793249672183637248
+137,2.283333333,POSE1_TO_POSE2_PRESS,767.588359217,746,718,678.588359217,662.411640783,638,879,785,812.588359217,652,629.588359217,654,0.404372951171,-0.015510377753,0.0499870989724,0.999999999798,1.21419017411e-06,-1.68217330736e-05,-1.09614649354e-05,1793249672200304384
+138,2.300000000,POSE1_TO_POSE2_PRESS,767.01386083,746,718,678.01386083,662.98613917,638,879,785,812.01386083,652,629.01386083,654,0.404745293587,-0.0155094202115,0.0499915406403,0.999999999713,2.20044525475e-05,-5.1102467535e-06,-7.95060063431e-06,1793249672216971264
+139,2.316666667,POSE1_TO_POSE2_PRESS,767.57463921,746,718,678.57463921,663,638,879.57463921,785,812.57463921,652,629,654,0.405132108487,-0.0155184626867,0.0499824951126,0.99999999928,2.98527935881e-05,-2.26709281048e-05,-5.89701433474e-06,1793249672233637632
+140,2.333333333,POSE1_TO_POSE2_PRESS,767.839402588,746,718,679,663,638,880,785,813,652,629,654,0.405527330216,-0.0155256198578,0.0499694538072,0.999999998011,4.02102945941e-05,-4.84098271361e-05,-4.16482402808e-06,1793249672250303744
+141,2.350000000,POSE1_TO_POSE2_PRESS,767.26095857,746,718,679,663,638,880,785,813,652,629,654,0.405943494038,-0.0155272285339,0.0499468837581,0.999999993942,5.79286931291e-05,-9.35440703517e-05,-3.20727295869e-06,1793249672266970368
+142,2.366666667,POSE1_TO_POSE2_PRESS,767.316345194,746,718,679,662.683654806,638,880,785,813,652,629,653.683654806,0.406402390235,-0.0155268227903,0.0499295501814,0.999999989096,8.00822525376e-05,-0.000124057639162,-1.90683258495e-06,1793249672283636992
+143,2.383333333,POSE1_TO_POSE2_PRESS,767.892711782,746,718,679,662.107288218,638,880,785,813,652,629,653.107288218,0.40689641055,-0.0155247612853,0.049916520745,0.999999984234,0.000105881314907,-0.000142553682002,-3.24552659136e-07,1793249672300303616
+144,2.400000000,POSE1_TO_POSE2_PRESS,767.520773322,746,718,678.520773322,662.479226678,638.479226678,880,785,813,652,629,653.479226678,0.407436521917,-0.0155267766815,0.049926305317,0.999999984128,0.000130662438109,-0.000121053798024,4.26347457574e-06,1793249672316970496
+145,2.416666667,POSE1_TO_POSE2_PRESS,767.066751704,746,718,678.133503408,663,638.933248296,880,785,813.066751704,652,629,654,0.407994385716,-0.0155299740552,0.0499429707695,0.999999984064,0.000155102522798,-8.78646605602e-05,9.72821794949e-06,1793249672333637120
+146,2.433333333,POSE1_TO_POSE2_PRESS,767.64424605,746,718,679.288492099,663,638.35575395,880,785,813.64424605,652,629,654,0.408607419526,-0.0155350804738,0.0499723591796,0.999999983271,0.000178714633716,-3.52308048749e-05,1.66408935364e-05,1793249672350304256
+147,2.450000000,POSE1_TO_POSE2_PRESS,767.77772738,746,718,679.77772738,663,638.22227262,880.22227262,785,814,652,629.22227262,654,0.409227280502,-0.0155389908722,0.0499931317205,0.999999978915,0.000204104993041,-8.89176251053e-07,2.26106242964e-05,1793249672366971136
+148,2.466666667,POSE1_TO_POSE2_PRESS,767.19884696,746,718,679.19884696,663,638.80115304,880.80115304,785,814,652,629.80115304,654,0.409858094751,-0.0155409824097,0.0500000812068,0.999999972632,0.000232348322248,4.10492589654e-06,2.70675211355e-05,1793249672383637504
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,718,679,663,638.622834468,881,785,814,652,630,654,0.410482884121,-0.0155397150147,0.0499856270401,0.999999964949,0.000261238284468,-3.15765354527e-05,2.93319829446e-05,1793249672400304128
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,718,679,663,638.048322595,881,785,814,652,630,654,0.411104521041,-0.0155367424308,0.0499599737251,0.999999953431,0.00029046658625,-8.85408897918e-05,3.04492850007e-05,1793249672416970752
+151,2.516666667,POSE1_TO_POSE2_PRESS,767.539052508,745.460947492,718,679,663,638.539052508,881,785,814,652,629.460947492,654,0.411775873075,-0.0155375189666,0.0499458275672,0.999999949906,0.000296704568961,-0.000105278021695,3.27100568744e-05,1793249672433636864
+152,2.533333333,POSE1_TO_POSE2_PRESS,767.874762807,745.125237193,718,679.125237193,663.125237193,638.874762807,881.125237193,785,814,652,629,654.125237193,0.41247477783,-0.015539430082,0.0499419283259,0.999999955732,0.00027689007031,-0.000102811847449,3.60124439394e-05,1793249672450303744
+153,2.550000000,POSE1_TO_POSE2_PRESS,767.297145334,745.702854666,718,679.702854666,663.702854666,638.297145334,881.702854666,785,814,652,629,654.702854666,0.413256716273,-0.0155441958343,0.0499712256613,0.999999983555,0.000170595578481,-4.43241049146e-05,4.2698022139e-05,1793249672466971136
+154,2.566666667,POSE1_TO_POSE2_PRESS,767.281017981,746,718,680,663.718982019,638.281017981,881.718982019,785,814,652,629.281017981,654.718982019,0.41402308823,-0.0155479536587,0.0499806997092,0.999999996079,7.72786769107e-05,-2.77524843203e-05,3.31591682347e-05,1793249672483637760
+155,2.583333333,POSE1_TO_POSE2_PRESS,767.859759656,746,718,680,663.140240344,638.859759656,881.140240344,785,814,652,629.859759656,654.140240344,0.414772968415,-0.0155506436375,0.0499691720358,0.999999998432,-2.28916579139e-06,-5.55887720445e-05,6.43138734239e-06,1793249672500304384
+156,2.600000000,POSE1_TO_POSE2_PRESS,768,746,718,679.565256952,663.434743048,639,881.434743048,785,814,652,629.565256952,654,0.415550513873,-0.0155578833071,0.0499470582459,0.999999995957,1.60928225159e-08,-8.98802936319e-05,2.91707085443e-06,1793249672516971008
+157,2.616666667,POSE1_TO_POSE2_PRESS,767.991203434,745.991203434,718,679.008796566,663.991203434,638.991203434,882,785,814.008796566,652,629,654.008796566,0.416337649118,-0.0155664252447,0.0499222669224,0.999999991744,2.87080852388e-05,-0.000125060612506,6.8633959814e-06,1793249672533637376
+158,2.633333333,POSE1_TO_POSE2_PRESS,767.399105224,745.399105224,718,679.600894776,663.399105224,638.399105224,882,785,814.600894776,652,629,654.600894776,0.417173986462,-0.0155648348903,0.0499444290782,0.99999999402,7.08143111508e-05,-8.22803239824e-05,1.32348581951e-05,1793249672550304256
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745.187953219,718,680,663.187953219,638.187953219,882.187953219,785,814.812046781,652,629,654.812046781,0.41801240162,-0.0155628159891,0.0499645334312,0.999999992822,0.000108297956355,-4.75461170895e-05,1.91349854345e-05,1793249672566970880
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745.764589498,718,680,663.764589498,638.764589498,882.764589498,785,814.235410502,652,629,654.235410502,0.418855113602,-0.0155599108628,0.0499803822929,0.999999989999,0.000136222205707,-2.94510304187e-05,2.40604021584e-05,1793249672583637248
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,718,680.340918772,664,639,883,785.340918772,814.340918772,652,629,654,0.419696455354,-0.0155561071245,0.0499729035284,0.999999988298,0.000145263996275,-4.10305760086e-05,2.48929395522e-05,1793249672600303872
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,718,680.91703622,664,639,883,785.91703622,814.91703622,652,629,654,0.420536851755,-0.015551683437,0.0499493311152,0.999999987087,0.000141278842954,-7.30825479953e-05,2.29018135099e-05,1793249672616970496
+163,2.716666667,POSE1_TO_POSE2_PRESS,767.503502048,746,718,680.496497952,664,639,883.503502048,786,815,652,629,654,0.421464806035,-0.0155570249061,0.0499717103385,0.999999988906,0.00014459189968,-2.52132789446e-05,2.5398466763e-05,1793249672633637120
+164,2.733333333,POSE1_TO_POSE2_PRESS,767.909873038,746,718,680.090126962,664,639,884,786,815,652,629.090126962,654,0.422398045208,-0.0155630446911,0.0499960166632,0.999999988363,0.000148037840077,2.38776955787e-05,2.80992520403e-05,1793249672650303488
+165,2.750000000,POSE1_TO_POSE2_PRESS,767.331812155,746,718,680.668187845,664,639,884,786,815,652,629.668187845,654,0.423280149849,-0.0155638428841,0.0499889042747,0.999999988997,0.000145556144223,6.79226759372e-06,2.78178060687e-05,1793249672666970112
+166,2.766666667,POSE1_TO_POSE2_PRESS,767.245853378,745.754146622,718,681,664.245853378,639,884.245853378,786,815,652,630,654,0.424168750786,-0.0155654866313,0.0499820159878,0.999999989484,0.000142231352813,-5.23544868423e-06,2.78209339917e-05,1793249672683636992
+167,2.783333333,POSE1_TO_POSE2_PRESS,767.82298627,745.17701373,718,681,664.82298627,639,884.82298627,786,815,652,630,654,0.425066105397,-0.0155682697354,0.0499754296695,0.999999990057,0.000137770516971,-1.04480636378e-05,2.82075160464e-05,1793249672700304896
+168,2.800000000,POSE1_TO_POSE2_PRESS,768,745.398728271,718,680.601271729,665,639,885,785.601271729,815,652,630,654.398728271,0.425984981259,-0.0155706862198,0.0499893575229,0.999999989082,0.000144583216602,1.42036160905e-06,3.04946095579e-05,1793249672716971264
+169,2.816666667,POSE1_TO_POSE2_PRESS,768,745.973854903,718,680.026145097,665,639,885,785.026145097,815,652,630,654.973854903,0.426913378121,-0.0155729405104,0.0500123608963,0.99999998699,0.000156383356094,2.08454811133e-05,3.36224939479e-05,1793249672733637120
+170,2.833333333,POSE1_TO_POSE2_PRESS,767.43801864,746,718,680.56198136,665,639,885,785.56198136,815,652,629.43801864,654.43801864,0.42776266277,-0.0155601241324,0.0499792856991,0.999999982409,0.000178890837476,-4.70880494006e-05,3.10304605589e-05,1793249672750303488
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885,785.851365734,815.148634266,652,629.148634266,654.148634266,0.428631844325,-0.0155504670524,0.0499520116193,0.999999977162,0.000188536111457,-9.64329419805e-05,2.88308374556e-05,1793249672766970368
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885,785.270794226,815.729205774,652,629.729205774,654.729205774,0.429569796143,-0.0155520767934,0.0499493570664,0.999999983727,0.000159321397277,-7.96681057899e-05,2.8563208441e-05,1793249672783636992
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885.306980351,785.306980351,816,652.306980351,630,654.693019649,0.430476512505,-0.0155540217024,0.0499478937429,0.999999984842,0.000154400287562,-7.501192568e-05,2.91623659112e-05,1793249672800303616
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885.882309938,785.882309938,816,652.882309938,630,654.117690062,0.431355924105,-0.0155562596008,0.0499474717417,0.999999981687,0.000170715620793,-8.09406214042e-05,3.05192314871e-05,1793249672816970240
+175,2.916666667,POSE1_TO_POSE2_PRESS,767.454708105,746,718,681,665,638.545291895,886,786,816,653,630,654.454708105,0.432229113351,-0.0155541792744,0.0499374459007,0.999999978374,0.000183458189482,-9.34412632463e-05,2.9402867219e-05,1793249672833636864
+176,2.933333333,POSE1_TO_POSE2_PRESS,767.972588726,746,718,681,665,638.027411274,886,786,816,652.972588726,630,654.972588726,0.433102537146,-0.0155512889516,0.0499269106856,0.999999975162,0.000194706033146,-0.000104835107061,2.7853424987e-05,1793249672850303232
+177,2.950000000,POSE1_TO_POSE2_PRESS,767.377976066,746,718,681,665,638.622023934,886,786,816,652.377976066,630,654.377976066,0.43401392445,-0.0155546168914,0.0499569410746,0.999999979007,0.000194036651078,-5.83549430942e-05,3.05036184573e-05,1793249672866970112
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885.789050197,786,816,652,630,654,0.434893398965,-0.0155553141202,0.0499754332984,0.999999981198,0.000187762560992,-3.57647636856e-05,3.27238306152e-05,1793249672883636992
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885.210046244,786,816,652,630,654,0.43571719387,-0.0155514214231,0.0499737943419,0.999999983169,0.000171709670782,-5.48565686063e-05,3.41938344527e-05,1793249672900303616
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885,785.634374399,816.365625601,652,630,654,0.436522605453,-0.0155508644197,0.0499604971694,0.999999981016,0.000173100049208,-8.28292395249e-05,3.38096615162e-05,1793249672916969984
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885,785.060599544,816.939400456,652,630,654,0.43731755143,-0.015552206414,0.0499405630194,0.999999975759,0.000184420814439,-0.000115857752205,3.23699127358e-05,1793249672933636608
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,745.473816504,718,681.526183496,665,639,885.526183496,785.526183496,817,652.526183496,630,654.526183496,0.438168131565,-0.0155545369082,0.0499615775946,0.999999978824,0.000191788013645,-6.68096679839e-05,3.32638251026e-05,1793249672950303488
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+190,3.166666667,POSE1_TO_POSE2_PRESS,768,746,718,681.829544928,665,638.829544928,886,785.829544928,817,652,630,654.829544928,0.443920307746,-0.0155646689208,0.0499585699058,0.999999978386,0.000194847851034,-6.22227191632e-05,3.73036545361e-05,1793249673083636992
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+192,3.200000000,POSE1_TO_POSE2_PRESS,767.672806669,746,718,681.327193331,664.672806669,638,886,785,817,652,630,654,0.445036405833,-0.0155730642092,0.0498739805468,0.999999962323,0.000194514773892,-0.00019083029633,3.31938647746e-05,1793249673116970240
+193,3.216666667,POSE1_TO_POSE2_PRESS,767.092778672,746,718,681.907221328,664.092778672,638,886,785,817,652,630,654,0.445621229803,-0.0155777263723,0.0498653107316,0.999999963473,0.000196722892632,-0.000182403606404,3.29136698218e-05,1793249673133636608
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+196,3.266666667,POSE1_TO_POSE2_PRESS,767.647924198,746,718,681.647924198,665,638,886.704151605,785,816.352075802,652,629.352075802,654.647924198,0.447167744504,-0.0155927681248,0.0498491098644,0.99999995896,0.000204748950826,-0.000197115881235,3.61051521816e-05,1793249673183636736
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+198,3.300000000,POSE1_TO_POSE2_PRESS,767.186901592,746,717.186901592,682,664.186901592,638,886.813098408,785,816.813098408,652,629.813098408,654.186901592,0.448020334537,-0.0155978032546,0.049790254304,0.999999937564,0.000197497230244,-0.000291054458427,3.39866288793e-05,1793249673216969984
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+208,3.466666667,POSE1_TO_POSE2_PRESS,767.610749935,746,718,682,665,637,887.389250065,784,817,652.389250065,629,655,0.451130084266,-0.0156194155339,0.0497781355449,0.999999940412,5.2954062485e-05,-0.000341005135356,9.39559504936e-06,1793249673383637504
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+235,3.916666667,POSE1_TO_POSE2_PRESS,768,746,718,682,665,637,887,784,818,652,628.279452876,655,0.452473472539,-0.0156084193602,0.0497271197051,0.99999990343,8.33636972002e-05,-0.000431306005714,1.28604695418e-05,1793249673833636352
+236,3.933333333,POSE1_TO_POSE2_PRESS,768,746,718,682,665,637,887,784,818,652,628.855743434,655,0.452472955149,-0.0156067985854,0.0497264718767,0.999999902682,8.40842983835e-05,-0.000432908674239,1.24983829171e-05,1793249673850303232
+237,3.950000000,POSE1_TO_POSE2_PRESS,767.569188996,746,718,682,665,637,887,784,817.569188996,652,629,654.569188996,0.452473131945,-0.0156073664734,0.0497259428099,0.999999902796,8.2508102637e-05,-0.000432943310399,1.26668377564e-05,1793249673866969856
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664.994387853,637,887,784,817,652,629,654.005612147,0.452473555515,-0.0156086446742,0.0497254748371,0.999999903196,8.01984033734e-05,-0.000432441898286,1.30092828e-05,1793249673883636480
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746,718,682,664.404814639,637,887,784,817,652,629,654.595185361,0.452475538405,-0.0156077914788,0.0497272377091,0.999999903879,8.13639766974e-05,-0.000430641822322,1.30231199835e-05,1793249673900303104
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746,718,682,664,637,887.181184643,784,817,652,628.818815357,655,0.452476569067,-0.0156068368026,0.0497278655353,0.999999903978,8.28472917402e-05,-0.000430129537992,1.29640455784e-05,1793249673916969728
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664,637,887.759353236,784,817,652,628.240646764,655,0.452475513354,-0.0156056597777,0.0497260064236,0.999999902802,8.50267935488e-05,-0.000432438864941,1.27452185016e-05,1793249673933636352
+242,4.033333333,HOLD_POSE2,767,746,718,682,664,637,888,784,817,652,628,655,0.45247649502,-0.0156071470683,0.0497275478826,0.999999903904,8.12541172864e-05,-0.000430633300871,1.20114466549e-05,1793249673969622016
+243,4.050000000,HOLD_POSE2,767.567347004,746,718,682.567347004,664.567347004,637,887.432652996,784,817.567347004,652.567347004,628.567347004,654.432652996,0.452477695774,-0.0156091318485,0.0497281884624,0.999999904211,7.94227503006e-05,-0.000430249517924,1.25036385722e-05,1793249673986289920
+244,4.066666667,HOLD_POSE2,767.857812458,746,718,682.857812458,664.857812458,637,887,783.857812458,818,653,629,654.142187542,0.45247803769,-0.0156104152681,0.0497282042952,0.99999990415,7.81588319461e-05,-0.000430608601743,1.29018400639e-05,1793249674002957568
+245,4.083333333,HOLD_POSE2,767.258901659,746,718,682.258901659,664.258901659,637,887,783.258901659,818,653,629,654.741098341,0.452475620923,-0.0156094458346,0.0497262133668,0.99999990292,7.87176254716e-05,-0.000433353861678,1.2998133279e-05,1793249674019624192
+246,4.100000000,HOLD_POSE2,767.329733687,746,718,682,664,637,887,783.329733687,817.670266313,653,629,655,0.452475530961,-0.0156082292837,0.0497258230234,0.999999902675,7.94543819927e-05,-0.000433785122117,1.29216600613e-05,1793249674036290816
+247,4.116666667,HOLD_POSE2,767.910544703,746,718,682,664,637,887,783.910544703,817.089455297,653,629,655,0.452477212758,-0.0156068245641,0.0497266514534,0.999999903185,8.03266492742e-05,-0.000432454376158,1.27136329923e-05,1793249674052957184
+248,4.133333333,HOLD_POSE2,768,746,718,682,664,637,887,784,817,652.512530108,629,655,0.452478706351,-0.015603695376,0.0497270100363,0.999999903407,8.38793929347e-05,-0.000431279422835,1.21467266027e-05,1793249674069623040
+249,4.150000000,HOLD_POSE2,768,746,718,682,664,637,887,784,817,652,629,655,0.45247956663,-0.0156009464085,0.0497270722232,0.99999990342,8.7078846646e-05,-0.000430629170185,1.16253921006e-05,1793249674086289152
+250,4.166666667,HOLD_POSE2,768,746,718,682,664,637,887,784,817,652,629,655,0.452475606013,-0.0156037838506,0.0497254375286,0.999999902275,8.3507948309e-05,-0.000433973222744,1.19966027641e-05,1793249674102956288
+251,4.183333333,HOLD_POSE2,768,746,718,682,664,637,887,784,817,652,628.767035457,655,0.452474402887,-0.0156048162814,0.049724919534,0.999999901913,8.19810910209e-05,-0.000435091316465,1.21595513346e-05,1793249674119623424
+252,4.200000000,HOLD_POSE2,768,746,718,682,664,637,887,784,817,652,628.182966092,655,0.452477355621,-0.0156031283488,0.0497260845372,0.999999902757,8.35348430778e-05,-0.000432854629485,1.20086245303e-05,1793249674136290048
+253,4.216666667,HOLD_POSE2,768,746,718.394505752,682,664,637,887,784,817.394505752,652,628.394505752,654.605494248,0.45247883536,-0.0156044013789,0.0497268164977,0.999999903559,8.16467580162e-05,-0.000431355975403,1.21757561088e-05,1793249674152956672
+254,4.233333333,HOLD_POSE2,768,746,718.96896814,682,664,637,887,784,817.96896814,652,628.96896814,654.03103186,0.452479643181,-0.0156070250731,0.0497273509227,0.999999904332,7.81886543404e-05,-0.000430193980136,1.2487972292e-05,1793249674169623040
+255,4.250000000,HOLD_POSE2,768,746,719,682.544264879,664.544264879,637,887,784,817.455735121,652,628.455735121,654,0.452478452994,-0.0156064278154,0.0497257929983,0.999999903391,7.91736827134e-05,-0.000432200269198,1.23410533786e-05,1793249674186289920
+256,4.266666667,HOLD_POSE2,768,746,718.877089776,682.877089776,664.877089776,637,887,784,817,652,628,654.122910224,0.452477705568,-0.0156058051402,0.049724710507,0.999999902691,7.98701417705e-05,-0.000433693470105,1.22360165988e-05,1793249674202956288
+257,4.283333333,HOLD_POSE2,768,746,718.285866938,682.285866938,664.285866938,637,887,784,817,652,628,654.714133062,0.452479079867,-0.015605786422,0.0497258947567,0.999999903296,7.85003738788e-05,-0.00043254235919,1.23904560253e-05,1793249674219622656
+258,4.300000000,HOLD_POSE2,768,746,718,682,664.298812558,637,887,783.701187442,817.298812558,652.298812558,628.298812558,654.701187442,0.45247843958,-0.0156053791233,0.0497257533282,0.99999990304,7.8707238749e-05,-0.000433098288672,1.22966391905e-05,1793249674236289280
+259,4.316666667,HOLD_POSE2,768,746,718,682,664.877366296,637,887,783.122633704,817.877366296,652.877366296,628.877366296,654.122633704,0.452475913284,-0.0156046080451,0.0497243708315,0.999999901975,8.03901096432e-05,-0.00043525230868,1.19704107629e-05,1793249674252956416
+260,4.333333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,664,637,887,783,817,652,628,654,0.452475647468,-0.0156045933398,0.0497239066739,0.999999901903,7.73207119156e-05,-0.000435973595345,1.19192628531e-05,1793249674285497856
+261,4.350000000,POSE2_TO_POSE3_RETREAT,768,746,718,682.587499501,664,637,887,783,817.587499501,652,628.587499501,654.587499501,0.452477188087,-0.0156053599192,0.04972447321,0.999999902647,7.54215093747e-05,-0.000434603796867,1.17216352759e-05,1793249674302165248
+262,4.366666667,POSE2_TO_POSE3_RETREAT,768,746,718,683,664,637,887,783.172386153,817.827613847,652.172386153,628.827613847,655,0.452478032629,-0.0156056753213,0.0497249919516,0.999999903039,7.51635146537e-05,-0.00043374597738,1.1739059118e-05,1793249674318832384
+263,4.383333333,POSE2_TO_POSE3_RETREAT,768,746,718,683,664,637,887,783.751114022,817.248885978,652.751114022,628.248885978,655,0.452477236409,-0.0156049272265,0.0497253980341,0.999999902603,7.87741087042e-05,-0.000434094973933,1.22633934883e-05,1793249674335499008
+264,4.400000000,POSE2_TO_POSE3_RETREAT,768,746,718.32973866,682.67026134,664.32973866,636.67026134,887,784,817,652.67026134,628,654.67026134,0.452477061812,-0.0156036707912,0.0497250156623,0.999999902248,8.06983843258e-05,-0.00043456026774,1.22496094823e-05,1793249674352165376
+265,4.416666667,POSE2_TO_POSE3_RETREAT,768,746,718.90828537,682.09171463,664.90828537,636.09171463,887,784,817,652.09171463,628,654.09171463,0.452477356267,-0.0156020307818,0.0497240383534,0.999999901959,8.13502290194e-05,-0.000435113314944,1.18297821157e-05,1793249674368831488
+266,4.433333333,POSE2_TO_POSE3_RETREAT,767.516591087,746,718.516591087,682,664.516591087,636.483408913,887,784,817,652.483408913,628,654.483408913,0.45247780876,-0.0156031295654,0.04972468949,0.999999902607,8.02819073693e-05,-0.000433810309646,1.21981500223e-05,1793249674385498368
+267,4.450000000,POSE2_TO_POSE3_RETREAT,767.059195699,746,718,682,664,637,887,784,817,652.940804301,628,655,0.452478000142,-0.0156046412703,0.049725493215,0.999999903279,7.90875893729e-05,-0.000432467599416,1.26409412606e-05,1793249674402164992
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767.646656358,746,718,682,664,637,887,784,817,652.353343642,628,655,0.452475595653,-0.015605233427,0.049724920892,0.999999902619,7.96608294985e-05,-0.000433890968308,1.24227704466e-05,1793249674418831616
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767.767961227,746,718,682,664,637,887,783.767961227,817,652.232038773,628.232038773,654.767961227,0.452466559519,-0.0156047735707,0.0497207228337,0.999999899473,7.96384859771e-05,-0.000441099352253,1.19923166103e-05,1793249674435498240
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767.185715476,746,718,682,664,637,887,783.185715476,817,652.814284524,628.814284524,654.185715476,0.452447514507,-0.0156027259525,0.0497110525956,0.999999892396,7.87172514563e-05,-0.000457038831293,1.12414723897e-05,1793249674452164864
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767.390775378,746,718,682.390775378,664.390775378,636.609224622,887,783.390775378,817,652.609224622,629,654.390775378,0.452409107967,-0.0155997466838,0.0496956327813,0.99999987959,7.92248881704e-05,-0.000484200129766,9.70382868393e-06,1793249674468831744
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767.964570969,746,718,682.964570969,664.964570969,636.035429031,887,783.964570969,817,652.035429031,629,654.964570969,0.452361633425,-0.0155963310751,0.0496775201438,0.999999863291,8.040173865e-05,-0.000516617184622,7.79768622649e-06,1793249674485498368
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,746,718,682.460934106,664.460934106,636.539065894,887.539065894,784,817,652,629,655,0.452293319316,-0.0155931042344,0.0496570650704,0.999999845539,8.08230306693e-05,-0.000549871739815,5.54154304712e-06,1793249674502164736
+274,4.566666667,POSE2_TO_POSE3_RETREAT,767.882928867,746,718,682,664,637,888,783.882928867,817,652.117071133,628.882928867,655,0.452221581394,-0.015589438394,0.0496382023837,0.999999828822,8.16229754507e-05,-0.000579379453174,3.52024478758e-06,1793249674518831360
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767.290867865,746,718,682,664,637,888,783.290867865,817,652.709132135,628.290867865,655,0.452141516325,-0.015583941008,0.0496264258799,0.999999820357,8.41609555004e-05,-0.000593461593171,2.54522761335e-06,1793249674535497984
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767.293545089,746,718.293545089,682,664,637,887.706454911,783.293545089,817,652.706454911,628,655,0.452054623657,-0.0155791050309,0.0496200516351,0.999999815311,8.60072921483e-05,-0.000601645733628,1.60510469184e-06,1793249674552165120
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767.870572145,746,718.870572145,682,664,637,887.129427855,783.870572145,817,652.129427855,628,655,0.451961137453,-0.015574907789,0.0496188944535,0.99999981371,8.71856957225e-05,-0.000604134065159,6.98679859831e-07,1793249674568832256
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,746,718.552960297,682,664,637,887.447039703,784,817,652,628,654.552960297,0.451850777736,-0.0155682361455,0.0496208559631,0.999999814347,9.01769212188e-05,-0.00060263956931,2.33646947065e-07,1793249674585498368
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767.97618345,746,718,682,664,637,887.97618345,784,817,652,628,654,0.45173446101,-0.0155608218373,0.0496236819621,0.999999815592,9.36110882614e-05,-0.000600044534639,-1.19248392861e-07,1793249674602164736
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767.388248538,746,718,682,664,637,887.388248538,784,817,652,628,654,0.45159261404,-0.0155527640648,0.0496256241942,0.999999816278,9.51206682195e-05,-0.00059866070944,-8.39167204083e-07,1793249674618831360
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,887.196159738,784,817,652,628.196159738,654,0.451437825541,-0.01554308647,0.049627047258,0.999999816953,9.87859910976e-05,-0.000596936171164,-1.72874650069e-06,1793249674635497984
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,887.773711138,784,817,652,628.773711138,654,0.451257874956,-0.0155302594699,0.049627460907,0.999999817565,0.000106642705877,-0.000594549187576,-2.94819510932e-06,1793249674652164608
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767.35127688,746,718,682,664,637,887.64872312,784,817,652,628.64872312,654.35127688,0.451064160928,-0.0155191845734,0.049629802723,0.99999982038,0.000112065473711,-0.000588784381228,-3.67064286021e-06,1793249674668831744
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767.928851917,746,718,682,664,637,887.071148083,784,817,652,628.071148083,654.928851917,0.450861580252,-0.0155092384088,0.0496333866948,0.999999824583,0.00011592025495,-0.000580843527437,-4.0729148674e-06,1793249674685498624
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,664.743957007,637,887,784.256042993,817.743957007,652.256042993,629,654.743957007,0.449837132841,-0.0154815485316,0.0496630877884,0.999999861036,0.000108305321903,-0.000515875675534,-8.38282978764e-06,1793249674752164608
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,767.585810578,746,718,682,664.828378845,637,887,784.585810578,817,652.585810578,629,654.414189422,0.449144821975,-0.0154783674346,0.0496656710492,0.999999867562,8.66500406859e-05,-0.000507176934848,-1.17854120032e-05,1793249674785497856
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767.011390441,746,718,682,665.977219118,637,887,784.011390441,817,652.011390441,629,654.988609559,0.44877256509,-0.0154766325886,0.0496637690249,0.99999986616,7.45161581748e-05,-0.000511796766261,-1.38664135868e-05,1793249674802164480
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.879928197,637,887,784.560035901,817,652.560035901,629,655,0.448370543799,-0.0154718652192,0.049664588178,0.999999869105,6.75125510784e-05,-0.000506915560547,-1.63787333395e-05,1793249674818831360
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,887,785,817,652.862991741,629,654.862991741,0.447955907836,-0.0154661163555,0.0496639259487,0.999999871164,6.05253879406e-05,-0.000503625542859,-1.92358266992e-05,1793249674835498240
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,887,785,817,652.267247336,629,654.267247336,0.447501051191,-0.0154572866311,0.0496581193756,0.99999987014,5.3245775446e-05,-0.000506306772201,-2.32180871899e-05,1793249674852164864
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637.892341822,887,785,817,652,629,654.892341822,0.446501395843,-0.0154374363983,0.0496496620241,0.999999862146,4.04741346151e-05,-0.000522615460918,-3.07144625235e-05,1793249674885498112
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,665.626896919,638,887,785.373103081,816.626896919,652,630,654,0.443092855363,-0.0154016484326,0.0497544329145,0.999999925407,-3.33044824131e-05,-0.000382715240016,-4.00829831119e-05,1793249674985498368
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,665,638,887,785.478796188,816.521203812,652,629.478796188,654,0.441740823908,-0.0153907316138,0.0497564180043,0.99999992662,-6.48743270197e-05,-0.0003746543706,-4.67586785741e-05,1793249675018832128
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746,718,681.724087274,665,638,886,785.275912726,816.275912726,652,629.275912726,654,0.439649224787,-0.0153892223473,0.0498236019511,0.999999962514,7.15951588715e-05,-0.000259642848821,-4.93168018117e-05,1793249675068832000
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+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,745.416908447,717.416908447,681.583091553,665,638,886,785.583091553,816,652,629,654,0.436329698003,-0.0153754879844,0.0497673530768,0.999999929052,-4.21436584742e-05,-0.000368176024884,-6.75736184e-05,1793249675135498496
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,767.182731987,745.182731987,718,681,664,638,883.182731987,786,815,652,629.817268013,653.182731987,0.428457860652,-0.0153456035002,0.0497463988057,0.999999918356,6.59270992623e-05,-0.000395436193164,-5.07049951826e-05,1793249675285498368
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,745.457254223,718,680,663,638,882,785.542745777,814,652,630,654,0.42129097922,-0.0153619624776,0.0497942072093,0.999999948837,-1.23961832912e-05,-0.000314361188147,-5.7875153686e-05,1793249675418831872
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,767.225426777,746,718,678.774573223,662,638,879.225426777,786,812.225426777,652,629,653.225426777,0.405359465035,-0.0153649306083,0.0497613282494,0.999999908158,-0.000101441029459,-0.000411069210069,-6.64537474703e-05,1793249675802165760
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,718.362587099,678.637412901,662,638,879,786,812.362587099,652,629.362587099,653,0.404940646468,-0.0153673444952,0.049761945769,0.999999908066,-0.000112083499631,-0.000408418894397,-6.70771490679e-05,1793249675818832384
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,718.96060741,678.03939259,662,638,879,786,812.96060741,652,629.96060741,653,0.404553755228,-0.0153714024806,0.0497714607492,0.999999912875,-0.000122513879045,-0.00039343947146,-6.6680164854e-05,1793249675835498496
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,767.884493498,745.884493498,718,678,662,638,879.115506502,785,812.884493498,652.884493498,629,653.884493498,0.403900694584,-0.0153781546927,0.049816371291,0.999999938589,-0.000118889818846,-0.000323504529994,-6.35059117516e-05,1793249675868832256
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767.295096713,745.295096713,718,678,662,638,879.704903287,785,812.295096713,652.295096713,629,653.295096713,0.403597887226,-0.0153814092646,0.0498374050947,0.999999953093,-5.74726235791e-05,-0.000294375743377,-6.20724649222e-05,1793249675885498624
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767.289132406,745.289132406,718,678,662,638,879.710867594,785,812.289132406,652,629.289132406,653.289132406,0.403301872942,-0.0153836392716,0.0498461684633,0.999999956698,-3.37586117632e-05,-0.000285694410515,-6.19878024337e-05,1793249675902165248
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767.868179836,745.868179836,718,678,662,638,879.131820164,785,812.868179836,652,629.868179836,653.868179836,0.403012670138,-0.0153848419402,0.0498426281822,0.999999952597,-4.78498413986e-05,-0.000297515880814,-6.32555754319e-05,1793249675918832128
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768,746,718,678,662.444784646,638,879,785.444784646,812.555215354,652,629.555215354,654,0.402742527103,-0.0153841867442,0.049830648809,0.999999944772,-5.80599843674e-05,-0.000320659782588,-6.52931530988e-05,1793249675935498752
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,768,746,718,678.593185483,662.406814517,638,879,785.406814517,812.593185483,652.593185483,629,653.406814517,0.402263340325,-0.0153828094117,0.0498056009249,0.99999992874,-7.62922532605e-05,-0.00036311143868,-6.96371264869e-05,1793249675968831744
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,767.926130093,746,718,678,662,638,879,785,813,652.073869907,629.926130093,654,0.40161436684,-0.0153839248703,0.0498070258848,0.999999932548,-9.46076287341e-05,-0.000347939076367,-6.99420517899e-05,1793249676035497472
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,768,746,718.922093691,678.077906309,662.077906309,638,879,785.922093691,813,653,629.922093691,653.922093691,0.401410531503,-0.0153765651274,0.0498161920214,0.999999946217,2.03843711309e-05,-0.000324348101829,-4.41405711277e-05,1793249676068830976
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768,746,718.350209987,678.649790013,662.649790013,638,879,785.350209987,813,653,629.350209987,653.350209987,0.40133129669,-0.01537765707,0.0498222307318,0.999999949121,1.57379856201e-05,-0.00031552355898,-4.42245596654e-05,1793249676085498624
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,767.172898307,746,718,678.172898307,662.172898307,638,879,785,812.172898307,652.172898307,629.827101693,653,0.401191550202,-0.0153917535973,0.0498281245915,0.999999952125,-8.2682498616e-06,-0.000306240604957,-4.35729124616e-05,1793249676118831872
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+374,6.233333333,POSE2_TO_POSE3_RETREAT,767.86431295,746,718,678.13568705,662.86431295,638,879.86431295,785.86431295,813,653,630,653.86431295,0.401038375263,-0.0153980399969,0.0498300872479,0.99999995438,-2.93013027375e-05,-0.000297152620079,-4.56294255319e-05,1793249676185498880
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,767.309753235,746,718,679,662,638,879,785.309753235,812.690246765,653,630,653.309753235,0.401003098726,-0.0153973562217,0.0498325695165,0.999999955366,-2.94494987954e-05,-0.00029378210193,-4.57464058855e-05,1793249676218831616
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,768,745.959284242,718,678.040715758,662,638,879,785,813,652,629.040715758,653.040715758,0.4009800373,-0.01539773992,0.0498353544217,0.999999957121,-2.97898096205e-05,-0.000287651698943,-4.61133738895e-05,1793249676268831232
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768,745.384573053,718,678.615426947,662,638,879,785,813,652,629.615426947,653.615426947,0.400978606912,-0.0153979739095,0.0498373443047,0.999999957957,-3.03027047698e-05,-0.000284723693755,-4.58324626107e-05,1793249676285498112
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768,745.196498988,718,678.803501012,662.196498988,638,879,785.196498988,813,652,630,654,0.400977215298,-0.0153982105012,0.0498386811702,0.999999958517,-3.08889158485e-05,-0.000282719257122,-4.56238715682e-05,1793249676302164992
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768,745.790436442,718,678.209563558,662.790436442,638,879,785.790436442,813,652,630,654,0.400975902106,-0.0153984523558,0.0498386972437,0.999999958536,-3.16234155506e-05,-0.000282582828611,-4.55615553108e-05,1793249676318831616
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768,745.626538304,718,678,662.626538304,638,879,785.626538304,813,652,630,654,0.400975613813,-0.0153989243495,0.0498394062854,0.999999958923,-3.2628324756e-05,-0.000281103070049,-4.54991085042e-05,1793249676335498240
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768,745.049462483,718,678,662.049462483,638,879,785.049462483,813,652,630,654,0.400975884301,-0.0153995218167,0.0498404931387,0.999999959507,-3.37806632312e-05,-0.000278890917846,-4.5436590523e-05,1793249676352165120
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,767.899179734,746,718,678.899179734,662,638,879,785.899179734,812.100820266,652.899179734,630,653.100820266,0.400974231618,-0.015402283103,0.0498397731195,0.999999959277,-3.87035567484e-05,-0.000279089449683,-4.53663085802e-05,1793249676385498880
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767.310507093,746,718,678.310507093,662,638,879,785.310507093,812.689492907,652.310507093,630,653.689492907,0.400975991614,-0.0154010886805,0.049840915566,0.999999959975,-3.52265287056e-05,-0.000277056296239,-4.52547977853e-05,1793249676402164992
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,718,678,662,638,879,785.273979185,813,652.273979185,630,654,0.400975654157,-0.0154015567878,0.0498414930912,0.999999960108,-3.51774161948e-05,-0.000276616967741,-4.50424881591e-05,1793249676418831616
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,718,678,662,638,879,785.853792438,813,652.853792438,630,654,0.400972975382,-0.0154038807231,0.0498414400134,0.999999959611,-3.89547740252e-05,-0.00027795677401,-4.47176600568e-05,1793249676435498240
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767.428780138,746,718,678,661.571219862,638,879,786,813.428780138,652.571219862,630,654,0.400973524002,-0.0154031324194,0.0498415307643,0.999999959778,-3.81901191767e-05,-0.000277395779127,-4.51247269464e-05,1793249676452165120
+391,6.516666667,POSE2_TO_POSE3_RETREAT,768,746,718,678,661.002152544,638,879,785.997847456,813.997847456,652.002152544,630,654,0.40097515922,-0.0154013596821,0.0498416742789,0.999999960167,-3.59096590353e-05,-0.00027619230708,-4.57744521989e-05,1793249676468832000
+392,6.533333333,POSE2_TO_POSE3_RETREAT,768,746,718,678,661.578691715,638,879,785.421308285,813.421308285,652.578691715,630,654,0.40097635486,-0.0154026542402,0.0498429561906,0.999999960562,-3.78229896697e-05,-0.000274576343709,-4.53222925802e-05,1793249676485498624
+393,6.550000000,POSE2_TO_POSE3_RETREAT,768,746,718,678,662,638.158701704,879,785,813,653,630,654,0.400977015351,-0.0154035366314,0.0498437991915,0.999999960814,-3.89291996484e-05,-0.000273547943963,-4.50390965337e-05,1793249676502165248
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768,746,718,678,662,638.748131722,879,785,813,653,630,654,0.400976223412,-0.0154033003705,0.0498434509553,0.999999960692,-3.78448235967e-05,-0.000274114236008,-4.52144803058e-05,1793249676518831872
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767.667216293,746,718,678.332783707,662,638.667216293,879,785.332783707,813,653,630,654,0.400975927822,-0.0154018486537,0.049843803064,0.999999960939,-3.59317959438e-05,-0.000273470793446,-4.52239536548e-05,1793249676535498496
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767.086129416,746,718,678.913870584,662,638.086129416,879,785.913870584,813,653,630,654,0.400976002577,-0.0153994900369,0.0498446777279,0.999999961453,-3.34004783921e-05,-0.000271924719709,-4.51096346243e-05,1793249676552165120
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767.490057719,746,718,678.509942281,662,638,879,785.509942281,813,653,630,654,0.400974958674,-0.0154000240892,0.0498433924966,0.999999960989,-3.44943898527e-05,-0.00027345092019,-4.53507352835e-05,1793249676568831488
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767.933191668,746,718,678,662,638,879.066808332,785,812.933191668,653,630,654,0.40097390064,-0.0154010453695,0.0498420550259,0.999999960462,-3.61433592676e-05,-0.000275119168398,-4.55922587383e-05,1793249676585498112
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767.345398321,746,718,678,662,638,879.654601679,785,812.345398321,653,630,654,0.40097425041,-0.0154019408159,0.0498432411504,0.999999960817,-3.72013655712e-05,-0.000273726072086,-4.53547763525e-05,1793249676602165248
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767.238746149,745.761253851,718,678.238746149,662.238746149,638,879.761253851,785,812.238746149,652.761253851,630,653.761253851,0.400974272769,-0.0154026350603,0.0498439500087,0.999999960984,-3.75144649188e-05,-0.000273096409656,-4.52072472221e-05,1793249676618832128
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767.817691273,745.182308727,718,678.817691273,662.817691273,638,879.182308727,785,812.817691273,652.182308727,630,653.182308727,0.400973828585,-0.0154030426038,0.0498439787914,0.999999960887,-3.67661165905e-05,-0.000273554594617,-4.51878960628e-05,1793249676635498752
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3384b8320a65e6230a1bfb1c593eb544bee53e34
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_03/simulation_data.csv
@@ -0,0 +1,403 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+369,6.150000000,pose2_to_pose3_retreat,0.575902722115,-0.00984974809078,1.04003353708,0.546473397634,-0.00117712455542,1.03970492563
+370,6.166666667,pose2_to_pose3_retreat,0.575849836769,-0.00984981394701,1.04003351887,0.54642051361,-0.00117718561861,1.03970491559
+371,6.183333333,pose2_to_pose3_retreat,0.575805709626,-0.00984985943367,1.04003361718,0.546376388926,-0.00117722266934,1.0397050163
+372,6.200000000,pose2_to_pose3_retreat,0.57576973175,-0.00984990754658,1.04003361477,0.546340411204,-0.00117727021609,1.03970501506
+373,6.216666667,pose2_to_pose3_retreat,0.575741404708,-0.00984987233537,1.04003364983,0.546312083866,-0.00117723630049,1.03970504255
+374,6.233333333,pose2_to_pose3_retreat,0.575719377843,-0.00984990712078,1.04003346625,0.546290057311,-0.00117727005844,1.03970485839
+375,6.250000000,pose2_to_pose3_retreat,0.575703154936,-0.00984995045161,1.04003327451,0.546273834426,-0.00117731319319,1.03970467004
+376,6.266666667,pose2_to_pose3_retreat,0.57569048559,-0.00984992619155,1.04003327921,0.546261164137,-0.00117729209983,1.03970467572
+377,6.283333333,pose2_to_pose3_retreat,0.575681541767,-0.00984993562864,1.04003336457,0.546252221477,-0.0011772975931,1.03970476054
+378,6.300000000,pose2_to_pose3_retreat,0.575675497702,-0.00984990230554,1.04003347889,0.546246176707,-0.00117726684445,1.03970486994
+379,6.316666667,pose2_to_pose3_retreat,0.575671645379,-0.0098498819873,1.04003356725,0.54624232385,-0.00117724846372,1.03970495498
+380,6.333333333,pose2_to_pose3_retreat,0.575669481483,-0.00984992091041,1.0400336109,0.546240161079,-0.00117728346971,1.03970500137
+381,6.350000000,pose2_to_pose3_retreat,0.575668176054,-0.00984994439183,1.04003363723,0.546238856328,-0.00117730458801,1.03970502936
+382,6.366666667,pose2_to_pose3_retreat,0.575667620323,-0.00984994434606,1.04003364622,0.546238300652,-0.00117730434452,1.03970503863
+383,6.383333333,pose2_to_pose3_retreat,0.575667172486,-0.00984992304742,1.04003364876,0.546237852366,-0.00117728459789,1.03970504049
+384,6.400000000,pose2_to_pose3_retreat,0.575666814888,-0.00984990604044,1.04003365079,0.546237494408,-0.00117726883018,1.03970504198
+385,6.416666667,pose2_to_pose3_retreat,0.575666804161,-0.00984990553025,1.04003365085,0.54623748367,-0.00117726835717,1.03970504203
+386,6.433333333,pose2_to_pose3_retreat,0.575666799325,-0.00984990530028,1.04003365088,0.54623747883,-0.00117726814396,1.03970504205
+387,6.450000000,pose2_to_pose3_retreat,0.575666450687,-0.00984988871944,1.04003365286,0.546237129841,-0.00117725277134,1.0397050435
+388,6.466666667,pose2_to_pose3_retreat,0.57566628933,-0.00984988104549,1.04003365378,0.546236968322,-0.00117724565658,1.03970504417
+389,6.483333333,pose2_to_pose3_retreat,0.575666178156,-0.00984987575815,1.04003365441,0.546236857036,-0.00117724075453,1.03970504464
+390,6.500000000,pose2_to_pose3_retreat,0.57566613462,-0.00984987368765,1.04003365466,0.546236813457,-0.0011772388349,1.03970504482
+391,6.516666667,pose2_to_pose3_retreat,0.575665971479,-0.00984986592884,1.04003365558,0.546236650152,-0.00117723164147,1.0397050455
+392,6.533333333,pose2_to_pose3_retreat,0.575665588951,-0.00984984662857,1.04003365613,0.546236267208,-0.00117721376182,1.03970504581
+393,6.550000000,pose2_to_pose3_retreat,0.575665340733,-0.00984982828129,1.04003364797,0.546236018553,-0.00117719683557,1.03970503926
+394,6.566666667,pose2_to_pose3_retreat,0.575665253648,-0.00984982184432,1.0400336451,0.546235931315,-0.00117719089716,1.03970503696
+395,6.583333333,pose2_to_pose3_retreat,0.575665109478,-0.00984981118786,1.04003364035,0.546235786891,-0.00117718106607,1.03970503315
+396,6.600000000,pose2_to_pose3_retreat,0.575664787854,-0.00984978741467,1.04003362977,0.546235464701,-0.00117715913416,1.03970502467
+397,6.616666667,pose2_to_pose3_retreat,0.575664612228,-0.00984979883241,1.04003363979,0.54623528922,-0.0011771701423,1.03970503252
+398,6.633333333,pose2_to_pose3_retreat,0.575664492042,-0.00984983397495,1.04003366435,0.546235169642,-0.00117720341958,1.03970505187
+399,6.650000000,pose2_to_pose3_retreat,0.575664341761,-0.00984984977648,1.04003372578,0.546235019725,-0.00117721803359,1.03970511207
+400,6.666666667,pose2_to_pose3_retreat,0.575664290825,-0.00984982737351,1.0400337769,0.546234968521,-0.00117719635737,1.03970516797
+401,6.683333333,pose2_to_pose3_retreat,0.575664290825,-0.00984982737351,1.0400337769,0.546234968521,-0.00117719635737,1.03970516797
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5b99aa632bb75c2ebb92c4d13de238e4c109f400
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7712fb3d53f8e869add15968ad4dcf7e75814aa1972d9b27e48930a52b70adbf
+size 25721665
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..afd3c889c75c7e9f6d32fbf897903a1bc998cabd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_04/franka_data.csv
@@ -0,0 +1,405 @@
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+37,0.616666667,BASELINE,767.512551244,745.487448756,718,678,661.487448756,638,879,785,813,652,629.512551244,653,0.400975366541,-0.015406347863,0.0498465746044,0.999999962088,-4.2188815392e-05,-0.000268373227232,-4.49359928836e-05,1793249677373627136
+38,0.633333333,BASELINE,767.908733338,745,718.091266662,678.091266662,661.091266662,638,879.091266662,785,813,652,630,653,0.400975390482,-0.0154061136647,0.0498468865838,0.999999962255,-4.05209495098e-05,-0.000268021333245,-4.48592920865e-05,1793249677390293760
+39,0.650000000,BASELINE,767.334135483,745,718.665864517,678.665864517,661.665864517,638,879.665864517,785,813,652,630,653,0.400974925595,-0.0154050752325,0.0498466920208,0.999999962005,-4.17740924693e-05,-0.000268712398053,-4.51572485463e-05,1793249677406960384
+40,0.666666667,BASELINE,767,745.245305053,718.754694947,679,662,638,879.754694947,785,812.754694947,652.245305053,630.245305053,653.245305053,0.400974398292,-0.0154048894251,0.0498465236967,0.999999961911,-4.15355908303e-05,-0.000269096360932,-4.51577752015e-05,1793249677423627264
+41,0.683333333,BASELINE,767,745.831474724,718.168525276,679,662,638,879.168525276,785,812.168525276,652.831474724,630.831474724,653.831474724,0.400973784259,-0.0154058883858,0.0498463918328,0.999999962035,-3.92243684014e-05,-0.000269053589056,-4.47450070649e-05,1793249677440293888
+42,0.700000000,BASELINE,767.412092499,745.587907501,718,679,662,638,879,785.412092499,812,652.587907501,630.587907501,653.587907501,0.400973531542,-0.0154063139263,0.0498458516615,0.999999961973,-3.95207456124e-05,-0.000269224384283,-4.4834766058e-05,1793249677456960256
+43,0.716666667,BASELINE,767.990469993,745.009530007,718,679,662,638,879,785.990469993,812,652.009530007,630.009530007,653.009530007,0.400973424623,-0.015406508084,0.0498451467325,0.999999961837,-4.08693252251e-05,-0.000269481356776,-4.51273016746e-05,1793249677473626880
+44,0.733333333,BASELINE,768,745.571365556,718,679,662,638,879,785.428634444,812.571365556,652.571365556,630,653.571365556,0.400974254168,-0.0154053258088,0.0498452602364,0.999999961878,-4.05650600197e-05,-0.000269373833439,-4.51254080599e-05,1793249677490293760
+45,0.750000000,BASELINE,767.849901332,745.849901332,718,679,662,638,879,785,812.849901332,653,630,653.849901332,0.400975121412,-0.0154046021246,0.0498458884109,0.999999962049,-4.0433752347e-05,-0.000268774964242,-4.50218319352e-05,1793249677506960384
+46,0.766666667,BASELINE,767.277372932,745.277372932,718,679,662,638,879,785,812.277372932,653,630,653.277372932,0.400976050603,-0.0154052339724,0.0498479264581,0.999999962574,-4.08671376706e-05,-0.000266810463052,-4.46459680725e-05,1793249677523627264
+47,0.783333333,BASELINE,767,745,718,678.70369049,662,638,879,785,812,652.70369049,629.70369049,653,0.400976464746,-0.0154054825596,0.0498485085418,0.999999962866,-4.00545581722e-05,-0.000265862228753,-4.45101025866e-05,1793249677540293888
+48,0.800000000,BASELINE,767,745,718,678.12892347,662,638,879,785,812,652.12892347,629.12892347,653,0.400976394871,-0.0154053709766,0.0498477223806,0.999999962938,-3.80710805534e-05,-0.000265869033261,-4.45997760574e-05,1793249677556960512
+49,0.816666667,BASELINE,767.462010145,745,718,678.462010145,662,638,879.462010145,785,812.462010145,652,629.462010145,653.462010145,0.400976062949,-0.0154049774061,0.0498473081481,0.999999962643,-3.96951959555e-05,-0.000266672293354,-4.49937968684e-05,1793249677573627392
+50,0.833333333,BASELINE,767.944444517,745.055555483,718,679,662,638,880,785,812.944444517,652,630,654,0.400975650417,-0.0154046471733,0.0498470488107,0.999999962293,-4.1997688965e-05,-0.000267560184641,-4.5396094251e-05,1793249677590293760
+51,0.850000000,BASELINE,767.370162455,745.629837545,718,679,662,638,880,785,812.370162455,652,630,654,0.400975192738,-0.0154056696936,0.0498472315419,0.999999962481,-4.08938160224e-05,-0.000267087868955,-4.50539383058e-05,1793249677606960384
+52,0.866666667,BASELINE,767,745.7952987,718,678.7952987,662,638,879.7952987,785,812.2047013,652,630,654,0.400974958284,-0.0154061970247,0.0498471894057,0.999999962559,-4.01456320726e-05,-0.000266948117878,-4.48180855927e-05,1793249677623627008
+53,0.883333333,BASELINE,767,745.219380106,718,678.219380106,662,638,879.219380106,785,812.780619894,652,630,654,0.400975128638,-0.0154058263511,0.049846739482,0.999999962441,-4.00424753865e-05,-0.000267411458922,-4.47750093915e-05,1793249677640293888
+54,0.900000000,BASELINE,767,745.365069402,718.365069402,678,662,638,879,785,813,652,630,654,0.400975691541,-0.0154057102359,0.0498466643019,0.999999962419,-4.00412595994e-05,-0.000267537414791,-4.4523807362e-05,1793249677656960512
+55,0.916666667,BASELINE,767,745.954768007,718.954768007,678,662,638,879,785,813,652,630,654,0.400976495982,-0.0154057507518,0.0498468197035,0.999999962455,-4.01027686097e-05,-0.000267455775695,-4.4144544372e-05,1793249677673627136
+56,0.933333333,BASELINE,767,745.464502557,718.464502557,678,662,638,879.535497443,785,813,652,630,654,0.400976378321,-0.0154053019825,0.0498474647349,0.999999962767,-3.91887817894e-05,-0.000266384124556,-4.43926827671e-05,1793249677690294016
+57,0.950000000,BASELINE,767,745.114325362,718,678,662,638,880,785,813,652,630,653.885674638,0.400976229761,-0.0154049775154,0.049848089353,0.999999962999,-3.88098513482e-05,-0.000265525430084,-4.46377923146e-05,1793249677706960640
+58,0.966666667,BASELINE,767,745.688501756,718,678,662,638,880,785,813,652,630,653.311498244,0.400976265039,-0.0154053165265,0.0498484682507,0.999999962827,-4.09090466701e-05,-0.00026585413007,-4.46610690109e-05,1793249677723627264
+59,0.983333333,BASELINE,767,746,718,678,662,638,879.731495529,785,813,652,630,653,0.400975888948,-0.0154051206443,0.0498481924905,0.999999962642,-4.06206241825e-05,-0.000266562408999,-4.48366013926e-05,1793249677740293888
+60,1.000000000,BASELINE,767,746,718,678,662,638,879.144583564,785,813,652,630,653,0.400975025033,-0.015404290456,0.0498471404009,0.999999962438,-3.75008323526e-05,-0.000267720813734,-4.51926870129e-05,1793249677756960512
+61,1.016666667,BASELINE,767.436418681,746,718,678,662,638,879,785,812.563581319,652,630,653.436418681,0.400974364923,-0.0154043632708,0.0498467006869,0.99999996214,-3.85991813545e-05,-0.00026866127978,-4.53007658026e-05,1793249677773627392
+62,1.033333333,BASELINE,767.984552399,746,718,678.015447601,662,638,879,785,812,652,630,653.984552399,0.400973820829,-0.0154047301109,0.049846499051,0.999999961836,-4.09777297411e-05,-0.000269434335888,-4.5322478554e-05,1793249677790293760
+63,1.050000000,BASELINE,767.407036561,746,718,678.592963439,662,638,879,785,812,652,630,653.407036561,0.400975074141,-0.0154050555226,0.0498476768342,0.999999962623,-3.97693581352e-05,-0.000266708113157,-4.51513402157e-05,1793249677806960640
+64,1.066666667,BASELINE,767,745.83035033,718,679,662,638,879,785,812.16964967,652,629.83035033,653.16964967,0.400975869796,-0.0154050989445,0.0498481630053,0.999999963074,-3.88858586399e-05,-0.000265158460461,-4.505994964e-05,1793249677823627264
+65,1.083333333,BASELINE,767,745.255644903,718,679,662,638,879,785,812.744355097,652,629.255644903,653.744355097,0.400975572744,-0.0154044690874,0.0498469978828,0.999999962739,-3.87780242644e-05,-0.000266417987981,-4.5158964931e-05,1793249677840294144
+66,1.100000000,BASELINE,767,745,718,678.672119441,662,638,879,785,812.672119441,652,629.327880559,653.672119441,0.400975007073,-0.0154046888248,0.0498465186268,0.999999962426,-3.93432110548e-05,-0.000267524358437,-4.50659392087e-05,1793249677856960768
+67,1.116666667,BASELINE,767,745,718,678.081527018,662,638,879,785,812.081527018,652,629.918472982,653.081527018,0.400974226172,-0.0154055892936,0.0498465889162,0.999999962129,-4.04476510635e-05,-0.000268508012871,-4.48190420455e-05,1793249677873627392
+68,1.133333333,BASELINE,767,745,718.499553266,678.499553266,662,638,879.499553266,785,812.499553266,652,630,653,0.400974960014,-0.015404794038,0.0498472304098,0.999999962339,-3.98932039551e-05,-0.000267787238506,-4.49417532128e-05,1793249677890294016
+69,1.150000000,BASELINE,767,745.078158346,718.921841654,678.921841654,662,638,879.843683308,785,813,652.078158346,630,653,0.400975838251,-0.0154041880536,0.0498478386456,0.999999962584,-3.95075061963e-05,-0.000266910053074,-4.50617633714e-05,1793249677906960640
+70,1.166666667,BASELINE,767,745.650741938,718.349258062,678.349258062,662,638,878.698516124,785,813,652.650741938,630,653,0.400976095334,-0.0154064973311,0.0498476578058,0.999999962537,-4.18699297488e-05,-0.000266770181127,-4.47902360139e-05,1793249677923627264
+71,1.183333333,BASELINE,767,746,718,678.229704309,662,638,878.229704309,785.229704309,813,652.770295691,630,653.229704309,0.400975899171,-0.0154080698598,0.0498472871685,0.999999962397,-4.33519247759e-05,-0.000267090451079,-4.46115471071e-05,1793249677940294144
+72,1.200000000,BASELINE,767,746,718,678.818642523,662,638,878.818642523,785.818642523,813,652.181357477,630,653.818642523,0.400974994181,-0.0154084901897,0.0498466197073,0.999999962115,-4.3457020541e-05,-0.000268130335598,-4.45780479438e-05,1793249677956960768
+73,1.216666667,BASELINE,767.39987568,745.60012432,718,679,662,638,878.60012432,785.60012432,812.60012432,652,630,654,0.400974661215,-0.0154069189946,0.04984656154,0.999999962193,-4.13450221945e-05,-0.000268136404074,-4.48067385381e-05,1793249677973627392
+74,1.233333333,BASELINE,767.977680352,745.022319648,718,679,662,638,878.022319648,785.022319648,812.022319648,652,630,654,0.400974582777,-0.015404461649,0.0498467744847,0.999999962422,-3.82465039227e-05,-0.000267682464896,-4.51520932923e-05,1793249677990294016
+75,1.250000000,BASELINE,767.442499731,745.557500269,718,678.442499731,662,638,878.557500269,785,812,652,630,653.442499731,0.400975341265,-0.0154060460345,0.0498477064468,0.999999962802,-3.96271840281e-05,-0.000266081190757,-4.50148797628e-05,1793249678006960640
+76,1.266666667,BASELINE,767,745.86434935,718,678,662,638,879,785,812.13565065,652,630,653.13565065,0.400976030661,-0.0154070078292,0.0498484724141,0.99999996308,-4.0691789461e-05,-0.000264893717766,-4.49015309114e-05,1793249678023627264
+77,1.283333333,BASELINE,767,745.291836501,718,678,662,638,879,785,812.708163499,652,630,653.708163499,0.400976389248,-0.0154054415692,0.0498486107538,0.999999963022,-4.01588653443e-05,-0.000265187355538,-4.49274829473e-05,1793249678040293888
+78,1.300000000,BASELINE,767,745.283234729,718,678,662,638,879,785,812.716765271,652,630,653.716765271,0.400975704207,-0.0154057499178,0.0498482410579,0.999999962725,-4.10260480065e-05,-0.000266206199819,-4.47382671265e-05,1793249678056960512
+79,1.316666667,BASELINE,767,745.86096603,718,678,662,638,879,785,812.13903397,652,630,653.13903397,0.400973934042,-0.0154080074124,0.0498473431261,0.999999962172,-4.33490078535e-05,-0.000267979085902,-4.43253280463e-05,1793249678073627136
+80,1.333333333,BASELINE,767,746,718,678,662.447058302,638,879.447058302,785,812,652,630,653.447058302,0.400973680669,-0.0154063521402,0.0498470853735,0.999999962257,-4.00139334303e-05,-0.000268134265142,-4.4586683113e-05,1793249678090294016
+81,1.350000000,BASELINE,767,746,718,678,663,638,880,785,812,652,630,654,0.400974019076,-0.0154036451705,0.0498470789217,0.999999962535,-3.53589828626e-05,-0.00026767622071,-4.50360925053e-05,1793249678106960640
+82,1.366666667,BASELINE,767,746,718,678,663,638,880,785,812,652,630,654,0.400976072987,-0.0154038473611,0.0498478202019,0.999999962972,-3.80141207074e-05,-0.000265665438872,-4.50893947924e-05,1793249678123627264
+83,1.383333333,BASELINE,767.188794324,746,718,678,662.811205676,638,880,785,812.188794324,652,629.811205676,653.811205676,0.400977136448,-0.0154044176936,0.0498482362561,0.999999963143,-3.98996258829e-05,-0.000264746499412,-4.50670622144e-05,1793249678140294144
+84,1.400000000,BASELINE,767.764690465,746,718,678,662.235309535,638,880,785,812.764690465,652,629.235309535,653.235309535,0.400976169099,-0.0154057428602,0.0498479854705,0.999999962789,-4.02070851311e-05,-0.000266066261265,-4.48896487461e-05,1793249678156960768
+85,1.416666667,BASELINE,768,746,718,678,662,638,879.65025392,785,813,652.34974608,629.34974608,653.34974608,0.400975954932,-0.0154065107159,0.0498477660366,0.999999962745,-4.06524474965e-05,-0.000266188983705,-4.47402340334e-05,1793249678173627392
+86,1.433333333,BASELINE,768,746,718,678,662,638,879.058870108,785,813,652.941129892,629.941129892,653.941129892,0.400976261133,-0.0154068935282,0.0498475682634,0.999999962915,-4.11930863839e-05,-0.000265484677814,-4.4610163525e-05,1793249678190294016
+87,1.450000000,BASELINE,768,745.480956193,718,678.519043807,662,638,879,785,813,652.480956193,630,654,0.400976415002,-0.0154059114412,0.0498475909634,0.99999996286,-3.97541157034e-05,-0.000265841095935,-4.50401238569e-05,1793249678206960640
+88,1.466666667,BASELINE,768,745.095692369,718,678.904307631,662,638,879,785,813,652.095692369,630,654,0.400976337142,-0.015404980697,0.0498475479757,0.999999962755,-3.83376377324e-05,-0.000266380470256,-4.54028353116e-05,1793249678223627520
+89,1.483333333,BASELINE,768,745.673468198,718,678.326531802,662,638,879,785,813,652.673468198,630,654,0.400975176703,-0.0154050687779,0.0498470512731,0.999999962544,-3.8136999796e-05,-0.000267250789414,-4.51148532596e-05,1793249678240293888
+90,1.500000000,BASELINE,768,746,718,678,662.250493629,638,879.250493629,785,813,652.749506371,630,654,0.400975059047,-0.0154052331647,0.0498470512114,0.999999962534,-3.81665137898e-05,-0.000267307102271,-4.49613196542e-05,1793249678256960256
+91,1.516666667,BASELINE,768,746,718,678,662.826543753,638,879.826543753,785,813,652.173456247,630,654,0.400976296657,-0.0154054967233,0.0498476966139,0.999999962788,-3.84951470067e-05,-0.000266305483806,-4.49825233101e-05,1793249678273626880
+92,1.533333333,BASELINE,767.588660083,746,718,678,662.588660083,638,879.588660083,785,812.588660083,652,630,653.588660083,0.400976425906,-0.0154061734593,0.0498477137298,0.999999962733,-4.05046629263e-05,-0.000266219198433,-4.49496078056e-05,1793249678290293504
+93,1.550000000,BASELINE,767.000095665,746,718,678,662.000095665,638,879.000095665,785,812.000095665,652,630,653.000095665,0.400976077621,-0.0154070282116,0.0498474601506,0.999999962539,-4.32383818589e-05,-0.000266527281334,-4.48933752341e-05,1793249678306960384
+94,1.566666667,BASELINE,767.580045447,746,718,678.580045447,662,638,879,785,812.580045447,652.580045447,630,653,0.400976637184,-0.0154063463562,0.049847698281,0.999999962802,-4.24738697335e-05,-0.000265644858424,-4.49894684315e-05,1793249678323627008
+95,1.583333333,BASELINE,767.841491328,745.841491328,718,679.158508672,662,638,879,785,813,652.841491328,630,653.158508672,0.400976556196,-0.0154053688879,0.0498475908086,0.999999962858,-4.10152978611e-05,-0.000265641025456,-4.51369419132e-05,1793249678340293632
+96,1.600000000,BASELINE,767.267423272,745.267423272,718,679.732576728,662,638,879,785,813,652.267423272,630,653.732576728,0.400974795499,-0.0154036170711,0.0498465770658,0.99999996236,-3.7738612585e-05,-0.000267941083415,-4.54190532778e-05,1793249678356960256
+97,1.616666667,BASELINE,767.306751287,745,718,679.693248713,662,638.306751287,879.306751287,785,813,652,630,653.693248713,0.400974426329,-0.0154033627214,0.0498468737122,0.999999962312,-3.69478836259e-05,-0.000268239323624,-4.53613011564e-05,1793249678373626880
+98,1.633333333,BASELINE,767.881018692,745,718,679.118981308,662,638.881018692,879.881018692,785,813,652,630,653.118981308,0.400975270702,-0.0154044143047,0.0498483131418,0.999999962664,-3.83251437646e-05,-0.000266791789394,-4.5007155932e-05,1793249678390293760
+99,1.650000000,BASELINE,768,745,718,678.527853415,662,639,879.527853415,785,812.527853415,652,629.527853415,653.472146585,0.40097631226,-0.0154053326139,0.0498489850287,0.999999963061,-3.91437998704e-05,-0.000265207704982,-4.48432769867e-05,1793249678406960384
+100,1.666666667,BASELINE,767.934798547,745,718,678,662,638.934798547,879,785,812,652,629,653.934798547,0.40097723726,-0.0154061481392,0.049849358633,0.999999963401,-3.96936735271e-05,-0.000263853034112,-4.47549943362e-05,1793249678423627264
+101,1.683333333,BASELINE,767.361079588,745,718,678,662,638.361079588,879,785,812,652,629,653.361079588,0.400976851312,-0.0154064336719,0.0498489702704,0.999999963224,-3.92858027609e-05,-0.000264565913534,-4.48685030429e-05,1793249678440293888
+102,1.700000000,BASELINE,767,745.212083474,718,678,662,638,879,785,812.212083474,652,629.212083474,653,0.400976442785,-0.0154061727047,0.0498484468987,0.999999963055,-3.82658566795e-05,-0.000265336598638,-4.49700949024e-05,1793249678456960512
+103,1.716666667,BASELINE,767,745.784302517,718,678,662,638,879,785,812.784302517,652,629.784302517,653,0.400975995914,-0.0154049837348,0.0498476942703,0.999999962897,-3.62065552946e-05,-0.000266205442574,-4.50514509416e-05,1793249678473627136
+104,1.733333333,BASELINE,767,745.629889102,718,678,662,638,878.629889102,785,813,652,629.629889102,653,0.400976363218,-0.015404575526,0.0498479279664,0.999999962939,-3.66442557753e-05,-0.000265995151545,-4.50006900602e-05,1793249678490294016
+105,1.750000000,BASELINE,767,745.03585904,718,678,662,638,878.03585904,785,813,652,629.03585904,653,0.400977223102,-0.015404639682,0.0498487583944,0.999999963101,-3.85926561569e-05,-0.000265131977907,-4.48699977103e-05,1793249678506960640
+106,1.766666667,BASELINE,767,745,718,678,662,638,878.543019476,785,812.456980524,652,629.543019476,653,0.400976841825,-0.0154047932381,0.0498483089181,0.999999963147,-3.77895580213e-05,-0.000265065583326,-4.49186525529e-05,1793249678523627520
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,718,678,662,638,879,786,812,652,630,654,0.40097489261,-0.0154066584948,0.0498473577141,0.999999962642,-3.80913880267e-05,-0.000266953140087,-4.47239471012e-05,1793249678566051328
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,746,718,678,662,638,879.581520293,785.418479707,812,652,630,653.418479707,0.400976234747,-0.015404468061,0.0498477102452,0.999999963053,-3.50531447621e-05,-0.000265772626201,-4.5052507488e-05,1793249678582718208
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,746,717.834896155,678,661.834896155,638,879.834896155,785,812.165103845,652,630,653.165103845,0.40097735411,-0.0154035031526,0.0498482620251,0.999999963435,-3.46182763888e-05,-0.000264360385256,-4.52219885291e-05,1793249678599385088
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,746,717.246016663,678,661.246016663,638,879.246016663,785,812.753983337,652,630,653.753983337,0.400977901673,-0.0154056838266,0.0498493252214,0.999999963739,-4.08655465664e-05,-0.00026235336515,-4.49831572085e-05,1793249678616052480
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.662908183,745.662908183,717.337091817,678,661.337091817,638,879,785,813,652,630,654,0.400978084445,-0.0154060103615,0.0498497425305,0.999999963879,-4.0913077848e-05,-0.000261832361439,-4.48565161529e-05,1793249678632719360
+112,1.866666667,POSE1_TO_POSE2_PRESS,767.08394065,745.08394065,717.91605935,678,661.91605935,638,879,785,813,652,630,654,0.400978005466,-0.0154050064835,0.0498496963918,0.999999963908,-3.65120691932e-05,-0.000262377628997,-4.48103757333e-05,1793249678649385728
+113,1.883333333,POSE1_TO_POSE2_PRESS,767.492718949,745.492718949,718,678.492718949,662,638,879,785,812.507281051,652,630,653.507281051,0.400977966452,-0.0154044704736,0.0498492438115,0.999999963734,-3.66836721982e-05,-0.000262988277078,-4.49869108669e-05,1793249678666052352
+114,1.900000000,POSE1_TO_POSE2_PRESS,767.929754192,745.929754192,718,678.929754192,662,638,878.929754192,785,812,652,629.929754192,653.070245808,0.400977965214,-0.0154041599727,0.0498488494669,0.99999996355,-3.76128043525e-05,-0.000263527310334,-4.51527677547e-05,1793249678682718976
+115,1.916666667,POSE1_TO_POSE2_PRESS,767.342972421,745.342972421,718,678.342972421,662,638,878.342972421,785,812,652,629.342972421,653.657027579,0.400978191907,-0.0154049243243,0.0498493901269,0.999999963546,-3.84107628797e-05,-0.000263458219397,-4.49624556094e-05,1793249678699385344
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,718,678,662,638,878.241531009,785,812.241531009,652,629,654,0.400980737052,-0.0154061671534,0.049850548495,0.9999999639,-3.9325721513e-05,-0.000262038329876,-4.46029711984e-05,1793249678716051968
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,718,678,662,638,878.822829394,785,812.822829394,652,629,654,0.400986543616,-0.0154080830677,0.0498525758078,0.999999964748,-4.04052668921e-05,-0.000258718240078,-4.40055081801e-05,1793249678732718848
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745.399791377,717.600208623,678,662,638,879,785,812.600208623,652,629.399791377,653.600208623,0.401011170847,-0.0154091285922,0.0498618014545,0.99999996942,-4.02953611406e-05,-0.000240183583823,-4.29895756164e-05,1793249678749385472
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745.974852321,717.025147679,678,662,638,879,785,812.025147679,652,629.974852321,653.025147679,0.401044049106,-0.0154097925356,0.0498741828694,0.999999975232,-3.96639970295e-05,-0.000214978822135,-4.17901848544e-05,1793249678766051840
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,717.561805482,678,662,638,879,785,812,652,629.438194518,653.561805482,0.40110340885,-0.0154127702681,0.0498939078106,0.999999983302,-3.84383066889e-05,-0.000174233358486,-3.95074222431e-05,1793249678782718464
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879,785,812.146747674,652,629.146747674,654,0.401168266775,-0.0154167155092,0.0499131234652,0.999999989097,-3.83517277967e-05,-0.000137679593464,-3.71466964389e-05,1793249678799385088
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879,785,812.724191799,652,629.724191799,654,0.401245707339,-0.0154231897892,0.0499298587787,0.999999991857,-4.16881469689e-05,-0.000115514035487,-3.470255817e-05,1793249678816051968
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,718.302272751,678,662,638,879,785.302272751,812.697727249,652,629.697727249,653.697727249,0.401328150647,-0.0154286331042,0.0499405177133,0.99999999352,-4.41444069138e-05,-9.95915377204e-05,-3.30486695942e-05,1793249678832718592
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,718.880935965,678,662,638,879,785.880935965,812.119064035,652,629.119064035,653.119064035,0.401415168332,-0.0154331337307,0.0499456205614,0.999999994441,-4.57958716089e-05,-8.93775357156e-05,-3.2117365259e-05,1793249678849385216
+125,2.083333333,POSE1_TO_POSE2_PRESS,767.456841417,746,718.543158583,678,662,638,879.456841417,785.543158583,812,652.456841417,629,653.456841417,0.401518171927,-0.0154390948203,0.0499487351362,0.999999994787,-4.80006496352e-05,-8.46033335478e-05,-3.10599876896e-05,1793249678866051840
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,746,718,678.032732667,662,638,879.967267333,785,812.032732667,652.967267333,629.032732667,653.967267333,0.401626304464,-0.0154455233321,0.0499511170985,0.999999994944,-5.02760243484e-05,-8.17646089037e-05,-2.99722449874e-05,1793249678882718720
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,746,718,678.620497415,662,638,879.379502585,785,812.620497415,652.379502585,629.620497415,653.379502585,0.401751183646,-0.0154534622263,0.0499498105207,0.999999994406,-5.1317897734e-05,-8.78490779588e-05,-2.89234253056e-05,1793249678899385088
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.7948886,746,718,678.7948886,662,638,879,785.2051114,812.7948886,652,630,653.2051114,0.401888385645,-0.0154620376398,0.0499475013119,0.999999993692,-5.36187741586e-05,-9.46266192072e-05,-2.80422669449e-05,1793249678916051712
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.216016107,746,718,678.216016107,662,638,879,785.783983893,812.216016107,652,630,653.783983893,0.402048042698,-0.01547177294,0.0499433650745,0.999999992658,-5.82138493857e-05,-0.000102667099931,-2.74666269615e-05,1793249678932718592
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745.637802123,718,678,662,638,879,785.637802123,812,652,630,654,0.40223206509,-0.0154825532142,0.0499443733496,0.999999992691,-6.13313606778e-05,-0.000100881944947,-2.60524985658e-05,1793249678949385472
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745.059980108,718,678,662,638,879,785.059980108,812,652,630,654,0.402430592706,-0.0154939555847,0.0499484442624,0.999999993341,-6.35692470142e-05,-9.32473797643e-05,-2.41392000393e-05,1793249678966052096
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745.513902291,718,678,662,638,879,785,812.513902291,652,630,653.486097709,0.402664331284,-0.0155029375628,0.0499548198475,0.999999994306,-6.10650329362e-05,-8.4752161971e-05,-2.18279181194e-05,1793249678982719232
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745.909907648,718,678.090092352,662,638,879,785,813,652,630,653,0.40290777894,-0.0155119269249,0.0499613876836,0.999999995298,-5.78449652532e-05,-7.53967209695e-05,-1.93204208222e-05,1793249678999386112
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745.318332175,718,678.681667825,662,638,879,785,813,652,630,653,0.403182568958,-0.0155225178941,0.0499675397609,0.999999996521,-5.3697602472e-05,-6.18078857607e-05,-1.59773166255e-05,1793249679016052480
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745.267091781,718,678.732908219,662,638.267091781,879.267091781,785,812.732908219,652,630,653,0.403482802613,-0.0155239826471,0.0499739253951,0.999999998032,-3.84816045397e-05,-4.77859428506e-05,-1.30957917506e-05,1793249679032718848
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745.845349099,718,678.154650901,662,638.845349099,879.845349099,785,812.154650901,652,630,653,0.403812678431,-0.0155148152342,0.0499805831258,0.999999999335,-1.03704971534e-05,-3.32594243985e-05,-1.07520132227e-05,1793249679049385728
+137,2.283333333,POSE1_TO_POSE2_PRESS,767.421359632,745.578640368,718.421359632,678.421359632,662.421359632,638.578640368,879.578640368,785,812.421359632,652,629.578640368,653.421359632,0.404164771343,-0.0155074573906,0.0499877934943,0.99999999966,1.54217562114e-05,-1.92060247102e-05,-8.57889404591e-06,1793249679066052352
+138,2.300000000,POSE1_TO_POSE2_PRESS,767.996549894,745.003450106,718.996549894,678.996549894,662.996549894,638.003450106,879.003450106,785,812.996549894,652,629.003450106,653.996549894,0.4045249753,-0.0155007601874,0.0499952056205,0.99999999915,4.03674381229e-05,-5.32535226563e-06,-6.46807949751e-06,1793249679082718464
+139,2.316666667,POSE1_TO_POSE2_PRESS,767.416506467,745.583493533,718.416506467,679,662.416506467,638,879,785,813,652,629.583493533,654,0.404913727252,-0.0155120893904,0.0499954663367,0.999999998917,4.64414066964e-05,-1.14011096924e-06,-2.82794514024e-06,1793249679099385088
+140,2.333333333,POSE1_TO_POSE2_PRESS,767.169052124,746,718,678.830947876,662,638,879.169052124,785,813,652,630,654,0.405306926307,-0.0155216117961,0.0499888067522,0.999999998462,5.43043665379e-05,-1.13048460088e-05,-1.37395037786e-08,1793249679116051968
+141,2.350000000,POSE1_TO_POSE2_PRESS,767.751054072,746,718,678.248945928,662,638,879.751054072,785,813,652,630,654,0.405710567597,-0.0155264549531,0.0499653481099,0.999999996178,6.68155373786e-05,-5.63798804021e-05,7.60396362668e-07,1793249679132718848
+142,2.366666667,POSE1_TO_POSE2_PRESS,767.670425193,746,718,678.329574807,662,638,880,785,813,652,629.670425193,654,0.40615189385,-0.0155264549834,0.0499453120422,0.9999999919,8.7931954665e-05,-9.20051231539e-05,1.58862369326e-06,1793249679149385472
+143,2.383333333,POSE1_TO_POSE2_PRESS,767.094506465,746,718,678.905493535,662,638,880,785,813,652,629.094506465,654,0.406621388139,-0.0155228349715,0.049927834209,0.999999986061,0.000115480449074,-0.000120567031186,2.45728229961e-06,1793249679166052096
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745.518677217,718,679,662,638.481322783,880,785,813,652,629.481322783,653.518677217,0.407136454582,-0.0155241214291,0.0499252990231,0.999999982506,0.000140402129663,-0.000123461236812,5.72880481514e-06,1793249679182718720
+145,2.416666667,POSE1_TO_POSE2_PRESS,767.058363077,745,718,678.941636923,662,638.941636923,880,785,813,652,629.941636923,653.058363077,0.407667253355,-0.0155265350873,0.0499284168558,0.999999979666,0.000164674801603,-0.000115996230132,9.71667822849e-06,1793249679199385344
+146,2.433333333,POSE1_TO_POSE2_PRESS,767.646557306,745,718,678.353442694,662,638.353442694,880,785,813,652,629.353442694,653.646557306,0.408259657238,-0.0155304376375,0.0499562238669,0.999999980437,0.000187737034082,-6.02319507798e-05,1.5925465873e-05,1793249679216052480
+147,2.450000000,POSE1_TO_POSE2_PRESS,767.76913784,745.23086216,718,678,662.23086216,638,880,785,813,652,629.23086216,654,0.408867967522,-0.0155347179832,0.0499809556152,0.999999977344,0.000211150487466,-1.55530959078e-05,2.20561420308e-05,1793249679232719360
+148,2.466666667,POSE1_TO_POSE2_PRESS,767.190688878,745.809311122,718,678,662.809311122,638,880,785,813,652,629.809311122,654,0.409500226499,-0.0155395671387,0.0500010572363,0.999999971894,0.00023509273942,1.24355050469e-05,2.8069212967e-05,1793249679249386240
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,718,678.385658576,662.614341424,638.385658576,880.385658576,785,813,652,629.614341424,654,0.410129794344,-0.0155412647212,0.0499989202697,0.999999965121,0.000262196181645,1.22636529868e-06,3.17662794064e-05,1793249679266052864
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,718,678.960972553,662.039027447,638.960972553,880.960972553,785,813,652,629.039027447,654,0.410758038754,-0.0155414124539,0.0499858470275,0.999999956685,0.000290854202117,-2.92590567267e-05,3.43244036015e-05,1793249679282719232
+151,2.516666667,POSE1_TO_POSE2_PRESS,767.53332598,746,718,679,662,639,881,785,813.53332598,652.53332598,629,654,0.411389413684,-0.0155390572684,0.0499546503385,0.999999944312,0.000319287814287,-9.06176293188e-05,3.49305698348e-05,1793249679299386368
+152,2.533333333,POSE1_TO_POSE2_PRESS,767.890546102,746,718,679.109453898,662.109453898,639,881,785.109453898,814,652.890546102,629,654,0.412045240237,-0.0155374903517,0.0499330062107,0.999999939474,0.000320449510009,-0.000130550353629,3.63338355689e-05,1793249679316052992
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+154,2.566666667,POSE1_TO_POSE2_PRESS,767.289424545,746,718.289424545,680,663,639,881,785.710575455,814,652,629.289424545,654,0.4135726491,-0.0155439692676,0.0499763422868,0.999999995842,7.95221900701e-05,-3.09254605212e-05,3.21922081048e-05,1793249679349385472
+155,2.583333333,POSE1_TO_POSE2_PRESS,767.868023228,746,718.868023228,680,663,639,881,785.131976772,814,652,629.868023228,654,0.414338418499,-0.015548744819,0.0499836376419,0.999999998665,-4.40010905387e-05,-2.61024899881e-05,7.24524937253e-06,1793249679366052352
+156,2.600000000,POSE1_TO_POSE2_PRESS,768,746,718.555592763,679.555592763,663,639,881.444407237,785,814,652,629.555592763,654,0.4151052163,-0.0155578377678,0.049960176412,0.999999996381,-4.98977960531e-05,-6.88197139594e-05,3.52844927701e-06,1793249679382718720
+157,2.616666667,POSE1_TO_POSE2_PRESS,768,746,718,679.020512689,663,639,882,785,814,652,629.020512689,654,0.415874019729,-0.0155677937391,0.0499292000813,0.999999992254,-2.06081660613e-05,-0.00012259000037,6.19360219509e-06,1793249679399384832
+158,2.633333333,POSE1_TO_POSE2_PRESS,768,746,718,679.606989998,663,639,882,785,814,652,629.606989998,654,0.416689776992,-0.0155663610568,0.0499416372278,0.999999995328,2.0481709969e-05,-9.3723700572e-05,1.18507587546e-05,1793249679416051456
+159,2.650000000,POSE1_TO_POSE2_PRESS,767.807897254,745.807897254,718,680,663,639,882,785,814.192102746,652,630,654,0.417524486468,-0.0155649793345,0.0499597884738,0.999999996399,6.02182173858e-05,-5.7108696604e-05,1.77396520293e-05,1793249679432718080
+160,2.666666667,POSE1_TO_POSE2_PRESS,767.225556511,745.225556511,718,680,663,639,882,785,814.774443489,652,630,654,0.418397695472,-0.0155637011328,0.049989547355,0.999999994974,9.72054859458e-05,-4.7529576769e-06,2.40992955133e-05,1793249679449384704
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745.352680169,718,680.352680169,663.352680169,639,882.352680169,785,815,652,629.647319831,654,0.419231551998,-0.015559846526,0.0499844515262,0.999999991462,0.000126548141136,-1.97964837548e-05,2.58899257982e-05,1793249679466051584
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745.928322268,718,680.928322268,663.928322268,639,882.928322268,785,815,652,629.071677732,654,0.42004053013,-0.015554363134,0.0499573207932,0.999999985284,0.000151057923758,-7.74493545333e-05,2.47920576977e-05,1793249679482718208
+163,2.716666667,POSE1_TO_POSE2_PRESS,767.499540579,746,718,680.500459421,664,639,883.499540579,785,815,652.499540579,629.499540579,654,0.420968028745,-0.0155574602056,0.0499702474022,0.999999987716,0.000150675499138,-3.51491276865e-05,2.51038836742e-05,1793249679499384832
+164,2.733333333,POSE1_TO_POSE2_PRESS,768,746,718,680.073033712,664,639,884.073033712,785.073033712,815,652.926966288,630,654,0.421905660594,-0.015561509264,0.0499877276854,0.999999988756,0.000146852490926,1.60399188675e-05,2.5772361021e-05,1793249679516051712
+165,2.750000000,POSE1_TO_POSE2_PRESS,768,746,718,680.667250128,664,639,884.667250128,785.667250128,815,652.332749872,630,654,0.422795310554,-0.0155636430123,0.0499970470619,0.999999988863,0.000143741534865,2.92123839108e-05,2.75551816821e-05,1793249679532718336
+166,2.766666667,POSE1_TO_POSE2_PRESS,767.745544015,745.745544015,718,680.745544015,664.254455985,639,885,785.745544015,815,652,629.745544015,654,0.423681246043,-0.0155648816318,0.0499939754348,0.999999989564,0.000139792947191,2.29950981029e-05,2.8307258361e-05,1793249679549384960
+167,2.783333333,POSE1_TO_POSE2_PRESS,767.167259917,745.167259917,718,680.167259917,664.832740083,639,885,785.167259917,815,652,629.167259917,654,0.424562454511,-0.0155649810847,0.0499751346563,0.999999990501,0.000134778364587,-7.89814868898e-06,2.77475803971e-05,1793249679566052608
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745.408663112,718,680.408663112,665,639,885,785,815,652,629.408663112,654,0.425483168569,-0.0155675147448,0.0499853703729,0.999999989413,0.000142476472974,3.05582162706e-06,2.94287927724e-05,1793249679582719488
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745.983625306,718,680.983625306,665,639,885,785,815,652,629.983625306,654,0.426419958759,-0.0155710389674,0.050007438317,0.999999986939,0.00015534781297,3.10388663324e-05,3.20219005493e-05,1793249679599386112
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885,785,815,652,630,654.570155205,0.427290376387,-0.0155655367915,0.0499937911716,0.999999984758,0.000170880006674,-1.56773926777e-05,3.22088766644e-05,1793249679616052992
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885.154732209,785,815,652.154732209,630,654.845267791,0.428167253408,-0.0155598427067,0.0499761173492,0.999999981761,0.000179021488664,-5.85991155653e-05,3.15552110577e-05,1793249679632719360
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885.733034973,785,815,652.733034973,630,654.266965027,0.429067138771,-0.015554347621,0.0499502867471,0.999999982064,0.000166717796285,-8.51391403113e-05,2.87934211325e-05,1793249679649385984
+173,2.883333333,POSE1_TO_POSE2_PRESS,767.311979539,746,718,681,665,639,885.688020461,785,815,652.688020461,630,654,0.429983859365,-0.0155537936409,0.0499454665355,0.999999983301,0.000161088662908,-8.14528799241e-05,2.85192657189e-05,1793249679666052608
+174,2.900000000,POSE1_TO_POSE2_PRESS,767.891474406,746,718,681,665,639,885.108525594,785,815,652.108525594,630,654,0.430915015738,-0.0155574765463,0.049958662255,0.999999985205,0.000161182812007,-5.18482691723e-05,3.03782002076e-05,1793249679682719232
+175,2.916666667,POSE1_TO_POSE2_PRESS,767.533652552,746,718,681,665,639,885.466347448,785.466347448,815.466347448,652,630,654,0.431792716553,-0.0155567087169,0.0499458275431,0.999999981741,0.000172561538848,-7.66440447467e-05,2.94364389366e-05,1793249679699385600
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,718,681.041120518,665,639,886,785.958879482,816,652,630,654.041120518,0.432661137752,-0.0155550378223,0.0499297300525,0.999999976354,0.000186282133454,-0.000108637825195,2.80935855645e-05,1793249679716051712
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,718,681.628718011,665,639,886,785.371281989,816,652,630,654.628718011,0.433569934214,-0.0155549951627,0.0499499853545,0.999999977802,0.000196568129264,-6.96981995694e-05,2.99970361108e-05,1793249679732718336
+178,2.966666667,POSE1_TO_POSE2_PRESS,767.214504348,746,718,682,665,638.785495652,885.785495652,785.214504348,816,652,630,654.785495652,0.434466244577,-0.0155554830344,0.0499689749616,0.999999980079,0.000193112236343,-3.88786432045e-05,3.22305212437e-05,1793249679749384960
+179,2.983333333,POSE1_TO_POSE2_PRESS,767.797182128,746,718,682,665,638.202817872,885.202817872,785.797182128,816,652,630,654.202817872,0.435341124056,-0.0155568815058,0.0499857921442,0.999999985355,0.000166069884931,-2.19962981544e-05,3.50304752796e-05,1793249679766051584
+180,3.000000000,POSE1_TO_POSE2_PRESS,768,746,718,681.624985318,665,638,885.375014682,786,816.375014682,652,630,654.375014682,0.436160365645,-0.0155541391607,0.0499741454147,0.999999983472,0.000169291133635,-5.64629649944e-05,3.47515200661e-05,1793249679782717952
+181,3.016666667,POSE1_TO_POSE2_PRESS,768,746,718,681.049739802,665,638,885.950260198,786,816.950260198,652,630,654.950260198,0.436949900553,-0.0155491859179,0.0499473010048,0.99999997466,0.000188670966559,-0.000118346307288,3.28286487553e-05,1793249679799384576
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,746,718,681,665.524697744,638.524697744,886,785.475302256,816.475302256,652,630,654.475302256,0.437808423339,-0.0155530787328,0.0499631580346,0.999999978825,0.00019135729047,-6.82759768634e-05,3.27184089221e-05,1793249679816051200
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,746,718,681.101802877,665.898197123,639,886,785,816,652,629.898197123,654.101802877,0.438659133601,-0.0155575966153,0.0499788954108,0.999999981507,0.000188344391374,-2.06930864022e-05,3.29304257972e-05,1793249679832717824
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,746,718,681.692074509,665.307925491,639,886,785,816,652,629.307925491,654.692074509,0.439441026784,-0.0155610962111,0.0499746656278,0.999999985076,0.000165567011914,-3.58896208404e-05,3.38654753098e-05,1793249679849384704
+185,3.083333333,POSE1_TO_POSE2_PRESS,767.722479427,746,718,682,665,639,886,785,816.277520573,652,629.277520573,655,0.44020797571,-0.0155627476651,0.0499666617232,0.999999985769,0.000157231080844,-5.09740195357e-05,3.37865085988e-05,1793249679866051328
+186,3.100000000,POSE1_TO_POSE2_PRESS,767.142296144,746,718,682,665,639,886,785,816.857703856,652,629.857703856,655,0.440958626444,-0.0155623835434,0.0499545417785,0.999999983741,0.000164644931137,-6.59361225051e-05,3.26016602279e-05,1793249679882717952
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,639,886.434403626,785.434403626,817,652,630,655,0.441704422135,-0.0155646203679,0.0499676390293,0.999999983688,0.000172605342788,-4.03217094495e-05,3.47335770694e-05,1793249679899384576
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,639,886.989848882,786,817,652,630,654.989848882,0.442447422017,-0.0155676037675,0.0499885644153,0.999999982945,0.000180744149367,-2.21870008923e-06,3.78922931288e-05,1793249679916051200
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,718,682,665,639,886.403909507,786,817,652,630,654.403909507,0.44312132532,-0.0155649926798,0.0499887032524,0.999999981419,0.000188927397791,-3.66105966285e-06,3.81570939211e-05,1793249679932718592
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,718,681.820234518,665,638.820234518,886.179765482,785.820234518,817,652,630,654,0.443762309624,-0.0155641288553,0.0499719542063,0.99999997961,0.000195512630909,-3.39767688153e-05,3.74296810387e-05,1793249679949385728
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,718,681.241583906,665,638.241583906,886.758416094,785.241583906,817,652,630,654,0.444330249449,-0.0155671420668,0.0499177323077,0.999999971455,0.000198551997199,-0.000128360116174,3.45006257332e-05,1793249679966051840
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665,638,887,785,817,652.334221938,630,654,0.444908670833,-0.0155731117065,0.0498825855029,0.999999964031,0.000199031324409,-0.000176723543824,3.30555191225e-05,1793249679982718720
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,718,681,665,638,887,785,817,652.907988832,630,654,0.44549460457,-0.0155812002896,0.049861110283,0.999999961476,0.000197675810294,-0.000192103375522,3.26739948018e-05,1793249679999385344
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,718,681,664.51643512,638,886.51643512,785,817,652.51643512,630,654.48356488,0.446085038594,-0.0155876169826,0.0498731420112,0.99999996654,0.000199020537488,-0.000161633274444,3.44190302994e-05,1793249680016051968
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,718,681.061020288,664,638,886.061020288,785,817,652.061020288,630,654.938979712,0.446664570339,-0.0155930464577,0.0498866130972,0.999999970364,0.000201421098517,-0.000131848711256,3.63038353231e-05,1793249680032718848
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,718,681.651791727,664,638,886.651791727,785,817,652.651791727,630,654.348208273,0.447141991419,-0.0155926775095,0.0498570221045,0.999999960683,0.000208510667677,-0.000184039562179,3.58760043263e-05,1793249680049385472
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,718,682,664.237860432,638,887,785.237860432,817,652.762139568,630,654.237860432,0.447601805815,-0.0155938158057,0.0498250130597,0.999999948908,0.000212080699081,-0.00023660780962,3.49538818706e-05,1793249680066052096
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,718,682,664.817178144,638,887,785.817178144,817,652.182821856,630,654.817178144,0.448036345135,-0.0155971178059,0.049789532816,0.999999935301,0.00021059830599,-0.000289717819115,3.33221861745e-05,1793249680082718720
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887.393525898,785.212948205,817,652,630,655,0.448467548413,-0.0155994159826,0.0497776346891,0.999999937774,0.0001679805521,-0.000308418742995,3.33658506941e-05,1793249680099385600
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887.968504272,784.062991456,817,652,630,655,0.448897213498,-0.0156012513025,0.0497766101343,0.999999945316,0.000106395524802,-0.000311253843824,3.41820137332e-05,1793249680116052480
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+202,3.366666667,POSE1_TO_POSE2_PRESS,768,746,718,682,665,638,888,784.875080638,817,652.875080638,630,654.124919362,0.449693180204,-0.0156095153013,0.0498074951609,0.999999957383,0.000109616333284,-0.00026803982254,3.70646417959e-05,1793249680149385472
+203,3.383333333,POSE1_TO_POSE2_PRESS,768,746,718,682,665,638,888,784.287777065,817,652.287777065,630,654.712222935,0.450049442228,-0.0156119737562,0.0498106812162,0.999999960652,9.04514361627e-05,-0.000263882201276,2.96888682699e-05,1793249680166052096
+204,3.400000000,POSE1_TO_POSE2_PRESS,767.703530727,746,718,682,664.703530727,637.703530727,887.703530727,784.296469273,817,652.296469273,630,655,0.450373815967,-0.0156162305763,0.0498089596528,0.999999960957,6.01209151192e-05,-0.000272167736815,1.99277139804e-05,1793249680182718720
+205,3.416666667,POSE1_TO_POSE2_PRESS,767.122221732,746,718,682,664.122221732,637.122221732,887.122221732,784.877778268,817,652.877778268,630,655,0.450667552277,-0.0156222152173,0.0498025229811,0.999999957036,1.90627633267e-05,-0.000292408323345,7.87475028368e-06,1793249680199385088
+206,3.433333333,POSE1_TO_POSE2_PRESS,767.453696709,746,718,682,664.453696709,637,887,784.546303291,817,652.546303291,630,655,0.450920049712,-0.01562351208,0.0497895784506,0.999999948831,1.83165760568e-05,-0.000319327061025,5.78997005636e-06,1793249680216051968
+207,3.450000000,POSE1_TO_POSE2_PRESS,768,746,718,682.028180756,664.971819244,637,887,784,817.028180756,652.028180756,629.971819244,654.971819244,0.451160138523,-0.0156234145474,0.049775164538,0.999999939146,2.82313261093e-05,-0.000347665012599,6.34595715098e-06,1793249680232718592
+208,3.466666667,POSE1_TO_POSE2_PRESS,768,746,718,682.60267891,664.39732109,637,887,784,817.60267891,652.60267891,629.39732109,654.39732109,0.451372511058,-0.0156204792839,0.0497658528677,0.999999931203,3.67653348263e-05,-0.000369049251005,6.64916907672e-06,1793249680249385216
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+210,3.500000000,POSE1_TO_POSE2_PRESS,767.222838948,746,718,682.222838948,664,637,887.777161052,784,817.222838948,653,629,654.777161052,0.451762361362,-0.0156150881349,0.0497475963627,0.999999916765,5.27470410958e-05,-0.000404525450169,6.78330143754e-06,1793249680282718464
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+216,3.600000000,POSE1_TO_POSE2_PRESS,767.737328468,746,718.737328468,682.262671532,664.262671532,637,887,784,817,652.737328468,629,654.262671532,0.452576507279,-0.0156186447,0.0497474549079,0.999999918215,7.46542709535e-05,-0.000397276429051,1.30048899973e-05,1793249680382718464
+217,3.616666667,POSE1_TO_POSE2_PRESS,767.15834933,746,718.15834933,682.84165067,664.84165067,637,887,784,817,652.15834933,629,654.84165067,0.452655824912,-0.0156213863804,0.0497435004753,0.999999915556,7.47396880022e-05,-0.000403877272273,1.36071840397e-05,1793249680399385088
+218,3.633333333,POSE1_TO_POSE2_PRESS,767.419966185,746,718,682.580033815,664.580033815,637,887,784,817,652.419966185,629,655,0.452719716172,-0.0156196055458,0.0497394799154,0.999999912878,7.78987090258e-05,-0.000409880320958,1.31925782188e-05,1793249680416051712
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+220,3.666666667,POSE1_TO_POSE2_PRESS,767.428325377,746.571674623,718,682,664,636.428325377,887.571674623,784,817,653,629,655,0.452823213689,-0.0156171855972,0.0497353711751,0.999999910325,8.38581140305e-05,-0.00041492030764,1.26317653599e-05,1793249680449385472
+221,3.683333333,POSE1_TO_POSE2_PRESS,767.149064828,747,718,682,664,636.149064828,887.850935172,784,817,653,629,655,0.45286436002,-0.0156178055337,0.0497352425582,0.999999910304,8.47755561951e-05,-0.000414779703584,1.27441200501e-05,1793249680466052096
+222,3.700000000,POSE1_TO_POSE2_PRESS,767.737546265,747,718,682,664,636.737546265,887.262453735,784,817,653,629,655,0.452893054689,-0.0156170723654,0.0497348812554,0.999999909707,8.35802088291e-05,-0.000416465789416,1.24797705688e-05,1793249680482718464
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+226,3.766666667,POSE1_TO_POSE2_PRESS,767.948379408,746,718,682,664,636.051620592,887.051620592,784,817,652,629,654,0.452953754077,-0.015618327899,0.0497281741525,0.999999905943,8.21629471922e-05,-0.000425657503974,1.33719466955e-05,1793249680549386496
+227,3.783333333,POSE1_TO_POSE2_PRESS,767.375352085,746,718,682,664,636.624647915,887.624647915,784,817,652,629,654,0.452958668633,-0.0156186063915,0.0497269703247,0.999999904975,8.21408603536e-05,-0.000427921612085,1.36343253665e-05,1793249680566052864
+228,3.800000000,POSE1_TO_POSE2_PRESS,767.205494241,746,718,682,664,637,887.794505759,784,817.205494241,652,629,654,0.452962029962,-0.0156182394832,0.0497254194738,0.999999903856,8.23627467478e-05,-0.000430489874133,1.35364106677e-05,1793249680582719232
+229,3.816666667,POSE1_TO_POSE2_PRESS,767.801187507,746,718,682,664,637,887.198812493,784,817.801187507,652,629,654,0.452962441973,-0.015616647067,0.0497232096849,0.99999990245,8.3047897306e-05,-0.000433635673249,1.27543594015e-05,1793249680599385856
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+231,3.850000000,POSE1_TO_POSE2_PRESS,767.043292383,746,718,682.956707617,664,637,887,783.043292383,817.043292383,652.956707617,629,654.956707617,0.452961736052,-0.0156138928605,0.0497209207016,0.999999900402,8.34451460314e-05,-0.000438278248003,1.20513448029e-05,1793249680632718592
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+233,3.883333333,POSE1_TO_POSE2_PRESS,768,746,718.109162471,682.890837529,664.109162471,637,887.890837529,784,817,652,629,654.890837529,0.452963347912,-0.0156133153495,0.0497213246031,0.999999900379,8.54048997101e-05,-0.000437957712982,1.18846009949e-05,1793249680666051584
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+235,3.916666667,POSE1_TO_POSE2_PRESS,768,746,718.713983891,682,665,637,887,783.713983891,817,652.286016109,629,654.286016109,0.452965191204,-0.0156127960219,0.0497199853765,0.999999899945,8.30739126545e-05,-0.000439389122443,1.21025415445e-05,1793249680699385344
+236,3.933333333,POSE1_TO_POSE2_PRESS,768,746,718.134904358,682,665,637,887,783.134904358,817,652.865095642,629,654.865095642,0.452963663793,-0.0156133782295,0.0497184387953,0.999999898689,8.35083027752e-05,-0.00044216299537,1.18199438926e-05,1793249680716051968
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+238,3.966666667,POSE1_TO_POSE2_PRESS,768,746,718,683,664,637,887,784,817,652.014949503,628.985050497,655,0.452966281844,-0.015609633936,0.0497192914255,0.999999899537,8.79251271776e-05,-0.000439393105924,1.13952968361e-05,1793249680749385472
+239,3.983333333,POSE1_TO_POSE2_PRESS,768,746,718,683,664,637,887,784,817,652.585632272,628.414367728,655,0.452965832903,-0.0156120002253,0.0497193363323,0.999999899291,8.48925205794e-05,-0.000440525390477,1.21902353473e-05,1793249680766052096
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+241,4.016666667,POSE1_TO_POSE2_PRESS,768,746,718,683,664,637,887,784,817.758151368,652.241848632,628.758151368,655,0.452967510424,-0.0156114730864,0.0497200040237,0.999999899685,8.50189651368e-05,-0.000439615244042,1.18329470827e-05,1793249680799385344
+242,4.033333333,POSE1_TO_POSE2_PRESS,768,746,718,682.656995197,664.343004803,637,887,784,818,652.343004803,629,654.656995197,0.45296706724,-0.0156104922208,0.0497194261392,0.999999899221,8.62812755759e-05,-0.00044042995684,1.15852295866e-05,1793249680816051712
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+247,4.116666667,HOLD_POSE2,767.75532719,746,718,682,664,636.75532719,887.510654379,783.75532719,817.75532719,652.75532719,629,654.24467281,0.452966398165,-0.015610372194,0.0497192220827,0.999999899111,8.31890101688e-05,-0.000441278095945,1.14526759213e-05,1793249680914086400
+248,4.133333333,HOLD_POSE2,767.660904382,746,718,682,664,637,887.660904382,783.660904382,818,652.660904382,629,654,0.452966297791,-0.0156109332676,0.0497188641788,0.999999898992,8.374469771e-05,-0.000441441527654,1.15274147827e-05,1793249680930753024
+249,4.150000000,HOLD_POSE2,767.085963807,746,718,682,664,637,887.085963807,783.085963807,818,652.085963807,629,654,0.452965728679,-0.0156114430967,0.0497173791941,0.999999898222,8.51048876848e-05,-0.000442919963916,1.15782930702e-05,1793249680947419392
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+252,4.200000000,HOLD_POSE2,768,746,718,682,664,637,887,783.654706459,817,653,628.345293541,654.654706459,0.452968875389,-0.0156094662828,0.0497192963456,0.999999899534,8.49308591768e-05,-0.000439973156561,1.19080649305e-05,1793249680997419520
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+256,4.266666667,HOLD_POSE2,767.972248774,746,718,682.027751226,664.027751226,637,887.027751226,784,817,652.027751226,629,655,0.452970247908,-0.01560818929,0.0497198523291,0.999999900107,8.56232612984e-05,-0.000438531119567,1.20081737217e-05,1793249681064086528
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,767.96921031,746,718,682.03078969,664,637,887,783.03078969,817,653,628.96921031,654.96921031,0.452844977582,-0.0156033305084,0.0496654890897,0.999999855078,8.35010612498e-05,-0.000531813876373,6.71319901434e-06,1793249681379971840
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,664,637,887,783.554701477,817,653,629,655,0.452778063745,-0.0155999917948,0.0496444017274,0.999999838332,8.36191375949e-05,-0.000562424775179,4.6239752709e-06,1793249681396638976
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,746,718.138978728,682,664,637,887,784,817.138978728,652.861021272,628.861021272,655,0.452707731748,-0.0155960131868,0.0496256450654,0.99999982292,8.44156771461e-05,-0.000589090426586,2.64684217537e-06,1793249681413305344
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,746,718.717813083,682,664,637,887,784,817.717813083,652.282186917,628.282186917,655,0.452629692915,-0.0155903036219,0.0496145034992,0.999999813734,8.75184843709e-05,-0.00060404512142,1.0650716652e-06,1793249681429971968
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,746,718.704097029,682,664,637,887,784,818,652.295902971,628,655,0.45254395925,-0.0155839810103,0.0496087763139,0.999999808734,9.14728512145e-05,-0.00061168919891,1.14493963285e-07,1793249681446638848
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,746,718.126715352,682,664,637,887,784,818,652.873284648,628,655,0.452450905857,-0.0155770752362,0.0496081995776,0.999999807865,9.62372668641e-05,-0.000612379026021,-2.35659341585e-07,1793249681463305472
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,664,637,887.4494777,784,817.5505223,653,628.4494777,655,0.452340845823,-0.0155707005162,0.049609746591,0.999999807113,9.82654900951e-05,-0.00061328328413,-7.50495521192e-07,1793249681479972096
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,664,637,887.974184085,784,817,653,628.974184085,654.974184085,0.452224755637,-0.0155643537785,0.0496119263846,0.999999806491,9.96742527459e-05,-0.000614069054201,-1.30209400511e-06,1793249681496638976
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,664,637,887.387429707,784,817,653,628.387429707,654.387429707,0.452081541023,-0.0155553706014,0.0496148805429,0.999999807913,0.000104339749701,-0.000610970214751,-1.6463575028e-06,1793249681513305856
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,767.219497362,746,718,682.780502638,664,637,887,784,817,652.219497362,628.780502638,654.780502638,0.451746855241,-0.015535550308,0.0496180107648,0.999999806386,0.000113290842015,-0.000611868576346,-3.14287599263e-06,1793249681546638848
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.067899978,664,637,887,783.067899978,817,652,629,655,0.451332360402,-0.01551359084,0.0496136307014,0.999999799947,0.000122342865375,-0.000620566094148,-6.01730254387e-06,1793249681579973632
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.507113097,637,887,783.507113097,817,652,629,655,0.451098944124,-0.0155016313558,0.0496144290893,0.999999803324,0.000127071482362,-0.000614125912184,-7.36474399379e-06,1793249681596640256
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746,718.084438042,682.084438042,664.915561958,637,887,784,817,652.084438042,629,655,0.450858545321,-0.0154904112141,0.0496172811368,0.999999809314,0.000130331200469,-0.000603583304677,-8.57005159072e-06,1793249681613307136
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746,718.674984322,682.674984322,664.325015678,637,887,784,817,652.674984322,629,655,0.450592102625,-0.0154842957797,0.049629467548,0.999999825422,0.000124650600766,-0.000577524838578,-9.08697748034e-06,1793249681629973760
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746,718.740045679,682.740045679,664.259954321,637,887,784,817,652.740045679,629,655,0.450308002737,-0.0154788055584,0.0496422426371,0.999999840051,0.000119574030541,-0.000552722940312,-9.87914713416e-06,1793249681646640128
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,746,718.161901212,682.161901212,664.838098788,637,887,784,817,652.161901212,629,655,0.450002290048,-0.015474080613,0.049655738281,0.999999853136,0.000115236806841,-0.000529459112066,-1.10082215386e-05,1793249681663306496
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.585543507,637,887,784,817,652.414456493,629,655,0.449660038346,-0.0154757778002,0.0496623704889,0.999999863149,9.95545098657e-05,-0.000513451942358,-1.25547322962e-05,1793249681679972864
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.00988079,637,887,784,817,652.99011921,629,655,0.449303574505,-0.0154799729281,0.0496663331072,0.999999871608,7.94594544359e-05,-0.000500267309363,-1.42636082873e-05,1793249681696639488
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,767.856516233,746.143483767,718,682,664.143483767,637.143483767,887,784.856516233,817,652.856516233,629.143483767,654.143483767,0.44846576137,-0.0154661929184,0.0496643105471,0.999999865958,6.81189627702e-05,-0.000512909167377,-1.91720332172e-05,1793249681729973248
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767.265018693,746.734981307,718,682,664.734981307,637.734981307,887,784.265018693,817,652.265018693,629.734981307,654.734981307,0.448013688822,-0.0154571337637,0.0496633023123,0.999999870123,6.01362171119e-05,-0.000505590057963,-2.27439493887e-05,1793249681746640640
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746.101910402,718,682,664.101910402,638,887.898089598,784.898089598,817,652,630,655,0.447033709476,-0.015439910257,0.0496542857681,0.999999867306,4.51930405776e-05,-0.000512309620988,-2.97488634702e-05,1793249681779973888
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,746.382066418,718,682,665,638,887,784.617933582,817,652,629.382066418,654.382066418,0.445428450379,-0.0154241391355,0.0496753737963,0.999999883232,8.64130035532e-06,-0.000481797532469,-3.64917688703e-05,1793249681829974016
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,665,638,886.802952968,785.197047032,817,652,629.197047032,654.197047032,0.444870442455,-0.0154184632601,0.0497054189548,0.999999902821,-5.31098866296e-06,-0.000439256893093,-3.71828385303e-05,1793249681846640128
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,665,638,886.209803123,785.790196877,817,652,629.790196877,654.790196877,0.444267383639,-0.0154117098859,0.0497439266115,0.999999921224,-1.90871249493e-05,-0.000394728645949,-3.71123514434e-05,1793249681863306496
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767.371113983,746,718,682,665,638,886.371113983,785.628886017,817,652,630,654.628886017,0.443619376325,-0.0154031111323,0.0497518901584,0.999999923527,-3.14253320249e-05,-0.000387771658395,-3.98944486053e-05,1793249681879972864
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767.945336173,746,718,682,665,638,886.945336173,785.054663827,817,652,630,654.054663827,0.442946769019,-0.015393502415,0.0497431371163,0.999999917546,-4.29765695938e-05,-0.000401377172243,-4.42377461183e-05,1793249681896639488
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767.477946785,746,718,682,665,638,887,785.522053215,817,652,630,654,0.442261964555,-0.0153880488338,0.0497416506775,0.999999917831,-6.24661117428e-05,-0.000397596086084,-4.85214239111e-05,1793249681913306112
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,665,638,886.897834212,786,816.897834212,652,630,654,0.441578295014,-0.0153843977128,0.0497486156738,0.999999922817,-8.31197560061e-05,-0.000380491338838,-5.18113960763e-05,1793249681929972992
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,665,638,886.302601292,786,816.302601292,652,630,654,0.44090629634,-0.0153873356814,0.0497926787844,0.999999945777,-0.000105360696145,-0.000307913021166,-5.03358702138e-05,1793249681946639872
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767.863067625,746,718,681.136932375,665,638,886.863067625,786,816,652,629.136932375,654,0.439382585916,-0.0153909403557,0.0498233092561,0.999999962523,5.76914064791e-05,-0.000262395733269,-5.26731362103e-05,1793249681979972608
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,746,718,681.582445331,665,638,885.417554669,786,816,652,630,654,0.436902290496,-0.0153754723387,0.049758372072,0.999999925097,6.84317532512e-06,-0.000380697043637,-6.94874362834e-05,1793249682029972480
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.813983651,638,885,786,816,652,630,654,0.43608386511,-0.0153759401261,0.049770241767,0.999999929224,-2.5046871986e-05,-0.000368557997888,-7.13412151168e-05,1793249682046639360
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,638,884.341713064,786,815.341713064,652,629.341713064,654,0.430847300659,-0.0153634800296,0.0497936618878,0.999999942659,9.66518743909e-06,-0.000335065193604,-4.81735312214e-05,1793249682146639104
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,746,718,681.755456793,664,638,884,786.244543207,815,652,629.244543207,654,0.429932616033,-0.0153548502798,0.0497770747421,0.999999933093,6.24143340564e-05,-0.000358371360592,-3.85828177111e-05,1793249682163305472
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,718,681.177217998,664,638,884,786.822782002,815,652,629.822782002,654,0.428995803537,-0.0153488951764,0.0497505710629,0.999999919055,6.46384448679e-05,-0.000394452808684,-4.60248164541e-05,1793249682179972352
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,745.457201687,718,681,663,638,882.542798313,786,814.542798313,652,629.542798313,654,0.421787307672,-0.0153629074334,0.0498102161025,0.999999957543,6.6708809061e-07,-0.000286049198649,-5.55811529309e-05,1793249682313305600
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767.031923395,746,718,681,663,638,882,786,814,652,629.031923395,654,0.420839039181,-0.0153624571378,0.0497778515808,0.99999993788,-2.03503760032e-05,-0.000346946026487,-5.87809616409e-05,1793249682329972224
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767.603687895,746,718,681,663,638,882,786,814,652,629.603687895,654,0.419986329049,-0.0153630510154,0.0497909202066,0.999999941344,-3.17671240209e-05,-0.0003361150862,-5.77082441581e-05,1793249682346639104
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768,745.816164017,718,680.632328034,662.816164017,638,881.816164017,786,813.816164017,652,629.816164017,654,0.419121787273,-0.0153619260247,0.0497941957445,0.999999939394,-3.38535350113e-05,-0.000341721357591,-5.73718845098e-05,1793249682363305984
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,745.217078949,718,679.434157898,662.217078949,638,881.217078949,786,813.217078949,652,629.217078949,654,0.418230519991,-0.0153569184513,0.0497753506386,0.999999924264,-1.48645643336e-05,-0.000384456033025,-5.8698811141e-05,1793249682379972608
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767.634029962,745.365970038,718.365970038,679.365970038,662.365970038,638,881,786,813.365970038,652,629.365970038,654,0.417395725504,-0.0153561096896,0.0497674540312,0.999999920772,-9.1627769169e-06,-0.000393318643459,-6.06016292804e-05,1793249682396639232
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767.060093679,745.939906321,718.939906321,679.939906321,662.939906321,638,881,786,813.939906321,652,629.939906321,654,0.416593022318,-0.0153576869463,0.049765779022,0.999999924647,-1.10115694537e-05,-0.000382933101651,-6.28317036684e-05,1793249682413305856
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767.511986567,746,718.488013433,680,662.488013433,638.511986567,881,786,813.488013433,652,630,654,0.415815599243,-0.0153626219491,0.0497901029297,0.999999941164,-2.5211515149e-05,-0.000336733651087,-6.03830841962e-05,1793249682429972480
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767.912949668,745.912949668,718,679.912949668,662,638.912949668,881,786,813.087050332,652,630,654,0.415040603914,-0.0153669114916,0.0498117220328,0.999999953589,-3.86458793194e-05,-0.000296582003185,-5.80346013041e-05,1793249682446638848
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767.319258227,745.319258227,718,679.319258227,662,638.319258227,881,786,813.680741773,652,630,654,0.414262531214,-0.0153651589202,0.0497999025588,0.999999947534,-3.92175811515e-05,-0.000316006149054,-5.94535120431e-05,1793249682463305728
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745.266539671,718,679,662,638,881,785.733460329,814,652,630,654,0.413492471096,-0.0153641063414,0.04978400734,0.999999938665,-3.95101811506e-05,-0.000342556300543,-6.13492382662e-05,1793249682479972608
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745.843154678,718,679,662,638,881,785.156845322,814,652,630,654,0.412731732359,-0.0153638680895,0.0497633706593,0.999999925972,-3.94780917289e-05,-0.000377396393169,-6.37996612293e-05,1793249682496639488
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767.418311915,746,718,679,662.418311915,638,880.581688085,785,813.581688085,652,630,654,0.412031061468,-0.0153639101106,0.0497757458878,0.999999930936,-4.21720893125e-05,-0.000363856917214,-6.29137743004e-05,1793249682513306112
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767.992924508,746,718,679,662.992924508,638,880.007075492,785,813.007075492,652,630,654,0.41135283464,-0.0153640568546,0.0498004558908,0.999999941908,-4.58846790574e-05,-0.000332240599496,-6.07812878536e-05,1793249682529972736
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767.416584097,745.416584097,718.583415903,679.583415903,662.416584097,638,880,785.583415903,813,652,630,654,0.410680111652,-0.0153621482784,0.0498102308155,0.99999994712,-4.47597892228e-05,-0.000316625639561,-5.91943180531e-05,1793249682546638848
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767.170595253,745.170595253,718.829404747,679.829404747,662,638,880,786,812.829404747,652,630,654,0.410013232311,-0.0153604528385,0.0498095552434,0.999999946482,-4.49791497827e-05,-0.000318680634968,-5.87860000437e-05,1793249682563305728
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767.74937628,745.74937628,718.25062372,679.25062372,662,638,880,786,812.25062372,652,630,654,0.409360170836,-0.0153593286824,0.0497843201292,0.999999931233,-4.85592198212e-05,-0.000362537468845,-6.11815864048e-05,1793249682579972608
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767.6728426,746,718,679,662,638,880,786,812.3271574,652,629.6728426,654,0.408761481906,-0.0153621809344,0.0497820336005,0.999999930177,-5.70053625094e-05,-0.000364111389441,-6.17959026419e-05,1793249682596639232
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767.095825173,746,718,679,662,638,880,786,812.904174827,652,629.095825173,654,0.408204318976,-0.01536807009,0.0497972736039,0.999999940169,-6.91678722281e-05,-0.000333392564444,-6.10498087397e-05,1793249682613305856
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,662,638,879.520867501,786,813,652,629,653.520867501,0.407674238812,-0.0153710577181,0.0498142029994,0.999999946689,-7.49454766271e-05,-0.000312208365673,-5.94273003359e-05,1793249682629972480
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767.053711857,746,718.053711857,679,662,638,879.053711857,785.946288143,813,652,629,653,0.407148161229,-0.0153728631505,0.0498281392977,0.999999950867,-7.90272303996e-05,-0.000297755473539,-5.79920662613e-05,1793249682646639616
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767.628600473,746,718.628600473,679,662,638,879.628600473,785.371399527,813,652,629,653,0.406608589254,-0.015368804142,0.0498097685614,0.999999940562,-7.89914004123e-05,-0.000330193965358,-6.00674927985e-05,1793249682663307008
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767.789502128,745.789502128,718.789502128,678.789502128,662,638,879.789502128,785,812.789502128,652,629,653.210497872,0.406088998714,-0.0153660143197,0.0497900379135,0.999999928361,-8.24212186169e-05,-0.000364107079054,-6.25366391441e-05,1793249682679974144
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767.194812664,745.194812664,718.194812664,678.194812664,662,638,879.194812664,785,812.194812664,652,629,653.805187336,0.405605877484,-0.0153655409613,0.0497678252157,0.999999913307,-9.2176387725e-05,-0.000400711605311,-6.57243856255e-05,1793249682696640256
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745,718.386551485,678.386551485,662,638,879,785,812.386551485,652.386551485,629,654,0.405173350329,-0.0153652683851,0.0497637078111,0.999999909567,-9.96108010267e-05,-0.000408010367413,-6.68626609709e-05,1793249682713306368
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745,718.961423836,678.961423836,662,638,879,785,812.961423836,652.961423836,629,654,0.404765471646,-0.0153650936264,0.049768406103,0.999999911733,-0.000105914585138,-0.000401031896662,-6.70024714955e-05,1793249682729972736
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767.537228036,745.537228036,718.462771964,679,662,638,879,785,813,652.462771964,629,654,0.404418175875,-0.0153702641519,0.0497881873746,0.999999923823,-0.000119006053536,-0.000365951191014,-6.53549841615e-05,1793249682746639360
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768,746,718,678.884210605,662,638,879.115789395,785,813,652,629.115789395,653.884210605,0.404081722897,-0.0153752016254,0.0498100419492,0.999999935123,-0.00013099986539,-0.000329478057302,-6.3541689195e-05,1793249682763305728
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768,746,718,678.294641771,662,638,879.705358229,785,813,652,629.705358229,653.294641771,0.403771804798,-0.015377612282,0.0498359406927,0.999999945104,-0.000136504602634,-0.000295578555972,-6.15759931372e-05,1793249682779972352
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767.711041825,745.711041825,718,678,662,638,879.711041825,785,813,652,629.711041825,653,0.403467935777,-0.0153789127812,0.0498488224588,0.999999948543,-0.000141855078005,-0.000281180632626,-6.1069232641e-05,1793249682796639232
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767.133405027,745.133405027,718,678,662,638,879.133405027,785,813,652,629.133405027,653,0.40317011,-0.0153791041967,0.0498486998391,0.999999946291,-0.000147051440531,-0.000286265422703,-6.20199964263e-05,1793249682813305856
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745.441857783,718,678,662,638,879,785.441857783,813,652,629,653.441857783,0.402893388233,-0.0153806242778,0.0498384378046,0.999999940723,-0.000144386034456,-0.000306058768742,-6.35247087343e-05,1793249682829972224
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746,718,678,662,638,879,785.983517068,812.983517068,652,629,653.983517068,0.402624113706,-0.0153824587888,0.049825211075,0.999999933897,-0.000137897440249,-0.00033005966306,-6.51983630899e-05,1793249682846638848
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746,718,678,662,638,879,785.406331465,812.406331465,652,629,653.406331465,0.402392584468,-0.0153814163009,0.0498147132647,0.999999934242,-8.16669152756e-05,-0.000346933815721,-6.69600738238e-05,1793249682863305728
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,718,678.175677528,662,638,879,785,812.175677528,652,629,653.175677528,0.40217402312,-0.0153809483164,0.0498060231315,0.999999931681,-4.40794625095e-05,-0.000360577546718,-6.84021359145e-05,1793249682879972352
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,718,678.769157599,662,638,879,785,812.769157599,652,629,653.769157599,0.401986302501,-0.0153818466365,0.0498016320818,0.999999929147,-5.08296355146e-05,-0.000366538574056,-6.90839984503e-05,1793249682896638976
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,718,678.648024648,661.648024648,638,879,785,813,652,629.351975352,653.648024648,0.4018298644,-0.0153827766591,0.049804291519,0.999999932051,-5.25248945318e-05,-0.000358490614442,-6.80012461946e-05,1793249682913305856
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,718,678.071994094,661.071994094,638,879,785,813,652,629.928005906,653.071994094,0.401693339638,-0.0153837268625,0.049811439049,0.999999938215,-5.10023727167e-05,-0.000341525024112,-6.57952019212e-05,1793249682929972480
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,718,678,661.500739386,638,879,785,812.499260614,652,629.499260614,653,0.401580120077,-0.0153792107747,0.0498178734364,0.999999944662,2.95510476308e-06,-0.000328312483328,-5.36531544068e-05,1793249682946639104
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767.075553043,746,718,678.075553043,661.924446957,638,878.924446957,785.075553043,812.075553043,652,629.075553043,653,0.401472885047,-0.0153747932005,0.0498235833737,0.999999947412,5.53988460337e-05,-0.00031678288014,-4.18958613697e-05,1793249682963305472
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767.667814066,746,718,678.667814066,661.332185934,638,878.332185934,785.667814066,812.667814066,652,629.667814066,653,0.40138381253,-0.0153763891089,0.0498250354268,0.999999949013,4.62690445537e-05,-0.000313096736649,-4.2475893042e-05,1793249682979972352
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768,746,718,678.745730046,661.254269954,638,878.254269954,785.745730046,813,652,629.745730046,653,0.401301623821,-0.0153804146616,0.0498268266264,0.999999950403,3.57230313374e-05,-0.000309957436983,-4.29457557691e-05,1793249682996639232
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768,746,718,678.166688913,661.833311087,638,878.833311087,785.166688913,813,652,629.166688913,653,0.401228227592,-0.0153875435241,0.0498290510073,0.999999951507,2.3368135044e-05,-0.000307516604304,-4.32749030608e-05,1793249683013305856
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767.590102937,745.590102937,718,678,662,638,879,785,812.590102937,652.409897063,629.409897063,653,0.401172069961,-0.0153910288711,0.0498306658491,0.999999952844,1.62773945305e-05,-0.000303570521895,-4.34993874213e-05,1793249683029972736
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767.014509445,745.014509445,718,678,662,638,879,785,812.014509445,652.985490555,629.985490555,653,0.401122880847,-0.0153930413665,0.0498320342913,0.999999954277,1.13146320305e-05,-0.000299015958716,-4.36815629226e-05,1793249683046639360
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,745.557506038,718,678,662,638,879,785,812.557506038,653,630,653.557506038,0.401088696695,-0.0153951490515,0.0498334822351,0.999999955274,7.37515028029e-06,-0.000295732473262,-4.40371747953e-05,1793249683063305728
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,718.134572741,678.134572741,662,638,879,785,813,652.865427259,630,654,0.401056687519,-0.0153965772002,0.049834296602,0.999999955938,3.69352073978e-06,-0.000293486364131,-4.44559380401e-05,1793249683079972352
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,718.729224839,678.729224839,662,638,879,785,813,652.270775161,630,654,0.401030787608,-0.0153956737238,0.0498329378573,0.999999955567,8.02973471923e-07,-0.000294674478613,-4.50752706863e-05,1793249683096638976
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767.314555823,746,718.685444177,679,662,638,879.314555823,785,813,652.314555823,630,654,0.40101188673,-0.0153950690011,0.0498341876917,0.999999956098,-2.54940784694e-07,-0.000292845813792,-4.52295240007e-05,1793249683113305856
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767.892094014,746,718.107905986,679,662,638,879.892094014,785,813,652.892094014,630,654,0.400998837346,-0.0153947140494,0.0498376184119,0.999999957373,2.19305655952e-07,-0.000288494990211,-4.49949508056e-05,1793249683129972736
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745.956336596,718,678.956336596,662,638,879,785,812.956336596,652,630,653,0.400986415406,-0.0153958456001,0.0498409677907,0.999999958969,-3.10450917796e-06,-0.000282863955624,-4.51780123307e-05,1793249683163305728
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745.367049656,718,678.367049656,662,638,879,785,812.367049656,652,630,653,0.400985173041,-0.0153972733281,0.0498426420343,0.999999960149,-1.9625311475e-06,-0.000278791608756,-4.44204241133e-05,1793249683179972352
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745.218428665,718,678,662,638,879,785,812.218428665,652,630,653,0.400984411849,-0.0153978686792,0.0498440388022,0.999999961102,-1.23525657709e-06,-0.000275418138753,-4.40404569951e-05,1793249683196638976
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745.797616591,718,678,662,638,879,785,812.797616591,652,630,653,0.400984445367,-0.015397089267,0.0498449772881,0.9999999617,-1.19291101555e-06,-0.000273198941957,-4.42841732159e-05,1793249683213305856
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,767.940920993,746,718,678,662,638,879,785,812.059079007,652,630,653.940920993,0.40098392923,-0.0153986620263,0.0498470217316,0.999999962444,-6.30921412469e-06,-0.000270417905564,-4.4118044457e-05,1793249683246639616
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a73a1102ebea14b61a2d955c137fa2e3bc6d3fea
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_04/simulation_data.csv
@@ -0,0 +1,405 @@
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+337,5.616666667,pose2_to_pose3_retreat,0.588445011996,-0.00984987456106,1.04003352172,0.559015689326,-0.00117724471493,1.03970491396
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+342,5.700000000,pose2_to_pose3_retreat,0.585194975238,-0.00984997228412,1.0400334655,0.555765653723,-0.00117733881297,1.0397048498
+343,5.716666667,pose2_to_pose3_retreat,0.58459417725,-0.00984984531811,1.04003354377,0.555164854047,-0.0011772175509,1.03970492874
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+349,5.816666667,pose2_to_pose3_retreat,0.581416157964,-0.00984992786184,1.04003368984,0.551986836381,-0.00117729470243,1.03970507202
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+353,5.883333333,pose2_to_pose3_retreat,0.579664765253,-0.00984990527439,1.04003368194,0.550235441557,-0.00117727922997,1.03970506552
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+355,5.916666667,pose2_to_pose3_retreat,0.578941221131,-0.00984984550694,1.04003343206,0.549511899967,-0.00117721021109,1.03970483323
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+367,6.116666667,pose2_to_pose3_retreat,0.57628053624,-0.00984982642232,1.04003347653,0.546851214635,-0.00117719254364,1.03970488
+368,6.133333333,pose2_to_pose3_retreat,0.576177741782,-0.00984984846022,1.04003360646,0.546748420889,-0.0011772122176,1.03970500906
+369,6.150000000,pose2_to_pose3_retreat,0.576087732583,-0.00984989610607,1.04003362064,0.546658411179,-0.00117726193575,1.03970501535
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+371,6.183333333,pose2_to_pose3_retreat,0.575939583061,-0.00984986307933,1.0400333712,0.546510261508,-0.00117722901232,1.03970477557
+372,6.200000000,pose2_to_pose3_retreat,0.575880410786,-0.00984982611751,1.04003337843,0.546451088415,-0.00117719501959,1.03970477757
+373,6.216666667,pose2_to_pose3_retreat,0.575830796135,-0.00984988055132,1.04003364518,0.546401473908,-0.0011772492955,1.03970503561
+374,6.233333333,pose2_to_pose3_retreat,0.57578980517,-0.00984999501686,1.04003372238,0.54636048456,-0.00117735836403,1.0397051105
+375,6.250000000,pose2_to_pose3_retreat,0.575756935851,-0.00985002467248,1.04003356272,0.546327616171,-0.00117738477198,1.03970495323
+376,6.266666667,pose2_to_pose3_retreat,0.575730479758,-0.00984995951253,1.04003340609,0.546301159265,-0.00117732229415,1.0397047987
+377,6.283333333,pose2_to_pose3_retreat,0.575710186267,-0.00984998154086,1.0400333863,0.54628086521,-0.00117734618985,1.03970478024
+378,6.300000000,pose2_to_pose3_retreat,0.575694672935,-0.00985000968806,1.04003330057,0.54626535317,-0.00117737003885,1.0397046924
+379,6.316666667,pose2_to_pose3_retreat,0.575683461675,-0.00984988805204,1.0400334791,0.546254139987,-0.00117725483502,1.03970487349
+380,6.333333333,pose2_to_pose3_retreat,0.57567647891,-0.00984998875033,1.04003364132,0.546247157833,-0.00117735385369,1.03970502499
+381,6.350000000,pose2_to_pose3_retreat,0.575672365719,-0.00985001223781,1.04003364541,0.546243044799,-0.00117737685449,1.03970502764
+382,6.366666667,pose2_to_pose3_retreat,0.575670247493,-0.00984990319915,1.04003349374,0.546240925642,-0.00117727055348,1.03970488717
+383,6.383333333,pose2_to_pose3_retreat,0.575669139962,-0.00984984618747,1.04003341444,0.546239817624,-0.0011772149732,1.03970481373
+384,6.400000000,pose2_to_pose3_retreat,0.575668774044,-0.00984982735134,1.04003338824,0.546239451546,-0.00117719660998,1.03970478947
+385,6.416666667,pose2_to_pose3_retreat,0.575668224967,-0.00984981014802,1.04003337754,0.546238902293,-0.00117717997093,1.03970477956
+386,6.433333333,pose2_to_pose3_retreat,0.57566753559,-0.00984981140278,1.04003342321,0.546238212833,-0.00117718163374,1.03970482189
+387,6.450000000,pose2_to_pose3_retreat,0.575667045345,-0.00984981229509,1.04003345568,0.546237722529,-0.00117718281624,1.039704852
+388,6.466666667,pose2_to_pose3_retreat,0.575666597116,-0.00984981311093,1.04003348538,0.546237274246,-0.0011771838974,1.03970487952
+389,6.483333333,pose2_to_pose3_retreat,0.575666002564,-0.0098498141931,1.04003352477,0.546236679622,-0.00117718533149,1.03970491603
+390,6.500000000,pose2_to_pose3_retreat,0.575665737995,-0.00984981341368,1.04003359682,0.546236415147,-0.00117718433394,1.03970498554
+391,6.516666667,pose2_to_pose3_retreat,0.575665700537,-0.00984981319172,1.04003361184,0.546236377713,-0.00117718404794,1.0397050001
+392,6.533333333,pose2_to_pose3_retreat,0.57566560297,-0.00984981261359,1.04003365098,0.546236280208,-0.00117718330298,1.03970503802
+393,6.550000000,pose2_to_pose3_retreat,0.575665559779,-0.00984981235767,1.04003366831,0.546236237045,-0.0011771829732,1.0397050548
+394,6.566666667,pose2_to_pose3_retreat,0.575665473024,-0.00984981184361,1.04003370311,0.546236150346,-0.00117718231081,1.03970508852
+395,6.583333333,pose2_to_pose3_retreat,0.575665297676,-0.0098498108046,1.04003377345,0.546235975111,-0.00117718097196,1.03970515667
+396,6.600000000,pose2_to_pose3_retreat,0.575665026615,-0.00984980919845,1.04003388219,0.546235704225,-0.00117717890233,1.03970526201
+397,6.616666667,pose2_to_pose3_retreat,0.575664921446,-0.00984980857527,1.04003392438,0.546235599123,-0.00117717809933,1.03970530288
+398,6.633333333,pose2_to_pose3_retreat,0.57566487092,-0.00984980827589,1.04003394465,0.54623554863,-0.00117717771355,1.03970532251
+399,6.650000000,pose2_to_pose3_retreat,0.575664629378,-0.0098497641873,1.04003387145,0.546235305748,-0.00117713800661,1.03970525368
+400,6.666666667,pose2_to_pose3_retreat,0.575664361535,-0.00984974382857,1.04003378498,0.546235037133,-0.00117712004554,1.03970517303
+401,6.683333333,pose2_to_pose3_retreat,0.575664344118,-0.00984976440674,1.04003378299,0.546235020233,-0.00117713884208,1.03970517178
+402,6.700000000,pose2_to_pose3_retreat,0.575664327004,-0.00984978462762,1.04003378103,0.546235003627,-0.00117715731227,1.03970517056
+403,6.716666667,pose2_to_pose3_retreat,0.575664290825,-0.00984982737351,1.0400337769,0.546234968521,-0.0011771963574,1.03970516797
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0b89e9173cc20f2ecd1b81006b53ef835a014114
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7e841c08201c5fad435cf4d7fe5928eeccd4d40b139d219f4434cc9c7aaece2
+size 25719989
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6160e28cb149e5b93af1ed9d65e8bdbe2950f1cb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_05/franka_data.csv
@@ -0,0 +1,405 @@
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+15,0.250000000,BASELINE,767,745.28576245,718.28576245,678,661.28576245,638,879.28576245,785,813,652,629.71423755,654,0.400980301995,-0.0154034504412,0.049850708265,0.999999964183,-1.36025731872e-05,-0.000263644621331,-4.40603508987e-05,1793249683929338880
+16,0.266666667,BASELINE,767.601639461,745.30081973,718,678.30081973,661.30081973,638,879,785,813,652,630,653.69918027,0.400980558377,-0.015403853288,0.0498513109537,0.99999996446,-1.4700421999e-05,-0.000262545416302,-4.39735358989e-05,1793249683946005504
+17,0.283333333,BASELINE,768.757325251,745.878662626,718,678.878662626,661.878662626,638,879,785,813,652,630,653.121337374,0.400980291513,-0.0154042289114,0.0498515188268,0.999999964662,-1.35505147375e-05,-0.000261870389819,-4.37862764689e-05,1793249683962672128
+18,0.300000000,BASELINE,768.094491702,746,718,678.547245851,662,638,879,785,813,652,630,653.452754149,0.400980551265,-0.0154059024941,0.0498517205874,0.999999964614,-1.53619345188e-05,-0.00026199615125,-4.35182960819e-05,1793249683979338752
+19,0.316666667,BASELINE,767,746,718,678.026712022,662,638,879,785,813,652,630,653.973287978,0.400980876535,-0.0154077505673,0.049851886483,0.999999964489,-1.76796244431e-05,-0.000262372081431,-4.32545757221e-05,1793249683996005888
+20,0.333333333,BASELINE,767,746,718,678.618950343,662,638,879,785,813,652,630,653.381049657,0.400979625502,-0.0154059889055,0.0498513274705,0.999999964227,-1.4051609707e-05,-0.000263538174212,-4.35352806162e-05,1793249684012672512
+21,0.350000000,BASELINE,767.206576592,746,718,678.793423408,662,638,879.206576592,785,813,652,630,653.206576592,0.400978929384,-0.0154047151904,0.049850911148,0.999999964134,-1.15846684782e-05,-0.000263983448617,-4.37050489578e-05,1793249684029339136
+22,0.366666667,BASELINE,767.785881175,746,718,678.214118825,662,638,879.785881175,785,813,652,630,653.785881175,0.400979234505,-0.0154043218825,0.0498507522822,0.999999964365,-1.12126629433e-05,-0.000263128143864,-4.36746534575e-05,1793249684046005760
+23,0.383333333,BASELINE,767.639061204,746,718,678,662,638,879.639061204,785,812.639061204,652,630,654,0.400979481104,-0.0154041245475,0.049850725131,0.999999964433,-1.1695604855e-05,-0.000262832806962,-4.37800781885e-05,1793249684062672640
+24,0.400000000,BASELINE,767.066493644,746,718,678,662,638,879.066493644,785,812.066493644,652,630,654,0.400979693391,-0.0154040421171,0.0498507752079,0.999999964404,-1.26798269315e-05,-0.000262865795182,-4.39651382125e-05,1793249684079339008
+25,0.416666667,BASELINE,767,746,718,678.510010484,662,638,879,785,812.510010484,652,630,653.489989516,0.400980955401,-0.0154044273734,0.0498510719306,0.999999964688,-1.26828204782e-05,-0.000261825985863,-4.37063271877e-05,1793249684096005632
+26,0.433333333,BASELINE,767,746,718,678.91099795,662,638.08900205,879,785,813,652,630,653,0.400982081243,-0.0154047537856,0.0498513686745,0.999999964955,-1.26378586185e-05,-0.000260848153616,-4.34603671266e-05,1793249684112672256
+27,0.450000000,BASELINE,767,746,718,678.320913869,662,638.679086131,879,785,813,652,630,653,0.400981663941,-0.0154044029412,0.0498514830858,0.9999999649,-1.30487546374e-05,-0.000261012835904,-4.36151040016e-05,1793249684129338880
+28,0.466666667,BASELINE,767,746,718,678,662,638.734930762,879,785,812.734930762,652,630,653.265069238,0.400981078435,-0.0154040619985,0.0498514029117,0.999999964845,-1.18072648776e-05,-0.000261279965126,-4.36231288525e-05,1793249684146005760
+29,0.483333333,BASELINE,767,746,718,678,662,638.153837011,879,785,812.153837011,652,630,653.846162989,0.400980292391,-0.0154037328609,0.0498510907463,0.999999964783,-8.5957448577e-06,-0.00026166923504,-4.34562386542e-05,1793249684162672640
+30,0.500000000,BASELINE,767.421652916,746,718,678,662,638,879,785.421652916,812.421652916,652.421652916,630,654,0.400979775658,-0.0154038134141,0.0498508535075,0.999999964628,-1.03692109071e-05,-0.000262158271847,-4.37040628742e-05,1793249684179339008
+31,0.516666667,BASELINE,767.995125131,746,718,678,662,638,879,785.995125131,812.995125131,652.995125131,630,654,0.400979355892,-0.0154040414795,0.0498506432465,0.999999964429,-1.39375587016e-05,-0.000262683230462,-4.41012081384e-05,1793249684196005376
+32,0.533333333,BASELINE,768,745.415776354,718,678.584223646,662,638,879,785.415776354,813,652.415776354,630,653.415776354,0.400980316227,-0.015405361399,0.0498507876138,0.999999964691,-1.44934792994e-05,-0.000261684389147,-4.39155627388e-05,1793249684212672000
+33,0.550000000,BASELINE,767.829638437,745.170361563,718,678.829638437,662,638,879,785,813,652,630,653.170361563,0.400980863342,-0.0154062390303,0.0498510296788,0.999999964848,-1.44252213546e-05,-0.000261107922824,-4.38099583359e-05,1793249684229338624
+34,0.566666667,BASELINE,767.250918325,745.749081675,718,678.250918325,662,638,879,785,813,652,630,653.749081675,0.400980391603,-0.0154060340532,0.0498514986387,0.999999964742,-1.2922708179e-05,-0.000261575209443,-4.39081899134e-05,1793249684246005504
+35,0.583333333,BASELINE,767.326700017,746,718.326700017,678,662,638,879,785,813,652,630,654,0.400979424014,-0.0154062607417,0.0498516218405,0.999999964595,-1.37653403699e-05,-0.000262107612335,-4.38080357783e-05,1793249684262671872
+36,0.600000000,BASELINE,767.90347506,746,718.90347506,678,662,638,879,785,813,652,630,654,0.400978076873,-0.015406817852,0.0498514803791,0.999999964414,-1.64030818616e-05,-0.000262689859026,-4.35560257919e-05,1793249684279338496
+37,0.616666667,BASELINE,768,746,718.524089014,678,661.524089014,638,879,785,813,652,630,653.524089014,0.400978890829,-0.0154060143053,0.0498514010916,0.999999964462,-1.60549724658e-05,-0.000262507814283,-4.36734123282e-05,1793249684296004864
+38,0.633333333,BASELINE,767.95081343,746,718,678.04918657,661.04918657,638,879,785,813,652,630,653,0.400980098497,-0.0154050137836,0.0498513620179,0.99999996457,-1.50732596107e-05,-0.00026212605373,-4.38458757304e-05,1793249684312671488
+39,0.650000000,BASELINE,767.358640642,746,718,678.641359358,661.641359358,638,879,785,813,652,630,653,0.400980857467,-0.0154048577898,0.0498516289285,0.999999964824,-1.37219433126e-05,-0.00026123536139,-4.38067405424e-05,1793249684329338368
+40,0.666666667,BASELINE,767,745.770390574,718,678.770390574,662.229609426,638,879,785,813,652,630,653,0.400981119861,-0.0154047126814,0.0498517265332,0.999999964919,-1.31946497968e-05,-0.000260904485413,-4.37801588771e-05,1793249684346005248
+41,0.683333333,BASELINE,767,745.188164751,718,678.188164751,662.811835249,638,879,785,813,652,630,653,0.400980619651,-0.0154045842899,0.049851564131,0.999999964771,-1.39328268155e-05,-0.000261433332161,-4.37728559436e-05,1793249684362671616
+42,0.700000000,BASELINE,767.388295526,745.388295526,718,678.388295526,662.611704474,638,878.611704474,785,812.611704474,652,629.611704474,653,0.400980511772,-0.0154051719286,0.0498521333413,0.999999964898,-1.4418007292e-05,-0.000260951817478,-4.35966882899e-05,1793249684379338240
+43,0.716666667,BASELINE,767.96200273,745.96200273,718,678.96200273,662.03799727,638,878.03799727,785,812.03799727,652,629.03799727,653,0.400980591233,-0.0154061014728,0.0498530518978,0.999999965155,-1.47823815314e-05,-0.000259987853731,-4.33398874875e-05,1793249684396004864
+44,0.733333333,BASELINE,768,746,718,679,662,638,878.547642763,785,812,652,630.095285525,653,0.400980297558,-0.0154052836001,0.0498521451755,0.999999964882,-1.36104471742e-05,-0.000261038025549,-4.3699993344e-05,1793249684412671488
+45,0.750000000,BASELINE,768,746,718,679,662,638,879.132520648,785,812.132520648,652,630.867479352,653,0.400980153994,-0.0154046485822,0.0498515297176,0.999999964688,-1.26305501267e-05,-0.000261787928983,-4.39430707191e-05,1793249684429338368
+46,0.766666667,BASELINE,768,746,718,679,662,638,879.711973568,785,812.711973568,652,630.288026432,653,0.400980605948,-0.0154050482522,0.049852333189,0.999999964896,-1.26658101081e-05,-0.000261043359505,-4.36438930543e-05,1793249684446004992
+47,0.783333333,BASELINE,767.709213731,746,718,678.709213731,662,638,879.709213731,785,813,652,630,653,0.400980525505,-0.0154061918074,0.0498526085221,0.999999964946,-1.41689252869e-05,-0.000260817376181,-4.33730303592e-05,1793249684462671616
+48,0.800000000,BASELINE,767.13103371,746,718,678.13103371,662,638,879.13103371,785,813,652,630,653,0.400979918875,-0.0154080705691,0.0498523618786,0.999999964836,-1.71227706343e-05,-0.000261103928726,-4.31301522552e-05,1793249684479338240
+49,0.816666667,BASELINE,767.444838607,746,718,678,662,638,879,785.444838607,813,652,629.555161393,653.444838607,0.400980712294,-0.0154068357599,0.0498529551856,0.999999965118,-1.58013887031e-05,-0.000260039034104,-4.35243894024e-05,1793249684496005120
+50,0.833333333,BASELINE,767.979585725,746,718,678,662,638,879,785.979585725,813,652.020414275,629.020414275,653.979585725,0.400981826338,-0.015404759831,0.0498537211483,0.999999965479,-1.32530402301e-05,-0.000258697273054,-4.40688722649e-05,1793249684512671744
+51,0.850000000,BASELINE,767.393490041,746,718,678,662,638,879,785.393490041,813,652.606509959,629.606509959,653.393490041,0.400980456139,-0.0154046594847,0.0498524507777,0.999999965013,-1.14214020651e-05,-0.00026065765337,-4.36031203819e-05,1793249684529338368
+52,0.866666667,BASELINE,767,745.808638349,718,678,662,638,879,785,812.808638349,652.808638349,630,653,0.400979644039,-0.0154048756099,0.0498514634355,0.999999964744,-1.07743329707e-05,-0.000261751147865,-4.33928987378e-05,1793249684546004992
+53,0.883333333,BASELINE,767,745.226328146,718,678,662,638,879,785,812.226328146,652.226328146,630,653,0.400979972128,-0.0154057382807,0.0498510543157,0.999999964887,-1.25473181539e-05,-0.000261073609473,-4.370472099e-05,1793249684562671616
+54,0.900000000,BASELINE,767,745.351455451,718,678,662,638,879,785.351455451,812.351455451,652,630,653,0.400979946526,-0.0154057709499,0.0498511662861,0.999999964853,-1.40225236076e-05,-0.000261086068166,-4.39458700507e-05,1793249684579338240
+55,0.916666667,BASELINE,767,745.926361076,718,678,662,638,879,785.926361076,812.926361076,652,630,653,0.400979696053,-0.0154052759162,0.049851609558,0.999999964708,-1.53084050482e-05,-0.000261537216822,-4.41420861304e-05,1793249684596005120
+56,0.933333333,BASELINE,767,746,718,678,662,638,879,785.497061838,812.497061838,652,630,653,0.400980847079,-0.0154054155994,0.0498521735825,0.999999965014,-1.47182221927e-05,-0.00026043541926,-4.39098346953e-05,1793249684612671744
+57,0.950000000,BASELINE,767,746,718,678.08117163,662,638,879.08117163,785,812.08117163,652,630,653.08117163,0.400981918511,-0.0154055458639,0.0498526794024,0.999999965306,-1.38339904247e-05,-0.000259408750859,-4.362038874e-05,1793249684629338368
+58,0.966666667,BASELINE,767,746,718,678.668197042,662,638,879.668197042,785,812.668197042,652,630,653.668197042,0.400981210843,-0.0154050363478,0.0498527119473,0.999999965107,-1.28348151998e-05,-0.000260272006149,-4.33667750514e-05,1793249684646004992
+59,0.983333333,BASELINE,767,746,718.252166312,679,662,638,880,785,812.747833688,652,630,653.747833688,0.400980742742,-0.0154047267814,0.0498528455755,0.999999965009,-1.29364726537e-05,-0.000260638610865,-4.33767677459e-05,1793249684662671360
+60,1.000000000,BASELINE,767,746,718.832162512,679,662,638,880,785,812.167837488,652,630,653.167837488,0.400980586089,-0.0154046771604,0.0498531106173,0.999999965046,-1.44692721864e-05,-0.000260359543003,-4.37294630078e-05,1793249684679338240
+61,1.016666667,BASELINE,767,745.591208122,718.591208122,678.591208122,662,638,879.591208122,785,812.408791878,652,630,653.408791878,0.400980584251,-0.0154056019009,0.0498529751758,0.999999965034,-1.58760203522e-05,-0.000260320914959,-4.3742374325e-05,1793249684696005120
+62,1.033333333,BASELINE,767,745.015949819,718.015949819,678.015949819,662,638,879.015949819,785,812.984050181,652,630,653.984050181,0.400980645456,-0.0154069234167,0.0498526766513,0.999999965001,-1.72314383445e-05,-0.000260380197772,-4.36169203019e-05,1793249684712671744
+63,1.050000000,BASELINE,767.554860003,745.554860003,718,678.554860003,662,638,878.445139997,785,813,652,630,654,0.400980237639,-0.0154067001326,0.0498519059764,0.999999964864,-1.56931678991e-05,-0.000261009974858,-4.35817811604e-05,1793249684729338368
+64,1.066666667,BASELINE,767.869517449,746,718.130482551,679,662,638,878.130482551,785,812.869517449,652,630,654,0.40098028221,-0.0154062485428,0.0498515231087,0.999999964884,-1.44180840375e-05,-0.000261005050804,-4.35981430063e-05,1793249684746004992
+65,1.083333333,BASELINE,767.276380565,746,718.723619435,679,662,638,878.723619435,785,812.276380565,652,630,654,0.400981978246,-0.0154051436454,0.0498525630363,0.999999965477,-1.43687762471e-05,-0.000258691970857,-4.37879807916e-05,1793249684762671616
+66,1.100000000,BASELINE,767.309930453,746,718.690069547,678.690069547,662,638,879,785,812,652.309930453,630,654,0.400982606812,-0.0154052051544,0.0498529630346,0.999999965663,-1.50509940175e-05,-0.000257937563179,-4.37696045398e-05,1793249684779338240
+67,1.116666667,BASELINE,767.890285641,746,718.109714359,678.109714359,662,638,879,785,812,652.890285641,630,654,0.400982303973,-0.0154062843923,0.0498528046729,0.999999965495,-1.63714924261e-05,-0.000258543149558,-4.35695545334e-05,1793249684796004608
+68,1.133333333,BASELINE,768,745.532961452,718,678.467038548,662,638,879,785,812.467038548,652.532961452,630,654,0.40098128398,-0.0154066616218,0.0498521470591,0.999999965122,-1.66654440835e-05,-0.000259953121933,-4.36278902845e-05,1793249684812671488
+69,1.150000000,BASELINE,767.956148039,745.043851961,718,679,662,638.043851961,879.043851961,785,812.956148039,652.043851961,630,654,0.40098018931,-0.0154067282329,0.0498514761488,0.999999964745,-1.64481504111e-05,-0.000261394898898,-4.37361116104e-05,1793249684829338112
+70,1.166666667,BASELINE,767.36816439,745.63183561,718,679,662,638.63183561,879.63183561,785,812.36816439,652.63183561,630,654,0.400980242454,-0.0154049712057,0.0498520843892,0.999999964926,-1.28565240519e-05,-0.000260904548243,-4.37159243964e-05,1793249684846004736
+71,1.183333333,BASELINE,767,746,718.216513762,679,662,638.783486238,879.783486238,785,812.216513762,653,630,653.783486238,0.400980867048,-0.0154043510434,0.0498526048895,0.999999965139,-1.22700076665e-05,-0.000260123637295,-4.36811308155e-05,1793249684862671616
+72,1.200000000,BASELINE,767,746,718.795655795,679,662,638.204344205,879.204344205,785,812.795655795,653,630,653.204344205,0.400982448732,-0.0154056349602,0.0498529784382,0.999999965406,-1.67166018725e-05,-0.0002588560811,-4.36218737445e-05,1793249684879338240
+73,1.216666667,BASELINE,767.372679857,746,718.627320143,679,662,638,879.372679857,785,813,653,630,653.372679857,0.400982153556,-0.015406033912,0.0498527468738,0.999999965309,-1.69199365442e-05,-0.000259208127101,-4.3664270127e-05,1793249684896004864
+74,1.233333333,BASELINE,767.948549141,746,718.051450859,679,662,638,879.948549141,785,813,653,630,653.948549141,0.400980835093,-0.0154059503702,0.0498521853944,0.999999965017,-1.48097961097e-05,-0.000260443199283,-4.37620891677e-05,1793249684912671744
+75,1.250000000,BASELINE,767.476456785,745.476456785,718,678.476456785,662,638,879.476456785,785,813,652.476456785,630,653.476456785,0.400979837236,-0.0154067335871,0.0498517615621,0.999999964766,-1.61472383811e-05,-0.000261355992556,-4.35963604437e-05,1793249684929338112
+76,1.266666667,BASELINE,767.100855864,745.100855864,718,678,662,638,879,785,813,652,630,653,0.400979431299,-0.0154070442054,0.0498516908965,0.999999964678,-1.69497006422e-05,-0.000261657458205,-4.35033715883e-05,1793249684946004736
+77,1.283333333,BASELINE,767.689804823,745.689804823,718,678,662,638,879,785,813,652,630,653,0.400981737737,-0.0154046561348,0.0498532640299,0.999999965365,-1.35261880972e-05,-0.000259153416836,-4.38875422145e-05,1793249684962671360
+78,1.300000000,BASELINE,767.725177057,746,718,678,662,638.274822943,879,785,813,652,630,653,0.40098206434,-0.015404689466,0.0498535267595,0.99999996544,-1.4097734738e-05,-0.000258816672903,-4.39982564574e-05,1793249684979338240
+79,1.316666667,BASELINE,767.144533185,746,718,678,662,638.855466815,879,785,813,652,630,653,0.400980187796,-0.0154074173151,0.0498523312812,0.999999964826,-1.91149537858e-05,-0.000260891681615,-4.38046704428e-05,1793249684996004864
+80,1.333333333,BASELINE,767,746,718,678,662,638.567622071,879,785,812.567622071,652,630,653,0.40098006073,-0.0154060344913,0.049851910171,0.999999964759,-1.65526039956e-05,-0.00026128938227,-4.39874183315e-05,1793249685012671488
+81,1.350000000,BASELINE,767,746,718,678,662,638,879,785,812.008216583,652.008216583,630,653,0.400980515875,-0.0154033552541,0.0498517542319,0.999999964859,-1.15834989644e-05,-0.000261123975317,-4.42859862405e-05,1793249685029338624
+82,1.366666667,BASELINE,767,746,718,678,662,638,879,785,812.595657482,652.595657482,630,653,0.400981140878,-0.015405323117,0.0498521999491,0.999999965019,-1.40318548825e-05,-0.000260449299652,-4.39569887097e-05,1793249685046004992
+83,1.383333333,BASELINE,767.180432175,746,718,678.180432175,662,638,879,785,812.819567825,652.819567825,630,653.180432175,0.400981238404,-0.0154067621254,0.0498523623105,0.999999965063,-1.58743730939e-05,-0.000260216541943,-4.37054948461e-05,1793249685062671616
+84,1.400000000,BASELINE,767.759319104,746,718,678.759319104,662,638,879,785,812.240680896,652.240680896,630,653.759319104,0.400980171088,-0.0154070332465,0.0498518989273,0.999999964864,-1.63789989401e-05,-0.000260959687165,-4.36251550092e-05,1793249685079338240
+85,1.416666667,BASELINE,768,746,718,678.663479219,662.336520781,638,879,785,812.336520781,652,629.663479219,654,0.400980154084,-0.015406909244,0.0498520207865,0.9999999649,-1.64314754189e-05,-0.000260820144251,-4.36283751384e-05,1793249685096005376
+86,1.433333333,BASELINE,768,746,718,678.08747687,662.91252313,638,879,785,812.91252313,652,629.08747687,654,0.400980884524,-0.0154065040556,0.0498525591276,0.999999965101,-1.61621843984e-05,-0.000260052445316,-4.36910598666e-05,1793249685112673024
+87,1.450000000,BASELINE,768,745.513671322,718,678,662.513671322,638,879,785,812.513671322,652,629.486328678,653.513671322,0.400979931028,-0.0154063512786,0.0498524080828,0.999999964934,-1.5908051456e-05,-0.00026069882247,-4.37499403214e-05,1793249685129339392
+88,1.466666667,BASELINE,768,745.061504108,718,678.061504108,662,638,879,785.061504108,812.061504108,652.061504108,630,653,0.400978998633,-0.015406158104,0.0498522395595,0.999999964791,-1.5504636569e-05,-0.000261268405845,-4.37873800316e-05,1793249685146005760
+89,1.483333333,BASELINE,768,745.651840532,718,678.651840532,662,638,879,785.651840532,812.651840532,652.651840532,630,653,0.400980840313,-0.0154052289546,0.0498529821572,0.999999965412,-1.37943089696e-05,-0.000259000519794,-4.3646322472e-05,1793249685162672896
+90,1.500000000,BASELINE,767.761886339,746,718,679,662,638,879,785.761886339,813,652.761886339,630,653,0.400981625231,-0.015404954299,0.0498532381293,0.999999965651,-1.34226809654e-05,-0.000258103164437,-4.3604008951e-05,1793249685179339776
+91,1.516666667,BASELINE,767.181454751,746,718,679,662,638,879,785.181454751,813,652.181454751,630,653,0.400980890922,-0.0154056205593,0.0498527945169,0.999999965347,-1.49755998477e-05,-0.000259176117169,-4.37036522472e-05,1793249685196005888
+92,1.533333333,BASELINE,767,745.603795131,718,679,662,638,879,785,813,652,630,653,0.40098223568,-0.0154064535646,0.0498534275515,0.999999965714,-1.64787439784e-05,-0.000257688401107,-4.35510388967e-05,1793249685212672512
+93,1.550000000,BASELINE,767,745.027396151,718,679,662,638,879,785,813,652,630,653,0.400984525998,-0.0154073624057,0.0498545502457,0.99999996638,-1.79592506704e-05,-0.00025503609209,-4.32836991448e-05,1793249685229339136
+94,1.566666667,BASELINE,767,745.547064512,718,678.452935488,662,638,879,785,813,652,630,653.547064512,0.400982870177,-0.0154064702079,0.0498535244383,0.999999965871,-1.62642252286e-05,-0.000257134818877,-4.33124745247e-05,1793249685246005504
+95,1.583333333,BASELINE,767,745.874962025,718,678,662,638,879,785,812.874962025,652,630,653.874962025,0.400981559747,-0.015405802682,0.0498526959653,0.999999965458,-1.48750223505e-05,-0.000258809077389,-4.33728400305e-05,1793249685262672384
+96,1.600000000,BASELINE,767,745.283524643,718,678,662,638,879,785,812.283524643,652,630,653.283524643,0.400982272164,-0.0154063084348,0.0498530034756,0.999999965652,-1.52176378251e-05,-0.000258015703437,-4.34959209118e-05,1793249685279338752
+97,1.616666667,BASELINE,767.300088049,745.300088049,718,678.300088049,662,638,879,785,812,652,630,653,0.400981858511,-0.015406344238,0.0498528415939,0.999999965502,-1.55558325419e-05,-0.000258547296908,-4.36792567962e-05,1793249685296005376
+98,1.633333333,BASELINE,767.876495765,745.876495765,718,678.876495765,662,638,879,785,812,652,630,653,0.400980407979,-0.0154059473137,0.0498522474982,0.999999965032,-1.5889956625e-05,-0.000260298914215,-4.39180751974e-05,1793249685312672512
+99,1.650000000,BASELINE,768,746,718,678.546832495,662,638,879,785,812,652,630,653.453167505,0.400980961478,-0.0154065237131,0.0498530006045,0.999999965274,-1.49061123164e-05,-0.000259460899881,-4.3698566822e-05,1793249685329339392
+100,1.666666667,BASELINE,767.969521222,745.969521222,718,678,662,638,879,785,812.030478778,652,630,653.969521222,0.40098195582,-0.0154072663712,0.0498540379623,0.999999965667,-1.37276607546e-05,-0.000258061691678,-4.33827259626e-05,1793249685346006016
+101,1.683333333,BASELINE,767.381834215,745.381834215,718,678,662,638,879,785,812.618165785,652,630,653.381834215,0.400981018781,-0.0154061961823,0.0498535556815,0.999999965307,-1.55619711009e-05,-0.000259313060275,-4.35906717601e-05,1793249685362672384
+102,1.700000000,BASELINE,767.202797806,745.202797806,718,678.202797806,662,638,879,785.202797806,813,652,630,653,0.40098083076,-0.0154055024372,0.049853535928,0.999999965305,-1.59256786299e-05,-0.000259289218688,-4.3651191283e-05,1793249685379338752
+103,1.716666667,BASELINE,767.781763101,745.781763101,718,678.781763101,662,638,879,785.781763101,813,652,630,653,0.400982032084,-0.015405506954,0.0498543741114,0.999999965966,-1.35615804565e-05,-0.000256900003178,-4.34382513569e-05,1793249685396005376
+104,1.733333333,BASELINE,768,746,718,678.641211493,662,638,879.358788507,785.641211493,813,652.358788507,630,653.358788507,0.400981838604,-0.0154056414618,0.0498541432523,0.999999965931,-1.30246228689e-05,-0.000257045245985,-4.35483419894e-05,1793249685412672000
+105,1.750000000,BASELINE,768,746,718,678.065359644,662,638,879.934640356,785.065359644,813,652.934640356,630,653.934640356,0.400980801282,-0.0154058546128,0.0498532656337,0.999999965477,-1.35930662434e-05,-0.000258723809675,-4.38538627542e-05,1793249685429338624
+106,1.766666667,BASELINE,767.489110418,746,718,678,662,638,879.489110418,785.510889582,813,652.489110418,630,653.489110418,0.40098215235,-0.0154065640726,0.0498541909662,0.999999965992,-1.3452716948e-05,-0.00025682031558,-4.33302929908e-05,1793249685446005760
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,745,718,678,662,638,879,786,813,652,630,654,0.400979714447,-0.0154079116145,0.0498530931426,0.999999965025,-1.85108235787e-05,-0.000260235249711,-4.34196596155e-05,1793249685488511744
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,745.57971671,718,678,662,638,879.57971671,785.42028329,813,652,630,654,0.400978327595,-0.0154071103772,0.0498517411039,0.999999964535,-1.73819798336e-05,-0.000262138039655,-4.37169969195e-05,1793249685505178368
+109,1.816666667,POSE1_TO_POSE2_PRESS,767.841557791,746,718,678.158442209,662,638,879.841557791,785,812.841557791,652,630,654,0.400977714708,-0.0154067556454,0.0498512220236,0.999999964348,-1.64296217817e-05,-0.000262902460091,-4.37720633264e-05,1793249685521844992
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.265445103,746,718,678.734554897,662,638,879.265445103,785,812.265445103,652,630,654,0.400979142076,-0.0154075779491,0.0498528987103,0.999999964967,-1.59424985037e-05,-0.000260666018093,-4.31884779983e-05,1793249685538511616
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,718,678.689577644,662,638,878.689577644,785,812,652,630,653.689577644,0.400980393392,-0.0154075458889,0.0498533551945,0.999999965271,-1.61671224921e-05,-0.000259472076455,-4.3242589662e-05,1793249685555177984
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,718,678.113919754,662,638,878.113919754,785,812,652,630,653.113919754,0.400981494283,-0.0154067838306,0.0498527690956,0.99999996531,-1.69998878488e-05,-0.000259168883107,-4.38415715989e-05,1793249685571844864
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,878.471563077,785,812.471563077,652,630,653.471563077,0.400982267214,-0.0154053450765,0.0498531617938,0.999999965662,-1.51530608666e-05,-0.000257918555474,-4.38686681048e-05,1793249685588511744
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,718,678,662.058685748,638,879,785,813,652,630,654,0.400982962901,-0.0154041426832,0.0498537712335,0.999999966029,-1.32335524213e-05,-0.00025661763023,-4.37543017789e-05,1793249685605178368
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,718,678,662.638840561,638,879,785,813,652,630,654,0.400983691201,-0.0154065240583,0.0498541607784,0.999999965901,-1.65426714169e-05,-0.000256943504024,-4.36366689926e-05,1793249685621844992
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745.782373787,718,678,662.782373787,638,879,785,813,652,630,653.782373787,0.400990920767,-0.015407806655,0.0498571038197,0.999999967093,-1.81991603617e-05,-0.000252204566458,-4.33157268692e-05,1793249685638511360
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745.205846163,718,678,662.205846163,638,879,785,813,652,630,653.205846163,0.401008871989,-0.0154072771852,0.0498642579962,0.999999970356,-1.71301902772e-05,-0.000239112922081,-4.26594942258e-05,1793249685655177984
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,718.375717843,678,662,638,879,785,813,652,630,653,0.401047844334,-0.0154089860623,0.0498780018233,0.999999976817,-1.66223000453e-05,-0.000210716234498,-4.10973389073e-05,1793249685671844608
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,718.960078699,678,662,638,879,785,813,652,630,653,0.401098490096,-0.0154119379343,0.0498954050049,0.999999983997,-1.64259876333e-05,-0.000173820374147,-3.90321080001e-05,1793249685688511232
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,718.457394762,678,662,638,879,785,813,652,629.457394762,653,0.401166306256,-0.0154163381808,0.0499132152861,0.999999989445,-1.68879617775e-05,-0.000139564405432,-3.66989065925e-05,1793249685705178112
+121,2.016666667,POSE1_TO_POSE2_PRESS,767.123483457,745.123483457,718,678.123483457,662,638,879,785,812.876516543,652,629.123483457,653,0.401237990888,-0.0154211856209,0.0499294839513,0.999999993189,-1.77577346802e-05,-0.000110099088635,-3.44273647505e-05,1793249685721844736
+122,2.033333333,POSE1_TO_POSE2_PRESS,767.698822418,745.698822418,718,678.698822418,662,638,879,785,812.301177582,652,629.698822418,653,0.40131922412,-0.0154272808289,0.0499400022484,0.999999994526,-1.99431124748e-05,-9.74555800921e-05,-3.24533501202e-05,1793249685738511616
+123,2.050000000,POSE1_TO_POSE2_PRESS,767.725286765,745.725286765,718,678.725286765,662,638,879.274713235,785,812.274713235,652,630,653.274713235,0.401405881182,-0.0154324632052,0.0499459635191,0.999999995258,-2.1162410463e-05,-8.97984581363e-05,-3.11955141766e-05,1793249685755177984
+124,2.066666667,POSE1_TO_POSE2_PRESS,767.148789747,745.148789747,718,678.148789747,662,638,879.851210253,785,812.851210253,652,630,653.851210253,0.401498496538,-0.015436642798,0.0499469187083,0.999999995462,-2.13204299349e-05,-8.76190876342e-05,-3.07244300892e-05,1793249685771844608
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745.435923929,718,678,662,638,879.564076071,785,813,652.435923929,630,653.564076071,0.401609695659,-0.0154427299584,0.0499476340138,0.999999995339,-2.22445664483e-05,-8.90673986953e-05,-2.9890393803e-05,1793249685788511232
+126,2.100000000,POSE1_TO_POSE2_PRESS,767.023175142,746,718,678,662,638,879,785,813,652.976824858,630,653.023175142,0.401728295359,-0.0154495551895,0.0499481081199,0.999999995084,-2.34854487354e-05,-9.18824338392e-05,-2.89430075944e-05,1793249685805177856
+127,2.116666667,POSE1_TO_POSE2_PRESS,767.602723777,746,718,678,662,638,879,785,813,652.397276223,630,653.602723777,0.40186935891,-0.015458168272,0.0499447950852,0.999999994538,-2.59322411361e-05,-9.72118835483e-05,-2.83056275024e-05,1793249685821844736
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.818725321,746,718,678,662,638,879,785,813,652,630,654,0.402021186062,-0.0154673918451,0.0499421564014,0.999999993962,-2.90892560146e-05,-0.000102337850615,-2.75045182717e-05,1793249685838511360
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.242349125,746,718,678,662,638,879,785,813,652,630,654,0.402196473255,-0.0154779460262,0.0499409875155,0.999999993355,-3.37942527858e-05,-0.000107020311577,-2.63465494055e-05,1793249685855177984
+130,2.166666667,POSE1_TO_POSE2_PRESS,767.339165417,746,718,678,662,638,879.339165417,785,813,652,629.660834583,653.660834583,0.402391206842,-0.0154883344256,0.0499423071899,0.999999993328,-3.62595377994e-05,-0.000106796378655,-2.49821035722e-05,1793249685871844608
+131,2.183333333,POSE1_TO_POSE2_PRESS,767.924408081,746,718,678,662,638,879.924408081,785,813,652,629.075591919,653.075591919,0.402600049536,-0.0154986025452,0.0499454324082,0.999999993731,-3.7099828308e-05,-0.000103012673198,-2.34678508257e-05,1793249685888511232
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.492655111,746,718,678,662,638.507344889,879.492655111,785,812.492655111,652,629.507344889,653.507344889,0.402859018449,-0.0155100138425,0.0499510796712,0.999999994827,-3.67032146897e-05,-9.26403320239e-05,-2.04336610472e-05,1793249685905177856
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,718,678,662,639,879.088850122,785,812.088850122,652,630,653.911149878,0.403131264435,-0.0155202341471,0.0499576526968,0.999999996082,-3.44394602451e-05,-7.97306559758e-05,-1.70967846603e-05,1793249685921844736
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,718,678,662,639,879.664387344,785,812.664387344,652,630,653.335612656,0.403435512427,-0.015523001882,0.0499672476741,0.99999999795,-2.2953137737e-05,-5.82753331868e-05,-1.3336771943e-05,1793249685938511360
+135,2.250000000,POSE1_TO_POSE2_PRESS,767.240535854,746,718,678,662,638.759464146,879.759464146,785,813,652,630,653.240535854,0.403755607813,-0.0155186183353,0.0499754960457,0.999999999104,-2.04829399152e-06,-4.09201944521e-05,-1.06864259332e-05,1793249685955177984
+136,2.266666667,POSE1_TO_POSE2_PRESS,767.817539418,746,718,678,662,638.182460582,879.182460582,785,813,652,630,653.817539418,0.404097870919,-0.0155042313929,0.0499818607503,0.999999999012,3.20314176129e-05,-2.93004993902e-05,-9.58831033732e-06,1793249685971844608
+137,2.283333333,POSE1_TO_POSE2_PRESS,768,745.598768914,718,678.401231086,662,638,879,785,813,652,629.598768914,653.598768914,0.404460896822,-0.0155024995758,0.0499869823526,0.999999998439,5.25372897098e-05,-1.77680595987e-05,-6.79569466862e-06,1793249685988511488
+138,2.300000000,POSE1_TO_POSE2_PRESS,768,745.011984278,718,678.988015722,662,638,879,785,813,652,629.011984278,653.011984278,0.404833524689,-0.0155066202554,0.0499915290691,0.999999997746,6.67657955234e-05,-6.27597225461e-06,-3.21943958935e-06,1793249686005178112
+139,2.316666667,POSE1_TO_POSE2_PRESS,767.431650615,745.568349385,718,679,662,638,879.568349385,785,813,652,629.568349385,653.568349385,0.405242243588,-0.0155167387436,0.0499780708024,0.999999996674,7.60058162841e-05,-2.95694634246e-05,-1.25551783256e-06,1793249686021844480
+140,2.333333333,POSE1_TO_POSE2_PRESS,767.147403648,746,718,679.147403648,662,638.147403648,880,785,813,652,629.852596352,654,0.40565487879,-0.0155241251772,0.0499621649993,0.999999994385,8.84142174979e-05,-5.84160932669e-05,4.01701556727e-07,1793249686038511360
+141,2.350000000,POSE1_TO_POSE2_PRESS,767.723130973,746,718,679.723130973,662,638.723130973,880,785,813,652,629.276869027,654,0.406076707323,-0.0155232094675,0.0499402379937,0.999999988783,0.000110331480269,-0.000101291506577,1.26539046888e-06,1793249686055177984
+142,2.366666667,POSE1_TO_POSE2_PRESS,768,746,717.702880093,679.702880093,662.297119907,639,880,785.297119907,813,652,629.297119907,654,0.406532983065,-0.0155225063746,0.0499251918374,0.999999982801,0.000133304962283,-0.000128916128242,2.72594614024e-06,1793249686071844352
+143,2.383333333,POSE1_TO_POSE2_PRESS,768,746,717.130501578,679.130501578,662.869498422,639,880,785.869498422,813,652,629.869498422,654,0.407021171531,-0.0155220002549,0.0499165202532,0.999999977483,0.000157256952355,-0.000142412076322,4.73945279069e-06,1793249686088511232
+144,2.400000000,POSE1_TO_POSE2_PRESS,768,746,717.451774414,679,662.548225586,638.548225586,880,785.548225586,813,652,630,654,0.407561528948,-0.0155262577059,0.0499263557015,0.999999976778,0.000179196202809,-0.000119352932801,9.35861000087e-06,1793249686105178112
+145,2.416666667,POSE1_TO_POSE2_PRESS,768,746,718,679.037002115,662,638.037002115,880.037002115,785,813.037002115,652,630,654,0.408123026262,-0.0155317495901,0.0499425683056,0.999999976136,0.000200887328388,-8.45759354142e-05,1.4816410692e-05,1793249686121844736
+146,2.433333333,POSE1_TO_POSE2_PRESS,768,746,718,679.622655071,662,638.622655071,880.622655071,785,813.622655071,652,630,654,0.408769524507,-0.0155346849954,0.0499722945713,0.999999973194,0.000227713361442,-3.61298592533e-05,2.12988679799e-05,1793249686138511616
+147,2.450000000,POSE1_TO_POSE2_PRESS,768,745.795383422,718,679.795383422,662.204616578,638.795383422,881,785,814,652,630,653.795383422,0.409408870991,-0.0155380326044,0.0499940343173,0.999999967346,0.000254077873009,-2.27631326787e-06,2.73278136349e-05,1793249686155178496
+148,2.466666667,POSE1_TO_POSE2_PRESS,768,745.220108917,718,679.220108917,662.779891083,638.220108917,881,785,814,652,630,653.220108917,0.410035262194,-0.0155421269104,0.0500013066762,0.999999960368,0.000279606349022,5.14321812286e-06,3.2535233757e-05,1793249686171845120
+149,2.483333333,POSE1_TO_POSE2_PRESS,767.645437551,745,718,679.354562449,662.645437551,638.354562449,881,785,813.645437551,652.354562449,629.645437551,653.354562449,0.410648921253,-0.015541018459,0.0499843023042,0.999999951077,0.000308917499474,-3.47459347379e-05,3.47543022869e-05,1793249686188512256
+150,2.500000000,POSE1_TO_POSE2_PRESS,767.071139994,745,718,679.928860006,662.071139994,638.928860006,881,785,813.071139994,652.928860006,629.071139994,653.928860006,0.41125468972,-0.0155366856716,0.0499522527682,0.999999935985,0.000340572907102,-0.000103953981721,3.51213814581e-05,1793249686205179648
+151,2.516666667,POSE1_TO_POSE2_PRESS,767.520496241,745.520496241,718,680,662.520496241,639,881,785,813,652.479503759,629.520496241,654,0.411943078101,-0.0155364251762,0.0499421286413,0.999999944632,0.000311894453627,-0.000109857252326,3.72841589801e-05,1793249686221846528
+152,2.533333333,POSE1_TO_POSE2_PRESS,767.888818616,746,718,680,663,639,881,785,813.111181384,652,630,654,0.412663505966,-0.0155377070604,0.049942326829,0.999999959992,0.000262434427563,-9.74986316626e-05,4.04804535355e-05,1793249686238512896
+153,2.550000000,POSE1_TO_POSE2_PRESS,767.312372448,746,718,680,663,639,881,785,813.687627552,652,630,654,0.413469126877,-0.0155430339525,0.049972748626,0.999999984758,0.00016170660958,-4.61742072001e-05,4.69392867084e-05,1793249686255179008
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,718,680,663,639,881.262681733,785,814,652,629.737318267,654,0.414242501873,-0.0155504234999,0.049980332616,0.999999996596,6.44293598723e-05,-3.50273375649e-05,3.78050833645e-05,1793249686271845376
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,718,680,663,639,881.836089412,785,814,652,629.163910588,654,0.414977733316,-0.0155602529605,0.0499609017923,0.999999996985,-2.8766228513e-05,-7.1406448576e-05,1.02258946573e-05,1793249686288512000
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,718,680,663,639,882,785,814.410104274,652,629,654,0.415747611812,-0.0155634076233,0.0499421260809,0.999999994637,-2.61244029069e-05,-0.000100123159873,4.26174912735e-06,1793249686305178880
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,718,680,663,639,882,785,814.984362142,652,629,654,0.416531358536,-0.0155638905454,0.0499236125944,0.999999991956,1.48785399126e-05,-0.000125772818705,6.94951947999e-06,1793249686321845760
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,718,680.579436728,663.579436728,639,882.579436728,785,815,652,629,654,0.417382466393,-0.0155638106898,0.049949750124,0.999999995441,5.39869994961e-05,-7.7498390071e-05,1.40788936154e-05,1793249686338512384
+159,2.650000000,POSE1_TO_POSE2_PRESS,767.169488434,746,718,680.830511566,664,639,883,785.169488434,814.830511566,652,629.169488434,654,0.418237474586,-0.0155625193886,0.0499706946493,0.999999994613,9.21841660765e-05,-4.30997844804e-05,2.04369746716e-05,1793249686355179008
+160,2.666666667,POSE1_TO_POSE2_PRESS,767.746075818,746,718,680.253924182,664,639,883,785.746075818,814.253924182,652,629.746075818,654,0.419097321765,-0.0155583561234,0.0499761636662,0.999999990359,0.000128319854002,-4.70004803729e-05,2.4643816652e-05,1793249686371845632
+161,2.683333333,POSE1_TO_POSE2_PRESS,767.67979093,746,718,680,664,639,883,785.67979093,814.32020907,652,629.67979093,654,0.419958411391,-0.0155557927461,0.0499710275821,0.999999987051,0.000150720605166,-5.02489910991e-05,2.56340769349e-05,1793249686388512256
+162,2.700000000,POSE1_TO_POSE2_PRESS,767.107589018,746,718,680,664,639,883,785.107589018,814.892410982,652,629.107589018,654,0.420820478739,-0.0155544884223,0.0499575456706,0.999999985133,0.00016231246118,-5.29842557689e-05,2.40930047329e-05,1793249686405178880
+163,2.716666667,POSE1_TO_POSE2_PRESS,767.480609767,746,718,680.480609767,664,639,883.961219535,785.480609767,815,652,629,654,0.421724486885,-0.0155589351149,0.0499747546084,0.999999987243,0.000156848538917,-1.58664444818e-05,2.56875979002e-05,1793249686421845248
+164,2.733333333,POSE1_TO_POSE2_PRESS,767.932358501,746,718,681,664,639,885,786,815,652,629,654,0.422633413956,-0.015564138348,0.0499943232899,0.999999988621,0.000146792980688,2.10259195504e-05,2.77246721005e-05,1793249686438511616
+165,2.750000000,POSE1_TO_POSE2_PRESS,767.380219589,746,718,681,664,639,885,786,815,652,629,654,0.4235080083,-0.0155652215411,0.0499798887555,0.999999990837,0.000132138384294,-9.79888828898e-06,2.77301416694e-05,1793249686455178240
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,718,681,664.187451198,639,884.812548802,786,815,652,629.187451198,654.187451198,0.424411348255,-0.0155668674062,0.0499730780651,0.999999991312,0.000126577509818,-2.37947073156e-05,2.80863403339e-05,1793249686471844864
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,718,681,664.789472646,639,884.210527354,786,815,652,629.789472646,654.789472646,0.425378262659,-0.0155697576862,0.0499831283947,0.999999989614,0.000141128462463,-5.71255037225e-07,2.92182174657e-05,1793249686488511488
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,717.617687588,681,664.617687588,639,884,785.617687588,815,652,630,654.617687588,0.426299301074,-0.0155705353456,0.0499966524804,0.999999987298,0.000155981079674,1.00134178232e-05,3.12165277331e-05,1793249686505177856
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,717.02978534,681,664.02978534,639,884,785.02978534,815,652,630,654.02978534,0.427195669459,-0.0155701769356,0.0500120445899,0.999999984718,0.000170995917196,1.38015414827e-05,3.36807653814e-05,1793249686521844480
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,717.55388036,681,664,639,884.55388036,785.55388036,815,652,630,654,0.428056206346,-0.0155617458824,0.0499738349123,0.999999981136,0.000183852273799,-5.44183751122e-05,3.10752395396e-05,1793249686538511360
+171,2.850000000,POSE1_TO_POSE2_PRESS,767.1353238,746,718,681,664.1353238,639,885.1353238,785.8646762,815.1353238,652,630,654.1353238,0.428937719183,-0.0155551770798,0.0499445154568,0.999999976756,0.000187805275964,-0.000101861588286,2.9010210689e-05,1793249686555177984
+172,2.866666667,POSE1_TO_POSE2_PRESS,767.710282146,746,718,681,664.710282146,639,885.710282146,785.289717854,815.710282146,652,630,654.710282146,0.429893590208,-0.0155560579043,0.0499533715941,0.999999983841,0.000163207652446,-6.93216368839e-05,2.95801149142e-05,1793249686571844608
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,746,718,681,665.285213508,639,885.714786492,785.285213508,816,652,630,654.714786492,0.430821562003,-0.0155560397669,0.0499516084499,0.999999984431,0.000160685362029,-6.66120622372e-05,2.96896112595e-05,1793249686588511488
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,746,718,681,665.860117428,639,885.139882572,785.860117428,816,652,630,654.139882572,0.431721196586,-0.0155551085569,0.0499390593364,0.999999978827,0.000180584915568,-9.42011040288e-05,2.93314728303e-05,1793249686605178112
+175,2.916666667,POSE1_TO_POSE2_PRESS,767.553112495,746,718,681.446887505,665.106224991,639,885.446887505,786,816,652,630,654,0.432610828524,-0.0155552360245,0.0499363881355,0.999999976986,0.000191172609259,-9.30026970896e-05,2.88459705469e-05,1793249686621844736
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,718,682,664.036759166,639,886,786,816,652,630,654,0.433498426126,-0.0155557465084,0.0499387644026,0.999999976895,0.00019719227439,-8.06744363718e-05,2.85859552661e-05,1793249686638511360
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,718,682,664.616091095,639,886,786,816,652,630,654,0.434403469936,-0.0155568856993,0.0499687598449,0.999999982455,0.00017998278257,-4.06980660719e-05,3.22586679035e-05,1793249686655177984
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,639,886,785.8072424,816,652,630,654,0.43527434334,-0.0155564372134,0.0499820471735,0.999999984374,0.00017037692334,-3.20845738691e-05,3.45580415885e-05,1793249686671845120
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,639,886,785.235812021,816,652,630,654,0.436078089057,-0.0155528697324,0.049962511377,0.99999998036,0.000175708416182,-8.50835256856e-05,3.41594882183e-05,1793249686688513024
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,718,681.661328328,665,639,886,785.338671672,816,652,630,654.338671672,0.436924847359,-0.0155518411211,0.0499543794372,0.999999978609,0.000179821939403,-9.66120694006e-05,3.33473600513e-05,1793249686705179904
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,718,681.08469935,665,639,886,785.91530065,816,652,630,654.91530065,0.43780182709,-0.0155525963691,0.0499542600702,0.9999999796,0.00018307969336,-7.90026946037e-05,3.22446462501e-05,1793249686721846272
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,886,786,816.504489367,652,630,654.495510633,0.438628597653,-0.015557422253,0.0499659327153,0.999999982432,0.000176169792379,-5.49747838975e-05,3.28372962141e-05,1793249686738512384
+183,3.050000000,POSE1_TO_POSE2_PRESS,767.093669734,746,718,681,665,639,886.093669734,785.906330266,816.906330266,652,630,654,0.439436530081,-0.0155621893013,0.049974425532,0.99999998438,0.000169226091749,-3.85162263344e-05,3.34429006673e-05,1793249686755178752
+184,3.066666667,POSE1_TO_POSE2_PRESS,767.671626425,746,718,681,665,639,886.671626425,785.328373575,816.328373575,652,630,654,0.440191761926,-0.0155630285387,0.049955981066,0.999999982583,0.000171158742677,-6.69060797939e-05,3.26062934146e-05,1793249686771845632
+185,3.083333333,POSE1_TO_POSE2_PRESS,767.751368061,746,718,681,665,639,887,785.248631939,816.248631939,652,630,654,0.44095354978,-0.0155647387038,0.0499506220725,0.99999998162,0.000174036200764,-7.33087804878e-05,3.31094138535e-05,1793249686788512512
+186,3.100000000,POSE1_TO_POSE2_PRESS,767.175614045,746,718,681,665,639,887,785.824385955,816.824385955,652,630,654,0.441723963238,-0.0155675947378,0.0499624794805,0.999999982215,0.000178156730282,-5.07832444161e-05,3.53751981119e-05,1793249686805179136
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,718,681.814116754,665,638.592941623,887,786,816.592941623,652,630,654,0.442462490733,-0.0155667009731,0.0499773736038,0.999999981629,0.000186430066502,-2.44805870739e-05,3.72378344132e-05,1793249686821845504
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,718,682.985534421,665,638.007232789,887,786,816.007232789,652,630,654,0.44318702413,-0.0155641614906,0.0499936004868,0.999999979925,0.000196525993667,3.47978148227e-06,3.89235366424e-05,1793249686838511872
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,745.426414946,717.426414946,681.852829893,665,638,887,785.426414946,816.573585054,652,630,654,0.443800517518,-0.015566662991,0.0499538509692,0.999999977069,0.000199293832706,-6.92039536357e-05,3.68176938567e-05,1793249686855185920
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,745.153546161,717.153546161,681,665,638,886.846453839,785,817,652,630,654,0.444408613243,-0.0155699400753,0.0499140731102,0.999999969967,0.000201174138993,-0.000135609320184,3.4727128209e-05,1793249686871856128
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,745.731309366,717.731309366,681,665,638,886.268690634,785,817,652,630,654,0.445005632196,-0.0155751858078,0.0498761505759,0.999999962875,0.000200855514114,-0.00018119221378,3.28097443718e-05,1793249686888515328
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.306844987,746,718,681.306844987,665,638.306844987,886.306844987,785,817,652,630,654.306844987,0.445613297342,-0.0155823239224,0.0498641302148,0.999999962061,0.000199305938397,-0.000187229247003,3.31733701668e-05,1793249686905178368
+193,3.216666667,POSE1_TO_POSE2_PRESS,767.880444035,746,718,681.880444035,665,638.880444035,886.880444035,785,817,652,630,654.880444035,0.446230217663,-0.015591107169,0.0498746277726,0.999999967404,0.000196686242264,-0.000158887293901,3.55199797109e-05,1793249686921844992
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+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,718,681.939907631,664.939907631,638,886.060092369,785,817,652.939907631,630,654.060092369,0.44730152745,-0.0155947459016,0.0498490552653,0.999999958484,0.000202573987738,-0.00020173842173,3.60181428969e-05,1793249686955178240
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+198,3.300000000,POSE1_TO_POSE2_PRESS,767.788794003,745.211205997,718,681,664.788794003,638,887,784.211205997,817,652,630,654.211205997,0.448675255019,-0.0156006064899,0.0497761755014,0.999999931973,0.000197483157695,-0.000309924934171,3.16335196223e-05,1793249687005178112
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+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,718,681.599586089,664,637,886.599586089,784,817,652,629,654.400413911,0.451911118311,-0.0156200685848,0.0497406696194,0.999999912756,4.61450185024e-05,-0.000415105444988,6.82287745546e-06,1793249687171844864
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+211,3.516666667,POSE1_TO_POSE2_PRESS,767.323153478,746,718,682,664,637,887,784,817,652,629,654.323153478,0.452498418752,-0.0156206709626,0.0497489367494,0.999999920558,6.16636855266e-05,-0.000393669909929,1.02658874884e-05,1793249687221844992
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+214,3.566666667,POSE1_TO_POSE2_PRESS,768.078227236,746,718,682.078227236,664,637,887,784,817.921772764,652.921772764,629,654.921772764,0.452908523924,-0.0156192692003,0.049743933288,0.999999917321,7.63418013833e-05,-0.000399219277462,1.2395901179e-05,1793249687271844864
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+256,4.266666667,HOLD_POSE2,768,746,718,682,664,637,887.962284959,784,817.962284959,652.962284959,628.037715041,655,0.45345471108,-0.015611226545,0.0497043114588,0.999999892003,8.33353842893e-05,-0.000457082176469,1.11800127099e-05,1793249687986606848
+257,4.283333333,HOLD_POSE2,768,746,718,682,664,637,887.457021162,783.457021162,817.457021162,653,628.542978838,655,0.453453705479,-0.01561209453,0.0497038821944,0.999999891252,8.38515530758e-05,-0.000458615655594,1.16901902758e-05,1793249688003273216
+258,4.300000000,HOLD_POSE2,768,746,718,682,664,637,887.122369361,783,817,653,629,655,0.45345299141,-0.0156125879318,0.0497035203456,0.999999890626,8.43386333109e-05,-0.00045988122586,1.20267665049e-05,1793249688019940096
+259,4.316666667,HOLD_POSE2,768,746,718,682,664,637,887.698424542,783,817,653,629,655,0.45345408192,-0.0156115263191,0.0497038473747,0.99999989093,8.44645182175e-05,-0.000459205312942,1.16419448136e-05,1793249688036606976
+260,4.333333333,HOLD_POSE2,768,746,718,682.274319839,664,637,887.725680161,783,817,652.725680161,629,655,0.453454719424,-0.0156115350753,0.0497037838046,0.999999891248,8.30770509479e-05,-0.000458775108061,1.12955429762e-05,1793249688053273600
+261,4.350000000,HOLD_POSE2,768,746,718,682.850039433,664,637,887.149960567,783,817,652.149960567,629,655,0.453454859202,-0.0156127198635,0.0497032910766,0.999999891574,8.00268385425e-05,-0.000458614866712,1.09913536923e-05,1793249688069940224
+262,4.366666667,POSE2_TO_POSE3_RETREAT,768,746,718,681,664,637,887,783,817,653,628,655,0.453454517197,-0.0156109443019,0.0497038063782,0.99999989171,8.14130217241e-05,-0.000458078672336,1.07733653801e-05,1793249688102596608
+263,4.383333333,POSE2_TO_POSE3_RETREAT,767.420033105,746,718,681.579966895,664,637,887,783,817,653,628.579966895,655,0.453455411241,-0.0156108794184,0.0497037584416,0.999999891864,8.13089014668e-05,-0.000457767230129,1.04616221986e-05,1793249688119263232
+264,4.400000000,POSE2_TO_POSE3_RETREAT,767.158630527,746,718,682,664,637,887,783,817,652.841369473,628.841369473,655,0.453456078874,-0.0156109994843,0.0497040347559,0.99999989203,8.13075350888e-05,-0.000457410110416,1.02708386527e-05,1793249688135929856
+265,4.416666667,POSE2_TO_POSE3_RETREAT,767.733871531,746,718,682,664,637,887,783,817,652.266128469,628.266128469,655,0.453456151889,-0.0156116052818,0.0497051626484,0.999999892225,8.15760306341e-05,-0.000456933028049,1.03977306624e-05,1793249688152596480
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,664,637,887,783,817,652,628,655,0.453456001716,-0.0156119864418,0.0497052138931,0.999999892273,8.14071600848e-05,-0.000456849777598,1.07244377669e-05,1793249688169263104
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,664,637,887,783,817,652,628,655,0.453455659391,-0.0156121742016,0.0497043382048,0.999999892195,8.08617420139e-05,-0.000457105594211,1.12231743751e-05,1793249688185929984
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767.526686676,746,718,682,664,637,887,783.473313324,817,652.473313324,628,655,0.45345457936,-0.0156129007438,0.0497037449137,0.999999891535,8.01609913979e-05,-0.00045866448413,1.1430442402e-05,1793249688202596608
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767.063896745,746,718,682,664,637,887,783.936103255,817.063896745,652.936103255,628.063896745,655,0.453452757646,-0.0156135461508,0.0497029750935,0.999999890614,7.94840515529e-05,-0.000460784149695,1.14643224146e-05,1793249688219263232
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767.63938411,746,718,682,664,637,887,783.36061589,817.63938411,652.36061589,628.63938411,655,0.45344648458,-0.0156124559637,0.0497002226831,0.999999888793,7.93108450654e-05,-0.000464767171814,1.06974586682e-05,1793249688235930112
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767.78561209,746,718,681.78561209,664,637,887,783,817.78561209,652,628.78561209,654.78561209,0.453432541272,-0.0156113444613,0.0496938768303,0.999999883876,7.88279079537e-05,-0.000475328225525,9.89462398968e-06,1793249688252596736
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767.211419911,746,718,681.211419911,664,637,887,783,817.211419911,652,628.211419911,654.211419911,0.453405725107,-0.0156101971858,0.0496815001528,0.999999873462,7.78251542043e-05,-0.000496929098316,9.03141986632e-06,1793249688269263360
+273,4.550000000,POSE2_TO_POSE3_RETREAT,767.37344298,746,718,681.74688596,664,637,887,783,817,652.37344298,628,654.37344298,0.453360360633,-0.0156080406502,0.0496627129278,0.999999856764,7.83450072458e-05,-0.000529414490036,7.34351512482e-06,1793249688285929984
+274,4.566666667,POSE2_TO_POSE3_RETREAT,767.964524706,746,718,682.929049412,664,637,887,783,817,652.964524706,628,654.964524706,0.453304186391,-0.0156052959281,0.0496401897001,0.999999835356,7.97522197621e-05,-0.000568243269467,5.17498321533e-06,1793249688302596608
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767.455924305,746,718,682.455924305,664,637,887,783.544075695,817.544075695,652.455924305,628,654.455924305,0.453234651042,-0.015598504603,0.0496194588965,0.999999819684,8.36401722204e-05,-0.000594668200426,2.34940114062e-06,1793249688319263232
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767.122154046,746,718,682,664,637,887,784,817.877845954,652.122154046,628,654.122154046,0.453162027995,-0.0155922163985,0.0496015285037,0.999999805369,8.71581174623e-05,-0.0006177905844,-1.12185580087e-07,1793249688335929856
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767.697500495,746,718,682,664,637,887,784,817.302499505,652.697500495,628,654.697500495,0.453081114565,-0.0155887533435,0.0495935630554,0.999999796606,8.87156899377e-05,-0.000631598761492,-1.0677038099e-06,1793249688352596480
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,664,637,887,784,817.273413137,653,628,655,0.452994472858,-0.0155835329122,0.0495907539347,0.999999793427,9.10256141188e-05,-0.000636283479028,-1.69080036955e-06,1793249688369263360
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,746,718,682.435285614,664,637,887,784,817.564714386,653,628,654.564714386,0.452788791952,-0.0155693703836,0.0495971546687,0.999999798709,9.74739847609e-05,-0.00062695715257,-2.15414018039e-06,1793249688402596608
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,746,718,682.976662957,664,637,887,783.976662957,817,653,628.023337043,654,0.452668174638,-0.0155623838194,0.0496009800767,0.999999800629,0.000100821747557,-0.000623354725609,-2.34415117256e-06,1793249688419263232
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,746,718,682.397513915,664,637,887,783.397513915,817,653,628.602486085,654,0.452523749,-0.0155541011125,0.0496078124522,0.999999806173,0.000103860841411,-0.000613890553208,-2.47025153212e-06,1793249688435929856
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767.819887981,746,718,682,664,637,887,783.180112019,817,652.819887981,629,654,0.452366415344,-0.0155456124533,0.0496117883003,0.999999807875,0.000107161006493,-0.000610538974722,-2.82010222855e-06,1793249688452596480
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767.24559549,746,718,682,664,637,887,783.75440451,817,652.24559549,629,654,0.452180832126,-0.0155366730623,0.0496095125533,0.999999801279,0.000111032533275,-0.000620564989776,-3.65963712614e-06,1793249688469263104
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,664,637,887,783.504531797,817,652,629,655,0.451513514422,-0.0155010157793,0.0496151161147,0.999999801233,0.000123818756189,-0.000618186976301,-6.87834821761e-06,1793249688519263232
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,664.085366841,637,887,783.085366841,817,652,629,654.914633159,0.451250513976,-0.0154904593678,0.0496154354474,0.999999801725,0.000124951830954,-0.000617148811648,-8.03336802147e-06,1793249688535929856
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,664.659127271,637,887,783.659127271,817,652,629,654.340872729,0.45096695403,-0.0154800520471,0.049614816864,0.99999980556,0.000126360696555,-0.000610575686575,-1.05121272318e-05,1793249688552596480
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767.765239093,746,718,682,665,637,887,784,817,652,629,654,0.450675206361,-0.0154739080153,0.0496203858214,0.999999816153,0.00012281710287,-0.000593682790426,-1.22382663664e-05,1793249688569263360
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767.186863721,746,718,682,665,637,887,784,817,652,629,654,0.450371474514,-0.0154740040676,0.0496350113483,0.999999835897,0.000112024701409,-0.000561685068388,-1.28628116087e-05,1793249688585929984
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767.398644551,746,718,682,664.601355449,637,886.601355449,784,817,652,629,654,0.450030330331,-0.0154743218202,0.0496496673308,0.999999852517,9.94645218639e-05,-0.000533746912915,-1.36552947561e-05,1793249688602596352
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767.987557252,746,718,682,664.012442748,637,886.012442748,784,817,652,629,654,0.449671329707,-0.0154747453875,0.0496643378489,0.999999867288,8.60606038208e-05,-0.000507746339448,-1.45279325804e-05,1793249688619262976
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767.433261448,746,718,682,664,637,886,784,817.566738552,652,629,654.566738552,0.449263060535,-0.0154731599771,0.0496717926619,0.999999875031,7.42290420258e-05,-0.000494134857404,-1.60693945403e-05,1793249688635929856
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,886.144585789,784,817.855414211,652,629,654.855414211,0.448840039927,-0.015469084204,0.0496762356231,0.999999879732,6.44422121423e-05,-0.000485854305579,-1.81442935189e-05,1793249688652596736
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,886.719090711,784,817.280909289,652,629,654.280909289,0.44837631875,-0.0154577323902,0.0496721860868,0.999999876583,6.06343858475e-05,-0.000492629896346,-2.17624172083e-05,1793249688669263104
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,887,784.294460044,817,652,629,654,0.447892382228,-0.0154488708869,0.0496669934237,0.999999874274,5.16805692361e-05,-0.000498124920819,-2.55532947414e-05,1793249688685929728
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,887,784.870656504,817,652,629,654,0.447389103813,-0.0154423920865,0.0496607070277,0.99999987265,3.78031202552e-05,-0.000502394713042,-2.9509461841e-05,1793249688702596352
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767.456796828,745.543203172,718,682,664.456796828,637.456796828,886.543203172,784.543203172,817,652,629,654,0.446843427553,-0.015436431205,0.0496539250916,0.999999867806,2.60131690523e-05,-0.000512446841016,-3.32975185956e-05,1793249688719263232
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767.954949569,745,718,682,665,638,886.045050431,784.045050431,817,652,629.045050431,654,0.446284766198,-0.0154305695343,0.0496485429352,0.999999863175,1.4813035629e-05,-0.000521604871475,-3.68709351674e-05,1793249688735929856
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767.375765795,745,718,682,665,638,886.624234205,784.624234205,817,652,629.624234205,654,0.445717652527,-0.0154241067076,0.0496614576723,0.999999874095,3.44195657128e-06,-0.000500317966979,-3.84764397952e-05,1793249688752596480
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,745.201955207,718,682,664.798044793,638,887,785,817,652,629.798044793,654,0.445143845088,-0.0154175515303,0.0496853255657,0.999999890141,-8.80961882401e-06,-0.000467005421659,-3.93282342975e-05,1793249688769263360
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,745.776974055,718,682,664.223025945,638,887,785,817,652,629.223025945,654,0.444557672557,-0.015410825758,0.0497294267784,0.999999914333,-2.26876986073e-05,-0.000411478399691,-3.87877305841e-05,1793249688785930240
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,745.640959189,718,682,664.718081623,638,887,785,817,652,629.359040811,654,0.443933616396,-0.0154030678176,0.0497524152867,0.999999925709,-3.67012444273e-05,-0.000381585070882,-4.03572079263e-05,1793249688802596864
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,638,885,785.257542682,816,652,629,654,0.435428421638,-0.015375183609,0.0497865664108,0.999999940077,-2.81847778459e-05,-0.000336957160695,-7.42442391887e-05,1793249688985930240
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,746,718,681.681747918,664,638,885,785.318252082,816,652,629,654,0.434561039364,-0.0153726478775,0.0497857869085,0.999999938256,-5.92720260569e-05,-0.000337537656549,-7.77315948508e-05,1793249689002596864
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,746,718,681.107020855,664,638,885,785.892979145,816,652,629,654,0.433677118685,-0.0153681902102,0.0497655245591,0.999999924823,-8.82753184634e-05,-0.000368301614899,-8.31563232278e-05,1793249689019263488
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,746,718,681.479888786,664.479888786,638,884.520111214,785.520111214,815.520111214,652,629,654,0.432826218312,-0.0153695246446,0.0497781436692,0.999999929192,-0.000108796100653,-0.000350527355254,-8.3120568592e-05,1793249689035930112
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746,718,681.931531107,664.931531107,638,884,785,815,652,629,654,0.431972772327,-0.0153708686644,0.0497965038438,0.99999993815,-0.000111845779643,-0.000324063047946,-7.85766247314e-05,1793249689052596736
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,718,681.351301388,664.351301388,638,884,785,815,652,629,654,0.431043825798,-0.0153623781699,0.0498015380278,0.999999948945,1.18225644711e-06,-0.000315660540468,-4.96758671596e-05,1793249689069263360
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,746,718,681,664,638,884,785.226382743,815,652,629,654,0.430108085815,-0.0153543822509,0.0497902418361,0.99999994146,7.18456244364e-05,-0.000332637653104,-3.5654592946e-05,1793249689085930240
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,718,681,664,638,884,785.800160635,815,652,629,654,0.429161920809,-0.0153471452803,0.0497538859025,0.999999920519,7.74983998627e-05,-0.000388561010227,-4.44665940604e-05,1793249689102596864
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767.373283131,746,718,681,663.626716869,638.373283131,883.626716869,786,815,652,629.373283131,654,0.428250254269,-0.0153459595533,0.0497576018205,0.999999921961,6.33978677297e-05,-0.000386836864474,-4.91463133888e-05,1793249689119263232
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767.946055338,746,718,681,663.053944662,638.946055338,883.053944662,786,815,652,629.946055338,654,0.427357024374,-0.0153480077177,0.0497827328437,0.999999935151,3.87408200029e-05,-0.00035430487506,-5.1617668054e-05,1793249689135929856
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767.460298166,745.460298166,718,681,663,638.460298166,883,785.460298166,815,652,630,654,0.426416293706,-0.0153496112411,0.0497667312389,0.999999924447,1.06387973671e-05,-0.000384594988723,-5.54880260346e-05,1793249689152596736
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,745.130858692,718,681,663,638,882.869141308,785.130858692,814.869141308,652,630,654,0.425489534424,-0.0153520239435,0.0497579488772,0.999999920122,-1.43706264973e-05,-0.000395158969934,-5.8302002693e-05,1793249689169263360
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,767.280683589,746,718,681,663,638,882.280683589,786,814.280683589,651.719316411,629.719316411,654,0.423756326087,-0.0153612067267,0.0498141119542,0.999999963917,-1.84481920647e-05,-0.000262264741078,-5.51625237623e-05,1793249689202596608
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767.854310704,746,718,681,663,638,882.854310704,786,814.854310704,651.145689296,629.145689296,654,0.42287714165,-0.0153635543276,0.049835454024,0.999999971272,1.42452340087e-05,-0.000233409113727,-5.2661689699e-05,1793249689219263232
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,745.55856209,718,680.55856209,663,638.44143791,882.55856209,786,814.55856209,651.44143791,629,654,0.421970055292,-0.0153616656381,0.0498175146911,0.999999961823,7.77228620012e-06,-0.000270711033148,-5.48493490014e-05,1793249689235929856
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767.967542312,745,718,680,663,639,882,786,814,652,629,654,0.421055470724,-0.0153585932529,0.0497882879789,0.999999944719,-1.16435513517e-05,-0.000327136329385,-5.83851437922e-05,1793249689252596736
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767.388372426,745,718,680,663,639,882,786,814,652,629,654,0.42017458957,-0.0153598754811,0.0497941938274,0.999999944798,-2.44716197726e-05,-0.000326298725551,-5.77430115e-05,1793249689269263360
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,663,638.234840351,881.234840351,786,814,652,629,654,0.418378408708,-0.015355836677,0.0497882997208,0.999999934334,-2.42755553004e-05,-0.000356901496436,-5.79944261964e-05,1793249689302596608
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767.339974454,745,718,680,663,638.339974454,881.339974454,786,814,652,629.339974454,654,0.417527651768,-0.0153549181654,0.0497788917578,0.999999929994,-1.29555776146e-05,-0.000369135233007,-5.98653305662e-05,1793249689319263232
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767.914280031,745,718,680,663,638.914280031,881.914280031,786,814,652,629.914280031,654,0.416715503087,-0.015355906313,0.0497681083782,0.99999992823,1.60530816974e-06,-0.000373643610686,-6.2672180863e-05,1793249689335929856
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767.497675349,745.502324651,718,680,662.497675349,638.497675349,881.497675349,786,814,652,630,654,0.415957172303,-0.0153594746115,0.0497887051216,0.999999942053,-1.27156830928e-05,-0.000334613985214,-6.1358895669e-05,1793249689352596736
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,718,679.908818272,662,638,881,786,813.908818272,652,629.908818272,654,0.415201731687,-0.0153630478134,0.0498101434475,0.999999953811,-3.05073386721e-05,-0.000296478979077,-5.95608867622e-05,1793249689369263360
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,662,638,881,786,813,652,629.248814582,654,0.413621601442,-0.0153635892254,0.0497934166208,0.999999944158,-4.46274315036e-05,-0.000325687731747,-6.01622587158e-05,1793249689402596864
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,767.99787687,746,718,679.99787687,662.99787687,638,881.99787687,785.00212313,813,652,630,654,0.411461595269,-0.0153651882779,0.0497999085673,0.999999945191,-4.21680869844e-05,-0.000322717887045,-6.07718499081e-05,1793249689452596736
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768,746,718,679.423386285,662.423386285,638,880.846772571,785.576613715,813,652,630,654,0.410794537752,-0.0153637167672,0.0498117998418,0.999999950164,-4.33522376621e-05,-0.000307074838684,-5.91335580331e-05,1793249689469263360
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,745.272575479,718,679,661.272575479,638,880,785.272575479,813,652,629.272575479,654,0.40947183865,-0.015358523297,0.0497888844708,0.999999934072,-4.64456904053e-05,-0.000355002676365,-6.05966944746e-05,1793249689502596608
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767.699569904,745,718,679,661.300430096,638,879.699569904,785,812.699569904,652,629.300430096,653.699569904,0.408862185309,-0.0153598593343,0.0497849201658,0.999999932356,-5.40678453787e-05,-0.000358618867931,-6.12887297709e-05,1793249689519263488
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,638,879,785,812.462531703,652,630,653.462531703,0.407759998306,-0.0153685169256,0.049813429553,0.999999948414,-7.36012796295e-05,-0.000306913587811,-5.9662898266e-05,1793249689552596736
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,662,638.791457713,879.791457713,785,812.208542287,652,629.791457713,654,0.406203319399,-0.0153658103223,0.0498007831384,0.999999936903,-7.08225633372e-05,-0.000342658617168,-6.13487325609e-05,1793249689602596864
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,662,638.221395469,879.221395469,785,812.778604531,652,629.221395469,654,0.405711665385,-0.0153636495526,0.0497752276488,0.999999921653,-7.44992320599e-05,-0.00038337446673,-6.45518792553e-05,1793249689619263744
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,746,718,678.64594742,662,638,879.35405258,785.35405258,813,652,629,654,0.405254009878,-0.0153636468753,0.0497642706457,0.999999913613,-8.11781817149e-05,-0.000402186262552,-6.65560031673e-05,1793249689635930368
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746,718,678.06707945,662,638,879.93292055,785.93292055,813,652,629,654,0.404817942606,-0.0153650145377,0.049762583349,0.999999910812,-8.97635123341e-05,-0.00040708948344,-6.77987750627e-05,1793249689652596480
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,718,678,662,638,880,785.473301914,812.473301914,652,629.526698086,654,0.404470137069,-0.0153690462815,0.0497842031211,0.99999992432,-0.000102520913098,-0.000369422187686,-6.61503567365e-05,1793249689669263104
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e0bac633b38b99c1483c45dde9f96e5101d5087b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,405 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af648171d33bf79a8563aa8ee194f612f32cd9c9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
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+size 25439192
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4783cca6016f2e2f76de012bddb21fd5e648d8d2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_01/franka_data.csv
@@ -0,0 +1,401 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,767,745,718,678,662,638,880,785,813,652,630,654,0.400999097223,-0.0155004491189,0.0698326821632,0.999999981407,4.72926963213e-05,-0.000186732272435,8.93638119616e-06,1793249692009609472
+1,0.016666667,BASELINE,767,745,718.572792103,678.572792103,662,638.572792103,880,785,813,652,630,654,0.401000628078,-0.0155015059366,0.0698337745594,0.999999981698,4.78683559835e-05,-0.000185020487586,8.96025256982e-06,1793249692026276352
+2,0.033333333,BASELINE,767,745,718.849585562,679,662,638.849585562,880,785,813.150414438,652,630,654,0.401001404005,-0.0155019676534,0.0698344568346,0.999999981834,4.85483555882e-05,-0.000184100633207,9.02870044254e-06,1793249692042942976
+3,0.050000000,BASELINE,767,745,718.257789068,679,662,638.257789068,880,785,813.742210932,652,630,654,0.400999964645,-0.015500683083,0.0698339356349,0.999999981525,4.95345345689e-05,-0.000185504650415,9.22795535677e-06,1793249692059609600
+4,0.066666667,BASELINE,767,745.326496637,718,679,662,638,880,785,813.673503363,652,630,654,0.400999734145,-0.015501058733,0.069833719805,0.999999981493,4.91343026225e-05,-0.000185777556122,9.30483565002e-06,1793249692076276224
+5,0.083333333,BASELINE,767,745.904985433,718,679,662,638,880,785,813.095014567,652,630,654,0.401000436652,-0.0155027157516,0.0698337396614,0.999999981676,4.76640299371e-05,-0.00018517746277,9.28726642858e-06,1793249692092943104
+6,0.100000000,BASELINE,767,745.518821292,718,679,662,638,880,785,813.481178708,651.518821292,630,654,0.40100014391,-0.0155014231578,0.0698340112909,0.999999981442,5.05139503926e-05,-0.000185681491347,9.29893467359e-06,1793249692109609728
+7,0.116666667,BASELINE,767,745,718,679,662,638,879.943093175,785,813.943093175,651.056906825,630,654,0.400999617248,-0.0154997779324,0.0698342389769,0.999999981157,5.35167194877e-05,-0.000186372972435,9.28311797992e-06,1793249692126276352
+8,0.133333333,BASELINE,767,745,718,679,662,638,879.367492919,785,813.367492919,651.632507081,630,654,0.40099874122,-0.015500202126,0.0698336151316,0.999999981255,5.01739995072e-05,-0.000186795252212,8.96440954115e-06,1793249692142942976
+9,0.150000000,BASELINE,767.213082564,745.213082564,718,679,661.786917436,638,879.213082564,785,813,652,630,654,0.400998057813,-0.0155001502657,0.0698330241523,0.999999981223,4.89176045056e-05,-0.000187307928415,8.729415721e-06,1793249692159609600
+10,0.166666667,BASELINE,767.802443647,745.802443647,718,679,661.197556353,638,879.802443647,785,813,652,630,654,0.400997714554,-0.0154992577509,0.0698324912104,0.999999980976,5.13454121601e-05,-0.000187980233933,8.64225201569e-06,1793249692176275968
+11,0.183333333,BASELINE,767.615100524,745.615100524,718,679,661,638,880,785,813,652,629.615100524,654,0.40099816345,-0.0154999913666,0.0698330679239,0.999999981183,5.09276858022e-05,-0.000186997065769,8.56809804333e-06,1793249692192942848
+12,0.200000000,BASELINE,767.03612642,745.03612642,718,679,661,638,880,785,813,652,629.03612642,654,0.400999011768,-0.0155015449122,0.0698342041495,0.999999981614,4.90751799569e-05,-0.00018517917208,8.5005038514e-06,1793249692209609728
+13,0.216666667,BASELINE,767,745,718,679,661.538902479,638,879.461097521,785,813,652,629.538902479,654,0.400998815403,-0.0155008677106,0.0698338141804,0.999999981466,4.7595540858e-05,-0.000186364308761,8.45751857956e-06,1793249692226276352
+14,0.233333333,BASELINE,767.113263379,745,718,679.113263379,661.886736621,638,879,785,813,652,630,654,0.400998641969,-0.0155002387033,0.0698336092193,0.999999981344,4.64726020988e-05,-0.000187296989555,8.4573916288e-06,1793249692242942976
+15,0.250000000,BASELINE,767.685979762,745,718,679.685979762,661.314020238,638,879,785,813,652,630,654,0.400998843575,-0.0155004074077,0.0698345667538,0.999999981501,4.66959592624e-05,-0.000186394886836,8.62447607492e-06,1793249692259609600
+16,0.266666667,BASELINE,768,745,718,679.730273875,661.269726125,638,879,785.269726125,813.269726125,652,630,654,0.400998455428,-0.015500717722,0.0698346557611,0.999999981449,4.74101661354e-05,-0.00018649090664,8.73277267106e-06,1793249692276276224
+17,0.283333333,BASELINE,768,745,718,679.133138727,661.866861273,638,879,785.866861273,813.866861273,652,630,654,0.400997351407,-0.0155011999307,0.0698336905004,0.999999981141,4.87201944953e-05,-0.000187798504805,8.76970919662e-06,1793249692292942848
+18,0.300000000,BASELINE,768,745.447183037,718,679.447183037,662.447183037,638,879,785.552816963,813.552816963,651.552816963,630,654,0.400996734311,-0.0155002183356,0.0698334946337,0.999999980872,5.1450874001e-05,-0.000188486478799,9.00163286784e-06,1793249692309609216
+19,0.316666667,BASELINE,767.977423986,745.977423986,718.022576014,679.977423986,662.977423986,638.022576014,879.022576014,785.022576014,813,651.022576014,630,654,0.400996362484,-0.0154989358373,0.0698335597894,0.999999980639,5.43305157855e-05,-0.000188903872791,9.27781550301e-06,1793249692326276096
+20,0.333333333,BASELINE,767.404574706,745.404574706,718.595425294,679.404574706,662.404574706,638.595425294,879.595425294,785.595425294,813,651.595425294,630,654,0.400998563387,-0.0155005567796,0.0698346060882,0.999999981166,5.09050752305e-05,-0.000187059688518,9.2690517093e-06,1793249692342942720
+21,0.350000000,BASELINE,767,745.17389262,719,679.17389262,662,638.82610738,880,785.82610738,813.17389262,652,630,654,0.400999933615,-0.015501556923,0.0698353017713,0.999999981483,4.88057726178e-05,-0.000185925425156,9.1713399977e-06,1793249692359609088
+22,0.366666667,BASELINE,767,745.765867067,719,679.765867067,662,638.234132933,880,785.234132933,813.765867067,652,630,654,0.40099930669,-0.0155010645086,0.0698351544856,0.999999981325,4.98948414118e-05,-0.000186497991427,8.85977500362e-06,1793249692376275968
+23,0.383333333,BASELINE,767.350185253,746,719,679.649814747,661.649814747,638,880,785.350185253,814,652,630,654.350185253,0.400998460203,-0.0155005731216,0.0698346550241,0.999999981193,5.04132896121e-05,-0.000187074239103,8.6961688091e-06,1793249692392942848
+24,0.400000000,BASELINE,767.929494064,746,719,679.070505936,661.070505936,638,880,785.929494064,814,652,630,654.929494064,0.400997470059,-0.0155000824069,0.0698339251368,0.999999981078,5.05583851874e-05,-0.000187652895549,8.62937090574e-06,1793249692409609984
+25,0.416666667,BASELINE,767.495529951,746,718.495529951,679,661.504470049,638,880,786,814,652,630,655,0.400998055233,-0.0155000208625,0.0698342747908,0.999999981229,5.00611412988e-05,-0.000186970551066,8.80800914795e-06,1793249692426276096
+26,0.433333333,BASELINE,767.080631822,745.919368178,718,679,662,638,880,785.919368178,813.919368178,652,630,654.919368178,0.400998689799,-0.015500009786,0.0698346493775,0.99999998136,4.97773087546e-05,-0.000186336470087,8.99098080571e-06,1793249692442942720
+27,0.450000000,BASELINE,767.668019762,745.331980238,718,679,662,638,880,785.331980238,813.331980238,652,630,654.331980238,0.40099826284,-0.015499942126,0.0698342404877,0.999999981135,5.1394140776e-05,-0.000187103922578,8.98743675483e-06,1793249692459609344
+28,0.466666667,BASELINE,767.74823774,745.25176226,718.25176226,679,662,638,880.25176226,785.25176226,813.25176226,652,630,654,0.400998590933,-0.0155003754581,0.0698342569956,0.999999981147,5.15214461557e-05,-0.000187007110512,8.97622835276e-06,1793249692476275968
+29,0.483333333,BASELINE,767.169233641,745.830766359,718.830766359,679,662,638,880.830766359,785.830766359,813.830766359,652,630,654,0.400999900446,-0.0155014599821,0.0698348264374,0.999999981466,4.97126572903e-05,-0.000185786923027,8.95505778908e-06,1793249692492942592
+30,0.500000000,BASELINE,767.40815033,746,719,679,662,638,880.59184967,785.59184967,813.59184967,652,630,654,0.401000542725,-0.0155013960961,0.069835538984,0.999999981657,4.86371863331e-05,-0.000185038384199,8.95707315371e-06,1793249692509609728
+31,0.516666667,BASELINE,767.98486518,746,719,679,662,638,880.01513482,785.01513482,813.01513482,652,630,654,0.401000909439,-0.015500857921,0.0698363106325,0.999999981797,4.78645729024e-05,-0.000184484634485,8.9686642183e-06,1793249692526276864
+32,0.533333333,BASELINE,767.43944228,745.43944228,718.43944228,679,662,638,880.56055772,785,813,652,630,654,0.400998286378,-0.0155015592082,0.0698348176825,0.999999981348,4.77669068006e-05,-0.000186929681342,8.96927185109e-06,1793249692542943232
+33,0.550000000,BASELINE,767,745,718,679,662,638,880.860012623,785,813,652,630,654.139987377,0.400996583873,-0.0155016995055,0.0698338129589,0.999999981028,4.83000361227e-05,-0.000188495152017,8.93384857243e-06,1793249692559609856
+34,0.566666667,BASELINE,767,745,718,679,662,638,880.268438599,785,813,652,630,654.731561401,0.400998110928,-0.0154999223415,0.069834580093,0.999999981193,5.08093749131e-05,-0.000186962474499,8.78314771964e-06,1793249692576276224
+35,0.583333333,BASELINE,767,745,718.313811077,679,662,638,880,785.313811077,813,652,630,654.686188923,0.400999419485,-0.0154992215915,0.0698351590241,0.999999981315,5.27072578634e-05,-0.000185779203379,8.84765526522e-06,1793249692592942592
+36,0.600000000,BASELINE,767,745,718.888314791,679,662,638,880,785.888314791,813,652,630,654.111685209,0.401000546528,-0.0154994150519,0.0698355816093,0.999999981404,5.40971856758e-05,-0.000184886194868,9.09094311461e-06,1793249692609609216
+37,0.616666667,BASELINE,767,745,718.535040075,678.535040075,662,638,879.535040075,785.535040075,813,652,630,654,0.401000424398,-0.0154997965611,0.0698356394855,0.999999981451,5.37462973156e-05,-0.000184741000103,8.92162749255e-06,1793249692626275840
+38,0.633333333,BASELINE,767.04205903,745,718,678.04205903,662,638,879.04205903,785.04205903,813,652,630,654,0.400999977712,-0.0155002022236,0.0698355798108,0.999999981463,5.30301862082e-05,-0.000184897776764,8.68909369988e-06,1793249692642942976
+39,0.650000000,BASELINE,767.618361087,745,718,678.618361087,662,638,879.618361087,785.618361087,813,652,630,654,0.400999237464,-0.0155003382698,0.0698351448994,0.999999981146,5.3010955229e-05,-0.000186598031785,8.91827747908e-06,1793249692659610368
+40,0.666666667,BASELINE,768,745,718,679,661.800243016,638,879.800243016,785.800243016,813.199756984,652,630,654,0.40099875385,-0.0155005983275,0.0698349177371,0.999999981009,5.27957851559e-05,-0.000187385212638,9.01345947348e-06,1793249692676277248
+41,0.683333333,BASELINE,768,745,718,679,661.208860631,638,879.208860631,785.208860631,813.791139369,652,630,654,0.400998773369,-0.0155011015109,0.0698350978685,0.999999981229,5.21964746929e-05,-0.000186382303108,8.8459297257e-06,1793249692692943616
+42,0.700000000,BASELINE,767.626189785,745,718,679,661.373810215,638,879.373810215,785.373810215,813.626189785,652,630,654.373810215,0.40099957414,-0.0155013420883,0.0698360651455,0.99999998152,5.14875351075e-05,-0.000185009484012,8.97991244182e-06,1793249692709609984
+43,0.716666667,BASELINE,767.048275545,745,718,679,661.951724455,638,879.951724455,785.951724455,813.048275545,652,630,654.951724455,0.401000801483,-0.0155014392802,0.0698374622117,0.999999981847,5.07187369705e-05,-0.000183434690713,9.27852391138e-06,1793249692726276864
+44,0.733333333,BASELINE,767,745.527282455,718,679.527282455,662,638,880,785.472717545,813,652,630,654.472717545,0.400998732135,-0.0155011358253,0.0698353363491,0.9999999814,4.94063527104e-05,-0.000186228777203,8.84188700601e-06,1793249692742943488
+45,0.750000000,BASELINE,767.104691913,746,718,679.895308087,662,638,880,785.104691913,813,652,630,654,0.400996608995,-0.0155007546848,0.069833310865,0.999999980927,4.87093480647e-05,-0.000188950306503,8.46214061564e-06,1793249692759609856
+46,0.766666667,BASELINE,767.691618696,746,718,679.308381304,662,638,880,785.691618696,813,652,630,654,0.400995622191,-0.0155001839182,0.0698332268456,0.999999980702,5.10751469502e-05,-0.000189503350751,8.65313826506e-06,1793249692776276224
+47,0.783333333,BASELINE,767.72509816,746,718,679,662,638,880,785.72509816,813,652,629.72509816,654,0.400995573398,-0.0154999672601,0.06983331534,0.99999998067,5.19815400056e-05,-0.00018942546217,8.73174102627e-06,1793249692792942848
+48,0.800000000,BASELINE,767.145848864,746,718,679,662,638,880,785.145848864,813,652,629.145848864,654,0.400996563091,-0.0155001426402,0.0698335948265,0.999999980854,5.12722059e-05,-0.000188649059593,8.68590994719e-06,1793249692809610240
+49,0.816666667,BASELINE,767,746,718,679,662,638,880,785.432603225,813.432603225,652,629.432603225,654,0.400998141345,-0.0155016457877,0.0698346658531,0.999999981232,5.0407965682e-05,-0.000186855691621,8.94732235131e-06,1793249692826277120
+50,0.833333333,BASELINE,767,745.989259347,718.010740653,679,662,638,880,786,813.989259347,652,630,654,0.400999870577,-0.0155035297087,0.0698359736434,0.999999981658,4.95374735633e-05,-0.000184780817961,9.30330232178e-06,1793249692842943744
+51,0.850000000,BASELINE,767,745.413559844,718.586440156,679,662,638,880,786,813.413559844,652,630,654,0.400999123128,-0.0155019394124,0.0698357241028,0.999999981374,5.10801342849e-05,-0.000185900114222,9.19499940944e-06,1793249692859609856
+52,0.866666667,BASELINE,767.166274377,745.166274377,718.833725623,678.833725623,662,638,880,785.833725623,813.166274377,652,630,654,0.400998959485,-0.015500368921,0.0698358052035,0.999999981253,5.24006784066e-05,-0.000186187227819,9.07011950094e-06,1793249692876276224
+53,0.883333333,BASELINE,767.756654735,745.756654735,718.243345265,678.243345265,662,638,880,785.243345265,813.756654735,652,630,654,0.401000284919,-0.0154988489448,0.069836729651,0.999999981555,5.31546830767e-05,-0.00018435174343,8.90295765883e-06,1793249692892942848
+54,0.900000000,BASELINE,768,746,718,678.339376823,662,638,880,785,813.660623177,652,630,654.339376823,0.400999304125,-0.0154987839595,0.069835703422,0.999999981304,5.32170181826e-05,-0.000185691762253,8.91274082189e-06,1793249692909609216
+55,0.916666667,BASELINE,768,746,718,678.916728813,662,638,880,785,813.083271187,652,630,654.916728813,0.400996706175,-0.0154997392317,0.0698333093547,0.999999980656,5.2794346123e-05,-0.000189258482731,9.04659998746e-06,1793249692926276096
+56,0.933333333,BASELINE,767.506666646,746,718,679,662,638,880,785.493333354,813,652,630,654.506666646,0.400996658609,-0.0155004286624,0.069833850862,0.99999998086,5.21094832447e-05,-0.000188367474069,9.02306472434e-06,1793249692942943232
+57,0.950000000,BASELINE,767.069197111,746,718,679,662,638,880.069197111,785.930802889,813,652,630,654,0.400997120404,-0.0155008835076,0.0698347880768,0.999999981166,5.15905931869e-05,-0.000186882182435,8.98845761368e-06,1793249692959610368
+58,0.966666667,BASELINE,767.640598534,746,718,679,662,638,880.640598534,785.359401466,813,652,630,654,0.400998159365,-0.0154999609987,0.0698350064469,0.999999981178,5.25969720461e-05,-0.000186536420094,9.06601681085e-06,1793249692976276992
+59,0.983333333,BASELINE,767.779580416,745.779580416,718,679,662,638,880.559160832,785,813,652,630,654.220419584,0.40099855134,-0.0155001748677,0.06983479967,0.999999981148,5.24048418145e-05,-0.00018674875384,9.08092005045e-06,1793249692992943616
+60,1.000000000,BASELINE,767.18548556,745.18548556,718,679,662,638,879.370971119,785,813,652,630,654.81451444,0.400997846487,-0.0155023152274,0.0698338721453,0.999999981046,5.01808904214e-05,-0.000187907222638,8.98960323989e-06,1793249693009609984
+61,1.016666667,BASELINE,767,745,718,679,661.60312381,638,879.39687619,785,813.39687619,652,630,654.60312381,0.400997856518,-0.0155022597241,0.0698341026438,0.999999981093,4.96455567302e-05,-0.000187800235373,8.9426890074e-06,1793249693026276352
+62,1.033333333,BASELINE,767,745,718,679,661.026088263,638,879.973911737,785,813.973911737,652,630,654.026088263,0.400998191066,-0.015501207423,0.0698348588195,0.99999998121,4.9876760159e-05,-0.000187118802514,8.91593104097e-06,1793249693042942976
+63,1.050000000,BASELINE,767.549895496,745,718,679.549895496,661.549895496,638,880,785,813.450104504,652,630,654.549895496,0.400998799612,-0.0155009090825,0.0698353746743,0.999999981362,5.07248162515e-05,-0.000186071577361,8.90869633233e-06,1793249693059609600
+64,1.066666667,BASELINE,767.871560412,745.128439588,718,679.871560412,662,638,880,785,813,652,630,654.871560412,0.400999364421,-0.0155005463741,0.0698357546779,0.99999998148,5.14973857682e-05,-0.000185226005307,8.8663105461e-06,1793249693076276224
+65,1.083333333,BASELINE,767.283679627,745.716320373,718,679.283679627,662,638,880,785,813,652,630,654.283679627,0.400999726371,-0.0154998257079,0.069835689434,0.999999981473,5.18954487711e-05,-0.000185163725001,8.69487897467e-06,1793249693092943104
+66,1.100000000,BASELINE,767,746,718,679,662,638,880,785.299637033,813,652,630,654,0.400999577663,-0.0154993654683,0.0698356445092,0.999999981394,5.27091545402e-05,-0.000185358153482,8.71037827505e-06,1793249693109609984
+67,1.116666667,BASELINE,767,746,718,679,662,638,880,785.878697434,813,652,630,654,0.400998952747,-0.0154991480867,0.0698356185327,0.999999981248,5.39104635814e-05,-0.000185791973047,8.90019800534e-06,1793249693126276608
+68,1.133333333,BASELINE,767.456338884,745.543661116,718,679,662,638,880,785.543661116,813.456338884,652,630,654,0.400998711461,-0.0155007954986,0.0698358644597,0.999999981292,5.13192846239e-05,-0.000186284965299,8.95108174288e-06,1793249693142943232
+69,1.150000000,BASELINE,767.966526944,745,718,679,662,638.033473056,879.966526944,785,813.966526944,652,629.966526944,654.033473056,0.400998547487,-0.0155028363176,0.0698361281215,0.999999981375,4.7874828758e-05,-0.000186753641276,8.96666100271e-06,1793249693159609600
+70,1.166666667,BASELINE,767.391517147,745,718,679,662,638.608482853,879.391517147,785,813.391517147,652,629.391517147,654.608482853,0.400997989608,-0.0155032471747,0.0698355130154,0.999999981455,4.68847110227e-05,-0.00018657523989,9.00671105578e-06,1793249693176276224
+71,1.183333333,BASELINE,767,745.187739509,718,679,662,638.812260491,879.187739509,785.187739509,813,652,629.187739509,654.812260491,0.400997928792,-0.0155033704972,0.0698354370673,0.999999981579,4.61801321057e-05,-0.000186081812316,9.06985198661e-06,1793249693192942592
+72,1.200000000,BASELINE,767,745.776057774,718,679,662,638.223942226,879.776057774,785.776057774,813,652,629.776057774,654.223942226,0.400998928553,-0.0155028803091,0.0698365115171,0.999999981799,4.60848056082e-05,-0.000184916215066,9.18226180382e-06,1793249693209609216
+73,1.216666667,BASELINE,767.359253846,745.640746154,718,679,661.640746154,638,880,785.640746154,813,652,630,654,0.400998968911,-0.0155018149323,0.0698362325758,0.999999981676,4.76281249351e-05,-0.00018519824325,9.01041379304e-06,1793249693226276352
+74,1.233333333,BASELINE,767.939301828,745.060698172,718,679,661.060698172,638,880,785.060698172,813,652,630,654,0.400998419627,-0.0155003960497,0.0698351218527,0.999999981337,5.01785410427e-05,-0.000186369968889,8.66386350753e-06,1793249693242943488
+75,1.250000000,BASELINE,767.485275221,745,718,679,661,638,880,785.514724779,813,652,630,654,0.400998430066,-0.0155001011318,0.0698350021486,0.999999981293,5.05870137545e-05,-0.000186501619896,8.51360860033e-06,1793249693259610368
+76,1.266666667,BASELINE,767,745,718,679,661,638,880,786,813,652,630,654,0.400998433721,-0.015499959814,0.0698350634215,0.999999981277,5.08801159517e-05,-0.000186511437954,8.42486677758e-06,1793249693276277248
+77,1.283333333,BASELINE,767,745,718,679,661,638,880,786,813,652,630,654,0.400998046363,-0.0154999389303,0.0698354775376,0.999999981222,5.19041360009e-05,-0.000186519761837,8.54501148008e-06,1793249693292943360
+78,1.300000000,BASELINE,767.248345519,745.248345519,718.248345519,679,661.248345519,638,880,785.751654481,813.248345519,652,630,654,0.400998035542,-0.0155007938499,0.0698356932501,0.999999981288,5.14136119387e-05,-0.000186296480401,8.64385418197e-06,1793249693309609472
+79,1.316666667,BASELINE,767.841413084,745.841413084,718.841413084,679,661.841413084,638,880,785.158586916,813.841413084,652,630,654,0.400998547385,-0.0155028644493,0.0698356335635,0.999999981518,4.88207879598e-05,-0.000185751713562,8.71312811319e-06,1793249693326276096
+80,1.333333333,BASELINE,768,745.577428127,718.577428127,679,661.577428127,638,880,785.422571873,813.577428127,652,629.577428127,654.422571873,0.400998419386,-0.0155022622319,0.0698354745151,0.999999981364,5.00992748297e-05,-0.000186244251942,8.68880797764e-06,1793249693342942720
+81,1.350000000,BASELINE,768,745.000616035,718.000616035,679,661.000616035,638,880,785.999383965,813.000616035,652,629.000616035,654.999383965,0.400998057843,-0.015500684427,0.0698352791993,0.999999981063,5.27908035599e-05,-0.000187115410332,8.63032568423e-06,1793249693359609600
+82,1.366666667,BASELINE,767.428466084,745,718.571533916,679,661,638,879.428466084,786,813.571533916,652,629.571533916,655,0.400998872653,-0.0154994804999,0.0698354592738,0.999999981009,5.41077983194e-05,-0.000187032854023,8.52446751556e-06,1793249693376276480
+83,1.383333333,BASELINE,767.148722968,745.148722968,718.851277032,679,661.148722968,638.148722968,879.148722968,786,814,652,630,654.851277032,0.400999000726,-0.0154990195164,0.0698355060636,0.999999980966,5.43971955455e-05,-0.000187175788569,8.6290881171e-06,1793249693392943360
+84,1.400000000,BASELINE,767.740954169,745.740954169,718.259045831,679,661.740954169,638.740954169,879.740954169,786,814,652,630,654.259045831,0.400997077125,-0.0155007728801,0.0698351541869,0.999999980953,5.16265667387e-05,-0.000187994202324,9.36153056489e-06,1793249693409610240
+85,1.416666667,BASELINE,767.675131873,746,718,679,661.675131873,638.675131873,880,786,813.675131873,652,630,654.324868127,0.400996800143,-0.0155014742152,0.0698349276993,0.999999981009,5.07634738282e-05,-0.000187929348603,9.37833119113e-06,1793249693426276864
+86,1.433333333,BASELINE,767.097684461,746,718,679,661.097684461,638.097684461,880,786,813.097684461,652,630,654.902315539,0.400997803377,-0.0155013576165,0.0698347986996,0.999999981123,5.13834568662e-05,-0.000187177769827,8.83873277924e-06,1793249693442943232
+87,1.450000000,BASELINE,767,745.519974905,718.480025095,679.480025095,661.480025095,638,880,786,813.480025095,652,630,655,0.400998488796,-0.0155011459073,0.0698356378947,0.999999981275,5.20785072913e-05,-0.000186159998894,9.05599803177e-06,1793249693459609344
+88,1.466666667,BASELINE,767.05726925,745,718.94273075,679.94273075,662,638,880,786,813.94273075,652,630,654.94273075,0.400999030203,-0.0155008895081,0.0698365536921,0.999999981413,5.27075381712e-05,-0.000185226932993,9.34652313407e-06,1793249693476275712
+89,1.483333333,BASELINE,767.62984549,745,718.37015451,679.37015451,662,638,880,786,813.37015451,652,630,654.37015451,0.400998858054,-0.0155004052393,0.069836384949,0.999999981363,5.2604998093e-05,-0.000185543724471,8.90960695947e-06,1793249693492942336
+90,1.500000000,BASELINE,767.790596564,745.209403436,718,679,662,638,879.790596564,786,813.209403436,652,630,654,0.400998624013,-0.0155004702427,0.0698360119066,0.999999981321,5.20956050635e-05,-0.000185931721403,8.5951252349e-06,1793249693509608960
+91,1.516666667,BASELINE,767.198271722,745.801728278,718,679,662,638,879.198271722,786,813.801728278,652,630,654,0.400998276799,-0.0155015396619,0.0698352652764,0.99999998129,5.08422285327e-05,-0.00018644992673,8.50453086666e-06,1793249693526276096
+92,1.533333333,BASELINE,767.382396373,745.617603627,718,679,662,638,879.382396373,785.617603627,813.617603627,651.617603627,630,654,0.400997483307,-0.0155022993985,0.0698349763273,0.999999981259,4.90489837216e-05,-0.000187088495835,8.63652069948e-06,1793249693542942976
+93,1.550000000,BASELINE,767.957199312,745.042800688,718,679,662,638,879.957199312,785.042800688,813.042800688,651.042800688,630,654,0.400996465266,-0.0155029033152,0.0698349176651,0.999999981225,4.69840986634e-05,-0.000187787627227,8.88050599472e-06,1793249693559609600
+94,1.566666667,BASELINE,768,745.534599225,718,678.465400775,662,638,880,785,813,651.534599225,630,654,0.400997580364,-0.0155024869183,0.0698354375259,0.999999981229,4.73509337032e-05,-0.000187671522581,8.95767391185e-06,1793249693576276480
+95,1.583333333,BASELINE,767.885959448,745.885959448,718.114040552,678.114040552,662,638.114040552,880,785.114040552,813.114040552,652,630,654,0.400998580327,-0.0155020196135,0.0698359271658,0.99999998125,4.79019195511e-05,-0.000187415062785,8.98954619352e-06,1793249693592943104
+96,1.600000000,BASELINE,767.298917432,745.298917432,718.701082568,678.701082568,662,638.701082568,880,785.701082568,813.701082568,652,630,654,0.400998390945,-0.0155016816257,0.0698360984138,0.999999981333,4.84052649908e-05,-0.000186848491866,8.88921252946e-06,1793249693609609728
+97,1.616666667,BASELINE,767.284755223,745,718.715244777,679,662,638.715244777,880,786,813.715244777,652,630,654,0.400998633542,-0.0155016076263,0.0698364492556,0.999999981498,4.87288274005e-05,-0.000185876052573,8.91493226031e-06,1793249693626276352
+98,1.633333333,BASELINE,767.864932271,745,718.135067729,679,662,638.135067729,880,786,813.135067729,652,630,654,0.400999324298,-0.015501807504,0.0698369864184,0.999999981748,4.88658722852e-05,-0.000184482541578,9.07142720669e-06,1793249693642942976
+99,1.650000000,BASELINE,767.559180914,745.440819086,718,679,662,638,880,785.559180914,813,652,630,654,0.400999354782,-0.0155021107686,0.0698365685624,0.999999981633,4.80730812673e-05,-0.000185320911871,8.8875966437e-06,1793249693659610112
+100,1.666666667,BASELINE,767,745.984527533,718,679,661.984527533,638,880.015472467,785,813,652,630,654,0.40099915269,-0.0155024298789,0.0698358718077,0.999999981403,4.70788408222e-05,-0.000186826197299,8.61844684939e-06,1793249693676276736
+101,1.683333333,BASELINE,767,745.40738966,718,679,661.40738966,638,880.59261034,785,813,652,630,654,0.400997781121,-0.0155021853459,0.0698355707426,0.999999981095,4.90143713821e-05,-0.000187955922672,9.0009722189e-06,1793249693692943360
+102,1.700000000,BASELINE,767,745.173425687,718,679,661.173425687,638,880.826574313,785,813,652,630,654,0.400996562287,-0.0155016998747,0.0698352230413,0.999999980845,5.05660858578e-05,-0.000188861302999,9.23239725607e-06,1793249693709609984
+103,1.716666667,BASELINE,767,745.763066752,718,679,661.763066752,638,880.236933248,785,813,652,630,654,0.40099571001,-0.0155006361603,0.0698347634146,0.999999980744,5.11966553272e-05,-0.000189228263168,9.10118690271e-06,1793249693726276352
+104,1.733333333,BASELINE,767,746,718,679,662,638,880,785.34599617,813.34599617,652,630,654,0.400995369478,-0.0155008031456,0.0698344494762,0.999999980676,5.09627551361e-05,-0.000189662887655,8.90460479313e-06,1793249693742942720
+105,1.750000000,BASELINE,767,746,718,679,662,638,880,785.924417061,813.924417061,652,630,654,0.400995372712,-0.0155017968598,0.0698342334047,0.999999980628,5.01481430283e-05,-0.000190142966036,8.66410885398e-06,1793249693759609344
+106,1.766666667,BASELINE,767.50122126,745.49877874,718,679,662,638,879.49877874,786,813.49877874,652,630,654.50122126,0.400996221162,-0.0155007437688,0.0698348152146,0.999999980646,5.29586384128e-05,-0.000189280545783,8.68101719731e-06,1793249693776276224
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,745,718,679,661,638,879,785,813,652,630,654,0.40099846356,-0.0155013596151,0.0698361768468,0.999999981282,5.10399849298e-05,-0.000186409684267,9.06455438698e-06,1793249693819788288
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,745.591862861,718,679,661.591862861,638,879.591862861,785.591862861,813,652,630,654,0.40099664838,-0.0155008478606,0.069835413848,0.999999980814,5.10987974963e-05,-0.000188895803079,8.8651773505e-06,1793249693836455168
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,745.821441763,718,679,662,638,880,786,813,652,630,654,0.400995357569,-0.0155002896047,0.0698347615564,0.999999980507,5.14487418905e-05,-0.000190429668935,8.71256540379e-06,1793249693853122048
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,745.246225575,718,679,662,638,880,786,813,652,630,654,0.400995231613,-0.0154996280485,0.0698343551953,0.999999980566,5.24454206945e-05,-0.000189848154257,8.66383966293e-06,1793249693869788672
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.669386742,745.330613258,718,679,662,638,880,785.669386742,813,652,630,654,0.400996125509,-0.0155006219677,0.0698350120816,0.999999980825,5.19008083709e-05,-0.000188627480229,8.72925250324e-06,1793249693886455040
+112,1.866666667,POSE1_TO_POSE2_PRESS,767.091333512,745.908666488,718,679,662,638,880,785.091333512,813,652,630,654,0.40099778269,-0.01550285489,0.0698364647312,0.999999981229,5.02026516999e-05,-0.000186928441957,8.88008977136e-06,1793249693903121152
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,718,679.485132326,662,638,880,785,813,652,630,654,0.400998127755,-0.0155019437562,0.0698361312308,0.999999981122,5.15371548908e-05,-0.000187144065805,8.75297988757e-06,1793249693919787776
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,718,679.937425819,662,638,880,785.062574181,813,652,630,654.062574181,0.400997994479,-0.0155006719258,0.0698355172037,0.999999980861,5.3006147765e-05,-0.000188133820643,8.59828315953e-06,1793249693936454656
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,718,679.349284388,662,638,880,785.650715612,813,652,630,654.650715612,0.400995911594,-0.0155013259184,0.069835362157,0.999999980122,5.08249524675e-05,-0.000192607881697,8.64995464721e-06,1793249693953121280
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745.764868593,718,679,662,638,880.235131407,785.764868593,813,652,630,654.764868593,0.400997725717,-0.0155016955167,0.0698368498232,0.999999979481,5.04239565146e-05,-0.000195998536061,8.94261822097e-06,1793249693969787904
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745.185900905,718,679,662,638,880.814099095,785.185900905,813,652,630,654.185900905,0.401005238497,-0.0155016492407,0.0698407396538,0.999999979006,5.26261737076e-05,-0.000197804907729,9.5876882341e-06,1793249693986455040
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661.608432944,638,880.216865887,785.391567056,813.391567056,652,630,654,0.401028545573,-0.0155019399747,0.0698495545523,0.999999980023,5.33747255077e-05,-0.000192351199682,1.0270925327e-05,1793249694003121664
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661.031674227,638,879.063348454,785.968325773,813.968325773,652,630,654,0.401059322564,-0.0155023900976,0.0698606987621,0.999999981683,5.34357663736e-05,-0.000183463836691,1.09722135987e-05,1793249694019788032
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662.116611505,638,880.116611505,785.441694248,813.441694248,652,630,654,0.401118954345,-0.015505919109,0.0698775542399,0.999999985532,5.17789163894e-05,-0.0001616134089,1.16506804309e-05,1793249694036454656
+121,2.016666667,POSE1_TO_POSE2_PRESS,767.145981334,745.145981334,718,679,662.854018666,638,880.708037332,785.145981334,813,652,630,654.145981334,0.401183637227,-0.0155099947265,0.0698930324028,0.999999988713,4.96530293686e-05,-0.000141280678493,1.21587620417e-05,1793249694053121280
+122,2.033333333,POSE1_TO_POSE2_PRESS,767.724551757,745.724551757,718,679,662.275448243,638,879.550896486,785.724551757,813,652,630,654.724551757,0.401258319492,-0.0155151599434,0.0699034456965,0.999999990697,4.64330483211e-05,-0.000127677537028,1.21658679994e-05,1793249694069787648
+123,2.050000000,POSE1_TO_POSE2_PRESS,768,746,718,679,662,638,879.300740157,785.699259843,813,652,630,654.699259843,0.401341741702,-0.0155185739216,0.0699105082922,0.999999991736,4.65406726541e-05,-0.000119295931167,1.14641861549e-05,1793249694086454272
+124,2.066666667,POSE1_TO_POSE2_PRESS,768,746,718,679,662,638,879.874763969,785.125236031,813,652,630,654.125236031,0.401433105924,-0.0155203965426,0.069914526096,0.999999992027,4.96721040879e-05,-0.000115659154203,1.01184263023e-05,1793249694103120896
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,746,718,679,662,638,879.54959822,785,813,652,630,654,0.401545332453,-0.0155235783964,0.0699179582848,0.999999992458,5.11826733999e-05,-0.00011133095733,8.30777508705e-06,1793249694119787776
+126,2.100000000,POSE1_TO_POSE2_PRESS,767.972843471,745.972843471,718.027156529,679,662,638,879.027156529,785,813,652,630,654,0.401664655609,-0.0155271190202,0.0699212278783,0.99999999291,5.21054307265e-05,-0.000106890310426,6.32520694787e-06,1793249694136454656
+127,2.116666667,POSE1_TO_POSE2_PRESS,767.382259497,745.382259497,718.617740503,679,662,638,879.617740503,785,813,652,630,654,0.401810430049,-0.0155302337136,0.0699245145468,0.999999993313,5.02168342548e-05,-0.000104119692744,3.46736500463e-06,1793249694153121280
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.203833703,745,718.796166297,678.796166297,662,638,880,785,813,652,630,654,0.401965515128,-0.0155326101179,0.0699265848294,0.999999993452,4.90117219804e-05,-0.000103414310914,2.8052736153e-07,1793249694169788160
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.78168661,745,718.21831339,678.21831339,662,638,880,785,813,652,630,654,0.402137684502,-0.0155336318178,0.0699264231368,0.999999993119,4.90607509739e-05,-0.000106498478716,-3.50999183282e-06,1793249694186454784
+130,2.166666667,POSE1_TO_POSE2_PRESS,767.642495052,745.357504948,718,678.357504948,662,638,880.357504948,785,813,652,630,654,0.402332456601,-0.0155357100684,0.0699272558044,0.999999993215,4.74118253458e-05,-0.000106124698963,-7.73375477797e-06,1793249694203121152
+131,2.183333333,POSE1_TO_POSE2_PRESS,767.067912055,745.932087945,718,678.932087945,662,638,880.932087945,785,813,652,630,654,0.402540953159,-0.0155384298598,0.0699286922503,0.999999993553,4.47318967102e-05,-0.00010365124364,-1.22205849608e-05,1793249694219787520
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.507365299,745.492634701,718,678.492634701,662,638,880.492634701,785,813,651.492634701,629.492634701,654.507365299,0.402785038332,-0.015534397873,0.0699309426657,0.999999994507,2.4251644056e-05,-0.000100555995581,-1.69159001334e-05,1793249694236454144
+133,2.216666667,POSE1_TO_POSE2_PRESS,768,745.08557927,718,678.08557927,662,638,880,785,813,651.08557927,629,654.91442073,0.403042344666,-0.0155293897137,0.0699347635785,0.999999995276,4.89337773054e-06,-9.46342154386e-05,-2.16350417305e-05,1793249694253121024
+134,2.233333333,POSE1_TO_POSE2_PRESS,768,745.680724874,718,678.680724874,662,638,880,785,813,651.680724874,629,654.319275126,0.403349971128,-0.0155239576499,0.0699472861133,0.999999997013,6.42206554081e-06,-7.23786063862e-05,-2.63296652624e-05,1793249694269787904
+135,2.250000000,POSE1_TO_POSE2_PRESS,767.733957916,746,718,679,661.733957916,638,880,785,813,652,629.266042084,654,0.403662939858,-0.015522490706,0.0699542425409,0.999999997616,1.08341152183e-05,-6.1747020802e-05,-2.89356417931e-05,1793249694286454528
+136,2.266666667,POSE1_TO_POSE2_PRESS,767.160015506,746,718,679,661.160015506,638,880,785,813,652,629.839984494,654,0.403982091371,-0.015525612742,0.0699547571065,0.999999997319,1.85831859425e-05,-6.45683480731e-05,-2.91243497707e-05,1793249694303121152
+137,2.283333333,POSE1_TO_POSE2_PRESS,767.414246379,746,718,679.414246379,661.414246379,638,880,785.414246379,813,652,630,654,0.404336486155,-0.0155293616354,0.069959458725,0.999999997775,9.06976697091e-06,-5.94607139549e-05,-2.88529182519e-05,1793249694319787776
+138,2.300000000,POSE1_TO_POSE2_PRESS,767.988631753,746,718,679.988631753,661.988631753,638,880,785.988631753,813,652,630,654,0.404704505243,-0.0155333528586,0.0699657789706,0.999999998256,-7.11697003343e-06,-5.12879089424e-05,-2.84036064056e-05,1793249694336454400
+139,2.316666667,POSE1_TO_POSE2_PRESS,767.419434833,745.419434833,718,680,662,638,880,785.419434833,813,652,630,654,0.40511846674,-0.0155325786012,0.06996770103,0.99999999838,-7.32344149215e-06,-4.74408683104e-05,-3.05855322523e-05,1793249694353121024
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,718,679.83116565,662,638,880,785.16883435,813.16883435,652,629.83116565,654,0.405540481958,-0.0155312669477,0.0699670106118,0.999999998321,-7.04930273677e-06,-4.72750636289e-05,-3.27581788924e-05,1793249694369787648
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,718,679.252647743,662,638,880,785.747352257,813.747352257,652,629.252647743,654,0.405979788818,-0.0155288847695,0.0699601964009,0.999999997816,-6.39191061317e-06,-5.58299866457e-05,-3.47793890025e-05,1793249694386454272
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,880,785.677176426,813.677176426,652,629.322823574,654,0.406437307455,-0.0155257550882,0.069948788307,0.99999999664,-1.77146254258e-06,-7.31934800994e-05,-3.68783455149e-05,1793249694403121408
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,880,785.104067074,813.104067074,652,629.895932926,654,0.406908945766,-0.0155220458658,0.0699338185655,0.999999994478,5.92155099184e-06,-9.73862771325e-05,-3.90375791704e-05,1793249694419788288
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745,718,679.471310933,662,638.471310933,880.471310933,785,813.471310933,652,630,654,0.407445693771,-0.0155219715263,0.0699329261586,0.999999994933,3.1704795282e-06,-9.20490352243e-05,-4.06395109508e-05,1793249694436454912
+145,2.416666667,POSE1_TO_POSE2_PRESS,767.048478606,745.048478606,718,680,662,638.951521394,881,785.048478606,814,652,629.951521394,654,0.408002901449,-0.0155229681824,0.0699365263493,0.999999996068,-1.53423586007e-06,-7.8101048455e-05,-4.19786199354e-05,1793249694453121280
+146,2.433333333,POSE1_TO_POSE2_PRESS,767.640057145,745.640057145,718,680,662,638.359942855,881,785.640057145,814,652,629.359942855,654,0.408627480216,-0.0155269282128,0.0699554659654,0.999999998282,-2.16558846343e-06,-4.10877451264e-05,-4.1758586863e-05,1793249694469787648
+147,2.450000000,POSE1_TO_POSE2_PRESS,767.773904078,745.773904078,718,680,662.226095922,638,881,785.773904078,814,651.773904078,629.226095922,654,0.409243362816,-0.0155284788393,0.0699644632857,0.999999998867,-4.22252049167e-06,-2.14968167928e-05,-4.22618074286e-05,1793249694486454016
+148,2.466666667,POSE1_TO_POSE2_PRESS,767.196473672,745.196473672,718,680,662.803526328,638,881,785.196473672,814,651.196473672,629.803526328,654,0.409845732253,-0.01552628545,0.069958011094,0.999999998581,-8.4946857723e-06,-2.89788298923e-05,-4.38889048006e-05,1793249694503120384
+149,2.483333333,POSE1_TO_POSE2_PRESS,767.379585745,745.379585745,718,680,662.620414255,638.379585745,881,785,814,651,629.620414255,654,0.41047376814,-0.0155231226879,0.0699509726135,0.999999998104,-5.4649686078e-06,-4.12217347619e-05,-4.54205878648e-05,1793249694519787264
+150,2.500000000,POSE1_TO_POSE2_PRESS,767.954938073,745.954938073,718,680,662.045061927,638.954938073,881,785,814,651,629.045061927,654,0.411115041159,-0.0155194599841,0.069943631762,0.999999997336,1.33060289959e-06,-5.59200095584e-05,-4.69030621386e-05,1793249694536454144
+151,2.516666667,POSE1_TO_POSE2_PRESS,767.456688639,745.456688639,718,679.456688639,662.543311361,638.456688639,881,785,814,651.543311361,629,654,0.411826405629,-0.0155200989119,0.0699632966022,0.9999999987,3.34632552538e-06,-2.09246463433e-05,-4.63823104237e-05,1793249694553121792
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745,718,679.130004117,663,638.130004117,881,785.130004117,814,652,629,654.130004117,0.412559297839,-0.0155219657491,0.0699875347084,0.999999998769,-8.33315863994e-07,2.00387766581e-05,-4.53879691156e-05,1793249694569789440
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,718,679.707111829,663,638.707111829,881,785.707111829,814,652,629,654.707111829,0.413345743126,-0.0155267984197,0.0700196086778,0.999999996505,-2.4922853955e-05,6.70045247272e-05,-4.3350315398e-05,1793249694586455808
+154,2.566666667,POSE1_TO_POSE2_PRESS,767.284310756,745.284310756,718,680,663,639,881.284310756,785.715689244,814,652,629,654.715689244,0.414099074344,-0.0155269015557,0.0700246259637,0.999999996323,-3.03487482445e-05,6.74784502174e-05,-4.33444620738e-05,1793249694603121920
+155,2.583333333,POSE1_TO_POSE2_PRESS,767.861603752,745.861603752,718,680,663,639,881.861603752,785.138396248,814,652,629,654.138396248,0.41481828161,-0.015522130907,0.0700017613409,0.99999999863,-1.65417601938e-05,2.00425574338e-05,-4.54323788588e-05,1793249694619788032
+156,2.600000000,POSE1_TO_POSE2_PRESS,767.56346049,746,718,680.43653951,663,639,882.43653951,785,814.43653951,652,629,654.43653951,0.4155581004,-0.0155195441398,0.0699580036713,0.999999997384,-1.24020025373e-05,-5.00171739983e-05,-5.07676277505e-05,1793249694636454656
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,718,681,663,639,883,785.011058869,815,652,629.011058869,655,0.416306128085,-0.0155178525359,0.0699089496033,0.999999990466,-1.15027073486e-05,-0.000125259747602,-5.69775658703e-05,1793249694653121280
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,718,681,663,639,883,785.602743466,815,652,629.602743466,655,0.417143913045,-0.0155270041449,0.0699277166346,0.999999993446,-2.06902232864e-05,-9.80647895422e-05,-5.53496458737e-05,1793249694669788160
+159,2.650000000,POSE1_TO_POSE2_PRESS,767.190070872,746,718,681,663.190070872,639,883,786,815,652,629.809929128,655,0.41799708544,-0.0155347047312,0.0699496802463,0.999999996007,-2.94021050326e-05,-6.5509627315e-05,-5.31891533304e-05,1793249694686454784
+160,2.666666667,POSE1_TO_POSE2_PRESS,767.768495603,746,718,681,663.768495603,639,883,786,815,652,629.231504397,655,0.418881697479,-0.0155394405793,0.0699781751276,0.999999997821,-3.71421678037e-05,-2.20024678586e-05,-4.99405057097e-05,1793249694703121408
+161,2.683333333,POSE1_TO_POSE2_PRESS,767.654616088,746,718,680.654616088,664,639,883,786,815,652,629,655,0.419771160623,-0.0155427471602,0.07000311692,0.999999997477,-4.88341957002e-05,1.7558764751e-05,-4.85120560101e-05,1793249694719788288
+162,2.700000000,POSE1_TO_POSE2_PRESS,767.078753077,746,718,680.078753077,664,639,883,786,815,652,629,655,0.420663860937,-0.0155450999726,0.0700256876897,0.999999995354,-6.31634201131e-05,5.44868281675e-05,-4.82982477659e-05,1793249694736455168
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745.491028537,718,680.508971463,663.491028537,639,883.508971463,786,815,651.491028537,629,655,0.421522211692,-0.0155443310782,0.0700273785273,0.999999995657,-5.93059473427e-05,5.29721398806e-05,-4.86129118243e-05,1793249694753121280
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745.096813132,718,681,663.096813132,639,884,786,815,651.096813132,629.096813132,655,0.42236675947,-0.0155423319385,0.0700135427018,0.999999996848,-5.54114760538e-05,2.66299366286e-05,-5.02516105983e-05,1793249694769787648
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745.675877637,718,681,663.675877637,639,884,786,815,651.675877637,629.675877637,655,0.423169657359,-0.0155366680923,0.0699388417306,0.999999991828,-6.56845653711e-05,-9.30478394888e-05,-5.80686309793e-05,1793249694786454272
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,718,681,663.746719053,639,884.253280947,786,815,652,629.746719053,655,0.424017226584,-0.0155318035614,0.069884929636,0.999999980594,-6.94286346106e-05,-0.000172534547219,-6.49853267725e-05,1793249694803120896
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,718,681,663.171427635,639,884.828572365,786,815,652,629.171427635,655,0.424921589129,-0.0155279552445,0.069857447612,0.999999975207,-6.48719916831e-05,-0.000200924082113,-7.07573906003e-05,1793249694819787520
+168,2.800000000,POSE1_TO_POSE2_PRESS,767.401741465,746,718,681,663.401741465,639,885.401741465,786,815.401741465,652,629.401741465,655,0.425855651081,-0.0155304276021,0.0698938053531,0.999999985544,-6.06101398485e-05,-0.000144365311019,-6.63147230443e-05,1793249694836454400
+169,2.816666667,POSE1_TO_POSE2_PRESS,767.974009672,746,718,681,663.974009672,639,885.974009672,786,815.974009672,652,629.974009672,655,0.426802319454,-0.0155355828892,0.0699572610883,0.999999995411,-5.64734174928e-05,-5.17486265407e-05,-5.7536219277e-05,1793249694853121536
+170,2.833333333,POSE1_TO_POSE2_PRESS,767.433996495,746,718,681,664.566003505,639,885.433996495,786,816,652,629.433996495,655,0.42772549882,-0.0155371785258,0.0699955942532,0.999999996517,-6.17888310769e-05,-4.0253649298e-06,-5.59567962293e-05,1793249694869788160
+171,2.850000000,POSE1_TO_POSE2_PRESS,767.155118215,746,718,681.155118215,665,639,885.155118215,786,816,652,629.155118215,655,0.428651563858,-0.0155390256151,0.0700275853022,0.999999995498,-6.60418540645e-05,4.0398734763e-05,-5.48602868716e-05,1793249694886454528
+172,2.866666667,POSE1_TO_POSE2_PRESS,767.733808373,746,718,681.733808373,665,639,885.733808373,786,816,652,629.733808373,655,0.429588560176,-0.0155420217862,0.0700455221395,0.999999993012,-6.6165887707e-05,8.16463824e-05,-5.41471654546e-05,1793249694903121152
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,746,717.701544079,681.701544079,664.701544079,639,886.298455921,786,816,652,629.701544079,655,0.430447336205,-0.0155402978255,0.0700217670829,0.999999995216,-6.74477917258e-05,4.26160429114e-05,-5.65876570027e-05,1793249694919787776
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,746,717.148858297,681.148858297,664.148858297,639,886.851141703,786,816,652,629.148858297,655,0.431239482806,-0.0155345531757,0.0699624981568,0.999999993566,-6.97159890175e-05,-6.47964626861e-05,-6.1714449653e-05,1793249694936454144
+175,2.916666667,POSE1_TO_POSE2_PRESS,767.552939946,746,717.447060054,681,664,639,886.552939946,786,815.552939946,652,629.447060054,655,0.432047785374,-0.0155325270196,0.0699091948829,0.99999998385,-6.94525136488e-05,-0.000151818892092,-6.65337255165e-05,1793249694953120768
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,717.94424502,681.05575498,664,639,886.05575498,786,815.05575498,652,630,655,0.432873539652,-0.0155322645965,0.0698690295753,0.999999972576,-6.85014882791e-05,-0.000212642966007,-7.02777157081e-05,1793249694969787392
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,717.365206145,681.634793855,664,639,886.634793855,786,815.634793855,652,630,655,0.433807191089,-0.0155356908988,0.0699315306282,0.999999990634,-6.98561947639e-05,-9.81267347234e-05,-6.49935932448e-05,1793249694986454272
+178,2.966666667,POSE1_TO_POSE2_PRESS,767.213404681,746,717.213404681,682,664.213404681,639,887,786,816,652,630,655,0.434718059321,-0.0155381890646,0.0699847795552,0.999999995541,-7.22052044253e-05,-5.17223073773e-06,-6.06492666654e-05,1793249695003121152
+179,2.983333333,POSE1_TO_POSE2_PRESS,767.791284536,746,717.791284536,682,664.791284536,639,887,786,816,652,630,655,0.435590016127,-0.0155391020608,0.0700222267296,0.999999994118,-7.62523919753e-05,5.09568829795e-05,-5.79100234728e-05,1793249695019788032
+180,3.000000000,POSE1_TO_POSE2_PRESS,767.633644161,746,718,682,665,638.633644161,887,786,816,652,629.633644161,655,0.436435012801,-0.0155411520946,0.0700309964685,0.999999992815,-7.90873780685e-05,6.88773468354e-05,-5.80628227398e-05,1793249695036454912
+181,3.016666667,POSE1_TO_POSE2_PRESS,767.060160773,746,718,682,665,638.060160773,887,786,816,652,629.060160773,655,0.437264766902,-0.0155438449781,0.0700235527692,0.999999992784,-8.12370185328e-05,6.51956840054e-05,-5.98507037807e-05,1793249695053121792
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638.53054542,887,785.46945458,816,652,629.53054542,655,0.438011902906,-0.0155457150503,0.0699931079045,0.999999993314,-9.26928763074e-05,3.02027459127e-05,-6.21962897624e-05,1793249695069787904
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,717.879713158,682,665,638.879713158,887,785.120286842,816.120286842,651.879713158,629.879713158,655,0.438731398367,-0.015546399322,0.0699538654366,0.999999992523,-0.000101078723502,-2.31033138549e-05,-6.48354734896e-05,1793249695086454528
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,717.301333029,682,665,638.301333029,887,785.698666971,816.698666971,651.301333029,629.301333029,655,0.439382504364,-0.0155429349088,0.0698913848733,0.999999984547,-9.36192534413e-05,-0.000132176731133,-6.83438552676e-05,1793249695103121152
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,717,682,665,638.275586892,887.275586892,785.724413108,817,651.275586892,629.275586892,654.724413108,0.440067957328,-0.0155426080105,0.0698587848426,0.999999975719,-9.51150271532e-05,-0.000185695081244,-7.09387255496e-05,1793249695119787520
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,717,682,665,638.850918564,887.850918564,785.149081436,817,651.850918564,629.850918564,654.149081436,0.440790768062,-0.0155456936613,0.0698586846699,0.999999975731,-0.000106351060803,-0.000178788413116,-7.25400065563e-05,1793249695136453888
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,717,682,664.574404408,639,887.574404408,785,817,652,630,654.425595592,0.441528655568,-0.0155544390405,0.0698996303871,0.99999998389,-0.000114549902056,-0.000119485464384,-6.94310554139e-05,1793249695153121280
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,717,682,664,638.99995499,886.99995499,785,816.99995499,652,629.99995499,655,0.442271805667,-0.0155651634334,0.0699549270804,0.999999989628,-0.000121686659301,-4.18642962074e-05,-6.46750190277e-05,1793249695169788416
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,717,682,664,638.408335796,886.408335796,785,816.408335796,652,629.408335796,655,0.442875849799,-0.0155695445425,0.0699462362228,0.999999987419,-0.000131150001396,-6.19972255426e-05,-6.41746272719e-05,1793249695186455040
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,717,682,664,638,886,784.820901529,816,652,629.179098471,655,0.443461518414,-0.0155734252893,0.0699268525988,0.999999983461,-0.000138764437026,-9.85147432881e-05,-6.41708475752e-05,1793249695203121408
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,717,682,664,638,886,784.242790718,816,652,629.757209282,655,0.44400624845,-0.0155761912828,0.069883646627,0.999999973039,-0.000142259707234,-0.000171535384569,-6.52734664517e-05,1793249695219787776
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,717,681.667094786,664,638,886.332905214,784,816,652,629.667094786,655,0.444534385361,-0.0155797920573,0.0698430493927,0.999999958915,-0.000148297338224,-0.000235606647728,-6.83142772182e-05,1793249695236454400
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,717,681.093147395,664,638,886.906852605,784,816,652,629.093147395,655,0.445050507881,-0.0155839972602,0.0698043410343,0.999999942175,-0.000156175781791,-0.000293198051258,-7.27584483042e-05,1793249695253121024
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,717.493464728,681.493464728,664,638,887.493464728,784,816.493464728,652,629.493464728,654.506535272,0.445561901896,-0.0155890757435,0.0697907639773,0.999999937291,-0.000162985358053,-0.000305592640585,-7.39384783138e-05,1793249695269788160
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+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664,638,887.341015925,784,817,652,629.341015925,654.658984075,0.446519315777,-0.0155989076564,0.069780121461,0.999999928993,-0.00017962656511,-0.000322875069147,-7.4162444878e-05,1793249695303121408
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,718,682,664,637.763202295,887,784,816.763202295,651.763202295,629,655,0.446945868936,-0.0156022107485,0.0697690984977,0.999999918983,-0.000187254611656,-0.000348396528484,-7.47608001873e-05,1793249695319788032
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,718,682,664,637.185661923,887,784,816.185661923,651.185661923,629,655,0.447331855922,-0.0156035529981,0.0697461950787,0.999999901498,-0.000192021434001,-0.000392778461126,-7.65318603891e-05,1793249695336454912
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,717.609785452,682,664,637,887,784,816,651.390214548,629,654.609785452,0.447712534019,-0.0156058171879,0.0697331192103,0.999999892864,-0.000191368352696,-0.000414434054683,-7.67739339434e-05,1793249695353121280
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,717.034697245,682,664,637,887,784,816,651.965302755,629,654.034697245,0.448090696936,-0.0156085181696,0.0697246993818,0.99999988894,-0.000188147460359,-0.000425322494907,-7.62916129755e-05,1793249695369787648
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+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746,718,682,663.029399231,636,887,781,817,652,629,655,0.451365886611,-0.0156381495576,0.0696207199104,0.999999805801,-0.000220976674618,-0.000578258865206,-7.20063617382e-05,1793249696003120640
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746,718,682,663.609090797,636,887,781,817,652,629,655,0.451366454791,-0.0156390521443,0.0696211376405,0.99999980611,-0.000223171250188,-0.000576884604819,-7.19579371631e-05,1793249696019787264
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746,718,682,663.811515845,636.188484155,887,781.188484155,817,652,629,655,0.4513666406,-0.0156395821574,0.0696211059972,0.999999805893,-0.000224654819795,-0.000576691801881,-7.19106619269e-05,1793249696036453632
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746,718,682,663.232740019,636.767259981,887,781.767259981,817,652,629,655,0.45136603464,-0.0156393406874,0.0696201438427,0.999999804591,-0.000224666118531,-0.000578945427505,-7.18657666154e-05,1793249696053120512
+242,4.033333333,HOLD_POSE2,767,746,718,683,663,636,888,781,817,651,629,654,0.451366493484,-0.0156389564058,0.0696218237639,0.999999805526,-0.00022275157584,-0.000578100170471,-7.1621408153e-05,1793249696088936704
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.664032327,664.328064654,637,887,781,817,651,629,654.335967673,0.451369889362,-0.0156361050955,0.0696200506737,0.999999806266,-0.000217320060298,-0.000578958866113,-7.1043619251e-05,1793249696442868736
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,746,717,683,663,637,887,781,816.811099831,652,629,655,0.451362766819,-0.0156352516159,0.0696175969754,0.999999804015,-0.000218295541711,-0.000582423167254,-7.14130524697e-05,1793249696542868480
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767,746,717.394687186,682.605312814,663,636.605312814,887,781,817,651.605312814,629,655,0.451343518871,-0.0156344531994,0.0696087393597,0.999999795868,-0.000217104400472,-0.000596628715844,-7.18591756311e-05,1793249696559535104
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,746,717.451431002,682.548568998,663,636.548568998,887,781.548568998,817,651,629,655,0.451257269079,-0.0156305441566,0.0695720527157,0.999999756801,-0.000215512079112,-0.000659116834515,-7.42770923219e-05,1793249696592868608
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,767,746,717.282782614,682.717217386,663,637,887,781,817,652,629,654.282782614,0.451049018664,-0.0156174163427,0.0695200066385,0.999999705025,-0.00020845295084,-0.000735290374911,-7.64508825747e-05,1793249696642868736
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746,718,681.640728442,663,637,886.640728442,781.359271558,816.640728442,651.359271558,629.359271558,654.359271558,0.450194362774,-0.0155783993507,0.0695277534602,0.999999709843,-0.000188146438524,-0.000735595844938,-6.17491146775e-05,1793249696759535104
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,767.946517887,746,717.053482113,682,664,637.946517887,886.946517887,783.053482113,817,652,629,654.946517887,0.445068395165,-0.0154745177283,0.069638698693,0.999999842799,-1.9242648165e-05,-0.000560259336122,-1.19093681586e-05,1793249697009535744
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767.370064222,746,717.629935778,682,664,637.370064222,886.370064222,783.629935778,817,652,629,654.370064222,0.444545709115,-0.0154710007504,0.0696616300639,0.999999862596,2.19567318968e-07,-0.000524194497585,-5.20908857882e-06,1793249697026202368
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746,717.789184211,682,664,637.210815789,886.210815789,784,817,652,629,654,0.443995720979,-0.01546602701,0.0696804170538,0.99999987829,1.89389851059e-05,-0.000493011847134,-7.04638430994e-08,1793249697042868736
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,746,717.200367626,682,664,637.799632374,886.799632374,784,817,652,629,654,0.443396779188,-0.0154584412386,0.0696917730084,0.999999888613,3.63265369568e-05,-0.00047058315043,2.26805343456e-06,1793249697059535360
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767,745.617961505,717,681.617961505,664,638,886.617961505,784,816.617961505,652,629,654.382038495,0.442780372889,-0.0154513862972,0.0697072494607,0.999999897209,4.49904333964e-05,-0.000451160243727,3.63359893241e-06,1793249697076202496
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,745.038862011,717,681.038862011,664,638,886.038862011,784,816.038862011,652,629,654.961137989,0.442154958162,-0.015444605166,0.0697248513252,0.999999904913,4.91545412768e-05,-0.000433287767811,4.49727139825e-06,1793249697092869632
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,745.53720678,717.53720678,681.53720678,664,638,886,784.53720678,816,651.46279322,629,654.46279322,0.441515515638,-0.0154398704045,0.0697452126412,0.999999919325,5.88820496592e-05,-0.000397268230284,7.74015536793e-06,1793249697109536256
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,745.887519563,717.887519563,682,664,638,886,785,816,651,629.112480437,654.112480437,0.440871449092,-0.0154352882745,0.0697674223979,0.999999933963,7.03182342963e-05,-0.00035638000941,1.10698923969e-05,1793249697126202624
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,745.314608456,717.314608456,682,664,638,886,785,816,651,629.685391544,654.685391544,0.440212585248,-0.0154307283557,0.0697963860589,0.999999950835,8.71105565931e-05,-0.000300905792939,1.4054570332e-05,1793249697142868992
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,745.266810931,717.266810931,682,664.266810931,638,886,785,816.266810931,651,630,655,0.439494057953,-0.0154239437414,0.0698042524359,0.999999953709,0.000101495891913,-0.000286431170381,1.54416447233e-05,1793249697159535616
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,745.858593346,717.858593346,682,664.858593346,638,886,785,816.858593346,651,630,655,0.438702861431,-0.0154144494828,0.0697864226592,0.999999941703,0.000112949557687,-0.000321893396318,1.48828637604e-05,1793249697176202240
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766.560908697,746,717.560908697,681.560908697,665,638,886,785,816.560908697,651,629.560908697,654.560908697,0.437895215088,-0.0154096116894,0.0697464053268,0.999999921107,0.000111675659139,-0.000381068897074,1.0032735581e-05,1793249697192869376
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766.015989681,746,717.015989681,681.015989681,664.984010319,638,885.984010319,785,816,651,629,654,0.437083248418,-0.0154063276655,0.0697012549518,0.999999895311,0.000106533483964,-0.000444986418855,4.04667570453e-06,1793249697209536256
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766.590912798,746,717.590912798,681.590912798,664.409087202,638,885.409087202,785,816,651,629,654,0.436300800317,-0.015406251067,0.0697201887987,0.999999908516,0.000105860709243,-0.000414406127668,5.45179199407e-06,1793249697226202624
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,745.834167867,717.834167867,682,664,638,885,785,815.834167867,651,629,654,0.435518622747,-0.0154058879291,0.0697484037741,0.999999924134,0.000109446525104,-0.000373746021364,8.1674747621e-06,1793249697242869248
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,745.259257894,717.259257894,682,664,638,885,785,815.259257894,651,629,654,0.434737112579,-0.0154048179503,0.0697995136121,0.99999994477,0.000123537512656,-0.000308220838083,1.41160876017e-05,1793249697259535872
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,745,717.327648589,681.672351411,664,638,885,785,815.327648589,651,629,654,0.433906350266,-0.0154018530281,0.069825131164,0.999999952071,0.000133025742359,-0.000279058827537,1.69982364079e-05,1793249697276202496
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,745,717.924408263,681.075591737,664,638,885,785,815.924408263,651,629,654,0.433035135206,-0.0153973317121,0.0698298108641,0.999999951092,0.000138733539864,-0.000279763370704,1.73617735881e-05,1793249697292869120
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766.500175508,745.499824492,718,681,663.500175508,638,885,785,815.500175508,651,629,654,0.432182298419,-0.0153944587499,0.0698322428102,0.99999995409,0.000145300438115,-0.000265334413053,1.74867595553e-05,1793249697309535744
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766.073019637,745.926980363,718,681.073019637,663.073019637,638,885,785,815.073019637,651,629.073019637,654,0.431316868339,-0.015391470932,0.0698266066613,0.999999953427,0.000151716391842,-0.000264271637207,1.70039871384e-05,1793249697326202368
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766.652278254,745.347721746,718,681.652278254,663.652278254,638,885,785,815.652278254,651,629.652278254,654,0.430345649776,-0.0153860292954,0.0697672953652,0.999999918864,0.000156221969627,-0.000371093282056,1.25475570705e-05,1793249697342869504
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,745.235255848,717.764744152,682,664,638,884.764744152,785,815.764744152,651,629.764744152,654,0.429413389315,-0.0153831928375,0.0697251619581,0.999999890656,0.000158946405306,-0.000439705289852,9.14067080473e-06,1793249697359536384
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,745.823818686,717.176181314,682,664,638,884.176181314,785,815.176181314,651,629.176181314,654,0.428539635945,-0.0153842688336,0.069708826278,0.999999885663,0.000158995926429,-0.000450934125422,7.30998783351e-06,1793249697376202752
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767.404540618,745.595459382,717,681.595459382,663.595459382,638,884,785.404540618,815,651.404540618,629.404540618,654,0.427684270713,-0.0153876630755,0.0697590502571,0.999999917562,0.00015913964125,-0.000373367329452,1.21397931555e-05,1793249697392869120
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767.981912654,745.018087346,717,681.018087346,663.018087346,638,884,785.981912654,815,651.981912654,629.981912654,654,0.426836761476,-0.0153920477388,0.069837710443,0.999999953865,0.000159323596526,-0.00025786447401,1.98151511289e-05,1793249697409535744
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767.442729247,745,717.557270753,681,663.557270753,638,883.442729247,785.442729247,815,652,630,654,0.425960490081,-0.0153906363721,0.0698554963177,0.999999958446,0.000164504017332,-0.000235684182749,2.23490498249e-05,1793249697426202112
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,745.13540875,718,681,663.86459125,638,883,785.13540875,815,651.86459125,630,654,0.425081188532,-0.0153894375155,0.0698614687376,0.999999959359,0.000167862029564,-0.000229242623784,2.34979902802e-05,1793249697442868736
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,745.723048389,718,681,663.276951611,638,883,785.723048389,815,651.276951611,630,654,0.424194873623,-0.015389574406,0.0698345621181,0.999999951055,0.000164594001291,-0.000265284869315,2.05768393236e-05,1793249697459535104
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,746,718,680.694243054,663,638,882.694243054,786,815,651,630,654,0.423258654853,-0.0153870457055,0.0697917616856,0.999999928953,0.000167346316964,-0.000337332646705,1.72275930399e-05,1793249697476202240
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746,718,680.115930162,663,638,882.115930162,786,815,651,630,654,0.422277951143,-0.0153821408607,0.069734793291,0.999999887064,0.000175465248941,-0.000441476245923,1.34967367189e-05,1793249697492869120
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,745.53814172,718,680,663,638,882.46185828,785.53814172,815,651,630,654,0.421333691983,-0.0153785563964,0.0696988305816,0.999999859128,0.000175678657546,-0.000500764097597,1.08010031553e-05,1793249697509536000
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,745,718,680.03908753,662.96091247,638,882.96091247,785,814.96091247,651,630,654,0.420411164683,-0.0153759384718,0.0696756693725,0.999999841031,0.000174128521123,-0.000536227303596,8.83843998845e-06,1793249697526203136
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,745,718,680.61049154,662.38950846,638,882.38950846,785,814.38950846,651,630,654,0.419660155554,-0.0153819750102,0.069755122579,0.999999904344,0.000175554786774,-0.000400392461585,1.33261938437e-05,1793249697542870016
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745,718,681,662,638,882,785.189248684,814,651.189248684,630,654,0.418901460458,-0.015386993374,0.0698259281914,0.99999994389,0.000178266004691,-0.000282971659425,1.91751217263e-05,1793249697559536384
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,745,718,681,662,638,882,785.783751837,814,651.783751837,630,654,0.418126306597,-0.0153898314338,0.0698782159826,0.999999961723,0.000183728806696,-0.000204982409141,2.79388497457e-05,1793249697576203008
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,745,718,680.631467116,662,638,882,786,814,651.631467116,630,654,0.417293459904,-0.015388154261,0.069873078879,0.999999957663,0.000192350156852,-0.000216503961698,2.83181187757e-05,1793249697592869632
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,745,718,680.052244227,662,638,882,786,814,651.052244227,630,654,0.416427630304,-0.0153838957325,0.0698351119978,0.999999940179,0.000202777246383,-0.000279198785515,2.39039975939e-05,1793249697609536000
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,881.478102147,785.478102147,814,651,630,654,0.415585894745,-0.0153806931174,0.0698025980739,0.999999929441,0.000201734626195,-0.000316274371285,1.97821162042e-05,1793249697626202880
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,881,785,814,651,629.904099725,654,0.414749977814,-0.0153770437804,0.0697717535634,0.999999916801,0.000200788529874,-0.000354713189479,1.61271432287e-05,1793249697642869760
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,881,785,814,651,629.328275466,654,0.413931225848,-0.0153706349915,0.0697465580866,0.999999893517,0.000206015977148,-0.000412684719375,1.46637803208e-05,1793249697659535872
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,880.745950721,785,814,651,629.254049279,654.254049279,0.413177146502,-0.015367821842,0.0697440487325,0.99999988899,0.000208332763362,-0.000422381322273,1.45450958788e-05,1793249697676202240
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,880.155005703,785,814,651,629.844994297,654.844994297,0.412508829832,-0.0153697768842,0.0697716235361,0.999999910753,0.00020678971048,-0.000368060352374,1.62095949262e-05,1793249697692868608
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.57445189,638,880.42554811,785,814,651,630,654.57445189,0.411869340061,-0.0153724463037,0.0698206645548,0.999999938219,0.00020571140745,-0.000284316648251,2.02173241543e-05,1793249697709535232
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.002390771,638,880.997609229,785,813.997609229,651,630,654,0.411239881763,-0.0153753544518,0.0698770799789,0.999999960551,0.000204844404217,-0.000190553934837,2.50374220962e-05,1793249697726202112
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.575313122,638,880.424686878,785,813.424686878,651,630,654,0.410558311177,-0.0153746159887,0.0698718595984,0.999999956092,0.000214967103746,-0.000202450698704,2.48921003654e-05,1793249697742868992
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.850668979,661.850668979,638,880,785,813.149331021,651,629.850668979,654,0.409881017394,-0.0153731518291,0.0698567926038,0.999999948854,0.000221012553072,-0.000229982677227,2.35445673215e-05,1793249697759535872
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.273512265,661.273512265,638,880,785,813.726487735,651,629.273512265,654,0.409215976272,-0.0153696085857,0.0698135155648,0.999999930935,0.00021537689198,-0.00030230874391,1.8752760587e-05,1793249697776202240
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879.687740303,785,813.687740303,651,629.312259697,654,0.408591054037,-0.0153678648958,0.0697824779375,0.9999999147,0.000213988538746,-0.00035296333403,1.50064226052e-05,1793249697792869120
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879.094208064,785,813.094208064,651,629.905791936,654,0.408002269523,-0.0153677421805,0.0697624651441,0.99999990274,0.000216426011818,-0.000384097017602,1.22018064041e-05,1793249697809535744
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.48692461,661,638,879,785,813,651,630,654,0.407469070879,-0.0153680840997,0.069774972838,0.999999911946,0.000214430226835,-0.000360483104205,1.34180129379e-05,1793249697826202624
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.934925897,661,638,879.065074103,785,813,651,629.934925897,654,0.406948745517,-0.015368343106,0.0697927802653,0.999999923056,0.000212722654592,-0.000329248781585,1.52436264785e-05,1793249697842869248
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.361802232,661,638,879.638197768,785,813,651,629.361802232,654,0.406447046916,-0.0153672703838,0.0698040612714,0.999999924786,0.000219795430307,-0.000319163374937,1.59043503847e-05,1793249697859536128
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.217442401,638,880,785,813,651,629.217442401,654,0.405959678816,-0.0153663720656,0.0698068672245,0.999999923228,0.0002226730018,-0.000322027242859,1.61017352708e-05,1793249697876202752
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.80716665,638,880,785,813,651,629.80716665,654,0.405496845932,-0.0153657723433,0.0697951630885,0.999999915812,0.000218367988206,-0.000347061488063,1.55058400924e-05,1793249697892869120
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.389907398,661.610092602,638,880,785.389907398,813.389907398,651,630,654,0.405086512634,-0.0153672679347,0.0697981357405,0.99999991786,0.000218085243187,-0.000341274408684,1.58155769591e-05,1793249697909535488
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.969255195,661.030744805,638,880,785.969255195,813.969255195,651,630,654,0.404701686741,-0.015369781555,0.0698082392554,0.999999924352,0.00021975675707,-0.000320512483425,1.65653241351e-05,1793249697926202112
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,661,638,880.545091726,785.454908274,813.454908274,651,629.454908274,654,0.404355156866,-0.0153672325682,0.0698240308559,0.999999932387,0.000222910061241,-0.000291932016923,1.76780415219e-05,1793249697942868992
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diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..da4ac75957f31f6fdea6ec705574d6a0c094b398
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_01/simulation_data.csv
@@ -0,0 +1,401 @@
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+391,6.516666667,pose2_to_pose3_retreat,0.575665959912,-0.0098497562705,1.06003360267,0.546236635942,-0.00117713062458,1.05970500123
+392,6.533333333,pose2_to_pose3_retreat,0.575665822531,-0.00984974828292,1.06003360277,0.546236498361,-0.00117712331309,1.05970500136
+393,6.550000000,pose2_to_pose3_retreat,0.575665498886,-0.00984975906225,1.06003360222,0.546236174933,-0.00117713335548,1.05970500085
+394,6.566666667,pose2_to_pose3_retreat,0.575664903144,-0.00984985490549,1.06003359914,0.546235581353,-0.00117722185979,1.05970499781
+395,6.583333333,pose2_to_pose3_retreat,0.575664636643,-0.00984989778023,1.06003359777,0.54623531582,-0.00117726145151,1.05970499644
+396,6.600000000,pose2_to_pose3_retreat,0.575664513213,-0.00984987163133,1.06003360363,0.546235192562,-0.00117723474257,1.05970500168
+397,6.616666667,pose2_to_pose3_retreat,0.575664325889,-0.00984981750252,1.06003361456,0.546235005413,-0.00117718006539,1.05970501148
+398,6.633333333,pose2_to_pose3_retreat,0.57566431571,-0.00984981456104,1.06003361516,0.546234995242,-0.0011771770941,1.05970501201
+399,6.650000000,pose2_to_pose3_retreat,0.575664317184,-0.00984983562042,1.0600336324,0.546234997269,-0.0011771964637,1.05970502444
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..44e872b9611be10a63560f3b4ab085e0f9202e1e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6858924fdd8b2ec3524a6256308895f5e2827b7736d54f07a64134fb18f7d9f6
+size 25511882
diff --git a/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5eede9f87074de92d046bb4100e33130aa91675b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_02/franka_data.csv
@@ -0,0 +1,402 @@
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+55,0.916666667,BASELINE,767,745,718,679,661,638,879.909953713,785,813,651,629.090046287,654,0.40095186588,-0.0153793878187,0.0698138737252,0.999999932738,0.000215233097809,-0.000296827738615,9.56325118312e-06,1793249699791746816
+56,0.933333333,BASELINE,766.511905472,745,718,679,661,638,879.511905472,785,813,651,629.488094528,654,0.400952981372,-0.0153803543312,0.0698146522811,0.999999933712,0.000213165379538,-0.000295035140684,9.55748435206e-06,1793249699808413440
+57,0.950000000,BASELINE,766.064109952,745,718,679,661.064109952,638,879.064109952,785.064109952,813,651,630,654,0.400954086122,-0.0153811904882,0.0698154622925,0.999999934634,0.000211425530333,-0.0002931528177,9.58025822666e-06,1793249699825080064
+58,0.966666667,BASELINE,766.639760958,745,718,679,661.639760958,638,879.639760958,785.639760958,813,651,630,654,0.400952516591,-0.0153795896384,0.0698144399907,0.999999933622,0.000213477287337,-0.000295123548522,9.24876924065e-06,1793249699841746688
+59,0.983333333,BASELINE,767,745,718,679,662,638,879.785278533,785.570557067,813,651,630,654,0.400951857545,-0.0153787888708,0.0698141871655,0.999999933227,0.000214333637143,-0.000295841004033,9.18696002395e-06,1793249699858413312
+60,1.000000000,BASELINE,767,745,718,679,662,638,879.21147267,784.422945339,813,651,630,654,0.400952721128,-0.0153793261015,0.0698152211563,0.999999933875,0.000213190876153,-0.000294462574352,9.5761433772e-06,1793249699875080192
+61,1.016666667,BASELINE,767,745,718,679,661.623458793,638,879,784.376541207,813,651,629.623458793,654,0.40095289662,-0.0153797023605,0.069815135896,0.999999934015,0.000212660213893,-0.000294370724768,9.60343151708e-06,1793249699891746560
+62,1.033333333,BASELINE,767,745,718,679,661.027152567,638,879,784.972847433,813,651,629.027152567,654,0.400952670513,-0.0153799846697,0.0698143973945,0.999999933859,0.000212486797832,-0.000295029776613,9.41950262217e-06,1793249699908413440
+63,1.050000000,BASELINE,767,745,718,679,661.547188017,638,879.547188017,785,813,651,629.547188017,654,0.400953147956,-0.0153796853498,0.0698148204812,0.999999933737,0.000214518863375,-0.000293973757197,9.31031919649e-06,1793249699925080064
+64,1.066666667,BASELINE,767,745,718,679,662,638,880,785.121157311,813,651,630,654,0.400953571509,-0.0153795314069,0.0698151593231,0.999999933728,0.000215492713426,-0.000293296731351,9.21163634292e-06,1793249699941746688
+65,1.083333333,BASELINE,767,745,718,679,662,638,880,785.697669584,813,651,630,654,0.40095366637,-0.015380028132,0.0698149732678,0.999999934145,0.000212093945389,-0.000294351619991,9.13901670375e-06,1793249699958413568
+66,1.100000000,BASELINE,767,745,718,679,661.718108824,638,879.718108824,785.718108824,813,651,630,654,0.400953191416,-0.015380169776,0.0698148021389,0.999999934098,0.000211341400951,-0.000295049323879,9.21121296497e-06,1793249699975080192
+67,1.116666667,BASELINE,767,745,718,679,661.125386485,638,879.125386485,785.125386485,813,651,630,654,0.400952088146,-0.015379919885,0.0698146474688,0.999999933546,0.000213506751411,-0.000295353173046,9.44309246588e-06,1793249699991746560
+68,1.133333333,BASELINE,767,745,718,679,661,638,879.449838001,785,813,651,630,654,0.40095156894,-0.0153794542406,0.0698142532979,0.999999933359,0.000214287947587,-0.000295426553232,9.28449864042e-06,1793249700008413440
+69,1.150000000,BASELINE,767,745,718,679,661,637.979274724,880,785,813,651,629.979274724,654,0.400951235916,-0.0153789652479,0.0698138192524,0.999999933275,0.000214690010644,-0.000295427194407,9.04173815068e-06,1793249700025080064
+70,1.166666667,BASELINE,767,745,718,679,661,637.398732828,880,785,813,651,629.398732828,654,0.40095169916,-0.0153794091889,0.0698140438405,0.999999933317,0.000214882364875,-0.000295133303006,9.35534502365e-06,1793249700041746944
+71,1.183333333,BASELINE,766.815378696,745,718,678.815378696,661,637.184621304,879.815378696,784.815378696,813,651,629,653.815378696,0.400952648721,-0.0153796033319,0.0698148164872,0.999999933564,0.00021498063249,-0.000294216564393,9.57410914103e-06,1793249700058413824
+72,1.200000000,BASELINE,766.225856825,745,718,678.225856825,661,637.774143175,879.225856825,784.225856825,813,651,629,653.225856825,0.400954664846,-0.0153792496332,0.0698167911038,0.999999934256,0.000214872554915,-0.000291933833904,9.58486977358e-06,1793249700075080192
+73,1.216666667,BASELINE,766,744.643577968,718,678.356422032,661,638,879,784.356422032,813,651,629.356422032,653.356422032,0.40095497122,-0.0153793527253,0.0698169667586,0.999999934147,0.000215292825526,-0.000292001457745,9.54485593849e-06,1793249700091746560
+74,1.233333333,BASELINE,766,744.065797472,718,678.934202528,661,638,879,784.934202528,813,651,629.934202528,653.934202528,0.400954215741,-0.0153797395107,0.0698160251551,0.999999933539,0.000216041230581,-0.000293528786164,9.47330825491e-06,1793249700108413184
+75,1.250000000,BASELINE,766,744.511370959,718,679,661,638,879,785,813,651,630,654,0.40095296047,-0.0153800808972,0.0698153645486,0.999999933602,0.000214002697016,-0.000294806271777,9.4299348112e-06,1793249700125079808
+76,1.266666667,BASELINE,766.08806833,745,718,678.91193167,661.08806833,638,879,785,813,651,629.91193167,654.08806833,0.400951899589,-0.0153803968924,0.0698149051413,0.999999933763,0.000211989903722,-0.000295712036914,9.40929927711e-06,1793249700141746432
+77,1.283333333,BASELINE,766.662598191,745,718,678.337401809,661.662598191,638,879,785,813,651,629.337401809,654.662598191,0.400952267251,-0.0153806048614,0.0698153576218,0.999999934026,0.00021209767194,-0.000294741893363,9.49426053535e-06,1793249700158413312
+78,1.300000000,BASELINE,766.763072161,745,718,678.236927839,661.763072161,638,879,785,813,651,629.236927839,654.763072161,0.400952521242,-0.0153805452732,0.0698155752311,0.999999934114,0.000212505638337,-0.000294149175706,9.45593383246e-06,1793249700175080192
+79,1.316666667,BASELINE,766.189027436,745,718,678.810972564,661.189027436,638,879,785,813,651,629.810972564,654.189027436,0.400952613495,-0.0153801049867,0.0698154586496,0.999999933955,0.000213340746912,-0.000294093485111,9.24218470881e-06,1793249700191747072
+80,1.333333333,BASELINE,766,745,718,679,661.38352008,638,879.38352008,785,813,651,630,654,0.40095264854,-0.0153810276081,0.0698155408277,0.999999934464,0.000211039743978,-0.00029402354408,9.19713852029e-06,1793249700208413952
+81,1.350000000,BASELINE,766,745,718,679,661.955332581,638,879.955332581,785,813,651,630,654,0.400952655498,-0.0153826193605,0.0698157205884,0.999999935289,0.000207199040702,-0.000293946606667,9.23491844248e-06,1793249700225080576
+82,1.366666667,BASELINE,766.552239916,744.447760084,718,679,661.447760084,638,880,785,813,651,630,654,0.400953392394,-0.0153826497788,0.0698160755247,0.999999935077,0.000209501127673,-0.000293024591228,9.56637467235e-06,1793249700241746944
+83,1.383333333,BASELINE,766.851110994,744.148889006,718,679,661,638,879.851110994,785,813,651,630,654,0.40095356578,-0.0153821298029,0.0698161729529,0.999999934649,0.000211944746237,-0.000292719533807,9.79356029043e-06,1793249700258413568
+84,1.400000000,BASELINE,766.261520157,744.738479843,718,679,661,638,879.261520157,785,813,651,630,654,0.400951888141,-0.0153803722925,0.0698154642383,0.999999933861,0.000213266623459,-0.00029445258508,9.63845509522e-06,1793249700275080192
+85,1.416666667,BASELINE,766.321256828,745,718,679,661,638,879.321256828,785,813,651,630,654,0.400951842353,-0.015380480299,0.0698152924892,0.999999933923,0.000212598569223,-0.000294728792576,9.53194541501e-06,1793249700291747072
+86,1.433333333,BASELINE,766.898602143,745,718,679,661,638,879.898602143,785,813,651,630,654,0.400953097387,-0.0153820753943,0.0698155487799,0.999999934661,0.000210344249671,-0.000293843683264,9.4641734482e-06,1793249700308414208
+87,1.450000000,BASELINE,766.52848946,745,718,679,661,638,879.52848946,784.52848946,813,651,630,654,0.400953150701,-0.015381634965,0.0698152036974,0.999999934733,0.000209807216637,-0.000293984484372,9.41908043414e-06,1793249700325080576
+88,1.466666667,BASELINE,766.044150869,745,718,678.955849131,661,638,879,784.044150869,813,651,630,654,0.400953075189,-0.0153808209484,0.0698149380246,0.999999934683,0.000209871793032,-0.000294109040479,9.41113749504e-06,1793249700341746944
+89,1.483333333,BASELINE,766.625023565,745,718,678.374976435,661,638,879,784.625023565,813,651,630,654,0.400954545899,-0.0153807371682,0.0698171951817,0.999999934859,0.000212802291545,-0.000291379127977,9.79607515895e-06,1793249700358413568
+90,1.500000000,BASELINE,767,745,718,678.20872795,661,638,879,785,813,651,630,654,0.400955383419,-0.015380402358,0.0698182604194,0.999999934924,0.000214215460707,-0.000290112893101,9.87930818514e-06,1793249700375080192
+91,1.516666667,BASELINE,767,745,718,678.797589319,661,638,879,785,813,651,630,654,0.400955067778,-0.0153796103741,0.0698171549441,0.99999993481,0.000212865283317,-0.00029151229474,9.41307946268e-06,1793249700391746816
+92,1.533333333,BASELINE,766.619926023,745,718,678.619926023,661,638,879,785,813,651,630,654,0.400954447671,-0.0153794851517,0.069816540239,0.999999934634,0.000212293923318,-0.000292534842985,9.33506071582e-06,1793249700408413440
+93,1.550000000,BASELINE,766.040781232,745,718,678.040781232,661,638,879,785,813,651,630,654,0.400953668096,-0.015379709158,0.0698161825838,0.999999934426,0.000212130483288,-0.000293360007385,9.46037411997e-06,1793249700425080064
+94,1.566666667,BASELINE,766,745,718,678.535872477,661.535872477,638,879.535872477,784.464127523,813,651,630,654,0.400953726918,-0.0153805841699,0.069816327667,0.999999934571,0.000211946896102,-0.000292995759287,9.48663933519e-06,1793249700441746688
+95,1.583333333,BASELINE,766,745,718,678.888185864,661.888185864,638,880,784.111814136,813,651,630,654,0.400953944326,-0.0153812884594,0.0698163971583,0.999999934753,0.000211756508562,-0.000292513207153,9.48601442286e-06,1793249700458413568
+96,1.600000000,BASELINE,766,745,718,678.314406273,661.314406273,638,880,784.685593727,813,651,630,654,0.400954554551,-0.0153810836584,0.0698159969978,0.999999934973,0.00021154433036,-0.000291914122042,9.40529040614e-06,1793249700475080960
+97,1.616666667,BASELINE,766.266779397,745,718,678.266779397,661,638,879.733220603,784.733220603,813,651,630,654,0.400954973778,-0.0153798799141,0.0698163363448,0.999999934714,0.000213664002314,-0.000291259396939,9.35437127865e-06,1793249700491747584
+98,1.633333333,BASELINE,766.856942509,745,718,678.856942509,661,638,879.143057491,784.143057491,813,651,630,654,0.400955161482,-0.0153774652742,0.0698175721054,0.999999933855,0.000218610288218,-0.000290537226377,9.33958094188e-06,1793249700508413952
+99,1.650000000,BASELINE,767,745,718,679,661.440594845,638,879,784.881189689,813,651,630,654,0.400953706658,-0.0153789184131,0.0698169982585,0.999999933794,0.000216619994239,-0.000292230783108,9.43430589452e-06,1793249700525080576
+100,1.666666667,BASELINE,767,745,718,679,662,638,879,785.97809084,813,651,630,654,0.400951824306,-0.0153814880614,0.0698158763636,0.999999933964,0.000212586927881,-0.000294596396895,9.56251762238e-06,1793249700541746944
+101,1.683333333,BASELINE,767,745,718,679,662,638,879,785.403207539,813,651,630,654,0.400952415904,-0.0153810027633,0.0698155358902,0.999999933926,0.000213013162592,-0.000294415669721,9.65150426737e-06,1793249700558413568
+102,1.700000000,BASELINE,766.828747381,745,718,678.828747381,661.828747381,638,879,785,813,651,630,654,0.400953061705,-0.0153808656088,0.0698155898394,0.999999934128,0.000212743220276,-0.000293922394412,9.68434722718e-06,1793249700575080448
+103,1.716666667,BASELINE,766.255281125,745,718,678.255281125,661.255281125,638,879,785,813,651,630,654,0.400953834811,-0.0153815461244,0.0698165701516,0.999999934892,0.000210838196946,-0.000292695050809,9.58532792347e-06,1793249700591747072
+104,1.733333333,BASELINE,766.328124028,745.328124028,718,678.328124028,661.328124028,638,879.328124028,785,813,651,630,654,0.400953273269,-0.0153818273925,0.0698164454948,0.999999934616,0.000211056951259,-0.000293480239412,9.62409841957e-06,1793249700608413696
+105,1.750000000,BASELINE,766.919503258,745.919503258,718,678.919503258,661.919503258,638,879.919503258,785,813,651,630,654,0.400951640933,-0.0153817883429,0.0698154343169,0.9999999335,0.000212979620554,-0.000295880090417,9.77341820559e-06,1793249700625080320
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,639,879,785,813,651,630,654,0.400955949365,-0.0153780584907,0.069818083152,0.999999934403,0.000216701968822,-0.000290080016076,9.32081056424e-06,1793249700656149504
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,718,678.425696645,662,638.425696645,879,785,813.574303355,651,629.425696645,654,0.400954783709,-0.0153801233313,0.0698172791194,0.999999934484,0.000214303965111,-0.000291579389685,9.33108402779e-06,1793249700672815872
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,718,678.1529584,662,638,879.1529584,785,814,651,629.1529584,654,0.400954294885,-0.0153815920477,0.0698167539659,0.999999934602,0.000212827684549,-0.000292252523858,9.43035047216e-06,1793249700689482496
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,718,678.744079371,662,638,879.744079371,785,814,651,629.744079371,654,0.400955744907,-0.015381353115,0.0698170276857,0.999999934844,0.000213991759131,-0.000290558824037,9.78454501183e-06,1793249700706149376
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879.67186892,785,814,651,630,654,0.400955357114,-0.0153811361393,0.0698166074094,0.999999934834,0.000213555147986,-0.000290913858858,9.72026747637e-06,1793249700722816000
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879.093214526,785,814,651,630,654,0.400953566174,-0.0153809359274,0.0698156572772,0.999999934631,0.000211896436461,-0.000292833072933,9.33649256657e-06,1793249700739482880
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.517366939,745,718,679,661.517366939,638,879,785,813.517366939,651,630,654,0.40095320017,-0.015382959887,0.0698157229427,0.999999935205,0.000208489019845,-0.000293317743401,9.30760546789e-06,1793249700756149248
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.056791876,745,718.056791876,678.943208124,661,638,879.056791876,784.943208124,813,651,630,654,0.400953215634,-0.0153849780835,0.0698160804877,0.99999993583,0.000205353099679,-0.000293398243751,9.37632389791e-06,1793249700772815872
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.620683971,745,718.620683971,678.379316029,661,638,879.620683971,784.379316029,813,651,630,654,0.400954194117,-0.0153831313205,0.0698173025954,0.999999935667,0.000207639678613,-0.000292329497963,9.70809093257e-06,1793249700789482496
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,718.802963952,678.197036048,661.197036048,638,879.802963952,784.197036048,813,651,630,654,0.400956464616,-0.0153821215934,0.0698189970274,0.999999935859,0.000209369176932,-0.000290424484058,9.96557646116e-06,1793249700806149120
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,718.201005865,678.798994135,661.798994135,638,879.201005865,784.798994135,813,651,630,654,0.400961390292,-0.0153828320305,0.0698216621167,0.999999936782,0.000209953837659,-0.00028680088429,1.0070408567e-05,1793249700822815744
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661.614238587,638,879,785,813,651,630,654,0.400980942655,-0.0153832454238,0.0698293787265,0.999999940094,0.000211249793248,-0.000273995695582,1.05775374514e-05,1793249700839482368
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661.035086733,638,879,785,813,651,630,654,0.401007827688,-0.0153835099029,0.0698396277718,0.999999944354,0.000212902336154,-0.000256587579704,1.12863463158e-05,1793249700856148992
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661.539381687,638,879,785,813,651.539381687,630,654,0.401064107329,-0.0153866928427,0.0698584481885,0.999999952258,0.000211525088725,-0.0002249053193,1.25730610949e-05,1793249700872815616
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.88594529,745,718,678.88594529,661.88594529,638,879,785,813,651.88594529,630,654,0.401124020904,-0.0153900995661,0.0698761584505,0.999999958534,0.000209879842912,-0.000196710823212,1.3663427854e-05,1793249700889482240
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.30921687,745,718,678.30921687,661.30921687,638,879,785,813,651.30921687,630,654,0.401190985983,-0.0153936505923,0.0698871229179,0.999999960913,0.000207940058798,-0.000186399016632,1.38061050347e-05,1793249700906149120
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.273260735,744.726739265,718,678.273260735,661.273260735,638,879.273260735,784.726739265,813,651,630,654,0.401266084039,-0.0153969768898,0.0698957609987,0.999999962992,0.000207416667073,-0.000175537573089,1.34585898886e-05,1793249700922816000
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.862383794,744.137616206,718,678.862383794,661.862383794,638,879.862383794,784.137616206,813,651,630,654,0.401350583007,-0.0154000434228,0.0699017100064,0.999999964724,0.000208530484664,-0.000164040804319,1.25444609953e-05,1793249700939482880
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,744.443907238,718,679,662,638,880,784,813,651,630,654,0.401450567223,-0.0154048698124,0.0699039750609,0.999999965879,0.000206206779779,-0.000160039628584,1.04225380094e-05,1793249700956148992
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661.97707603,638,879.97707603,784.02292397,813,651,629.97707603,654,0.401556410493,-0.0154102507617,0.0699051848789,0.999999966896,0.000202746059556,-0.000158239835631,7.91856436381e-06,1793249700972815616
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661.402639813,638,879.402639813,784.597360187,813,651,629.402639813,654,0.401689662381,-0.0154160687922,0.0699080212108,0.99999996863,0.000197137364021,-0.000154437840878,5.0796193678e-06,1793249700989482240
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,744.823402929,718,679,661.176597071,638,879.176597071,784.823402929,813,651,629.176597071,654,0.401831986024,-0.0154217970812,0.0699105655953,0.999999970183,0.000191974015599,-0.000150912357879,2.15114698664e-06,1793249701006149120
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,744.232914793,718,679,661.767085207,638,879.767085207,784.232914793,813,651,629.767085207,654,0.401995571143,-0.0154273150417,0.0699124257417,0.999999971398,0.000187854429295,-0.000148034936825,-9.87150586353e-07,1793249701022815744
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,744.35059336,718,679,661.64940664,638,879.64940664,784.35059336,813,651,630,654,0.402179059182,-0.0154345366933,0.0699147351228,0.999999973212,0.000181374747721,-0.000143724167044,-4.72538799863e-06,1793249701039482368
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,744.929554974,718,679,661.070445026,638,879.070445026,784.929554974,813,651,630,654,0.402375511531,-0.0154428680898,0.0699173371251,0.999999975346,0.000173357755267,-0.000138479747377,-8.8544123985e-06,1793249701056149248
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.494973977,745,718,679,661.505026023,638,879.505026023,785,813,651,629.494973977,654,0.402605209257,-0.0154520623689,0.0699202340852,0.99999997771,0.00016470662052,-0.000131428245827,-1.33481262584e-05,1793249701072815872
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.08017917,745,718,678.91982083,661.91982083,638,879.91982083,785,813.08017917,651,629.08017917,654,0.402846305767,-0.0154615992528,0.0699244190223,0.999999981836,0.000145077651016,-0.000122310693598,-1.78937436597e-05,1793249701089482752
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.656357285,745,718,678.343642715,661.343642715,638,879.343642715,785,813.656357285,651,629.656357285,654,0.40312942656,-0.0154725160769,0.0699363187868,0.999999992863,5.80817795796e-05,-0.000101960885748,-2.24479180776e-05,1793249701106149120
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745,718,678.237850087,661,638,879,784.762149913,813.762149913,651,630,654,0.403423951212,-0.0154821837035,0.069944585626,0.999999995771,8.80741251835e-06,-8.74717501087e-05,-2.70130059059e-05,1793249701122815744
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,718,678.827196942,661,638,879,784.172803058,813.172803058,651,630,654,0.403735328565,-0.0154900052553,0.0699474836985,0.999999996051,1.5278193248e-05,-8.16435650836e-05,-3.15942216026e-05,1793249701139482368
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.590788945,745,718,679,661,638,879.409211055,784.409211055,813,651,630,654.409211055,0.404073400556,-0.0154977126234,0.069948201338,0.999999995846,1.61263987897e-05,-8.32155323774e-05,-3.35109959694e-05,1793249701156149248
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.011816832,745,718,679,661,638,879.988183168,784.988183168,813,651,630,654.988183168,0.404422546802,-0.0155053726222,0.0699480144255,0.999999995444,1.46420808837e-05,-8.78574503343e-05,-3.43224276984e-05,1793249701172815872
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.56122354,745,718,679,661,638,880,785,813,651,630,654.43877646,0.404813346142,-0.0155005824901,0.0699532270181,0.999999996064,3.49056162749e-05,-7.61419199733e-05,-2.92594717805e-05,1793249701189482496
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,718,679.137695732,661.137695732,638,880,785,813,651,630,654,0.405215874659,-0.0154951877562,0.0699578892189,0.999999996254,5.01142625947e-05,-6.55437979866e-05,-2.61591091235e-05,1793249701206149120
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,718,679.725797643,661.725797643,638,880,785,813,651,630,654,0.405653930757,-0.0154886638659,0.0699603830827,0.999999996652,4.73060619109e-05,-5.97155532049e-05,-2.98787943948e-05,1793249701222816000
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.690464888,745,718,679.690464888,662,638,879.690464888,785,813,651,630,654,0.406096843843,-0.0154898312709,0.0699516404195,0.999999995768,4.18074096156e-05,-7.52180391684e-05,-3.25261312972e-05,1793249701239482624
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.110539846,745,718,679.110539846,662,638,879.110539846,785,813,651,630,654,0.406543999732,-0.0154977172951,0.0699330822505,0.999999992858,3.39585517969e-05,-0.000109353676348,-3.42367341502e-05,1793249701256149248
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.467529626,745.467529626,718,679,662,638,879.467529626,785,813,651,629.532470374,654,0.407053732816,-0.0155028728571,0.0699258321425,0.999999992325,2.40707994174e-05,-0.00011597214278,-3.63537260869e-05,1793249701272816128
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745.955155799,718,679,662,638,880.044844201,785.044844201,813,651,629.044844201,654.044844201,0.407583063793,-0.0155071714459,0.0699225899627,0.999999992671,1.4684000448e-05,-0.000113862162006,-3.84383393656e-05,1793249701289482496
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745.381589052,718,679,662,638,880.618410948,785.618410948,813,651,629.618410948,654.618410948,0.40816970753,-0.0155089475061,0.0699352043006,0.999999995463,1.68647040334e-05,-8.52457252978e-05,-3.90128291746e-05,1793249701306149120
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745.197327966,718,679.197327966,662.197327966,638.197327966,881,785.802672034,813,651,629.802672034,654.802672034,0.408767107809,-0.0155099751237,0.0699458901371,0.999999997264,1.5517518976e-05,-6.05560575539e-05,-3.95538940892e-05,1793249701322816000
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745.786879539,718,679.786879539,662.786879539,638.786879539,881,785.213120461,813,651,629.213120461,654.213120461,0.409385888548,-0.0155095150814,0.0699527427412,0.99999999822,7.1580423538e-06,-4.36715269995e-05,-4.00285212305e-05,1793249701339482624
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745.628761983,718,679.628761983,662.628761983,638.628761983,881,785,813,651,629,654,0.410008941083,-0.0155082490632,0.0699492294587,0.999999997913,1.07310045821e-05,-4.86098571036e-05,-4.11832871671e-05,1793249701356149504
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745.04734365,718,679.04734365,662.04734365,638.04734365,881,785,813,651,629,654,0.410634412118,-0.0155065267333,0.06993984742,0.999999996694,2.10596431145e-05,-6.59034303447e-05,-4.27231208271e-05,1793249701372816128
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662.527526322,638.527526322,881.527526322,785,813,651,629.527526322,654,0.411320472055,-0.015506783794,0.0699467347668,0.999999997323,1.49909461028e-05,-5.70233744852e-05,-4.3332560379e-05,1793249701389482496
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745,718,679.101695456,662.898304544,639,881.898304544,785,813,650.898304544,629.898304544,654,0.41202281106,-0.0155081932283,0.0699595117002,0.999999998316,6.49523231771e-06,-3.80250992701e-05,-4.33573701176e-05,1793249701406149120
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745,718,679.675305929,662.324694071,639,881.324694071,785,813,650.324694071,629.324694071,654,0.412775768588,-0.0155141359795,0.0699929265244,0.999999998989,-6.51777808557e-06,1.71597138617e-05,-4.10519476436e-05,1793249701422815744
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,718,680,662.515364517,638.742317741,881,785,813.257682259,650.257682259,629,654,0.413534089116,-0.0155167796698,0.0700148896762,0.999999997807,-1.19353443126e-05,5.15098606434e-05,-3.98782294065e-05,1793249701439482624
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745,718,680,663.70298624,638.14850688,881,785,813.85149312,650.85149312,629,654,0.41429940541,-0.015515119965,0.0700219149214,0.999999997443,-7.44518316256e-06,5.86826404578e-05,-4.01807405296e-05,1793249701456148992
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745.432360778,718,680,663.567639222,638.432360778,881.432360778,785.432360778,814,651,629,654,0.415021485815,-0.0155121029914,0.0699810684629,0.999999998875,-4.18416987977e-06,-1.44170373602e-05,-4.4998859047e-05,1793249701472815872
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745.991101513,718,680,663,639,882,785.991101513,814,651,629,654,0.415730898791,-0.0155087693367,0.0699250405834,0.999999992314,-1.53249778238e-06,-0.000112884486247,-5.12491515187e-05,1793249701489482496
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745.415418136,718,680,663,639,882,785.415418136,814,651,629,654,0.41655187839,-0.0155140957105,0.0699189220695,0.999999991096,-1.15831531139e-05,-0.00012200590159,-5.28013314273e-05,1793249701506149376
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745,718,680.163756908,663,639,882.163756908,785,814,651,629.163756908,654,0.417378040896,-0.0155191387853,0.0699227102388,0.999999991736,-1.97970863144e-05,-0.000115326594377,-5.32455927694e-05,1793249701522816000
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,718,680.751982553,663,639,882.751982553,785,814,651,629.751982553,654,0.418217637789,-0.0155234475298,0.0699521771867,0.999999996147,-2.32501136613e-05,-6.76907686813e-05,-5.0818055768e-05,1793249701539482624
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745,718,681,663,639,883,785.334953175,814,651,629.665046825,654.334953175,0.419100849547,-0.015525905581,0.06997963642,0.999999998033,-2.94642705927e-05,-2.46656281475e-05,-4.95656208412e-05,1793249701556149248
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745,718,681,663,639,883,785.914092773,814,651,629.085907227,654.914092773,0.420015857228,-0.0155270144457,0.0700056319946,0.999999997968,-3.76913366519e-05,1.49982442828e-05,-4.91698549281e-05,1793249701572816128
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745,718,681,663.492848841,639,883.492848841,786,814.492848841,651,629.492848841,654.507151159,0.420910221164,-0.0155273639906,0.0700202752658,0.999999997494,-3.88731687537e-05,3.44478201675e-05,-4.81073705611e-05,1793249701589482496
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745,718,681,664,639,884.070356358,786,814.929643642,651,630,654.070356358,0.421791214788,-0.0155272561494,0.0700252834738,0.999999997363,-3.8794708324e-05,3.85120595246e-05,-4.78050218338e-05,1793249701606148864
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745,718,681,664,639,884.639485873,786,814.360514127,651,630,654.639485873,0.422602912391,-0.0155248433556,0.0699760036123,0.999999996954,-3.84808095399e-05,-4.15345283755e-05,-5.37146863984e-05,1793249701622815744
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745.217327576,718,681,664,639,885,786,814.217327576,651,629.782672424,655,0.423414335382,-0.0155222575841,0.0699179142314,0.999999988642,-4.33730409546e-05,-0.000130786654631,-6.10770862873e-05,1793249701639482624
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745.810225157,718,681,664,639,885,786,814.810225157,651,629.189774843,655,0.424225283942,-0.0155193728842,0.0698446008597,0.999999968008,-5.72621349645e-05,-0.000235947148002,-7.0950000682e-05,1793249701656149248
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,718,681,664,639,885,786,815,651,629,655,0.425156324348,-0.0155204432679,0.0698555423285,0.999999973388,-5.48398975556e-05,-0.000213129671102,-6.92320469044e-05,1793249701672815872
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,718,681,664,639,885,786,815,651,629,655,0.426143899366,-0.0155233755542,0.0699061477667,0.999999988615,-4.47389065508e-05,-0.000130065040744,-6.20575537703e-05,1793249701689482496
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,718,681.549702375,664,639,885.549702375,786,815,651.549702375,629.549702375,655,0.427088674703,-0.0155243972921,0.0699584779545,0.999999995055,-4.65091671416e-05,-6.60612172268e-05,-5.79825480267e-05,1793249701706149120
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745.873854302,718,681.873854302,664,639,886.126145698,786,815,651.873854302,630,655,0.428032973392,-0.0155263035742,0.0700060940106,0.999999997267,-4.96363076655e-05,-3.88016400367e-06,-5.46629600401e-05,1793249701722816000
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745.300218751,718,681.300218751,664,639,886.699781249,786,815,651.300218751,630,655,0.42898318563,-0.015531687151,0.0700366806845,0.999999995507,-5.54676189719e-05,5.52214219117e-05,-5.34724420439e-05,1793249701739482624
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745,718,681,664,639,886.718718541,786,815,651.281281459,629.718718541,655,0.429882429615,-0.0155344650143,0.0700387425685,0.999999994635,-6.15293920144e-05,6.3171674659e-05,-5.4341514315e-05,1793249701756149248
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745,718,681,664,639,886.128582769,786,815,651.871417231,629.128582769,655,0.430725709078,-0.0155343817366,0.0700094834939,0.999999995935,-6.78442176784e-05,1.49564375028e-05,-5.74720700815e-05,1793249701772815872
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745.453124371,718,681.453124371,664,639,886,786,815.453124371,652,629.453124371,654.546875629,0.431532925927,-0.0155297611919,0.0699377115171,0.999999990558,-6.13461505953e-05,-0.000105431129834,-6.32889150742e-05,1793249701789482496
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,718,681.967738341,664.032261659,639,886.032261659,786,816,651.967738341,630,654.032261659,0.432337189148,-0.0155244388759,0.0698609214876,0.999999968899,-5.22977419257e-05,-0.000233790123967,-6.93487680507e-05,1793249701806149376
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,718,681.392334943,664.607665057,639,886.607665057,786,816,651.392334943,630,654.607665057,0.433260864905,-0.0155285823911,0.0698990423701,0.999999983479,-6.04075606906e-05,-0.000157852280481,-6.69006689112e-05,1793249701822816000
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,887,786,816,651,630,655,0.434175499828,-0.0155319107885,0.0699414443548,0.999999992399,-6.80862338715e-05,-8.06112803311e-05,-6.37819590383e-05,1793249701839482624
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,887,786,816,651,630,655,0.435070759464,-0.0155334923028,0.0699930212013,0.999999995445,-7.48409183742e-05,-5.77464480632e-07,-5.92260594231e-05,1793249701856149248
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,718,681.343752667,665,639,887,786,816,651.343752667,630,654.656247333,0.435927983857,-0.0155349069,0.0700177692254,0.999999994742,-7.53070584193e-05,3.90323069628e-05,-5.7636169455e-05,1793249701872815872
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+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746,718,682,663.844357122,637,887,781.155642878,817,651.155642878,629,655,0.451850865452,-0.0156427150132,0.069604253683,0.99999979179,-0.000220686483861,-0.000602145043461,-7.16891795856e-05,1793249702872816128
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746,718,682,663.269678308,637,887,781.730321692,817,651.730321692,629,655,0.451851153203,-0.0156427903648,0.0696040610031,0.999999792308,-0.000220327641685,-0.000601442587967,-7.14576250471e-05,1793249702889483008
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746,718,682,663,637,887,781.68569885,817,651.68569885,628.68569885,655,0.451850874521,-0.0156418375569,0.0696036881003,0.999999792283,-0.000219144624942,-0.00060194926824,-7.11791177273e-05,1793249702906149376
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,746,718,682,663,637,887,781.093495888,817,651.093495888,628.093495888,655,0.451850095004,-0.0156399756613,0.0696031558463,0.999999791773,-0.000217232881632,-0.000603525053828,-7.08590952581e-05,1793249702922815744
+243,4.050000000,HOLD_POSE2,767,746,717,683,663,637,887,781,817,651,629,654,0.451848645986,-0.0156408658287,0.0696010886994,0.999999789969,-0.000217816838563,-0.00060629885624,-7.08423031024e-05,1793249702954235648
+244,4.066666667,HOLD_POSE2,767,746,717.573460021,682.426539979,663,637,887.573460021,781,817,651,629,654.573460021,0.451850128052,-0.0156405711517,0.0696016572425,0.999999790682,-0.000219086039251,-0.000604647224573,-7.09810479164e-05,1793249702970902784
+245,4.083333333,HOLD_POSE2,767,746,718,682,663,637,887.849306249,781,817,651,629,655,0.451851085762,-0.0156407830262,0.0696019807693,0.999999790962,-0.000220163166882,-0.000603784305741,-7.10493667842e-05,1793249702987569920
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+247,4.116666667,HOLD_POSE2,767,746,717.676148492,682,663,636.676148492,887,781,817,651,629,655,0.451850776628,-0.0156424899464,0.0696019582874,0.99999979033,-0.000220135726299,-0.000604855868301,-7.0926498273e-05,1793249703020902912
+248,4.133333333,HOLD_POSE2,767,746,717.093752563,682,663,636.093752563,887,781,817,651,629,655,0.451851686813,-0.0156411906485,0.0696029248708,0.999999791701,-0.000218737403402,-0.000603077742104,-7.10590580423e-05,1793249703037569536
+249,4.150000000,HOLD_POSE2,767,746,717.482875604,682,663,636.482875604,887.482875604,781,817,651.482875604,629,655,0.451852385645,-0.0156403586456,0.0696033119236,0.999999792108,-0.000218738814315,-0.000602396702144,-7.11007045611e-05,1793249703054235904
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+251,4.183333333,HOLD_POSE2,767.632271188,746,717.367728812,682,663,636.367728812,887.367728812,781,817,651.367728812,629,655,0.451852919736,-0.0156393656998,0.0696038876708,0.99999979268,-0.000216825680195,-0.000602136026245,-7.11210961452e-05,1793249703087569152
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+253,4.216666667,HOLD_POSE2,767.201158164,746,717.798841836,682,663,636,887,781,817,651.798841836,629,654.201158164,0.451851775169,-0.0156407895419,0.0696016581057,0.999999791096,-0.000217462591435,-0.000604631321672,-7.0270526298e-05,1793249703120902656
+254,4.233333333,HOLD_POSE2,767,746,717.617469172,682,663.382530828,636.382530828,887,781,817,652,629,654.382530828,0.45185302846,-0.0156407227081,0.0696024103759,0.999999791735,-0.000217859000369,-0.000603427828011,-7.02972317879e-05,1793249703137569280
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+256,4.266666667,HOLD_POSE2,767,746.540721225,717.540721225,682,664,636.459278775,887,781,817,652,629,655,0.451854790644,-0.0156400853987,0.0696037171212,0.999999792869,-0.000217739526826,-0.000601553241808,-7.06042035708e-05,1793249703170902528
+257,4.283333333,HOLD_POSE2,767,746.883425433,718,682,663.883425433,636.116574567,887.116574567,781,817,651.883425433,629,655,0.451854140206,-0.0156398170256,0.0696029082098,0.999999792411,-0.000217060433153,-0.000602566674106,-7.0544134127e-05,1793249703187569152
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+259,4.316666667,POSE2_TO_POSE3_RETREAT,767,746,717,683,663,637,887,781,817,651,629,655,0.451851441093,-0.0156409817996,0.0695998779842,0.99999979008,-0.000216762817961,-0.000606606937737,-6.98724138318e-05,1793249703241394688
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+263,4.383333333,POSE2_TO_POSE3_RETREAT,766.311807317,746,717.311807317,682,663,637,887.311807317,781,817,652,629,654.688192683,0.451852095585,-0.015638423288,0.0696012230268,0.999999791489,-0.00021327566116,-0.000605477116691,-7.02328447239e-05,1793249703308061440
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+267,4.450000000,POSE2_TO_POSE3_RETREAT,767.365588858,746,718,682.634411142,663,636.365588858,887.634411142,781,817,652,629,655,0.451853935288,-0.0156383450916,0.0696025426994,0.999999792836,-0.000215026866997,-0.000602639003063,-7.01217036968e-05,1793249703374728192
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.790360462,663,636.209639538,887.790360462,781,817.209639538,652,629,655,0.451849848558,-0.0156372985125,0.0696003700588,0.999999790934,-0.00021442148781,-0.000605956962576,-7.05157843991e-05,1793249703391394816
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.21483912,663,636.78516088,887.21483912,781,817.78516088,652,629,655,0.45184264108,-0.0156369787707,0.069597159475,0.999999787857,-0.000214757215376,-0.00061084178162,-7.09691162886e-05,1793249703408061440
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,663,636.040935165,887.959064835,781,817.040935165,652,629,654.040935165,0.451790550193,-0.0156334796452,0.0695734979288,0.999999763747,-0.000214937118863,-0.000648849415751,-7.28245429709e-05,1793249703441394944
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767,746.539125241,718,682,663,636.539125241,888,781,817,652,629,654.539125241,0.451733279464,-0.0156319680185,0.0695518419584,0.999999739768,-0.000215931623525,-0.00068435593139,-7.41233876916e-05,1793249703458061056
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,767,746.306926062,718,682,663,637,887.306926062,781,817,652,629,655,0.451603420872,-0.0156273375592,0.0695181188732,0.999999707752,-0.000214904484405,-0.000729834138898,-7.51986513718e-05,1793249703491394560
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.267257026,663,637,887,781,817,652,628.732742974,655,0.451526964076,-0.0156236671108,0.069508309405,0.99999969884,-0.000212526775135,-0.000742659403217,-7.48895965484e-05,1793249703508061184
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.84004311,663,637,887,781,817,652,628.15995689,655,0.451441595882,-0.0156190859973,0.0695024999452,0.999999690699,-0.000209210737325,-0.000754537933208,-7.42021132275e-05,1793249703524727552
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767,746,717.570555901,682.570555901,663,637,887.429444099,781,817,651.570555901,628.429444099,655,0.45134512353,-0.0156132189426,0.0695026039442,0.999999690313,-0.000203955651621,-0.000756630578461,-7.27112655055e-05,1793249703541394432
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,746,717.02443323,682,663.02443323,637,887.97556677,781,817,651.02443323,629,655,0.451243170171,-0.0156069305857,0.0695049719394,0.99999969282,-0.000198263537736,-0.000755001593704,-7.08814149605e-05,1793249703558061312
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,746,717.600250785,682,663.600250785,637,887.399749215,781,817,651.600250785,629,655,0.451114620841,-0.0156023788689,0.0695067247019,0.999999692749,-0.000199663888913,-0.000754953615796,-6.8425844615e-05,1793249703574728448
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,663.341749202,637,887,781.658250798,817,651,629.341749202,655,0.44976657948,-0.0155399685466,0.0695420319292,0.999999726544,-0.000146947166992,-0.000723487740027,-4.34031689411e-05,1793249703691394560
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,746,717,682.803824903,664,638,887,784,817,652,629,654.196175097,0.444397154214,-0.0154784590802,0.0696699016426,0.999999870907,-1.06321950559e-05,-0.0005080036437,-2.34135379051e-06,1793249703908061440
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767,746,717,682.22992366,664,638,887,784,817,652,629,654.77007634,0.443811434032,-0.0154739963659,0.0696891396098,0.999999885968,1.42953503136e-05,-0.000477336549404,3.12586947316e-06,1793249703924727808
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766.646130837,745.646130837,717.353869163,682,664,638.353869163,887,784,817,651.646130837,629.353869163,655,0.443191533029,-0.0154677961599,0.069703976618,0.999999895577,2.47423505512e-05,-0.000456293180359,5.41748454591e-06,1793249703941394432
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766.055726245,745.055726245,717.944273755,682,664,638.944273755,887,784,817,651.055726245,629.944273755,655,0.442548784694,-0.0154604345691,0.0697158719089,0.999999902117,2.55101737227e-05,-0.00044168256313,5.58643961565e-06,1793249703958061056
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766.524798993,745,718,682,664,638.475201007,886.475201007,784,816.475201007,651.524798993,629.475201007,654.475201007,0.441889636473,-0.0154535119725,0.0697311536251,0.999999911376,4.12822498949e-05,-0.000418892598627,8.49539904851e-06,1793249703974727680
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,745.103572462,718,682.103572462,664,638,886.103572462,784,816,652,629,654.103572462,0.441229427849,-0.0154459072521,0.0697495477285,0.999999922968,5.87518761281e-05,-0.000387922855553,1.13404013683e-05,1793249703991394304
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,745.67905561,718,682.67905561,664,638,886.67905561,784,816,652,629,654.67905561,0.440572175835,-0.0154349860813,0.0697805147601,0.999999944621,7.68309011644e-05,-0.0003235675182,1.25928230527e-05,1793249704008061184
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.746163995,664.253836005,638,886.746163995,784.253836005,816,652,629.253836005,654.746163995,0.439872854445,-0.0154221811066,0.0697996379575,0.9999999541,9.59994999726e-05,-0.000287086063095,1.28775000692e-05,1793249704024728064
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.172269615,664.827730385,638,886.172269615,784.827730385,816,652,629.827730385,654.172269615,0.43912048826,-0.0154070008679,0.0698038274294,0.999999952311,0.00011654193035,-0.000285750400679,1.19419611793e-05,1793249704041394688
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.586609379,638,886,785,816,652,630,654.413390621,0.438305510413,-0.0153933248402,0.0697680842798,0.999999933571,0.000126064577247,-0.000341926543286,7.27197816269e-06,1793249704058061312
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,745.416107016,717.416107016,682,664,638,885.416107016,785,816,652,630,654.416107016,0.436660663904,-0.0153828578376,0.0697185200157,0.999999904803,0.000129988994461,-0.000416528757752,7.04466189221e-07,1793249704091394560
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,745.1621754,717.1621754,682,664,638,885,785,816,651.8378246,630,654,0.435862451792,-0.0153849860831,0.0697345669898,0.999999914036,0.000131597988605,-0.000393199355742,2.14151994991e-06,1793249704108060928
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,745.680686592,718,682,664,638,885.319313408,785,816,651.319313408,629.680686592,654,0.434253218495,-0.0153874782262,0.0698152951823,0.999999948509,0.000145899858847,-0.000285542064018,1.26841077995e-05,1793249704141394688
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,745.489632321,718,682,664,638.489632321,885.510367679,785.489632321,815.510367679,652,629.489632321,654,0.432538178131,-0.0153881756065,0.0698357280792,0.999999955466,0.00015171782056,-0.000256457499794,1.6736708909e-05,1793249704174728192
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,745.932268892,718,681.932268892,664,638.932268892,885,785.932268892,815,651.932268892,630,654,0.43166743855,-0.0153867733658,0.0698324394756,0.999999955948,0.000152963322117,-0.000253846077577,1.63961825845e-05,1793249704191395072
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,745.355386064,718,681.355386064,664,638.355386064,885,785.355386064,815,651.355386064,630,654,0.430706583296,-0.0153800607246,0.0697867826842,0.999999929064,0.000166869770158,-0.000337430069731,1.29012201868e-05,1793249704208061184
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,745,717.784229362,681,663.784229362,638.215770638,884.784229362,785,815,651.215770638,630,654,0.429771607146,-0.0153758644478,0.069744199722,0.999999901479,0.000175649945185,-0.000407545355375,9.75969122999e-06,1793249704224727808
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,745,717.222260002,681,663.222260002,638.777739998,884.222260002,785,815,651.777739998,630,654,0.428878153235,-0.0153757056152,0.0697065486366,0.999999880459,0.000176205143737,-0.000456050445821,7.18523715576e-06,1793249704241394688
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,745,717.364876315,681,663,638.635123685,884,785,815,651.635123685,630,654,0.428004601234,-0.0153790342879,0.0697375270385,0.999999902946,0.000168942294721,-0.000406784695899,9.60921080318e-06,1793249704258061312
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,745,718,681,663,638.549070794,883.450929206,785,815,651,629.450929206,654,0.426270667389,-0.0153813088434,0.069846414138,0.999999954869,0.00017299258817,-0.000244808408894,2.01284761284e-05,1793249704291394560
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,745,718,681,663,638.87250026,882.87250026,785.12749974,815,651,629,654,0.425387363998,-0.0153782636234,0.0698641613496,0.99999995863,0.000185403976217,-0.000218705559917,2.30782371208e-05,1793249704308061184
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,745,718,680.130692065,663,638,882,785.130692065,814.130692065,651,629,654,0.422617933027,-0.0153749188307,0.0697579703286,0.999999906347,0.00018285354973,-0.00039205062705,1.29037313004e-05,1793249704358061312
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,745,718,680.449892249,662.550107751,638,882,785,814.449892249,651,629.449892249,654,0.421650359552,-0.0153728987728,0.0697086294482,0.999999868469,0.000185072809086,-0.000478229682638,1.02991666046e-05,1793249704374727936
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766.971054947,745.028945053,718,681,662,638,881.971054947,785,814.971054947,651,630,654,0.420682160637,-0.015371132509,0.069663438793,0.999999827309,0.00018627504113,-0.00055733097747,8.15033988838e-06,1793249704391394816
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766.391343197,745.608656803,718,681,662,638,881.391343197,785,814.391343197,651,630,654,0.419902489731,-0.0153745503269,0.0697295459605,0.999999885276,0.00018721129514,-0.000440775225828,1.08022732684e-05,1793249704408061184
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,767.520024753,745.239987624,718,680.239987624,662,638,881.760012376,785,814,651,630,654,0.418351945182,-0.015379797752,0.0698599110906,0.999999954369,0.000194756202811,-0.000229678378801,2.40721342445e-05,1793249704441394688
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,767.090940175,745,718,680,662,638,881.090940175,785,814,651,629.090940175,654,0.416687395372,-0.0153787041604,0.0698442872218,0.999999941023,0.000208921598736,-0.000271460799168,2.48088009119e-05,1793249704474728192
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,881,785,814,651,629.500173087,654,0.415846002688,-0.0153774603942,0.0698103105686,0.99999993203,0.000205144609541,-0.000305660288156,2.06926937838e-05,1793249704491394816
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,880.908330271,785.091669729,814,651,630,654,0.415007231041,-0.0153752795811,0.0697762731915,0.999999921312,0.000201933530175,-0.00034105862926,1.66428498071e-05,1793249704508061440
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,880.331082737,785.668917263,814,651,630,654,0.414175818328,-0.0153681006823,0.069748864568,0.999999896642,0.000213023679631,-0.000401380042164,1.52240158807e-05,1793249704524728064
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,880.24444384,785.75555616,814,651,629.75555616,654,0.413399327809,-0.0153634246804,0.0697405648437,0.999999886688,0.000219353891597,-0.000422261565122,1.42505849507e-05,1793249704541394432
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,880.817655747,785.182344253,814,651,629.182344253,654,0.412696705709,-0.0153621149845,0.0697579658956,0.999999899773,0.000219282160691,-0.000390097868079,1.38762050029e-05,1793249704558061312
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,881,785,813.004996439,651,629.995003561,654,0.411443683378,-0.015368738134,0.0698652846951,0.999999955564,0.000215772203948,-0.000204341377756,2.36567712312e-05,1793249704591394816
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.427240084,638,880.427240084,785,813.572759916,651,630,654,0.410763670065,-0.0153689892391,0.0698705622479,0.999999955949,0.000219505195409,-0.00019834019493,2.40864607028e-05,1793249704608061696
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.850103352,661,638,880,785.149896648,814,651,630,654,0.410085585412,-0.0153685205029,0.0698641282148,0.999999952675,0.000221398671714,-0.000212355023565,2.31795883979e-05,1793249704624728320
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.274391738,661,638,880,785.725608262,814,651,630,654,0.409414622253,-0.0153661020967,0.0698257613901,0.999999936643,0.000217926102927,-0.000280849864786,1.86079357702e-05,1793249704641394944
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,880,785.692804745,813.692804745,651,629.692804745,654,0.408780500299,-0.0153635132331,0.0697911343401,0.999999918186,0.000219818871677,-0.000339252569071,1.46980484245e-05,1793249704658061312
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,880,785.105867476,813.105867476,651,629.105867476,654,0.408179927187,-0.0153607691456,0.0697599128533,0.999999898809,0.000226597492197,-0.000388465040654,1.13907864202e-05,1793249704674727936
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879.525355311,785,813,651,629.474644689,654,0.407635057565,-0.0153599786664,0.0697665062968,0.999999904244,0.000227924653485,-0.000373390771301,1.19208946997e-05,1793249704691394816
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879.053427348,785,813,651,630,654,0.407105392924,-0.0153595221714,0.0697819072615,0.99999991434,0.000228679188072,-0.000344743617998,1.33552633303e-05,1793249704708061440
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879.629125385,785,813,651,630,654,0.406604531226,-0.0153581278302,0.0698020562243,0.999999920387,0.000235563434269,-0.000321712316201,1.53740282017e-05,1793249704724728064
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.737432305,745,718,678.525135389,661,638,879,784.262567695,813,651,629,654,0.403475085574,-0.0153549752392,0.0698394304625,0.999999937866,0.000239270776633,-0.000258314189579,1.70379284618e-05,1793249704858061312
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.16009703,745,718,679.679805941,661,638,879,784.83990297,813,651,629,654,0.403170103717,-0.0153529893226,0.0698272430638,0.999999932085,0.000240313245074,-0.00027903690974,1.47855267445e-05,1793249704874727936
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.425326588,745,718,679.574673412,661.425326588,638,879,785,813.425326588,651,629.425326588,654,0.402899251056,-0.0153515251861,0.0698193396061,0.999999927517,0.000241957009488,-0.00029365245607,1.38437879429e-05,1793249704891394816
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.986367858,661.986367858,637.986367858,879,785,813.986367858,651,629.986367858,654,0.402642201546,-0.0153502192947,0.0698130469297,0.999999923346,0.000244009909321,-0.000305919708164,1.34086841491e-05,1793249704908061696
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.407254555,661.407254555,637.407254555,879,785,813.407254555,651,629.407254555,654,0.40241450224,-0.0153471726178,0.0698053855745,0.999999917236,0.000253463694185,-0.000317982389076,1.3128103347e-05,1793249704924728320
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.171036282,661,637.171036282,879,784.828963718,813,651,629.171036282,653.828963718,0.402198936974,-0.015345424816,0.0697994392153,0.999999912918,0.000258510984864,-0.000327355546561,1.32134370082e-05,1793249704941394944
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.747378037,661,637.747378037,879,784.252621963,813,651,629.747378037,653.252621963,0.402012125833,-0.0153467549646,0.069797556891,0.999999913298,0.000253116184578,-0.000330355326322,1.41658799188e-05,1793249704958061312
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.669353235,661,638,879,784.330646765,813.330646765,651,630,653.330646765,0.401847498271,-0.0153496604142,0.0697973639249,0.999999915265,0.000245364097699,-0.000330222769057,1.47921867513e-05,1793249704974728192
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.080678827,661,638,879,784.919321173,813.919321173,651,630,653.919321173,0.401700182144,-0.0153537951855,0.0697984892871,0.999999918415,0.000235772448587,-0.000327645822404,1.51639860566e-05,1793249704991394816
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.499483186,661.499483186,638,879.499483186,785,813.500516814,651,630,654,0.401576161704,-0.0153562777361,0.0697987848973,0.999999921062,0.000225072595439,-0.000327151698952,1.38085026708e-05,1793249705008061184
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.922054054,745,718,679,661.922054054,638,879.922054054,785,813.077945946,651,630,654,0.401459686891,-0.0153580505052,0.0697987501518,0.999999922606,0.000218749292705,-0.000326806332522,1.1565699989e-05,1793249705024727808
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.345811474,745,718,679,661.345811474,638,879.345811474,785,813.654188526,651,630,654,0.40136779797,-0.0153569632484,0.0697974459396,0.999999917908,0.000241529767993,-0.000325297258453,5.40410747986e-06,1793249705041394688
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.229519827,745,718,678.770480173,661,638,879,784.770480173,814,651,630,654,0.401283914939,-0.0153569005511,0.0697977067047,0.999999915516,0.000253454706391,-0.000323608419963,2.40807596885e-06,1793249705058061056
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.803483524,745,718,678.196516476,661,638,879,784.196516476,814,651,630,654,0.40121204647,-0.0153583754258,0.0698003160549,0.999999917239,0.000249088575404,-0.000321649806592,4.16265003471e-06,1793249705074727936
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745,718,678,661,638,879.388051937,784,813.611948063,651,630,654,0.401152305743,-0.0153577818587,0.0698005662957,0.999999917835,0.000246401123812,-0.000321856952645,5.00218822974e-06,1793249705091394560
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,745,718,678,661,638,879.978141638,784,813.021858362,651,630,654,0.401098879281,-0.0153561113654,0.0697995882752,0.999999917848,0.000244587670391,-0.000323191693158,5.36531642726e-06,1793249705108061184
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.558746637,661,638,879.441253363,784.558746637,813,651,630,654,0.401063279775,-0.0153554292223,0.069799233371,0.999999918812,0.000242033895866,-0.000322124129955,5.56032302185e-06,1793249705124728064
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.862140329,745,718,679,661.137859671,638,879.275719342,784.862140329,813,651,630,654,0.401031301626,-0.0153550692375,0.0697989638111,0.999999919563,0.000240256659785,-0.000321119140073,5.78963226671e-06,1793249705141394432
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.286605751,745,718,679,661.713394249,638,880.426788498,784.286605751,813,651,630,654,0.401008643388,-0.0153556113333,0.0697988891025,0.999999919538,0.000241035179521,-0.000320606190176,6.14837699454e-06,1793249705158061056
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.293568239,745,718,679,662,638.293568239,880.412863522,784,813,651,630,654,0.400990188154,-0.0153563009516,0.0698000586257,0.999999920304,0.000240205394011,-0.000318831323361,6.32866390303e-06,1793249705174727936
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.878344408,745,718,679,662,638.878344408,879.243311184,784,813,651,630,654,0.400975902131,-0.0153571369064,0.0698024623768,0.999999921844,0.000237780234226,-0.000315804685462,6.33192784799e-06,1793249705191395072
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.538964867,638.538964867,879,784,813,651,629.538964867,653.538964867,0.400968879587,-0.0153578219168,0.0698048901637,0.999999923283,0.00023708231053,-0.000311744188999,6.43942906244e-06,1793249705208061952
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.957229789,745,718,678.957229789,661,638,879,784,813,651,629.042770211,653.042770211,0.400964005742,-0.0153583514261,0.0698072017836,0.999999924564,0.00023709052199,-0.00030759995497,6.57480239765e-06,1793249705224728832
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.380584916,745,718,678.380584916,661,638,879,784,813,651,629.619415084,653.619415084,0.400962136146,-0.0153574348497,0.0698079845521,0.999999924361,0.000240249455755,-0.00030580045145,6.71629698233e-06,1793249705241394944
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,718,678.195395737,661,638,879,784.195395737,813,651,630,654,0.400960701937,-0.0153570144939,0.0698086322177,0.999999924513,0.000242191122164,-0.00030376425878,6.75837246702e-06,1793249705258061312
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,718,678.770086995,661,638,879,784.770086995,813,651,630,654,0.400960112889,-0.0153575573847,0.069809017626,0.99999992537,0.000241769870624,-0.000301268613342,6.60745898662e-06,1793249705274727936
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,718,678.645731669,661,638,879.354268331,785,813,651,630,654,0.400958761972,-0.0153583853646,0.069809708364,0.999999925748,0.000240569666896,-0.000300975223939,6.58043837442e-06,1793249705291394304
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,718,678.055221963,661,638,879.944778037,785,813,651,630,654,0.400956903009,-0.015359403454,0.0698106027089,0.999999925806,0.00023885002433,-0.000302150393774,6.63603486659e-06,1793249705308060928
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.523960595,745,718,678,661.523960595,638,879.476039405,784.476039405,813,651,630,654,0.400957002936,-0.0153574290169,0.0698106127259,0.999999925165,0.000242754070767,-0.00030116322686,6.4148911913e-06,1793249705324728064
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.101530888,661.898469112,638,878.898469112,784,813.101530888,651,629.898469112,654,0.400957170076,-0.0153555477422,0.0698105382613,0.999999924611,0.00024617992855,-0.000300223611719,6.20978934558e-06,1793249705341394944
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.677029614,661.322970386,638,878.322970386,784,813.677029614,651,629.322970386,654,0.400956707597,-0.0153555425334,0.0698104952999,0.999999924886,0.000244665199852,-0.000300547333208,6.21284887291e-06,1793249705358061824
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.74267961,745,718,679,661,638,878.25732039,784.25732039,814,651,629.25732039,654,0.400956950297,-0.0153562005212,0.0698112732073,0.999999925658,0.000242707079527,-0.00029956483554,6.20556175403e-06,1793249705374728448
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.156259976,745,718,679,661,638,878.843740024,784.843740024,814,651,629.843740024,654,0.400958094883,-0.0153577067025,0.0698131009627,0.999999927059,0.000240181884428,-0.000296911752326,6.18504181935e-06,1793249705391394816
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.424810916,745,718,679,661,638,879,785,814,651,630,654,0.400958636744,-0.0153581161288,0.0698134963305,0.999999927466,0.000239719767315,-0.000295914827001,5.99215812318e-06,1793249705408061440
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.003938948,638,879,784.996061052,813.996061052,651,630,654,0.40095894947,-0.0153581346462,0.0698133712622,0.999999927516,0.000239997384348,-0.000295527681241,5.74179978547e-06,1793249705424727808
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.58309044,638,879,784.41690956,813.41690956,651,630,654,0.400957774542,-0.0153592482301,0.0698132306556,0.999999927547,0.000238858431601,-0.00029633258559,6.24179405668e-06,1793249705441394432
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.839332427,638,879,784.160667573,813,651,630,654,0.400957430975,-0.0153601994598,0.069813591628,0.999999927739,0.000238296268822,-0.000296129248036,6.67801371626e-06,1793249705458061056
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.265800925,638,879,784.734199075,813,651,630,654,0.400959223737,-0.0153607334913,0.0698152414972,0.999999928341,0.00023921627061,-0.000293335053384,6.95035312867e-06,1793249705474727936
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.684653614,745,718,679,661,638,879,785,813.315346386,651,630,654,0.400958893133,-0.0153603684186,0.069815477644,0.999999928356,0.000239411925102,-0.000293126659096,6.81708168642e-06,1793249705491394560
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.096928212,745,718,679,661,638,879,785,813.903071788,651,630,654,0.400956728482,-0.0153592267485,0.0698144926942,0.999999927866,0.000238981927838,-0.000295151738339,6.33346568598e-06,1793249705508061696
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.483806372,745,718,679,661.483806372,638,879.483806372,785,813.516193628,651,630,654,0.400956492304,-0.0153587429123,0.0698138535279,0.999999927461,0.000239969733181,-0.000295726595322,6.24698671695e-06,1793249705524728064
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.937005518,638,879.937005518,785,813,651,630,654,0.400956757732,-0.0153586030857,0.0698134903806,0.999999927239,0.000240836579922,-0.000295772511917,6.25892908421e-06,1793249705541394432
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.359173186,638,879.359173186,785,813,651,630,654,0.400958010005,-0.0153602129881,0.0698148249568,0.999999928386,0.000238426462484,-0.000293836259788,6.43424624813e-06,1793249705558060800
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879,785,813.217257336,651,630,654,0.400958310723,-0.015361075968,0.0698154494524,0.999999929008,0.000236720371642,-0.000293095028613,6.5039713643e-06,1793249705574727424
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879,785,813.791385311,651,630,654,0.4009570484,-0.0153607120406,0.0698149075578,0.99999992878,0.000236170726627,-0.000294316759123,6.40024919323e-06,1793249705591394048